JP6201252B1 - Position measuring apparatus and position measuring method - Google Patents

Abstract

Provided is a position measurement device that measures the coordinate value of the center of an object target with high accuracy and in a short time with a single captured image even when the target is moving. The center of the surface of the spherical target is collimated with a collimating telescope, and the three-dimensional coordinate value of the center of the surface of the spherical target is measured by the non-prism mode of the surveying instrument. The object photographing unit 203 photographs a spherical image including the spherical target with the digital camera of the collimating telescope. The image center calculation unit 204 converts the boundary of the sphere target in the sphere image to the circumference of the sphere target, and calculates the center position of the sphere target in the sphere image based on the converted circumference of the sphere target. To do. The center determination unit 205 determines whether or not the center position of the spherical target is included in a predetermined center determination range. The center calculation unit 206 calculates the three-dimensional coordinate value of the core of the spherical target using the three-dimensional coordinate value of the center of the surface of the spherical target. [Selection] Figure 2

Description

  The present invention relates to a position measuring device and a position measuring method.

  Conventionally, there is a technique for measuring a three-dimensional position of a target by installing a target at a position where a three-dimensional position (coordinate value) is to be measured, photographing the target, and analyzing an image of the photographed target. .

  For example, Japanese Patent Laid-Open No. 2000-221037 (Patent Document 1) discloses an automatic surveying system including a light wave distance meter capable of non-prism measurement and an arithmetic processing means for recognition for recognizing a measurement object by image processing. A machine is disclosed. This automatic surveying instrument measures the distance and angle to at least three specific points on the plane α including the measurement point of the measurement object, measures the angle to the measurement point, and measures the distance and angle to the specific point. From the angle to the measurement point, a straight line connecting the measurement points is determined, and a measurement point corresponding to the intersection of the plane α and the straight line is calculated. This makes it possible to calculate any three-dimensional coordinate position, distance, area, etc. from distance, angle data, etc., with a non-prism type automatic surveying device that measures the distance to the object without using a reflecting prism or the like. It can be done.

  Japanese Patent Application Laid-Open No. 2007-147522 (Patent Document 2) takes a photo of both an orientation reference body having a predetermined number of reference position specifying portions at a predetermined position and a measurement object from a plurality of directions by the same digital camera. A photo measurement method is disclosed. In this photo measurement method, for each photo, external orientation is performed based on the positional relationship between the position of the reference position specifying unit on the photo and the reference position specifying unit in the reference standard body, and using the values of the external orientation elements, Based on the position of the point corresponding to the required point on the measurement target on the photograph, three-dimensional coordinates are obtained by forward intersection. Accordingly, it is not necessary to provide a reference position specifying unit such as a photo measurement target on the measurement target, and it is possible to perform photo measurement with high accuracy at a large number of points.

  Japanese Patent Laying-Open No. 2009-198329 (Patent Document 3) discloses a position measurement system used for measuring the position and orientation of an excavator that digs underground and forms a tubular structure in the excavation path. Yes. In this system, four or more imaging targets having a three-dimensional positional relationship are imaged, and based on the image data of the imaging target and the position and orientation of the reference imaging means, Calculate the orientation. As a result, the position and orientation of the excavator can be measured quickly.

  Japanese Patent Application Laid-Open No. 2004-61245 (Patent Document 4) discloses a surveying instrument, a CCD camera attached to an eyepiece of a telescope of the surveying instrument, and a particulate reflecting prism disposed on the surface of the surveying instrument. A fully automatic surveying device having a target with a sphere coated with a material is disclosed. In this system, the surveying instrument is automatically aligned with the target so that the center of the scale of the telescope enters the target image, and the target is roughly collimated with the target, and the position of the center of gravity of the target and the scale of the telescope Horizontal and vertical deviations from the center position are calculated using an image processing device. Then, by adding this deviation to the horizontal angle αH and the vertical angle αV obtained by rough collimation as angles βH and βV, the horizontal angle and the vertical angle of the survey point are obtained, and this operation is provided to the surveying object. Repeat for all stations. As a result, a large number of measurement points can be automatically measured using a target that is not affected by the collimating direction.

JP 2000-221037 A JP 2007-147522 A JP 2009-198329 A

  In order to measure a three-dimensional coordinate value of a target based on a captured image obtained by imaging a target with a single (monocular) digital camera (imaging means), the target is imaged from two or more different directions, It is necessary to devise such as using a special target with a known positional relationship.

  For example, in the technique described in Patent Document 1, it is necessary to capture three specific points on the plane α, and there is a problem that a target for measuring a three-dimensional coordinate value is limited. In the techniques described in Patent Documents 2 and 3, it is necessary to use a very special target, and there is a problem that measurement conditions are limited.

  The technique described in Patent Document 4 uses a spherical target for a reflecting prism to perform auto-collimation and align the center of gravity of the target and the center of the telescope by image processing. However, a sphere for the reflecting prism is required, and the three-dimensional coordinate value of the sphere is not calculated simply by correcting the collimating horizontal and vertical angles. Further, the technique described in Patent Document 4 has a problem that the moving target cannot be targeted because of the reflecting prism on the premise that the spherical target is stationary.

  On the other hand, if it is possible to easily measure the three-dimensional coordinate value of one target with one photographed image, it can be used in various measurement fields and has a wide range of applications.

  Therefore, the present invention has been made to solve the above-described problem. Even when the object target is moving, the coordinate value of the center of the object target can be obtained with high accuracy and in a short time with a single captured image. An object is to provide a position measuring apparatus and a position measuring method capable of measuring.

  As a result of intensive studies, the present inventor has completed a novel position measuring apparatus and position measuring method according to the present invention. In other words, the position measurement device according to the present invention includes a collimation matching unit, an object distance measurement unit, an object photographing unit, an image center calculation unit, a center determination unit, and an actual center calculation unit. The collimation unit collimates the collimation telescope of the surveying instrument to the center of the surface of the spherical target. The object distance measuring unit measures a three-dimensional coordinate value of the center of the surface of the spherical target according to a horizontal angle and a vertical angle of the collimating telescope and a non-prism mode of the surveying instrument. The object photographing unit photographs a spherical image including the spherical target with a digital camera in which the optical axis of the collimating telescope matches the center of the photographed image. The center calculation unit converts the outer edge of the sphere target in the sphere image into the circumference of the sphere target, and calculates the center position of the sphere target in the sphere image based on the converted circumference of the sphere target. The center determination unit determines whether or not the center position of the sphere target is included in a predetermined center determination range based on the center position of the sphere image. When the center position of the sphere target is included in the center determination range, the real center calculation unit calculates the sphere in the direction of the measured horizontal angle and vertical angle from the three-dimensional coordinate value of the center of the surface of the sphere target. A three-dimensional coordinate value moved by the radius of the spherical target toward the target core is calculated as a three-dimensional coordinate value of the spherical target core. The position measurement method according to the present invention includes a collimation step, an object distance measurement step, an object photographing step, an image center calculation step, a center determination unit, and an actual center calculation step, as described above. .

