JP4754298B2 - Three-dimensional coordinate determination method, inking method and positioning method using laser light - Google Patents

Description

The present invention relates to a three-dimensional coordinate determination method using laser light, a marking method and a positioning method using the same .

  In the past, ink marking was generally performed using a surveying instrument to scrub the floor or walls manually. However, this method applies ink to the floor or the like according to the operator of the surveying instrument and its instructions. It was a work that required a minimum of two workers with an injured person.

  By the way, in recent years, a surveying instrument using a laser beam has been developed, and if this surveying instrument is used, the operation and scribing of the surveying instrument can be performed by one worker. For example, in a surveying instrument that uses red laser light, if the surface of the survey object is irradiated with red laser light, a red laser spot will be displayed. You can make inking.

  In other words, the rotary laser level generally known for laser surveying instruments uses the fact that a horizontal plane can be formed in space by rotating and irradiating laser light in the horizontal direction. When the rotational speed of the laser spot is increased, a horizontal line is left as an afterimage of light. Therefore, the afterimage of the light remaining horizontally is visually recognized as an inking line.

  Also, without rotating the laser surveying instrument, a vertical cylindrical lens [(cylindrical lens): the incident light is changed in the width direction (curvature direction) of the lens, and the length direction is changed. By passing the laser light through a lens that forms a linear beam without any other means, it is possible to spread the sport light in a fan shape and obtain a light-out line of light in a state of being irradiated on the wall.

  A surveying instrument called a total station can measure the three-dimensional coordinates from the distance and direction to the target object by combining a conventional transit and a light wave rangefinder. It is also possible to position the target prism at an arbitrary coordinate in the space by obtaining a three-dimensional coordinate from a total station that can automatically track the.

  The prior art is generally performed by those skilled in the art, and is not related to a known literature invention.

  Some conventional surveying and marking methods can use laser light to obtain three-dimensional coordinates, but laser light cannot be seen as a light line from the side in space. Because the presence of light can be recognized as spot light only after irradiating an object, laser light can be seen only when it is irradiated to an object such as a floor or a wall. The coordinate point could not be visually recognized as a laser beam.

  However, in the state where fine particles such as dust and mist are floating in the space, the laser light is scattered one after another by hitting the fine particles on the optical path, and thus the laser optical path can be recognized as a light line in the space. It is not practical to float such fine particles in the work space.

  The most convenient and effective method for making it possible to visually recognize the optical path of a laser beam that is normally invisible is dedicated glasses. However, at present, there is no actual method for viewing laser light in space from a free angle like a wire frame image. There is also a method of virtual display using a laser light detection sensor as an easy method instead of this method, and this is not a method in which laser light can be directly visually recognized.

The present invention eliminates the inconveniences of the conventional example, and makes it possible to easily and directly view the optical path of laser light in a space that is not normally visible without causing fine particles to float in the work space. It is an object of the present invention to provide a three-dimensional coordinate determination method, an inking method, and a positioning method using a laser beam that can easily obtain an original coordinate or an inking position, or that facilitate positioning of an object to be measured.

According to the first aspect of the present invention, an optical path visualization module in which a substance that scatters or develops light is enclosed is arranged, and an intersection of optical paths of laser light irradiated from two directions is formed in the optical path visualization module. The gist is to determine the three-dimensional coordinates of the space by arranging an arm with the reference point as the reference point and the tip as the measurement coordinate point with respect to the reference point, and specifying the tip three-dimensionally. .

According to the first aspect of the present invention, the presence of the optical path visualization module makes it possible to visually recognize the laser light as a light line from the side, and the optical path of the laser light irradiated from two directions in the optical path visualization module. Can be formed. This intersection can be visually recognized, and the three-dimensional coordinates in the space are found. In addition to this, the tip of the optical path visualization module is set as a reference point, and an arm whose tip is a measurement coordinate point or marking position is arranged with respect to the reference point. Therefore, it is possible to determine an arbitrary three-dimensional coordinate position existing in the space. That is, it can be marked on the space.

