JP3093043B2 - Position measurement plotter - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position measuring and plotting apparatus for measuring a position coordinate of a predetermined object arranged at a site of a traffic accident and creating a plan view of the site.

[Prior art]

[0002] When a traffic accident occurs, it is necessary to grasp the situation of the site in order to investigate the accident, and a police officer conducts a live inspection to prepare a record, and as a part of this, the distance between related objects A site plan (plan view) as shown in FIG.

When creating such a floor plan,
Conventionally, an investigator directly measures the distance between related objects using a tape measure, and creates a plan view using the measurement result. However, measuring with a tape measure requires human labor,
For measurement, it may be necessary to block traffic for a long period of time to work.There is a risk that traffic jams may occur at sites with heavy traffic and that workers may be hit by vehicles passing sideways. Accompany. For this reason, it is necessary to reduce the working time on the road as much as possible.

[0004] Therefore, the present applicant has a simple operation.
The measurement work at the traffic accident site can be performed in the shortest possible time, and by creating a site sketch at the accident site, the accident site can be quickly compared with the completed site sketch.
A position measurement plotting device that can be easily performed is proposed (Japanese Patent Laid-Open No. 2-281380). The invention according to the application is based on an image display means for displaying a photographed image while capturing and photographing a target (or marker) previously arranged at a desired position at an accident site or the like by a photographing means such as a television camera. With a pointing means such as a cursor, the measuring head composed of a photographing means and a position detecting means is directed in the direction of the target, and a distance and an angle from the reference position to the target are detected by the position detecting means and the coordinates thereof are obtained. Is calculated, and a site sketch is created based on the calculated coordinates.

[0005]

In many cases, a traffic accident site is an intersection with poor visibility, and in such a place, a traffic accident occurs not only once but several times. is there. When a traffic accident occurs in the same place, if a road map or the like created in the past accident can be used, a site sketch relating to the traffic accident at that time can be quickly created. In addition, even if the accident occurred in the same place, the form of the accident is different,
The measurement of the object related to the accident must be performed again.

[0006] If the site sketch can be created quickly, the time required for blocking traffic is short, so that it does not cause traffic congestion and also reduces the risk of the worker colliding with the vehicle. be able to.

[0007] Therefore, the present invention makes it easy to create a sketch of the site of a traffic accident, etc., if an accident has occurred in the same place in the past, the data created at the time of the past accident can be easily processed. It is an object of the present invention to provide a position measurement plotting apparatus which can be used for a site survey and can speed up the work of creating a floor plan.

[0008]

As a means for solving the above technical problem, a position measuring and plotting apparatus according to the present invention projects light from a light emitting portion to a target arranged at an appropriate position and reflects the reflected light. A plurality of spatial coordinates detected with respect to a number of target positions by the position detecting means by detecting a distance to the target and a direction thereof by detecting the spatial coordinates of the target by capturing the light with a light receiving unit; In the position measurement plotting apparatus provided with means for creating a plan view from and storing data relating to the created plan view, the components included in the plan view are divided into immovable components and variable components. The recording means stores the data relating to the immovable components and the data relating to the variable components separately.

[0009]

For example, it is assumed that this position measurement plotting apparatus is used for preparing a site sketch of a traffic accident site. When a traffic accident has occurred, whether or not a traffic accident has occurred in the past at the site is checked by recording or the like. If a traffic accident has occurred in the past, only data relating to immovable components, such as road shapes and buildings, signs, telephone poles, and street lamps, at the site are called from the recording means, and new data is added to the called data. The measurement data of the related object related to the traffic accident that occurred in the above is superimposed. The measured data related to the traffic accident such as the position of the accident vehicle, the course point, and the collision point are stored in the recording means as the data related to the variable components, and the presence or absence of a call is determined depending on whether or not the mode is used at the next use. .

[0010] When data on an accident is superimposed on data on a road or the like, when measuring the data on the accident, two or more objects related to the past immovable components, such as telephone poles and street lamps, are used. Is measured and superimposed on the past measurement data, thereby calculating the position where the position measurement plotter is located as coordinates in the past coordinate system, thereby newly generating the position on the road data acquired in the past. The data of the traffic accidents can be matched and superimposed.