  The position measuring device according to the present invention may be a cylindrical target. That is, the collimating unit collimates the collimating telescope of the surveying instrument to the center of the surface of the cylindrical target in the horizontal direction. The object distance measuring unit measures a three-dimensional coordinate value of the center of the surface of the cylindrical target according to a horizontal angle and a vertical angle of the collimating telescope and a non-prism mode of the surveying instrument. The object photographing unit photographs a cylindrical image including the cylindrical target with a digital camera in which the optical axis of the collimating telescope matches the center of the photographed image. The image center calculation unit converts the outer edge of the cylindrical target in the horizontal direction in the cylindrical image to the outer surface of the cylindrical target, and based on the outer surface of the converted cylindrical target, the center line of the cylindrical target in the cylindrical image Is calculated. The center determination unit determines whether or not the center line of the cylinder target is included in a predetermined center determination range based on the center position of the cylinder image. When the center line of the cylindrical target is included in the center determination range, the real center calculation unit is measured from the two-dimensional coordinate value in the horizontal direction among the three-dimensional coordinate values of the center of the surface of the cylindrical target. A two-dimensional coordinate value obtained by moving the cylindrical target by the radius of the cylindrical target in the horizontal angle direction is calculated as a two-dimensional coordinate value of the central axis of the cylindrical target in the horizontal direction. The position measurement method according to the present invention includes a collimation step, an object distance measurement step, an object photographing step, a center calculation step, and a center calculation step, as described above.

  According to the present invention, even if the object target is moving, it is possible to measure the coordinate value of the center of the object target with high accuracy and in a short time with a single captured image.

It is the schematic of the position measuring device which concerns on this invention. It is a functional block diagram of the position measuring device according to the present invention. It is a flowchart for showing the execution procedure of the position measuring method which concerns on this invention. FIG. 4 is a schematic diagram (FIG. 4A) showing a positional relationship among a surveying instrument, a spherical target, and an object, and a schematic diagram (FIG. 4B) showing a positional relationship between the surveying instrument and the spherical target in a three-dimensional coordinate system. A diagram (FIG. 5A) showing an example of a sphere image and a sphere binarized image, an image approximating a predetermined number of pixels constituting the outer edge of the sphere target on the circumference, the center position of the sphere target, and a predetermined center determination range FIG. 5B is a diagram showing an example of the relationship between (a) and (b). Schematic showing the positional relationship between the surveying instrument and the sphere target core in the horizontal plane of the XY coordinate system (FIG. 6A), and schematic diagram showing the positional relationship between the surveying instrument and the sphere target core in the vertical plane of the Z coordinate system ( FIG. 6B). FIG. 7A shows an example of the difference in the XY coordinate values between the center position of the sphere target in the XY coordinate system of the sphere image and the center position of the sphere image, and the observation direction of the collimating telescope in the three-dimensional coordinate system is corrected. It is the schematic (FIG. 7B) which shows an example of a case. It is the schematic (FIG. 8A) of the position measuring apparatus which concerns on Example 1, and the schematic (FIG. 8B) of the vibration testing machine and displacement meter which installed the spherical target on the upper surface. A graph showing the time-dependent change of the Z coordinate value of the core of the spherical target when the spherical target is stationary (FIG. 9A), and the Z coordinate value of the core of the spherical target when the spherical target vibrates up and down and measured with a displacement meter. It is a graph (FIG. 9B) which shows a time-dependent change of a reference | standard amplitude Z coordinate value. A diagram (FIG. 10A) showing an example of an image obtained by inputting a sphere binarized image to the support vector machine and extracting only a region where the shape of the sphere target is reflected, and a case where the shape of the sphere target is partially hidden It is a figure (FIG. 10B) which shows an example of calculation of the radius of a spherical target. FIG. 11A is a schematic diagram of a position measurement monitoring system for a shield machine using the position measurement device of the present invention (FIG. 11A), and FIG. 11B is a diagram showing an example of distance measurement by a second surveying instrument of the position measurement monitoring system (FIG. 11B) is there. The figure (FIG. 12A) which shows an example of the position measurement method of the 2nd surveying instrument of a position measurement monitoring system, The figure (FIG. 12B) which shows an example of the position measurement method of the 1st surveying instrument of a position measurement monitoring system, It is. Schematic diagram of the completed survey at the construction site using the position measuring device of the present invention (FIG. 13A), Schematic diagram of the steel frame survey in the construction using the position measuring device of the present invention (FIG. 13B), It is. It is the schematic of the position measurement of the vehicle by the drone using the position measuring apparatus of this invention. FIG. 15A shows an example of a cylindrical image and a cylindrical binarized image, an image obtained by approximating a predetermined number of pixels constituting the outer edge of the cylindrical target with a straight line, the center position of the cylindrical target, and a predetermined center determination range. FIG. 15B is a diagram illustrating an example of the relationship (FIG. 15B). FIG. 16A is a schematic diagram of a vibration testing machine in which a cylindrical target is installed on the left surface in Example 2, and the time-dependent changes in the Y coordinate value and the reference amplitude Y coordinate value of the central axis of the cylindrical target when the cylindrical target vibrates up and down. It is a graph (FIG. 16B) which shows.

  Embodiments according to the present invention will be described below with reference to the accompanying drawings for understanding of the present invention. In addition, the following embodiment is an example which actualized this invention, Comprising: The thing of the character which limits the technical scope of this invention is not.

  As shown in FIG. 1, the position measuring apparatus 1 (which may be referred to as a position measuring system) according to the present invention includes a surveying instrument 10, a terminal device 11, and an object target 12.