  The gist of the present invention described in claim 2 is that the arm is a telescopic pole fixed to the optical path visualization module housing.

  According to the second aspect of the present invention, the arm is a telescopic pole fixed to the optical path visualization module housing, so that the intersection of the optical paths in the optical path visualization module is used as a reference point, and relative coordinates with respect to that point are used. It becomes easier to specify the tip of the pole three-dimensionally.

  The gist of the present invention described in claim 3 is that a triaxial angle inclinometer is attached to the telescopic pole.

  According to the third aspect of the present invention, it is possible to specify the direction of the tip three-dimensionally by attaching a triaxial angle inclinometer.

  The gist of the present invention described in claim 4 is that the arm is a multi-indirect arm used in a three-dimensional digitizer or the like.

  According to the fourth aspect of the present invention, a multi-indirect arm used in a three-dimensional digitizer or the like is applied to a serial link mechanism (for example, a welding robot) of a polar coordinate system, and has flexibility and redundancy. Can be used.

  The gist of the present invention described in claim 5 is that the optical path visualization module is rotatably held in an arbitrary direction by a gimbal mechanism, and the intersection of the optical paths of the laser light is the center point thereof.

According to the fifth aspect of the present invention, the center point that is the spherical center position of the optical path visualization module is held fixed by the gimbal mechanism. Therefore, if this center point is the basic coordinate, it is easy and reliable from here. Arbitrary three-dimensional coordinates can be obtained.

The present invention according to claim 6 uses the three-dimensional coordinate determination method according to any one of claims 1 to 5 as a marking method using laser light, and calculates a calculated three-dimensional coordinate value to a predetermined value. The gist is to obtain a predetermined three-dimensional inking position in accordance with.

According to the sixth aspect of the present invention, the three-dimensional coordinates in the space can be easily obtained, and the construction position of the building material in the space and the marking in the space can be easily performed.

In the seventh aspect of the present invention, an optical path visualization module in which a substance that scatters or develops light is encapsulated is attached to an object to be measured, and the intersection of the optical paths of laser light irradiated from two directions to the optical path visualization module is determined. The gist is to form.

According to the seventh aspect of the present invention, for example, when an optical path visualization module is attached to a building material to be positioned as an object to be measured, positioning in the space can be easily performed when the building material is built.

The gist of the present invention described in claim 8 is that the grid scale is preliminarily marked in a lattice shape in the optical path visualization module.

According to the present invention of claim 8, the coordinate values can be easily determined by matching the optical path of the laser beam 3 on the scale.

  As described above, the three-dimensional coordinate determination or marking method and positioning method using the laser beam according to the present invention can visually recognize the optical path of the laser beam in a space that is not normally visible without floating fine particles in the work space. Therefore, multiple people can see from various angles at the same time and it is reliable. By using this method, 3D coordinates in space can be easily obtained, and building materials are built in space. This makes it easy to survey the position and 3D position in space.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is an explanatory view showing a first embodiment of a three-dimensional coordinate determination or marking method using laser light according to the present invention. The present invention produces and uses an optical path visualization module 1.

  The optical path visualization module 1 is disposed in the space 2, and the laser beam 3 is normally impossible to visually recognize the optical path in the propagating space as a light line from the side, but fine particles such as dust and mist are in the space. In the state where the laser beam is floating, the laser light path can be recognized as a light line in space by scattering or coloring light hitting the fine particles on the optical path.

  The optical path visualization module 1 encloses, for example, fine particles such as fine aluminum powder, colloidal translucent material such as egg white as the substance 4 that scatters or develops light inside. This artificially creates a mist-like particulate environment in the module.

  In this case, in order to obtain more remarkable visibility, it is preferable to use a fluorescent material that reacts with the laser light 3 having a specific wavelength. Once solidified, it can be fixed in a floating state. In addition, it is necessary to use a medium in which the refractive index of light is the same as in air.