[0011]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a position measuring and plotting apparatus according to the present invention.

FIG. 4 is a perspective view showing a state in which a target 2 serving as a target of the position measuring and plotting apparatus according to the present invention is fixed to a pole 1. The target 2 is fixed to the pole 1. FIG. Both ends of the pole 1 are sharply formed as stone projections 3a and 3b, and when indicating a position to be measured, one of the stone projections 3a and 3b is used to determine the position of the ground or road surface. The pole 1 is put upright against the part to be measured. Then, light for distance measurement (ranging light) emitted from a position detecting means described later is reflected by these targets 2 in a predetermined direction.

FIG. 5 shows a schematic configuration of the position detecting means 4 and the target 2. The target 2 is an LED
And a reflector 22 such as a corner cube. Light incident on the target 2 is reflected by the reflector 22 in a predetermined direction. Also,
As shown in FIG. 6A, the light source 21 is disposed in a circular shape surrounding the reflector 22, and the light source 21 is also disposed at the center of the reflector 22. If the light source 21 is also disposed at the center in this way, the image of the circular light source 21 becomes relatively large at the time of short-distance measurement, and the image of the light source 21 in which the four-divided light receiving elements described later are disposed in a circular shape. Light source 21
It is possible to prevent the trapped light from entering the light receiving element from being stopped, thereby improving controllability.

As shown in FIG. 5, the position detecting means 4 includes a distance measuring light emitting element 4a as a distance measuring light emitting section and a distance measuring light receiving element 4b as a light receiving section. The ranging light emitted from the light emitting element 4a toward the target 2 is reflected by the reflector 22 and captured by the light receiving element 4b. The light emitted from the light emitting element for distance measurement 4a passes through the beam splitter 4c, is reflected by the beam splitter 4d in a substantially right angle direction, and is projected on the target 2. And
The reflected light from the target 2 is reflected by the beam splitter 4d, further reflected by the beam splitter 4c, and incident on the light receiving element for distance measurement 4b. A capture light receiving unit 5 for capturing the target 2 is disposed behind the beam splitter 4d. Light emitted from the light source 21 of the target 2 passes through the beam splitter 4d and is transmitted to the capture light receiving unit 5. It is designed to be incident. Note that the beam splitter
An objective lens 4e is provided in front of 4d.

[0015] As shown in FIG.
It is composed of a multi-segment light receiving element such as a four-segment light receiving element.
The output signals of 5c and 5d are input to the position calculating means. Now, assuming that the output voltage values of these light receiving elements 5a, 5b, 5c, 5d are Ea, Eb, Ec, Ed, respectively, in the above position calculating means, for example,

(Ea + Eb)-(Ec + Ed) = K

(Ea + Ec)-(Eb + Ed) = L is calculated. These output voltage values Ea, Eb, Ec, Ed
7 changes at the position of incidence on the capture light receiving unit 5, and when the four output voltages are not both “0” and the values K and L of Equations 1 and 2 are both “0”, FIG. As indicated by the symbol P, the light from the light source 21 is incident on the central portion of the captured light receiving section 5, and the captured light from the light source 21 is uniformly incident on the light receiving elements 5a, 5b, 5c, 5d.

Next, the configuration of a position measurement plotting apparatus according to the present invention will be described with reference to FIGS.