  The surveying instrument 10 is generally used at a construction site or a civil engineering site, and includes a main body 100 and a collimating telescope 101. The main body 100 is configured to be rotatable in the horizontal direction. The collimating telescope 101 is provided so as to be rotatable with respect to the main body 100 in the vertical direction. Therefore, the collimating telescope 101 is rotatable in the horizontal direction and the vertical direction with respect to the surveying instrument 10. The collimating telescope 101 has the function of a digital camera and can capture an image of an object in the observation direction (optical axis direction) of the collimating telescope. The digital camera has a CCD camera element installed in parallel to the optical axis of the lens of the collimating telescope 101. Since the center of the image captured by the CCD camera element coincides with the optical axis of the collimating telescope, the digital camera is photographed. The center position of the captured image coincides with the measurement position on the surface of the object that is collimated and measured by the collimating telescope.

  When the collimating telescope 101 is collimated on the object target 12 and a measurement instruction signal is input to the surveying instrument 10, the surveying instrument 10 irradiates the object target 12 with scanning light from the collimating telescope 101. The scanning light is reflected from the object target 12 and is incident on the collimating telescope 101 again. The incident reflected light is converted into a received light signal by the light receiving element of the surveying instrument 10. The surveying instrument 10 detects the horizontal angle and vertical angle of the collimating telescope 101 with an angle detector. Then, the light wave distance meter of the surveying instrument 10 measures the oblique distance from the surveying instrument 10 to the object target 12 using the received light signal. The lightwave distance meter has a prism type that targets the reflecting prism and a non-prism type that does not target the reflecting prism and targets a predetermined object. In the present invention, the object target 12 is not related to the reflecting prism. Is a non-prism type. The measuring side of the surveying instrument 10 measures the three-dimensional coordinate value of the center of the surface of the object target 12 based on the detected horizontal and vertical angles of the collimating telescope 101 and the measured oblique distance. The three-dimensional coordinate value of the center of the surface of the object target 12 is calculated with reference to the three-dimensional coordinate value of the surveying instrument 10 at a known point, for example.

  The terminal device 11 is a commonly used computer, and includes a storage unit, an input unit such as a keyboard and a mouse, and an output unit such as a liquid crystal display. The terminal device 11 includes a mobile terminal device with a touch panel, a tablet terminal device, and a wearable terminal device.

  In the present invention, the object target 12 is assumed to be a spherical target or a cylindrical target. Since the spherical target 12 has the same shape regardless of the angle in the horizontal direction and the vertical direction, the three-dimensional coordinate value of the core of the spherical target 12 is calculated using the characteristics. The sphere target 12 includes a true sphere part and a support part that supports the sphere part from below.

  Further, since the cylindrical target 12 has the same shape when observed from any angle in the horizontal direction, the two-dimensional coordinate value of the axis of the cylindrical target 12 in the horizontal direction is calculated utilizing the characteristics. Although the cylindrical target 12 is comprised by the cylindrical part of a cylinder, and the support part which supports a cylindrical part from the bottom, you may regard the pile piled-up pile as a cylindrical target.

  The color of the surface of the object target 12 is not particularly limited, but the surface color of the object target 12 is white, yellow, or green so that the object target 12 can be preferentially identified even if a background building or light enters the image. For example, the object target 12 may be colored by attaching a specific identification pattern or mounting a light emitting unit inside the object target 12.

  The surveying instrument 10 and the terminal device 11 incorporate a CPU, ROM, RAM, and the like (not shown), and the CPU executes a program stored in the ROM, for example, using the RAM as a work area. With respect to each unit described later, the function of each unit is realized by the CPU executing a program.

  Next, the configuration and execution procedure according to the embodiment of the present invention will be described with reference to FIGS. First, the surveyor installs the object target 12 on an object whose three-dimensional coordinate value is to be measured in a predetermined coordinate system. Here, the object may be a fixed object such as a building, or may be a moving object such as a vehicle, a shield machine, or an unmanned airplane (drone). The object target 12 will be described as a spherical target.

  Next, the surveyor, as shown in FIG. 4A, the three-dimensional coordinate value (Xt, Yt, Zt) of the specific position P (for example, the core) of the target T and the three-dimensional coordinates of the core C of the spherical target 12. The relative distance Q and the relative angle R with respect to the values (Xc, Yc, Zc) are measured in advance, and the relative distance Q and the relative angle R are input to the terminal device 11 of the position measuring device 1 as offset values. Thus, if the three-dimensional coordinate value of the core of the sphere target 12 can be measured, the three-dimensional coordinate value of the specific position P of the object T can be calculated backward using the relative distance Q and the relative angle R.

  Then, the surveyor goes to the surveying instrument 10 of the position measuring apparatus 1 and activates the position measuring apparatus 1, and the collimation unit 201 of the position measuring apparatus 1 moves the collimating telescope 101 of the surveying instrument 10 to the spherical target 12. Collimate to the center S of the surface (FIG. 3: S101).

  Here, there is no particular limitation on the method by which the collimation unit 201 collimates. For example, when the collimating telescope 101 is first collimated to the center of the surface of the spherical target 12, the surveyor rotates the main body 100 of the surveying instrument 10 in the horizontal direction while looking through the collimating telescope 101. The direction of the quasi-telescope 101 is aligned with the spherical target 12, and while observing the target 12 via the collimating telescope 101, the collimating telescope 101 is rotated in the vertical direction so that the observation angle (horizontal angle, vertical) Angle). As a result, the center of the image captured by the digital camera of the collimating telescope 101 is roughly arranged at the center of the shape of the spherical target 12 and is roughly collimated. As will be described later, if the sphere target 12 moves after the position measuring apparatus 1 collimates the collimating telescope 101 with the sphere target 12, automatic collimation is performed by image processing. Therefore, the measurement accuracy can be improved and the surveyor can save labor without causing a measurement error by the surveyor.

  Next, when the collimation unit 201 completes collimation, the collimation unit 201 (or surveyor) inputs a measurement instruction signal to the surveying instrument 10, and the object distance measurement unit 202 of the position measurement apparatus 1. Measures the three-dimensional coordinate values (Xs, Ys, Zs) of the center S of the surface of the spherical target 12 by the horizontal angle H and vertical angle V of the collimating telescope 101 and the non-prism mode of the surveying instrument 10 (measurement). (Fig. 3: S102).

  Here, there is no particular limitation on the method by which the object distance measuring unit 202 measures the center S of the surface of the spherical target 12 after collimation. For example, as shown in FIG. 4B, the object distance measuring unit 202 first measures the horizontal angle H and the vertical angle V of the collimating telescope 101 with an existing angle detector. Next, the object distance measuring unit 202 irradiates the spherical target 12 with scanning light from the collimating telescope 101 toward the center S of the surface of the spherical target 12 using the non-prism type light wave distance meter of the surveying instrument 10. The reflected light reflected from the center S of the surface is received, and the oblique distance L from the surveying instrument 10 to the center S of the surface of the spherical target 12 is measured using the received light signal.