  When such an optical path visualization module 1 is used as a basic tool for three-dimensional coordinate determination or marking out in space, an intersection 6 of optical paths of laser light 3 irradiated from two directions is formed in the optical path visualization module 1. This is used as a reference point 8, and an arm 9 whose tip 9 a is a measurement coordinate point or a marking position is arranged with respect to the reference point 8. In this case, the reference point 8 is assumed to be fixed.

  The arm 9 is a tangible object that continues to the tip 9a, and there is no particular limitation as long as the distance to the tip 9a and the three-axis angle with respect to the fixed reference point 8 can be grasped. As a multi-indirect arm for use with 3D digitizers, etc., it uses a polar coordinate system serial link mechanism (for example, a welding robot), and is a multi-joint type with a degree of freedom and redundancy such as a 3D digitizer. It is also possible to use.

  In the illustrated example, the arm 9 is assumed to be a telescopic pole, and its root end is fixed to the housing 1a of the optical path visualization module 1. Further, a triaxial angle inclinometer 10 is attached to the arm 9.

  In order to calculate the three-dimensional coordinates or the marking position using the optical path visualization module 1, for example, the intersection 6 of the optical paths of the laser beams 3 and 3 irradiated from the two directions of the X axis and the Y axis is set as the reference point 8, As a result, the three-dimensional reference black (X, Y, Z coordinates) coordinates are determined, the arm 9 is further expanded and contracted, and the three-axis angle is detected. From the length and inclination angle of the arm 9, the tertiary of the tip 9a of the arm 9 is obtained. Since the original coordinates can be obtained relatively, as a result, the three-dimensional coordinate value of the tip 9a of the arm 9 is calculated.

  If the calculated three-dimensional coordinate value matches a predetermined value, a predetermined three-dimensional inking position can be obtained.

  In the above embodiment, the arm 9 is fixed to the housing 1a of the optical path visualization module 1. However, when the inclination of the arm 9 is changed, the housing 1a also moves. Therefore, it is conceivable to grasp the angle by using the joint as the axis.

  FIGS. 2 and 3 show the second embodiment. In the same manner as the first embodiment, a three-dimensional reference black coordinate is confirmed, and an arbitrary three-dimensional coordinate obtained relatively from this coordinate is obtained. There is a gimbal mechanism.

  The optical path visualization module 1 was formed of a sphere, and the optical path visualization module 1 was held by a gimbal mechanism 11 so as to be rotatable in an arbitrary direction, thereby fixing the three-dimensional coordinate position that is the center point 12 of the sphere.

  An arm 9 made of a telescopic pole similar to that of the first embodiment protrudes from the lower part of the optical path visualization module 1, and a triaxial angle inclinometer 10 is attached to the arm 9.

  In the figure, reference numeral 13 denotes a tripod for fixing the optical path visualization module 1.

  In order to calculate the three-dimensional coordinates using this optical path visualization module 1, the intersection 6 of the optical paths of the laser beams 3 and 3 irradiated from the two directions of the X axis and the Y axis is made to coincide with the center point 12 as a reference point 8. In this state, the optical path visualization module 1 is fixed by the tripod 13 via the gimbal mechanism 11.

  Three-dimensional reference black (X, Y, Z coordinates) coordinates are calculated from the coordinate value of the center point 12. Even if the arm 9 is freely expanded / contracted and / or rotated in this state, the center point 12 which is the sphere center position of the optical path visualization module 1 is kept fixed by the gimbal mechanism 11.

  Therefore, assuming that the center point 12 is a three-dimensional basic coordinate, the length of the arm 9 is expanded and contracted to change the angle and the angle is adjusted, and the length from the center point 12 to the tip 9a of the arm 9 and the inclinometer 10 The tip position coordinate of the arm 9 obtained from the measured inclination angle of the arm 9 is a free three-dimensional coordinate, whereby an arbitrary three-dimensional coordinate can be obtained from the basic coordinate as a reference. You can get ink.