FIG. 8 shows a site such as a traffic accident for which a site sketch is to be created. A photographing means 6 (see FIG. 10) such as a television camera and a position detecting means 4 are combined at an appropriate position on the scene. A measuring head 11 is installed to photograph the situation at the site. The optical axis of the position detecting means 4 incorporated in the measuring head 11 and the optical axis of the photographing means 6 are parallel to each other. The photographing means 6 captures the target 2 near the center of the screen, and as described above. When the four output voltages of the four-division light receiving element are not “0”, the values K and L of the equations (1) and (2) are used.
When the direction of the measuring head 11 is controlled so that both become “0”, the optical axis of the position detecting means 4 passes through the center of the target 2. And this measuring head 11
Is supported by a vertical rotation means 11a for appropriately tilting the direction of the measuring head 11 in a vertical plane and a horizontal rotation means 11b for appropriately tilting the direction in a horizontal plane, and these rotation means 11a, The optical axis S (see FIG. 5) of the measuring head 11, that is, the position detecting means 4 can be changed in an appropriate direction by the operation of 11b.

A control unit 13 shown in FIG. 9 is connected to the measuring head 11 by a cable 12, and the control unit 13 includes the position calculating means. The control unit 13 includes an image display means 14 such as a CRT for displaying an image photographed by the photographing means 6 incorporated in the measuring head 11, and a computer 15 for performing input / output processing and calculations. . Further, a mouse 16 which is an input means for inputting predetermined information relating to a site sketch to be drawn and an XY plotter 17 for printing the sketch are connected to the computer 15. The control unit 13 is supplied with power from a backup power supply 18, and the backup power supply 18
18a can be connected to commercial power
It can be connected to the vehicle battery via b.

FIGS. 10 and 11 are block diagrams showing the configuration of a position measurement plotting apparatus and a part of signals. A light source 21 such as an LED is driven by an LED lighting circuit 21a.
The D lighting circuit 21a drives the light source 21 according to an output signal of a state detection sending circuit 23 for detecting states of various switches provided on the pole 1.

The captured light emitted from the light source 21 is captured by the captured light receiving section 5 of the measuring head 11, and the output signal of the captured light receiving section 5 is included in the captured light from the light source 21 of the control section 13. State detecting means 13a for detecting the state of the pole 1 from the signal
And the optical axis shift amount detecting means 13b for detecting that the captured light from the light source 21 is incident on an appropriate position of the captured light receiving section 5. The distance measuring light emitted from the distance measuring light emitting element 4a of the measuring head 11 and reflected by the reflector 22 of the target 2 is incident on the distance meter 13c to measure the distance to the target 2. The distance meter 13c outputs reflecting mirror distance measurement data 13d to the computer 15a according to a distance meter control command signal 13e from the computer 15e. The measuring head 11 is supported by the vertical rotation means (elevation motor) 11a and the horizontal rotation means (turning motor) 11b, and these motors 11a and 11b are driven by an angle command motor control signal 13f from a computer 15b. . An elevation encoder 11c and a rotation encoder 11d are connected to these motors 11a and 11b, respectively.
The rotation angle positions of 1a and 11b are determined by these encoders 11c and 11d.
Is detected by an angle reading counter 13g connected to.

On the other hand, the photographing means 6 is controlled by a camera control signal 13h sent from the computer 15e of the control unit 13. Also, a TV image 13i output from the photographing means 6
Is a computer having an image switching function as shown in FIG.
15d and the still image holding means 13m.

When the output of the state detecting means 13a is a measurable signal, the computer 15a calculates the reflector position data 13j from the reflector distance data 13d and the angle data of the output of the angle reading counter 13g. The obtained reflector position data 13j is used as data when the computer 15c performs a sketch drawing process and creates the sketch data 13n. Further, the optical axis shift amount detecting means 13b
The output of the angle reading counter 13g is the angle movement command signal 13k
Is calculated by the computer 15b and output as the angle command motor control signal 13f. Also, the above T
The V image 13i is sent to the computer 15d and the still image holding means 13m, and the output of the still image holding means 13m is
Sent to 15d. Furthermore, the above sketch data 13n
Are also input to the computer 15d, and are sent to the image display means 14 in a switchable manner through the computer 15f for synthesizing the image.
, The still image held by the still image holding means 13m, and the sketch data 13n being created or completed can be selected and displayed.