  The horizontal angle H is defined as, for example, a three-dimensional coordinate value coordinate system in which the X direction (for example, true north) is 0 degree and the direction of rotation in the Y direction (true west) is a positive value. The vertical angle V is defined as a positive value in the three-dimensional coordinate value coordinate system in which the Z direction (for example, directly above) is 0 degrees and the direction of rotation from the top to the bottom is positive. The horizontal angle H, the vertical angle V, and the oblique distance L are measured with reference to the surveying instrument 10.

  The object distance measuring unit 202 uses the horizontal angle H and the vertical angle V of the collimating telescope 101 and the oblique distance L from the surveying instrument 10 to the center S of the surface of the spherical target 12 to determine the center S of the surface of the spherical target 12. Three-dimensional coordinate values (Xs, Ys, Zs) are calculated.

  When the horizontal angle H, the vertical angle V, and the three-dimensional coordinate value (Xs, Ys, Zs) of the center S of the surface of the spherical target 12 are measured with respect to the spherical target 12, the object photographing unit 203 of the position measuring apparatus 1 Then, a spherical image including the spherical target 12 is photographed with a digital camera in which the optical axis of the collimating telescope 101 of the surveying instrument 10 coincides with the center of the photographed image (FIG. 3: S103).

  Here, there is no particular limitation on the method by which the object photographing unit 203 photographs a spherical image. If the collimating telescope 101 is collimated to the spherical target, the digital camera of the collimating telescope 101 can take an image including the spherical target 12. Therefore, when the object photographing unit 203 inputs a photographing instruction signal to the digital camera of the collimating telescope 101, a spherical image can be automatically photographed by the digital camera.

  When the spherical image is captured, the image center calculation unit 204 of the position measuring apparatus 1 next uses the outer edge of the spherical target 12 in the spherical image (the boundary between the region of the spherical target 12 and another region) as the spherical target. The center position C1 of the sphere target 12 in the sphere image is calculated based on the converted circumference of the sphere target 12 (FIG. 3: S104).

  Here, there is no particular limitation on the method by which the image center calculation unit 204 calculates the center position C1 of the sphere target 12 in the sphere image. For example, as illustrated in FIG. 5A, the image center calculation unit 204 binarizes the captured spherical image 500 (for example, a full color image), and the spherical binary image in which the outer edge of the spherical target 12 is specified. 501 is generated.

  When the sphere image 500 is a full-color image, the image center calculation unit 204 converts the sphere image 500 into a grayscale image, sets the pixel of the grayscale image whose pixel density is equal to or higher than a predetermined threshold to 1, A sphere binarized image 501 is generated by setting the pixels of the grayscale image whose density is less than a predetermined threshold to 0. The threshold value is adjusted so that the outer edge of the spherical target 12 in the spherical image 500 can be specified.

  Next, the image center calculation unit 204 extracts a predetermined number of pixels 502 constituting the outer edge of the sphere target 12 from the sphere binarized image 501, and points the extracted predetermined number of pixels 502 as shown in FIG. 5B. Is approximated by a circumference 503. Here, the expression of the circumference 503 is approximated by the least square method for a predetermined number of pixels 502 (points). Thereby, the outer edge of the spherical target 12 can be converted into the circumference of the spherical target 12. Then, the image center calculation unit 204 calculates the approximate center position C1 (Xc1, Yc1) of the circumference 503 as the center position C1 of the sphere target 12 in the sphere image 500.

  Here, since the calculated center position C1 (Xc1, Yc1) of the sphere target 12 in the sphere image 500 is a pixel (pixel) of the sphere image 500, it is converted into an actual size (mm). The conversion from the picture element (pixel) of the spherical image 500 to the actual size (mm) is performed as follows. That is, when the viewing angle of the digital camera of the collimating telescope 101 and the number of horizontal and vertical pixels of the captured image are constant, if the oblique distance L is obtained, the actual size (mm) scale for the pixel (pixel) ( mm / pixel) is uniquely determined. Therefore, the center position C1 of the sphere target 12 can be converted into the actual size by multiplying the number of pixels constituting the center position C1 of the sphere target 12 of the sphere image 500 by the scale. The center position C1 of the sphere target 12 of the sphere image 500 to be converted is a two-dimensional coordinate value based on a predetermined position (for example, the lower left end) in the sphere image 500.

  When the center position C1 of the sphere target 12 is calculated, the center determination unit 205 of the position measuring device 1 then determines that the center position C1 of the sphere target 12 is a predetermined value based on the center position C0 of the sphere image 500. Is determined to be included in the center determination range D (FIG. 3: S105).

  Here, the method of determining by the center determining unit 205 is not particularly limited. For example, the center determination unit 205 uses a center position C0 (Xc0, Yc0) of the spherical image 500 registered in advance as a center and sets a preset threshold value d (for example, an amount corresponding to 1 mm, 0.5 mm, etc.). A circle having a radius is set as the center determination range D, and it is determined whether the center position C1 of the sphere target 12 is included in the center determination range D in the two-dimensional coordinate system in the sphere image 500, as shown in FIG. To do. In the spherical image 500, the vertical axis of the two-dimensional coordinate system is the axis of the X coordinate system, and the horizontal axis is the axis of the Y coordinate system.

  As a result of the determination, when the center position C1 of the spherical target 12 is included in the center determination range D (FIG. 3: S105 YES), the center determination unit 205 determines the three-dimensional center S of the surface of the measured spherical target 12 It is determined that the coordinate values (Xs, Ys, Zs) correspond to the center S of the surface of the actual spherical target 12.

  That is, even if the distance between the center position of the collimating telescope 101 and the center S of the surface of the spherical target 12 is measured, there is a difference between the center position of the collimating telescope 101 and the center S of the surface of the spherical target 12 in the field. May occur. Therefore, if the center position C1 of the sphere target 12 is included in a predetermined center determination range D based on the center position C0 of the sphere image 500 by image processing, the center position of the collimating telescope 101 and the sphere target 12 are detected. There is no deviation from the center S of the surface, and the result of the image processing can be considered appropriate. Therefore, it is determined that the three-dimensional coordinate value (Xs, Ys, Zs) of the surface center S of the measured spherical target 12 substantially matches the actual center S of the surface of the spherical target 12, and this three-dimensional coordinate value (Xs , Ys, Zs) can be used. With this image processing, as will be described later, it is possible to acquire only valid data even if labor saving is achieved.

