JP5863482B2 - Angle measuring device - Google Patents

Description

  The present invention relates to a simple angle measuring device, and more particularly to an angle measuring device capable of remote operation.

  An angle measuring device equipped with a distance measuring function is generally highly accurate but large and expensive. In addition, when performing interior decoration and construction, measurements are performed when various interior works such as installation of various windows and air conditioners are performed, and measurements are performed when scoring is performed. A surveying instrument for setting a horizontal reference plane by rotating and irradiating a laser beam is used. Dimensioning, scoring, etc. were performed based on the horizontal reference plane and horizontal reference line formed by the surveying instrument.

  In conventional work, dimensioning from the reference surface and the reference line is manual work by the operator, which takes time and is not easy to work, and the measurement includes human error, so the measurement accuracy is good. There wasn't.

JP 2003-279351 A

  In view of such a situation, the present invention provides a simple angle measuring device excellent in workability.

  The present invention includes an angle measuring device main body and a remote control device that can be attached to and detached from the angle measuring device main body, and the angle measuring device main body collimates a measurement point, and the collimating telescope A rotation drive unit for rotating the telescope in a desired direction, a first communication unit, and a main body control device for controlling the rotation drive unit so as to direct the collimating telescope in a predetermined direction. 2, an imaging unit, a vertical sensor, a second direction angle sensor, and a second communication unit, and with the remote control device removed, the detection results of the vertical sensor and the second direction angle sensor are Transmitted from the second communication unit and received by the first communication unit, the main body control device, the collimation direction of the second imaging unit obtained based on the detection result, and the collimation of the collimation telescope Angle measuring device for controlling the rotary drive unit so that the direction matches It relates to.

  In the present invention, the angle measuring device main body includes a first direction angle sensor and a vertical angle detector, and the collimation obtained by the detection result of the first direction angle sensor and the vertical angle detector. An angle measuring device for controlling a rotation driving unit so as to eliminate a deviation between a collimation direction of a telescope and a collimation direction of the second imaging unit obtained from detection results of the vertical sensor and the second direction angle sensor It is.

  In the present invention, the angle measuring device main body may include a first imaging unit that acquires an image in a collimating direction via the collimating telescope, and the image acquired by the first imaging unit and the second imaging unit And an angle measuring device that matches the collimating direction of the collimating telescope with the collimating direction of the second imaging unit by image matching with the image acquired in (1).

  According to the present invention, the angle measuring device main body includes a first imaging unit that acquires an image in a collimation direction through the collimating telescope, and the remote control device includes a display unit, and the display unit includes Is related to an angle measuring device that displays the first image acquired by the first imaging unit and / or the second image acquired by the second imaging unit received via the first communication unit and the second communication unit. It is.

  Further, the present invention relates to an angle measuring device in which the angle measuring device main body part is removable, and the remote control device is a portable terminal.

  According to the present invention, there is provided an angle measuring device main body and a remote control device that can be attached to and detached from the angle measuring device main body, and the angle measuring device main body collimates a measurement point, and the viewing telescope The remote control device, comprising: a rotation drive unit that rotates the quasi-telescope in a desired direction; a first communication unit; and a main body control device that controls the rotation drive unit so that the sighting telescope is directed in a predetermined direction. Comprises a second imaging unit, a vertical sensor, a second direction angle sensor, and a second communication unit, and the detection of the vertical sensor and the second direction angle sensor with the remote control device removed. A result is transmitted from the second communication unit and received by the first communication unit, and the main body control device determines the collimation direction of the second imaging unit obtained based on the detection result, and the collimation telescope Because the rotary drive is controlled so that the collimation direction matches The posture of the remote controller, it is possible to perform easily collimation measuring points by adjusting the orientation.

  According to the invention, the angle measuring device main body includes a first direction angle sensor and a vertical angle detector, and the first direction angle sensor and the detection result of the vertical angle detector are obtained. Since the rotation drive unit is controlled so as to eliminate the deviation between the collimation direction of the collimating telescope and the collimation direction of the second imaging unit obtained from the detection results of the vertical sensor and the second direction angle sensor, The collimation direction requested from the operating device can be obtained in real time.