The computer 15c creates sketch data 13n according to the drawing command signal 13o, and generates the sketch data 13n.
13n is divided into accident information data 13p relating to the accident and map information data 13q relating to roads and the like at the accident site, and is stored in the disk 13s from the disk drive 13r. Further, data relating to the drawing such as characters and symbols, sketch frames 13t or symbols and drawing patterns 13u stored in the disk 13s in advance is transferred from the disk drive 13r to the computer 15c.
Provided to

The output signal of the mouse 16 is sent to a mouse driver 16a, and the mouse / cursor display signal 16b of the output of the mouse driver 16a is sent to the computer 15f.
To the image display means 14
And is issued to a predetermined portion as various control signals 13x by the computer 15e. The computer 15e also receives predetermined screen data 13y for various commands from the disk drive 13r, compares the screen data 13y with the mouse / cursor display signal 16b, and generates various control signals 13x to be issued to predetermined portions. Further, the screen data 13y for various instructions is sent to the computer 15f and displayed on the image display means 14, and is used as a display when instructing various instructions by the mouse 16. The sketch drawing command signal 17a among the various control signals 13x is sent to the plotter controller 17b, and the XY plotter 17 is driven by the plotter controller 17b.

The operation of the position measurement plotting apparatus according to the present invention configured as described above will be described together with the situation where a floor plan is prepared.

As shown in FIG. 8, a measuring head 11 is installed at an appropriate position on the site where a sketch is to be created. Since the measuring head 11 is provided with the position detecting means 4, the position detecting means 4 is also arranged at the site. On the other hand, the pole 1 on which the target 2 is attached is held at a position where coordinates are to be measured, and the light source 21 and the reflector 22 of the target 2 are held.
To the measurement head 11. The image photographed by the photographing means 6 provided in the measuring head 11 is displayed on an image display means.
The mouse 16 is operated to give an instruction so that the target 2 is photographed on the target 14, and the vertical angle and the horizontal angle of the measuring head 11 are adjusted by the angle movement command signal 16k.

When the photographing means 6 of the measuring head 11 captures the target 2 near the center of the screen, the captured light emitted from the light source 21 of the target 2 enters the captured light receiving section 5 of the position detecting means 4. The light source 21 of the target 2
The captured light emitted from the device is captured by the captured light receiving section 5 of the position detecting means 4.
Incident on the light receiving element 5 of the trapped light receiving section 5
The light is incident on at least one of a, 5b, 5c, and 5d. The computer 15a, which is a position calculating means, performs the calculations shown in the above-described equations (1) and (2) from the output signal of the optical axis shift amount detecting means 13b, and calculates these equations (1) and (2).
An angle command motor control signal 13f, which is an operation signal, is sent to the vertical rotation means 11a and the horizontal rotation means 11b so that the values K and L in the expression become equal to or less than predetermined values. That is, when the vertical rotation unit 11a and the horizontal rotation unit 11b operate based on the operation signal, the direction of the optical axis of the position detection unit 4 changes, and therefore, the incident position on the capture light receiving unit 5 also changes. . While the change is monitored by the position calculation means, the position detection means 4 is appropriately rotated by the vertical rotation means 11a and the horizontal rotation means 11b, and the captured light from the light source 21 is received by the light receiving elements 5a, 5b, 5c. , 5d
The distance measuring light from the distance measuring light emitting element 4a of the position detecting means 4 is reflected by the reflector 22 of the target 2 and is incident on the distance measuring light receiving element 4b at that position. In this case, the distance measuring light projected toward the target 2 from the distance measuring light emitting element 4a is reliably transmitted to the distance measuring light receiving element 4a.
4b can be captured.

That is, if the distance measuring light emitted from the distance measuring light emitting element 4a is captured by the distance measuring light receiving element 4b, a straight line from the position detecting means 4 to the target 2 is obtained by the well-known principle of a light wave distance meter. The distance can be measured. The angle rotated by the vertical rotation means 11a is the elevation angle or depression angle from the position detection means 4 to the target 2 in the vertical plane, and the angle rotated by the horizontal rotation means 11b is the swing angle in the horizontal plane ( Therefore, the spatial coordinates (three-dimensional coordinates) of the target 2 can be calculated from the linear distance and the elevation angle, the depression angle, and the deflection angle.