  When it is determined that the center position C1 of the sphere target 12 is included in the center determination range D, the actual center calculation unit 206 of the position measuring device 1 then performs a three-dimensional operation on the center S of the surface of the sphere target 12. A three-dimensional coordinate value obtained by moving the coordinate value (Xs, Ys, Zs) by the radius of the spherical target 12 toward the core C of the spherical target 12 in the measured horizontal angle H and vertical angle V directions. The three-dimensional coordinate values (Xc, Yc, Zc) of the core C of the spherical target 12 are calculated (FIG. 3: S106).

  Here, the method by which the real center calculation unit 206 calculates the three-dimensional coordinate value of the core C of the spherical target 12 is not particularly limited. For example, the real center calculation unit 206 calculates the radius r of the circumference 503 of the sphere target 12 from the circumference 503 of the sphere target 12 converted earlier in the sphere image 500. The calculated radius r is converted into an actual size by the above-described scale. The radius r of the sphere target 12 may be the radius R of the actual size of the sphere target 12 registered in advance.

Next, as shown in FIG. 6A, the real center calculation unit 206 calculates the XY coordinate values (Xs, Ys) of the center S of the surface of the spherical target 12 and the horizontal formulas (1) and (2) below. By substituting the angle H and the radius r of the spherical target 12, the XY coordinate values (Xc, Yc) of the core C of the spherical target 12 are calculated.
Xc = Xs + r × cosH (1)
Yc = Ys + r × sinH (2)

Further, as shown in FIG. 6B, the real center calculation unit 206 adds the Z coordinate value (Zs) of the center S of the surface of the spherical target 12, the vertical angle V, and the spherical target 12 to the following formula (3). By substituting the radius r, the Z coordinate value (Zc) of the core of the spherical target 12 is calculated.
Zc = Zs−r × sin (V−90 degrees) (3)

Alternatively, the real center calculation unit 206 substitutes the oblique distance L, the vertical angle V, the radius r of the spherical target 12 and the Z coordinate value (Zm) of the surveying instrument 10 into the following formula (4). Thus, the Z coordinate value (Zc) of the core of the spherical target 12 may be calculated. The Z coordinate value (Zm) of the surveying instrument 10 is given in advance to the surveying instrument 10 as a known point.
Zc = Zm− (L + r) × sin (V−90 degrees) (4)

  Thereby, the three-dimensional coordinate value (Xc, Yc, Zc) of the core C of the spherical target 12 can be calculated from a single photographed image. Here, the real center calculation unit 206 uses the relative distance Q and the relative angle R of the offset value as the calculated three-dimensional coordinate values (Xc, Yc, Zc) of the core C of the spherical target 12, and the spherical target 12 A specific position P (Xt, Yt, Zt) of the installed object T may be calculated. The calculated three-dimensional coordinate values (Xc, Yc, Zc) of the core C of the spherical target 12 are displayed via the output unit of the terminal device 11 and can be confirmed by the surveyor.

  By the way, in S105, as a result of the determination, when the center position C1 of the spherical target 12 is not included in the center determination range D (FIG. 3: S105 NO), the center determination unit 205 determines the surface of the measured spherical target 12 It is determined that the three-dimensional coordinate value (Xs, Ys, Zs) of the center S does not match the center S of the surface of the actual spherical target 12. In this case, there is a deviation between the center position of the collimating telescope 101 and the center S of the surface of the spherical target 12 at the site. Therefore, the difference calculation unit 207 of the position measuring apparatus 1 discards the three-dimensional coordinate values (Xs, Ys, Zs) measured earlier, and the center position C1 of the sphere target 12 in the XY coordinate system of the sphere image 500 and the A difference (dX1, dY1) in XY coordinate values from the center position C0 of the spherical image 500 is calculated (FIG. 3: S107), and a horizontal angle deviation dH1 corresponding to the calculated difference in XY coordinate values (dX1, dY1) and Based on the vertical angle deviation dV1, the observation direction of the collimating telescope 101 is corrected (FIG. 3: S108).

  Here, the method by which the difference calculation unit 207 calculates the difference (dX1, dY1) is not particularly limited. For example, as illustrated in FIG. 7A, the difference calculation unit 207 determines the X coordinate of the center position C0 of the sphere image 500 from the X coordinate value (Xc1) of the center position C1 of the sphere target 12 in the XY coordinate system of the sphere image 500. The X coordinate difference (dX1) is calculated by subtracting the value (Xc0). Similarly, the difference calculation unit 207 subtracts the Y coordinate value (Yc0) of the center position C0 of the sphere image 500 from the Y coordinate value (Yc1) of the center position C1 of the sphere target 12, thereby obtaining a difference in Y coordinate ( dY1) is calculated.

  Here, the X direction of the two-dimensional coordinate system in the spherical image 500 corresponds to the vertical direction in the three-dimensional coordinate system in the real space, and the Y direction of the two-dimensional coordinate system in the spherical image 500 is the three-dimensional coordinate system in the real space. Corresponds to the horizontal direction. The difference calculation unit 207 calculates the horizontal angle deviation dH1 and the vertical angle deviation dV1 from the difference (dX1, dY1) in the XY coordinate values.

  Then, the difference calculation unit 207 inputs the horizontal angle deviation dH1 and the vertical angle deviation dV1 to the collimation unit 201, so that the collimation unit 201 of the current collimation telescope 101 is shown in FIG. 7B. The horizontal angle H is moved by the horizontal angle deviation dH1, and the vertical angle V of the current collimating telescope 101 is moved by the vertical angle deviation dV1. Thereby, the center position of the collimating telescope 101 can be automatically adjusted to the center S of the surface of the spherical target 12. In particular, when the target 12 moves or the surveyor once collimates once and then leaves the place and the position measuring device 1 automatically measures, the correction of the observation direction of the collimating telescope 101 by the above-described difference calculation is as follows. It becomes important.

  When the observation direction of the collimating telescope 101 is corrected, the difference calculating unit 207 returns to S101 to redo the collimation of the collimating telescope 101, and the collimating unit 201 sets the collimating telescope 101 to a sphere. The target 12 is collimated to the center S of the surface (FIG. 3: S101). Thereby, since the deviation between the center position of the collimating telescope 101 and the center S of the surface of the spherical target 12 is eliminated, in S102, the three-dimensional coordinate value (corresponding to the actual center S of the surface of the spherical target 12) Xs, Ys, Zs) can be measured, and the measurement accuracy can be improved.