  According to the invention, the angle measuring device main body includes a first imaging unit that acquires an image in a collimating direction via the collimating telescope, and the image acquired by the first imaging unit and the second Since the collimating direction of the collimating telescope and the collimating direction of the second imaging unit are matched by image matching with the image acquired by the imaging unit, the collimating direction requested from the remote control device can be obtained with high accuracy. .

  According to the invention, the angle measuring device main body includes a first imaging unit that acquires an image in a collimating direction via the collimating telescope, and the remote control device includes a display unit, Since the first image acquired by the first imaging unit and / or the second image acquired by the second imaging unit received via the first communication unit and the second communication unit are displayed on the unit, the remote The direction collimated by the operation device can be compared with the direction collimated by the collimating telescope, the collimation work is easy, and the magnification of the image is changed by switching between the first image and the second image. As a result, collimation work can be performed neatly.

  Further, according to the present invention, the angle measuring device main body has a detachable light wave distance meter, and the remote control device is a portable terminal. Therefore, a commercially available device can be used, and it can be easily manufactured at low cost. It exhibits excellent effects such as being possible.

It is a schematic front view of the angle measuring device which concerns on the Example of this invention. It is a schematic side view of the front angle measuring apparatus. It is the schematic of the remote control apparatus used for this angle measuring device. It is a block diagram of a main body control device of the angle measuring device. It is a block diagram of the remote control device.

  Embodiments of the present invention will be described below with reference to the drawings.

  First, the outline of the present embodiment will be described with reference to FIGS. In FIGS. 1 and 2, reference numeral 1 denotes an angle measuring device.

  A leveling unit 3 is provided at the upper end of the tripod 2, and a rotary base 5 is rotatably provided on the leveling unit 3 via a horizontal rotation shaft 4. The leveling unit 3 has a leveling mechanism (not shown) for leveling the axis of the horizontal rotation shaft 4 vertically and a tilt sensor 24 (described later). A horizontal rotation drive unit 6 is built in the leveling unit 3, and the rotation base 5 is rotated around the horizontal rotation shaft 4 by the horizontal rotation drive unit 6.

  A base 7 is vertically provided on the rotary base 5, and a telescope unit 9 is rotatably attached to the base 7 via a vertical rotary shaft 8 having a horizontal axis. The rotary base 5 is provided with a first direction angle sensor 25 (described later).

  The telescope unit 9 includes a collimating telescope 10, and the collimating telescope 10 has a viewing angle of about 5 ° and collimates a measurement point. The collimation point of the collimating telescope 10 is indicated by a reticle (not shown) provided in the collimating telescope 10. The telescope unit 9 includes a first imaging unit 11 and can capture an image in a collimating direction through the collimating telescope 10. The first imaging unit 11 can be a CCD or CMOS as an image sensor. And the like, and output digital image data.

  A vertical rotation drive unit 12 is built in the gantry 7, and the telescope unit 9 is rotated in the vertical direction about the vertical rotation axis 8 by the vertical rotation drive unit 12.

  The horizontal rotation drive unit 6 and the vertical rotation drive unit 12 constitute a rotation drive unit, and the rotation drive unit requests the telescope unit 9 in cooperation with the horizontal rotation drive unit 6 and the vertical rotation drive unit 12. Can be directed in the direction of

  An optical rangefinder (EDM) 13 is provided on the upper surface of the telescope unit 9, and the telescope unit 9 and the optical rangefinder 13 are integrated. The optical axis of the optical distance meter 13 and the optical axis of the telescope unit 9 are parallel, and the distance between the optical axes is known. The light wave distance meter 13 may be provided in the telescope unit 9 via an attachment (not shown), and the direction of the optical axis of the light wave distance meter 13 may be adjustable by the attachment.

  The horizontal rotation shaft 4 is provided with a horizontal angle detector 14, which detects the rotation angle of the horizontal rotation shaft 4, that is, the horizontal rotation angle of the rotation base 5, and the vertical rotation shaft. 8 is provided with a vertical angle detector 15, which detects the rotation angle of the vertical rotation shaft 8, that is, the vertical rotation angle of the telescope unit 9.