The means for calculating the spatial coordinates of the target 2 will be described with reference to FIG. The position to be measured is indicated by the symbol Q, and the stone projection 3 of the pole 1 is protruded at the position Q. The XYZ coordinates of the measurement reference point of the measurement head 11 are (0,
0, 0) and the coordinates of the measurement position Q are (DX, DY, D
Z). The origin optical axis T ₀ of the measuring head 11 is defined as
The direction is the direction of the X axis, the direction of the rotation axis (elevation axis) of the vertical rotation means 11a of the measuring head 11 is the direction of the Y axis, and the direction of the rotation axis (the rotation axis) of the horizontal rotation means 11b. Is the direction of the Z axis. The distance to the target 2 obtained by measuring the aim of the position detecting means 4 of the measuring head 11 with the target 2 is DS, the rotation angle of the pivot axis is AZＡ, and the rotation angle of the elevation axis is EL ゜. Then, since the distance DD from the target 2 to the stone protrusion 3 is known,

[Expression 3] DX = DS × COS (EL) × COS (AZ)

DY = DS × COS (EL) × SIN (AZ)

## EQU5 ## The spatial coordinates of the measurement position Q can be calculated by DZ = DS × SIN (EL) -DD. When the target 2 is on the origin optical axis T ₀ , since AZ = 0 ° and EL = 0 °, DX = DS,
DY = 0 and DZ = −DD.

Then, as shown in FIG. 8, the poles 51, 52, the streetlight 53, the road sign 54, the pedestrian crossing 55, etc., which are the objects to be measured, are indicated by the pole 1, and the respective spatial coordinates are measured. When the spatial coordinates regarding these related objects are obtained, the coordinates are projected on a horizontal plane. Then, a site sketch shown in FIG. 1 is created from the projected coordinates. It should be noted that the creation of the site sketch is performed while the image is displayed on the image display means 14 described above, and may be printed by the XY plotter 17.

Next, based on FIG. 13 to FIG. 19, a procedure for creating a site sketch relating to a traffic accident by superimposing data of the accident site already acquired and data of the accident site newly acquired is superimposed. explain. In other words, depending on the traffic accident site, it may not be possible to measure the entire site when the measurement head 11 is fixed at one position, and in that case, the measurement head 11 may be moved to another position. Alternatively, it is necessary to fix the plurality of measuring heads 11 at predetermined positions, acquire data at each of them, and superimpose the data acquired at one of these positions and another position. Also, if map information data created at the time of an accident that occurred in the past can be used and only accident information data relating to an accident that occurred at a later date should be superimposed, the time required for measurement and drawing can be significantly reduced. . For example first, as shown in FIG. 13 performs measurement at a measuring head 11 to P ₁ (1-th measurement), then if must perform measurements at a measuring head 11 in the P ₂ occurs (second measurement ). In such a case, a single floor plan must be created by superimposing the data acquired at the respective positions of P ₁ and P ₂ .

First, two appropriate components as reference points are determined. This reference point is a street lamp 53 and a telephone pole 51 in FIG.
These two points are P ₁ (0, 0,
0), streetlight 53 (X1, Y1, Z1), telephone pole 51 (X2, Y2,
Z2) coordinate data. First measurement of P ₂ coordinates as shown in FIG. 13 (XX, YY, ZZ) case of performing the second measurement at the origin optical axis T ₂ from the position of this (XX, Y
Y, may be determined the angle S0 value and T ₁ and T ₂ of the ZZ). Second measurement as shown in FIG. 2, the P ₂ (0, 0, 0) by the measurement in FIG. 12 T ₂ in the direction reference, streetlights 51 coordinates (XA (1), YA ( 1), ZA (1) ), Telephone pole 53 coordinates (XB (1),
YB (1), ZB (1)) are obtained. Steps in Figure 14
601 calculates the distances L1 and L2 between the two points in the first and second measurements in step 602 by using equations (6) and (7), and makes a determination in step 603.