  Now, in S106, if the three-dimensional coordinate value (Xc, Yc, Zc) of the core C of the spherical target 12 is calculated, the continuous measurement unit 208 of the position measurement apparatus 1 determines whether to perform continuous measurement ( FIG. 3: S109).

  Here, when the surveyor inputs a continuous measurement instruction signal for continuous measurement for a predetermined period (or a predetermined number of times) to the surveying instrument 10, the continuous measurement unit 208 determines whether or not the predetermined period has elapsed. (Or whether the number of measurements exceeds a predetermined number). If the predetermined period has not elapsed (or if the number of measurements does not exceed the predetermined number), the continuous measurement unit 208 determines that continuous measurement is to be performed (FIG. 3: S109 YES), and proceeds to S101. The collimating unit 201 collimates the collimating telescope 101 to the center S of the surface of the spherical target 12 (FIG. 3: S101). Thereby, the process goes from S101 to S105, and only when the measured three-dimensional coordinate value (Xs, Ys, Zs) of the center S of the surface of the spherical target 12 corresponds to the center S of the surface of the actual spherical target 12 Three-dimensional coordinate values (Xc, Yc, Zc) of the core C of the target 12 are newly calculated and repeatedly measured.

  On the other hand, when the predetermined period has elapsed (or when the number of measurements exceeds the predetermined number), the continuous measurement unit 208 ends the process (FIG. 3: S109 NO). When the surveyor does not input a continuous measurement instruction signal to the surveying instrument 10 (when only one measurement is required), the three-dimensional coordinate values (Xc, Yc, Zc) of the core C of the spherical target 12 are used. ) Is calculated, the continuous measurement unit 208 ends the process (FIG. 3: S106 NO).

<Example>
EXAMPLES Hereinafter, although an Example demonstrates this invention concretely, this invention is not limited by this.

<Example 1>
The position measuring apparatus 1 according to the present invention is designed based on FIGS. 1 to 3, and as shown in FIG. 8A, the position measuring apparatus 1 according to the first embodiment is combined with a surveying instrument 10, a terminal device 11, and a spherical target 12. Was made. Note that the surveying instrument 10 and the terminal device 11 are connected by a wireless LAN, and the data measured by the surveying instrument 10 is wirelessly transmitted to the terminal device 11, and the terminal device 11 uses the three-dimensional coordinate value (Xc, Yc, Zc) is calculated.

  Here, assuming that the target T on which the spherical target 12 is installed moves (vibrates), as shown in FIG. 8B, the vibration tester is set as the target T, and the spherical target 12 is installed on the target T. The spherical target 12 is vibrated at a specific frequency. On the other hand, the amplitude (displacement) of the vibrating sphere target 12 is measured by the displacement meter U, the amplitude of the three-dimensional coordinate value of the core C of the sphere target 12 measured by the position measuring device 1, and the amplitude measured by the displacement meter U. Can be compared.

<Position measurement test 1>
First, with the vibration testing machine T stopped and the spherical target 12 stationary, the Z coordinate value (Zc) of the core C of the spherical target 12 is set for a predetermined period (for example, 3 seconds) using the position measuring device 1. Was calculated. The X coordinate value of the core C of the spherical target 12 that is initially set is set to 0 mm as the reference Z coordinate value, and the calculated Z coordinate value (Xc) of the core C of the spherical target 12 and the reference Z coordinate value (0 mm) Was displayed together to confirm the measurement accuracy. As a result, as shown in FIG. 9A, the Z coordinate value (Zc) of the core C of the spherical target 12 as the experimental value is within 0.5 mm or less with respect to the reference Z coordinate value (0 mm) as the set value. It was confirmed that the measurement accuracy was high. In addition, since the Z coordinate value (Zc) of the core C of the spherical target 12 is calculated by image processing, it can be confirmed that the calculation time for one point is 0.5 seconds or less and the measurement time is short. The same result was obtained with the XY coordinate values (Xc, Yc) of the core C of the spherical target 12.

<Position measurement test 2>
Next, in the state where the vibration testing machine T is operated and the spherical target 12 is vibrated up and down at a specific frequency (for example, 10 Hz), the Z coordinate value of the core C of the spherical target 12 using the position measuring device 1 ( Zc) was calculated for a predetermined period (for example, 3 seconds). On the other hand, the Z coordinate value (Zc) of the core C of the sphere target 12 to be oscillated is measured by the displacement meter U, the calculated Z coordinate value (Xc) of the core C of the sphere target 12 and the reference amplitude measured by the displacement meter U. The measurement accuracy was confirmed by displaying the Z coordinate value together. As a result, as shown in FIG. 9B, the Z coordinate value (Zc) of the core C of the spherical target 12 that is the experimental value changes according to the waveform of the reference amplitude Z coordinate value that is the design value, and the reference amplitude Z coordinate It was confirmed that the values almost coincided with the values. Here, the calculated maximum value of the Z coordinate value (Zc) of the core C of the spherical target 12 is 5.94 mm, the maximum value of the reference amplitude Z coordinate value is 6.16 mm, and the difference between them is 0.22 mm. It was. Also, the minimum value of the calculated Z coordinate value (Zc) of the core C of the spherical target 12 is −7.08 mm, the minimum value of the reference amplitude Z coordinate value is −6.94 mm, and the difference between the two is 0.14 mm. there were. That is, even if the spherical target 12 vibrates, the measurement error is less than 0.3 mm, and it can be confirmed that the measurement accuracy is high. Moreover, the calculation time of one point was 0.5 second or less like the above, and it was confirmed that the measurement time was short.

  When calculating a three-dimensional coordinate value for a target such as a reflecting prism using a light wave distance meter in the prism mode, the target needs to be a reflecting prism and the light wave distance meter needs to be properly collimated to the target. If the optical distance meter is slightly deviated from the target, an error occurs in the measured three-dimensional coordinate value. In the present invention, even if the spherical target 12 is not a reflecting prism and is a moving spherical target 12, the three-dimensional coordinate value of the core C of the spherical target 12 is calculated by image processing, so that the measurement accuracy is improved. Is possible.