  A main body control device 16 is provided inside the rotary base 5. The main body control device 16 may be provided in other parts such as the telescope unit 9 as long as there is enough space. The main body control device 16 controls the horizontal rotation driving unit 6 and the vertical rotation driving unit 12, controls the distance measurement by the lightwave distance meter 13, and the detection results of the horizontal angle detector 14 and the vertical angle detector 15. The horizontal angle and the vertical angle are measured based on the above, or data communication with the remote control device 17 described later is performed. The leveling unit 3, the rotating base 5, the mount 7, the telescope unit 9, etc., excluding the remote control device 17, constitute an angle measuring device main body.

  The remote control device 17 can be attached to and detached from the leveling unit 3 via an attachment 18 (see FIG. 2).

  As shown in FIG. 3, the remote control device 17 is a portable type (handheld type) that can be held with one hand and operated with the other hand, and includes a display unit 28, a second imaging unit 36, The display unit 28 is a touch panel and doubles as an operation unit) and includes a communication unit (described later) that performs data communication with the main body control device 16. Further, a vertical sensor 33 and a second direction angle sensor 34 for detecting the posture and direction of the remote control device 17 are provided.

  Further, as shown in FIG. 2, a deflection optical unit 19 is provided in the telescope unit 9, and a part of the light of the light wave rangefinder 13 is returned to the telescope unit 9, and the collimation point of the telescope unit 9 and the The optical axis of the telescope unit 9 may be deflected by the deflecting optical unit 19 so that the measurement points of the light wave distance meter 13 coincide.

  The operation from the remote control device 17 can perform required operations such as determination of the collimation direction of the telescope unit 9, determination of measurement points, measurement, execution of imaging, etc. When installed in the measuring device 1, the angle measuring device 1 is directly operated via the remote control device 17, and when the remote control device 17 is removed, the angle is measured via the remote control device 17. The measuring device 1 is remotely operated.

  In addition, when the remote control device 17 and the attachment 18 are equipped with respective connectors (not shown), and the remote control device 17 is installed on the attachment 18, the remote control device 17 is a connector. You may make it electrically connect with the said main body control apparatus 16 directly via connection.

  The main body control device 16 and the remote control device 17 will be further described with reference to FIGS.

  First, the main body control device 16 will be described with reference to FIG.

  The main body control device 16 mainly includes a first calculation control unit 21, a first storage unit 22, the horizontal angle detector 14, the vertical angle detector 15, the tilt sensor 24, the first direction angle sensor 25, and an operation. Unit 26, first communication unit 27, light wave distance meter 13, first imaging unit 11, horizontal rotation drive unit 6, vertical rotation drive unit 12, display unit 28, first power supply unit 29, and the like. Yes.

  Detection signals from the horizontal angle detector 14, the vertical angle detector 15, the tilt sensor 24, and the first direction angle sensor 25 are input to the first calculation control unit 21. The communication of the first communication unit 27 is controlled by the first calculation control unit 21 and a control command is transmitted from the first communication unit 27. The data received by the first communication unit 27 is the first calculation control. Input to the unit 21.

  The first calculation control unit 21 controls the light wave distance meter 13 and the first image pickup unit 11, and the distance measurement result measured by the light wave distance meter 13 and the image data acquired by the first image pickup unit 11 are the first value. 1 is input to the arithmetic control unit 21.

  The first calculation control unit 21 controls the horizontal rotation driving unit 6 and the vertical rotation driving unit 12 to rotate the telescope unit 9 and the light wave distance meter 13 in a required direction.

  The detection results from the horizontal angle detector 14 and the vertical angle detector 15 are input to the first calculation control unit 21, and the deflection is performed based on the detection results of the horizontal angle detector 14 and the vertical angle detector 15. The horizontal rotation angle and the vertical rotation angle of the optical unit 19 and the optical distance meter 13 are measured.

  The detection result of the tilt sensor 24 is input to the first calculation control unit 21, and the leveling operation of the leveling unit 3 is controlled and based on the detection results of the tilt sensor 24 and the vertical angle detector 15. The vertical angle of the telescope unit 9 is measured. The detection result of the first direction angle sensor 25 is input to the first calculation control unit 21, and the first calculation control unit 21 determines the direction angle of the collimation direction based on the detection result of the first direction angle sensor 25. taking measurement.