[6] L1 = {(X2-X1) 2 + (Y2-Y1) 2 + (Z2
−Z1) ² ｝ ^1/2

L2 = ｛(XB (1) −XA (1)) ² + (YB (1) −
YA (1)) ² + (ZB (1) −ZA (1)) ² ｝ ^1/2 Steps 601 to 603 confirm that the same point has been measured in the first and second measurements. The determination is made based on whether or not the difference between the lengths of L2 and L2 is within the range of the allowable value. If the value does not fall within the allowable range, the process returns to step 601 to repeat the measurement and repeat until the same point is measured.

If it is confirmed in step 603 that the same point has been measured in the first and second measurements, then in step 604, the angle S0 between the origin optical axes T ₁ and T ₂ of the _first and second measurements. Is calculated by Expression 8, Expression 9, and Expression 10. 1
Angle S1 of the utility pole 51 than street lamp 53 for T ₁ of the times th measurement
Is calculated by Expression (8).

S1 = TAN ^-1 {(Y2-Y1) / (X2-X1)} The angle S2 formed by the line drawn from the streetlight 53 to the telephone pole 51 with respect to T2 in the _second measurement is obtained by Expression 9 .

S2 = TAN ^-1 {(YB (1) -YA (1)) / (XB
(1) -XA (1)) } S1, S2 origin optical axis T _1, T ₂ of the angle S0 than the number 10
It is determined by the formula.

S0 = (S1-S2)

[0034] than the angle S0 calculated at step 604, the coordinates of _{P 2 (XX, YY, ZZ} ) is calculated to obtain the a step 605 and 606. As shown in FIG. 16 (a), the street lamp 53 a second measurement as the center of rotation P ₁ To meet the first measurement, to rotate the utility pole 51. The coordinates after rotation are represented by (XA (2), YA (2), ZA (2)), (XB
(2), YB (2), ZB (2))

XA (2) = XA (1) × COS (S0) −YA (1) × SIN (S0)

YA (2) = XA (1) × SIN (S0) + YA (1) × COS (S0)

## EQU13 ## ZA (2) = ZA (1)

XB (2) = XB (1) × COS (S0) −YB (1) × SIN (S0)

YB (2) = XB (1) × SIN (S0) + YB (1) × COS (S0)

(16) ZB (2) = ZB (1)

[0035] The coordinates of the rotation corrected street lamp 53 at step 605 to translate to conform with the measured street lamp 53 of coordinates from P ₁ (step 606). The amount of movement i.e. first coordinate of _{P 2 (XX, YY, ZZ} ) will indicate a position on. FIG. 17B shows this translation.

XX = X1-XA (1)

## EQU18 ## YY = Y1-YA (1)

[Equation 19] ZZ = Z1−ZA (1) The coordinates after moving the telephone pole 51 are (XB (3), YB (3), ZB (3))
Then

XB (3) = XB (2) −XA (2) + X1 = XB (2) + XX

YB (3) = YB (2) −YA (2) + Y1 = YB (2) + YY

ZB (3) = ZB (2) −ZA (2) + Z1 = ZB (2) + ZZ

The coordinates of the utility pole 51 calculated in step 606 should match the coordinates (X2, Y2, Z2) of the utility pole 51 in the first measurement (in many cases, they do not completely match due to measurement errors. ). This check is performed in step 607.

## EQU23 ## XB (3) -X2 <permissible range

[Equation 24] YB (3) −Y2 <allowable range

[Equation 25] ZB (3) -Z2 <allowable range

The conversion formula If with XYZ directions is a value within the allowable range is completed at step 606, the coordinates of the object measured at the origin optical axis T ₂ reference at P ₂ point (XN (1), YN
(1), ZN (1)) are transformed on the first measurement coordinates as follows: coordinates after transformation: (XN (3), YN (3), ZN
(3))｝. Angle rotation correction

XN (2) = XN (1) × COS (S0) −YN (1) × SIN (S0)