  By the way, in S101, first, the surveyor peeks at the collimating telescope 101 and collimates it toward the target 12, but at that time, the collimating telescope 101 has a collimating field of view for collimation. A crosshair (reticle) may be provided. Ranging scanning light is irradiated to the center of the crosshair. Therefore, the surveyor may collimate the cross line in the visual field of the collimating telescope 101 so as to coincide with the center S of the surface of the spherical target 12 while looking through the collimating telescope 101.

  By the way, in S104, the image center calculation unit 204 may extract a region where the sphere target 12 is captured from the photographed sphere image by using machine learning. For example, the image center calculation unit 204 first inputs a sphere image showing the sphere target 12 to the machine learning unit, and causes the machine learning unit to learn the shape (circular shape) of the sphere target 12. After the learning by the machine learning unit, the image center calculation unit 204 calculates the center position C1 of the sphere target 12 using the sphere image. Next, the image center calculation unit 204 inputs another newly acquired sphere image to the machine learning unit after learning, and the machine learning unit determines a region where the shape of the sphere target 12 is reflected in the sphere image. Identify. Then, the image center calculation unit 204 extracts only the region where the shape of the sphere target 12 is reflected, and calculates the center position C1 of the sphere target 12 using the image of the extracted region. As a result, the center position C1 of the spherical target 12 can be easily calculated.

  The machine learning unit can employ, for example, a support vector machine of a machine learning classifier. As shown in FIG. 10A, when the image center calculation unit 204 first inputs the generated sphere binarized image 501 to a support vector machine that has learned the shape of the sphere target 12, the shape of the sphere target 12 is detected by the support vector machine. The identification image 1000 for identifying the area indicating the area and the other area is generated. In the identification image 1000, since the region where the shape of the sphere target 12 is reflected is clear, the center calculation unit 204 extracts the region of the sphere binarized image 501 corresponding to the region, and the image of the extracted region The center position C1 of the spherical target 12 is calculated using 1001. It can be seen that the image 1001 of the extracted region clearly shows the outer edge of the spherical target 12.

  As another configuration, the image center calculation unit 204 uses a machine learning unit to identify whether or not the shape of the sphere target 12 is reflected in the center position C0 of the sphere image. Is reflected at the center position C0 of the object image, the center position C1 of the spherical target 12 is calculated. On the other hand, when the shape of the sphere target 12 is not shown in the center position C0 of the object image, the image center calculation unit 204 determines the XY coordinates between the center position C2 of the shape of the sphere target 12 and the center position C0 of the sphere image. A difference in values (dX2, dY2) is calculated, and the observation direction of the collimating telescope 101 is corrected based on the horizontal angle deviation dH2 and the vertical angle deviation dV2 corresponding to the calculated difference in XY coordinate values (dX2, dY2). To do. Then, returning to S101, the collimating unit 201 collimates the collimating telescope 101 to the center S of the surface of the spherical target 12 (FIG. 3: S101). In this way, when the shape of the spherical target 12 is greatly deviated from the center position C0 of the spherical image, the collimating telescope 101 is traced to the center S of the surface of the spherical target 12, and the collimating telescope 101 is collimated again. Then, by measuring the center S of the surface of the spherical target 12 and re-capturing the spherical image, automatic measurement is possible even if the spherical target 12 moves greatly.

  In addition, the image center calculation unit 204 uses a machine learning unit to capture the shape of the sphere target 12 even if it is a sphere image in which a part of the shape of the sphere target 12 is hidden by an obstacle. The center position C1 of the spherical target 12 may be calculated by roughly estimating the shape of the spherical target 12 from the part. For example, as shown in FIG. 10B, when an obstacle 1003 appears in the spherical image 1002 and the shape of the spherical target 12 is partially hidden, the image center calculation unit 204 is the other part in which the shape of the spherical target 12 is reflected. The circumference 1005 of the sphere target 12 is extrapolated to 1004 to roughly estimate the shape of the sphere target 12. The circumference 1005 of the sphere target 12 is the one that has been calculated and learned so far by the machine learning unit. Thereby, even if the spherical target 12 is partially hidden, the center position C1 of the spherical target 12 can be calculated with high accuracy.

  In S <b> 105, the center determination unit 205 may further perform determination processing using the radius R of the actual size of the spherical target 12. For example, when the center position C1 of the sphere target 12 is included in the center determination range D (FIG. 3: S105 YES), the center determination unit 205 then determines the radius r of the circumference of the sphere target 12 in the sphere image 500. Is included in a predetermined radius determination range E based on the actual radius R of the spherical target 12 registered in advance. The radius determination range E includes, for example, an upper limit value obtained by adding a preset width value e (for example, 1 mm) and a lower limit value obtained by subtracting the width value e, with the actual radius R of the sphere target 12 as the center. Is set to a range.

  As a result of the determination, when the radius r of the circumference of the sphere target 12 of the sphere image 500 is included in the radius determination range E, the shooting condition of the sphere image 500 is good, and the sphere target 12 calculated by image processing is used. It can be determined that the radius r of the circle is close to the actual radius R. Therefore, the center determination unit 205 proceeds to the next processing, and the real center calculation unit 206 uses the radius r of the circumference of the sphere target 12 of the sphere image 500, for example, to obtain the three-dimensional coordinates of the core C of the sphere target 12. Calculate the value.

  On the other hand, as a result of the determination, when the radius r of the circumference of the sphere target 12 of the sphere image 500 is not included in the radius determination range E, the shooting conditions of the sphere image 500 (ambient color, ambient light, etc.) It is inferior and there is a high possibility that the result of image processing is inappropriate, and it can be determined that an error occurs in the radius r of the circumference of the spherical target 12 calculated by image processing. In this case, for example, returning to S103, the object photographing unit 203 may again photograph a spherical image including the spherical target 12 with the digital camera. Further, since the deviation between the center position of the collimating telescope 101 and the center S of the surface of the spherical target 12 has not occurred, the actual center calculation unit 206 determines that the imaging condition and the result of the image processing are bad, for example, The three-dimensional coordinate value of the core C of the spherical target 12 may be calculated using the actual radius R (set value) of the spherical target 12.