  The operation unit 26 and the display unit 28 are also used as an operation unit and a display unit equipped in the remote operation device 17 described later.

  The first storage unit 22 is a control program required to control the first imaging unit 11, the lightwave distance meter 13, the first communication unit 27, the horizontal rotation driving unit 6, and the vertical rotation driving unit 12. , An image processing program for processing image data acquired by the first imaging unit 11, detection from the horizontal angle detector 14, the vertical angle detector 15, the tilt sensor 24, and the first direction angle sensor 25. An angle measurement program for measuring a direction angle, an inclination angle, a horizontal rotation angle, a vertical rotation angle, and the like based on the result, a communication control program for controlling communication by the first communication unit 27, and the like are stored. Measurement data such as a distance measurement result and an angle measurement result by the meter 13 and image data acquired by the first imaging unit 11 are stored.

  The first power supply unit 29 is a rechargeable battery such as a lithium ion battery, and includes the first calculation control unit 21, the first communication unit 27, the first imaging unit 11, the horizontal rotation driving unit 6, and the like. Necessary power is supplied to the vertical rotation drive unit 12 and the like.

  The remote control device 17 will be described with reference to FIG.

  The remote operation device 17 mainly includes the operation unit 26, the display unit 28, the second calculation control unit 31, the second storage unit 32, the vertical sensor 33, the second direction angle sensor 34, the second communication unit 35, and the second communication unit 35. 2 imaging section 36, second power supply section 37 and the like.

  Detection signals from the vertical sensor 33 and the second direction angle sensor 34 are input to the second calculation control unit 31, and the second calculation control unit 31 receives signals from the vertical sensor 33 and the second direction angle sensor 34. Based on this signal, the imaging direction of the second imaging unit 36 (the attitude of the remote control device 17) is calculated.

  The second imaging unit 36 has a viewing angle of about 60 °, and has a sensor such as a CCD or CMOS as an imaging device, acquires a digital image, and the acquired image is sent to the second arithmetic control unit 31. It is supposed to input.

  The second communication unit 35 receives data transmitted from the main body control device 16, inputs the data to the second calculation control unit 31, and the remote operation device 17 calculated by the second calculation control unit 31. Information on the posture of the camera or image data acquired by the second imaging unit 36 is transmitted to the main body control device 16.

  The display unit 28 displays the second image acquired by the second imaging unit 36 and the first image acquired by the first imaging unit 11. The display of the second image and the display of the first image may be displayed entirely on the display unit 28, or the display unit 28 is divided, or a window is set on the display unit 28. The first image and the second image may be displayed simultaneously.

  The display unit 28 may be a touch panel so that a desired operation can be performed from the display unit 28, and the functions of the operation unit 26 may be integrated on the display unit 28.

  In the second storage unit 32, a control unit program for controlling the second imaging unit 36, a communication control program for controlling communication by the second communication unit 35, the display of the display unit 28, the display Based on a program for causing the unit 28 to function as an operation unit, and signals from the vertical sensor 33 and the second direction angle sensor 34, information on the attitude of the remote operation device 17 such as the direction and inclination of the remote operation device 17 And various programs such as an image processing program for executing image processing such as matching the image acquired by the second imaging unit 36 with the image acquired by the first imaging unit 11 are stored. .

  The second storage unit 32 stores image data acquired by the second imaging unit 36 or image data of the first imaging unit 11 transmitted from the first communication unit 27, and the angle measuring device 1. The distance measurement and angle measurement data measured in is stored.

  The second power supply unit 37 is a rechargeable battery such as a lithium ion battery, and is necessary for the second calculation control unit 31, the second communication unit 35, the second imaging unit 36, the display unit 28, and the like. Supply power.

  Hereinafter, the operation will be described.

  First, the case where the remote operation device 17 is attached to the attachment 18 and used as the operation unit of the angle measurement device 1 will be described. In the following description, a case where the display unit 28 is used as the operation unit will be described.