XN (2) = XN (1) × SIN (S0) + YN (1) × COS (S0)

[Equation 28] ZN (2) = ZN (1) Parallel movement correction

XN (3) = XN (2) + XX

[Equation 30] YN (3) = YN (2) + YY

[Formula 31] ZN (3) = ZN (2) + ZZ

If the horizontal adjustment of the measuring head 11 with respect to the ground at the time of the first and second measurements is sufficiently adjusted so as not to affect the required measurement accuracy, step
The error in the Z direction in checking 606 is kept within an allowable range. However, such a horizontal adjustment is practically difficult in practice, so that a method of correcting by calculation when an error occurs is more practical. FIG. 18, FIG. 19 (a),
FIG. 19B and FIG. 15 show an embodiment of this calculation correction.
In FIG. 18, as a result of performing the coordinate conversion in steps 601 to 606, the coordinates of the telephone pole 51 are (XB (3), YB (3), ZB (3)) and the first measurement data (X2, Y2, Z2) ) Have an error.

As shown in FIG. 18, at step 701, the streetlight 5
The third coordinate performing parallel movement so that P _1. After this movement, the coordinates of the first measurement data of the telephone pole 51 are changed to (X3, Y3, Z3
) The second measurement coordinates are (XB (4), YB (4), ZB
(4)), the coordinates of the first measurement data

X3 = X2-X1

[Equation 33] Y3 = Y2-Y1

[Equation 34] Z3 = Z2-Z1 Second measurement coordinate

XB (4) = XB (3) -X1

(36) YB (4) = YB (3) -Y1

ZB (4) = ZB (3) -Z1

As shown in FIG. 19A, in step 702, the coordinates of the electric pole 51 are rotated by S3 so that the Y-direction component is eliminated. Assuming that the coordinates after the movement are the first measurement data coordinates (X4, Y4, Z4) and the second measurement coordinates are (XB (5), YB (5), ZB (5)), respectively.

S3 = TAN ^-1 (YB (4) / XB (4)) First measurement data coordinates

X4 = X3 × COS (S3) −Y3 × SIN (S3)

[Equation 40] Y4 = X3 × SIN (S3) + Y3 × COS (S3)

[Formula 41] Z4 = Z3 Second measurement coordinates

XB (5) = XB (4) × COS (S3) −YB (4) × SIN (S3)

[Expression 43] YB (5) = XB (4) × SIN (S3) + YB (4) × COS (S3)

[Formula 44] ZB (5) = ZB (4)

FIG. 19B is a view of FIG. 19A viewed from the AA direction (the Z-axis direction is the vertical direction of the paper).
The shift amount S4 of the first and second measurements is exaggerated. If the second measurement value is rotated by the angle S4, which is the amount of deviation, the directions of the first and second measurement values match. (Step 703) The second measurement coordinates after this movement are expressed as (XB (6),
YB (6), ZB (6))

S4 = TAN ^-1 (Z4 / X4) -TAN ^-1 (ZB (5) / XB (5)) Second measurement coordinate

XB (6) = XB (5) × COS (S4) −ZB (5) × SIN (S4)

[Equation 47] YB (6) = YB (5)

[Expression 48] ZB (6) = XB (5) × SIN (S4) + ZB (5) × COS (S4)

The matched first and second coordinates are converted to the original (X
2, Y2, Z2), as shown in FIGS. 18, 19 (a),
The angle S rotated to calculate the angle of the shift amount in (b)
3, and returns the amount of moving parallel to P _1, the coordinates of the final utility pole 51 becomes (XB (8), YB ( 8), ZB (8)). This matches the first measurement data (X2, Y2, Z2).
(Steps 704, 705)

XB (7) = XB (6) × COS (−S3) −YB (6) × SIN (−S3)

YB (7) = XB (6) × SIN (−S3) + YB (6) × COS (−S3)

[Formula 51] ZB (7) = ZB (6)

XB (8) = XB (7) + X1

[Equation 53] YB (8) = YB (7) + Y1

[Expression 54] ZB (8) = ZB (7) + Z1

[0043]

As described above, according to the position measurement plotting apparatus according to the present invention, the components included in the plan view to be plotted are divided into immovable components and variable components, and For example, when creating a floor plan of a traffic accident site, map information data on the road at the site where the traffic accident occurred and the accident vehicle that caused the accident If the traffic information is divided and recorded, the above-mentioned map information data can be used when another traffic accident occurs at the site at a later date. Therefore, work such as inspection at the site can be performed quickly.