  As another embodiment, a case will be described in which such an optical path visualization module 1 is used as a basic tool for spatial recognition. FIG. 4 shows a case in which the optical path visualization module 1 is used as a positioning means for the building material 5 to be positioned. The optical path visualization module 1 is directly fixed to the building material 5 by means such as a magnetic force, and the laser irradiated to the optical path visualization module 1 from two directions. An intersection 6 of the optical paths of the light 3 and 3 is formed, and this can be used as a reference point 8 to easily and surely obtain arbitrary three-dimensional coordinates, or it can be marked at this position.

  The optical paths of the laser beams 3 and 3 irradiated from the two directions are taken from the two directions of the X-axis and the Y-axis, where the X-axis / Y-axis coordinate positions are obtained and the coordinates of the optical path visualization module 1 in the Z-axis direction are measured. By measuring the three-dimensional coordinates, the three-dimensional coordinates of the optical path visualization module 1 attached to the building material 5 are measured, and the position of the building material 5 on the three-dimensional coordinates is determined. By matching the original coordinate value with the coordinate value of the predetermined arrangement position of the building material 5, the building material 5 can be set at a predetermined position.

  If the grid scale 7 is preliminarily arranged in a lattice shape inside the optical path visualization module 1, the coordinate value can be easily determined by matching the optical path of the laser beam 3 to the grid scale 7.

  Although illustration is omitted, when the optical path visualization module 1 is provided on the building material 5, it is also possible to obtain the intersection by irradiating the laser beam 3 from three directions of the X axis, the Y axis, and the Z axis.

  It is also possible to use laser light as a surface using a cylindrical lens.

1 is a perspective view showing a first embodiment of a three-dimensional coordinate determination or marking method using laser light according to the present invention. It is a top view which shows 2nd Embodiment of the three-dimensional coordinate determination or marking method using the laser beam of this invention. It is a front view which shows 2nd Embodiment of the three-dimensional coordinate determination or marking method using the laser beam of this invention. It is explanatory drawing which shows one Embodiment of the positioning method using the laser beam of this invention.

DESCRIPTION OF SYMBOLS 1 Optical path visualization module 1a Housing 2 Space 3 Laser light 4 Light scattering or coloring material 5 Building material 6 Intersection 7 Grid scale 8 Reference point 9 Arm 9a Tip 10 Inclinometer 11 Gimbal mechanism 12 Center point 13 Tripod

Claims (8)

The material to scatter or color light internally disposed optical path visualization module encapsulated, this optical path visualization module to form an intersection of the optical path of the laser light irradiated from two directions which was the reference point, the tip is measured coordinates A three-dimensional coordinate determination method using laser light, wherein a three-dimensional coordinate of a space is determined by arranging an arm as a point with respect to the reference point and specifying a tip thereof three-dimensionally. 2. The method for determining three-dimensional coordinates using laser light according to claim 1, wherein the arm is a telescopic pole fixed to the optical path visualization module housing . 3. A three-dimensional coordinate determination method using laser light according to claim 1, wherein a triaxial angle inclinometer is attached to the arm. 2. The three-dimensional coordinate determination method using laser light according to claim 1, wherein the arm is a multi-indirect arm used in a three-dimensional digitizer or the like. The three-dimensional coordinate determination using laser light according to any one of claims 1 to 4, wherein the optical path visualization module is rotatably held in an arbitrary direction by a gimbal mechanism, and an intersection of the optical paths of the laser light is a center point thereof. Way . A predetermined three-dimensional inking position is obtained by matching the calculated three-dimensional coordinate value with a predetermined value using the three-dimensional coordinate determination method according to any one of claims 1 to 5. Inking method using laser light.   A laser beam characterized in that an optical path visualization module containing a substance that scatters or develops light inside is attached to an object to be measured, and this optical path visualization module forms an intersection of the optical paths of laser light irradiated from two directions. Positioning method using The positioning method using laser light according to claim 7 , wherein the optical path visualization module is preliminarily marked with a grid scale.

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