  An image captured through the collimating telescope 10 is displayed on the display unit 28. The operator selects a measurement point from the display unit 28 based on the image displayed on the display unit 28, and rotates horizontally through the display unit 28 so that the collimating telescope 10 collimates the measurement point. Then, an instruction for vertical rotation is given, the collimating telescope 10 is collimated to the measurement point, and distance measurement and angle measurement are executed. Alternatively, measurement conditions such as a measurement interval and a measurement range are input from the display unit 28, and automatic measurement is executed under the given measurement conditions.

  In response to a measurement execution command, the optical distance meter 13 is driven to acquire distance measurement data, and angle measurement data is acquired based on detection results of the horizontal angle detector 14 and the vertical angle detector 15.

  When an image of a measurement location or measurement range is necessary, the image acquired by the first imaging unit 11 is stored in the first storage unit 22 in association with the measurement result.

  Next, a case where the remote control device 17 is detached from the attachment 18 and remote control is performed by the remote control device 17 will be described.

  The collimation direction of the collimating telescope 10 is detected by the vertical angle detector 15 and the first direction angle sensor 25, and the collimation direction of the second imaging unit 36 (hereinafter referred to as the second collimation direction) is It is detected by the vertical sensor 33 and the second direction angle sensor 34. Data on the collimating direction of the second imaging unit 36 detected by the vertical sensor 33 and the second direction angle sensor 34 is transmitted to the first communication unit 27 via the second communication unit 35.

  The first calculation control unit 21 includes a second collimation direction received by the first communication unit 27 and a collimation direction (hereinafter referred to as a first collimation direction) detected by the first direction angle sensor 25 and the vertical angle detector 15. If there is a deviation, the horizontal rotation driving unit 6 and the vertical rotation driving unit 12 are driven so that the deviation is eliminated, and the telescope unit 9 is moved in the horizontal and vertical directions. Rotate a predetermined angle.

  When the deviation is zero, the image displayed on the display unit 28 is an image in the direction collimated by the collimating telescope 10. If the center of the display unit 28 is the collimation point of the second imaging unit 36, the point collimated by the collimating telescope 10 is the center of the display unit 28.

  Since the detection results of the first direction angle sensor 25, the vertical angle detector 15, the vertical sensor 33, and the second direction angle sensor 34 include an error, the collimation direction of the collimating telescope 10 In order to match the collimation direction of the second imaging unit 36 with high accuracy, image matching is performed between the image acquired by the first imaging unit 11 and the image acquired by the second imaging unit 36. If the collimation direction of the collimating telescope 10 is finely adjusted using the deviation between the two images obtained by image matching, a perfect match between the first collimating direction and the second collimating direction can be obtained.

  When a perfect match between the first collimation direction and the second collimation direction is obtained, the relationship between the angle measurement device 1 and the remote control device 17 is set to 0 (set as a reference state).

  Next, a point (measurement point) that the operator wants to measure is visually selected, and the second imaging unit 36 is directed to the measurement point while viewing the image on the display unit 28.

  The movement of the remote control device 17 is continuously detected by the second direction angle sensor 34 and the vertical sensor 33, and the detection result is transmitted from the second communication unit 35 to the first communication unit 27 in real time. The first calculation control unit 21 calculates the collimation direction of the second imaging unit 36 based on the detection results of the second direction angle sensor 34 and the vertical sensor 33 received by the first communication unit 27. Based on the calculated result, the horizontal rotation driving unit 6 and the vertical rotation driving unit 12 are driven to cause the collimation direction of the telescope unit 9 to follow the movement of the remote control device 17 in real time.

  That is, when the operator looks at the image on the display unit 28 and selects a measurement point in the image, the reticle displayed on the image matches the measurement point and measurement is started. As described above, since what is displayed on the display unit 28 can select either the first image acquired by the first imaging unit 11 or the second image acquired by the second imaging unit 36, The second image with a large viewing angle may be displayed to select a measurement point, and the first image with a high magnification may be displayed when collimating to the measurement point next time.