Moreover, the capacity of the memory for recording only the map information data is smaller than that in the case where the map information data and the accident information data are combined, and the data can be easily processed. Can be.

[Brief description of the drawings]

FIG. 1 is a floor plan of a site created by a position measurement plotting apparatus according to the present invention, and relates to the site shown in FIG.

FIG. 2 is a plan view showing immovable components constituting a floor plan of a traffic accident site.

FIG. 3 is a plan view showing variable components constituting a floor plan of a traffic accident site.

FIG. 4 is a perspective view of a pole to which a target used in the position measurement plotting apparatus according to the present invention is fixed.

FIG. 5 is a schematic diagram illustrating the structure of a device for aiming at a target of a position detection unit.

6A and 6B are diagrams showing a schematic configuration of a target, wherein FIG. 6A is a front view and FIG. 6B is a side view.

FIG. 7 is a schematic perspective view illustrating the structure of a capture light receiving unit.

FIG. 8 is an explanatory diagram of a site used for creating a site sketch.

FIG. 9 is a schematic configuration diagram of a control unit of the position measurement plotting device.

FIG. 10 is a block diagram showing a part of the configuration of a target and a position measurement plotting apparatus, a part of which is shown overlapping with FIG. 11;

FIG. 11 is a block diagram showing a part of the configuration of the target and the position measurement plotting apparatus, a part of which is shown in duplicate with FIG.

FIG. 12 is a schematic perspective view for explaining calculation of an instructed predetermined measurement position.

FIG. 13 In creating a sketch of the traffic accident site,
FIG. 2 is a schematic plan view of the accident site, showing a case where two measurement positions are measured by the position measurement plotting device according to the present invention.

FIG. 14 is a flowchart illustrating a procedure for combining results measured from two measurement positions.

FIG. 15 is a flowchart illustrating a procedure for combining results measured from two measurement positions.

FIG. 16 is a diagram for explaining the contents of the processing of the flowchart shown in FIG. 14;

FIG. 17 is a diagram for explaining the contents of the processing of the flowchart shown in FIG. 14;

FIG. 18 is a diagram for explaining the contents of the processing of the flowchart shown in FIG. 15;

19 is a diagram for explaining the contents of the processing of the flowchart shown in FIG. 15; FIG. 19B is a diagram illustrating AA in FIG.
It is an arrow view.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Pole 2 Target 3a, 3b Stone protrusion 4 Position detecting means 4a Distance measuring light emitting element 4b Distance measuring light receiving element 5 Capture light receiving section 11 Measurement head 11a Vertical rotating means 11b Horizontal rotating means 13 Control section 14 Image display means 15 Computer 16 Mouse 17 XY plotter 18 Backup power supply 21 Light source 22 Reflector

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G01C 15/00-15/14

Claims (1)

(57) [Claims] 1. A light emitting unit emits light to a target disposed at an appropriate position, and the reflected light is captured by a light receiving unit to measure a distance to the target and its direction to detect spatial coordinates of the target. With a position detecting means, while creating a plan view from a number of spatial coordinates detected for a number of target positions by the position detecting means,
In a position measurement plotting apparatus provided with a recording unit that stores data relating to the created plan view, a component included in the plan view is divided into an immovable component and a variable component, and in the recording unit, The data pertaining to the immovable component and the data pertaining to the variable component are separately stored and, when reused, when only the data pertaining to the immovable component is used, or when the data pertaining to the immovable component and the variable component are used. A position measurement plotter characterized in that both data can be automatically selected and called up by selecting both as a measurement mode.