  In addition, the display unit 28 is divided into, for example, top and bottom, a second image with a large viewing angle is displayed on the upper side, a first image with a small viewing angle is displayed on the lower side, and the orientation of the remote control device 17 is changed. In this case, or when the remote control device 17 is moved, it may be confirmed that the movement of the telescope unit 9 follows. Alternatively, since the first image and the second image have different viewing angles (the viewing angle of the first image is small), the first image and the second image are simultaneously displayed up and down, and the first image is the same as the second image. You may make it confirm which part hits.

  When collimated to the measurement point, a measurement start command is input from the display unit 28. A measurement start command is transmitted from the second communication unit 35 to the first communication unit 27, and the first communication unit 27 inputs the received command to the first calculation control unit 21, and the first calculation control unit 21 Reference numeral 21 executes distance measurement based on distance measurement by the light wave distance meter 13 and signals from the horizontal angle detector 14 and the vertical angle detector 15.

  When the predetermined range is automatically measured, or when panoramic photographs are taken, conditions for automatic measurement are input from the display unit 28, or conditions for taking panoramic photographs are input, the input conditions are the angles. Automatic measurement or automatic imaging is executed by inputting an execution command, which is transmitted to the measuring apparatus 1.

  In addition, you may make it attach the above-mentioned optical wave distance meter 13 via an attachment. Furthermore, a mobile terminal (for example, a mobile phone, a smartphone, or a tablet PC) may be used for the remote operation device 17. By using a commercially available lightwave distance meter and portable terminal, the angle measuring device can be configured simply and inexpensively.

DESCRIPTION OF SYMBOLS 1 Angle measuring device 8 Vertical rotating shaft 9 Telescope part 10 Collimating telescope 11 1st imaging part 12 Vertical rotation drive part 13 Light wave rangefinder 14 Horizontal angle detector 15 Vertical angle detector 16 Main body control apparatus 17 Remote operation apparatus 18 Attachment 21 First calculation control unit 22 First storage unit 24 Inclination sensor 25 First direction angle sensor 26 Operation unit 27 First communication unit 28 Display unit 31 Second calculation control unit 32 Second storage unit 33 Vertical sensor 34 Second direction angle sensor 35 Second communication unit 36 Second imaging unit

Claims (5)

  A collimating telescope having an angle measuring device main body and a remote control device detachably attached to the angle measuring device main body, the angle measuring device main body collimating a measurement point; and the collimating telescope in a desired direction A rotation driving unit that rotates the first collimating telescope, a first communication unit, and a main body control device that controls the rotation driving unit to direct the collimating telescope in a predetermined direction. A vertical sensor, a second direction angle sensor, and a second communication unit, and the detection result of the vertical sensor and the second direction angle sensor is the second communication with the remote control device removed. Is transmitted from the first communication unit and received by the first communication unit, and the main body control device matches the collimation direction of the second imaging unit obtained based on the detection result and the collimation direction of the collimating telescope An angle characterized by controlling the rotational drive unit to Constant apparatus.   The angle measuring device main body includes a first direction angle sensor and a vertical angle detector, and the collimation direction of the collimating telescope obtained from the detection result of the first direction angle sensor and the vertical angle detector The angle measuring device according to claim 1, wherein the rotation driving unit is controlled so as to eliminate a deviation between the collimating direction of the second imaging unit obtained from the detection results of the vertical sensor and the second direction angle sensor.   The angle measuring device main body includes a first imaging unit that acquires an image in a collimating direction via the collimating telescope, and an image acquired by the first imaging unit and an image acquired by the second imaging unit The angle measuring device according to claim 1 or 2, wherein the collimating direction of the collimating telescope and the collimating direction of the second imaging unit are matched by image matching.   The angle measuring device main body includes a first imaging unit that acquires an image in a collimating direction via the collimating telescope, the remote control device includes a display unit, and the display unit includes the first communication unit. The angle measurement device according to claim 1 or 2, wherein the first image acquired by the first imaging unit and / or the second image acquired by the second imaging unit received via the second communication unit is displayed. .   The angle measuring device according to claim 3 or 4, wherein the angle measuring device main body has a detachable light wave distance meter, and the remote control device is a portable terminal.

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