<Application example>
An application example of the position measuring apparatus 1 according to the present invention will be described. For example, in shield tunnel measurement, it is necessary to accurately grasp the position of the shield machine that digs through the tunnel. Conventionally, after assembling the tunnel side surface (segment), the surveying instrument is fixed at a predetermined position of the segment, while the reflecting prism target is fixed at a predetermined position of the shield machine. The position of the shield machine is measured by measuring the distance. Therefore, when the shield machine advances, refilling that fixes the surveying instrument to the front occurs, and a measurement error due to the refilling occurs. Moreover, the reflective prism target fixed to the shield machine vibrates by the excavation of the shield machine, and accurate measurement cannot be performed with the fixed surveying instrument and the reflective prism target that vibrates. Surveying using a reflecting prism target is based on the fact that both the reflecting prism target and the surveying instrument are in a stationary state, and automatic collimation is distorted in a vibrating reflecting prism target or surveying instrument. Further, although the surveying instrument and the reflecting prism target need to face each other, the sharpness and the steep slope of the tunnel collapse, and a measurement error occurs.

  Therefore, by using the position measurement apparatus 1 according to the present invention, the measurement accuracy is improved by mounting the surveying instrument on the shield machine (moving body) after replacing the reflecting prism target with the spherical target 12. In the shield machine position measurement and monitoring system, as shown in FIG. 11A, two spherical targets 1101 and 1102 are installed in the shield machine 1100, and the spherical target is moved upward from the front of the four succeeding carriages to the first succeeding carriage. The first surveying instrument 1103 having 12 installed thereon and the second surveying instrument 1104 having the spherical target 12 installed thereon are fixed to the fourth succeeding carriage. Then, two reflecting prism targets 1105 and 1106 are fixed to the side surfaces of the tunnel after excavation, respectively. The two reflecting prism targets 1105 and 1106 have a three-dimensional coordinate value serving as a reference point. Here, the first surveying instrument 1103 and the second surveying instrument 1104 are installed on a vibrating subsequent carriage.

  In the shield machine position measurement and monitoring system, first, as shown in FIG. 11B, the second surveying instrument 1104 measures the distances of the two reflecting prism targets 1105 and 1106, respectively, and based on the two distance measuring points, the rear public hall. The three-dimensional coordinate value of the second surveying instrument 1104 is calculated by the method. Next, as shown in FIG. 12A, the second surveying instrument 1104 employs the position measuring method of the present invention for the spherical target 12 of the first surveying instrument 1103, so that 3 cores of the spherical target 12 are obtained. A dimensional coordinate value is calculated, and a three-dimensional coordinate value of the first surveying instrument 1103 is calculated. Then, the second surveying instrument 1104 transmits the three-dimensional coordinate value of the first surveying instrument 1103 to the first surveying instrument 1103, and as shown in FIG. 12B, the first surveying instrument 1103 performs the shield machine 1100. By adopting the position measurement method of the present invention for the two spherical targets 1101 and 1102, the three-dimensional coordinate values of the cores of the spherical targets 1101 and 1102 are calculated. The first surveying instrument 1103 calculates the three-dimensional coordinate value of the shield machine 1100 by the back sight method using its own three-dimensional coordinate value and the three-dimensional coordinate values of the two spherical targets 1101 and 1102. Finally, by calculating the distance between the two reflecting prism targets 1105, 1106 and the shield machine 1100, the position measurement of the shield machine can be performed.

  Here, the position measuring method of the present invention can accurately measure the three-dimensional coordinate value of the core of the sphere target 12 in vibration even when applied to a vehicle with vibration such as a shield machine. The machine position can also be measured accurately. Conventionally, there is a system in which a 3D scanner is mounted on a moving body. However, this system does not immediately calculate a three-dimensional coordinate value of a target core. In the position measurement method of the present invention, the three-dimensional coordinate value of the core of the spherical target 12 can be measured immediately.

  Further, for example, in the completed survey at the construction site, as shown in FIG. 13A, the spherical target 12 is set on the survey target, and the position measuring device 1 measures the three-dimensional coordinate value of the core of the spherical target 12, and the survey is performed. Measure the target shape. Here, the surveying instrument 10 of the position measuring device 1 is mounted on a self-propelled cart 1300, the cart 12 is remotely operated by the remote controller 1301 of the cart 1300, and the surveying instrument 10 is remotely controlled by the terminal device 11 of the position measuring device 1. Operate to enable remote surveying.

  Further, for example, in a steel building surveying in a construction, as shown in FIG. 13B, a spherical target 12 is installed on the stigma of the steel frame, and the position measuring device 1 measures the three-dimensional coordinate value of the core of the spherical target 12. By setting the core of the spherical target 12 above the core of the steel frame, it is possible to measure the three-dimensional coordinate value of the core of the steel stigma that is not affected by the torsion of the column. Here, in the measurement of the three-dimensional coordinate value of the surveying instrument 10 with respect to the reflecting prism target or the target seal, a direct facing is required. On the other hand, in the present invention, the photographing of the spherical target 12 by the monocular digital camera of the surveying instrument 10 does not require high-precision confrontation, and the photographing range can be widened. It can be reduced. Moreover, by installing the surveying instrument 10 on the stigma of the steel frame, the surveying instrument 10 can be remotely operated by the terminal device 11 of the position measuring apparatus 1 to enable the steel-framed surveying.

  Further, for example, as shown in FIG. 14, a spherical target 12 is installed above a drone 1400, and a bar code 1401 that can be read by a reading unit below the drone 1400 below the drone 1400 and above the vehicle. Is installed. The drone 1400 stops on the spot by hovering, and the reading unit of the drone 1400 reads the barcode 1401 of the vehicle. Since the barcode 1401 moves when the vehicle moves, the reading unit of the drone 1400 reads the barcode 1401 to acquire the amount of movement of the vehicle. On the other hand, since the three-dimensional coordinate value of the core of the spherical target 12 of the drone 1400 is measured by the fixed surveying instrument 10, the three-dimensional coordinate of the vehicle is calculated from the three-dimensional coordinate value of the core of the spherical target 12 and the movement amount of the vehicle. Coordinate values can be calculated.

  In the above description, the object target 12 has been described as a spherical target, but may be a cylindrical target. In this case, it is almost the same as described above, but is as follows. First, the collimation unit 201 collimates the collimating telescope 101 of the surveying instrument 10 to the center of the surface of the cylindrical target 12 in the horizontal direction (FIG. 3: S101). Next, the object distance measuring unit 202 determines the three-dimensional coordinate value (Xs, Ys, Zs) of the center of the surface of the cylindrical target 12 according to the horizontal angle and vertical angle of the collimating telescope 101 and the non-prism mode of the surveying instrument 10. Is measured (FIG. 3: S102). Then, the object photographing unit 203 photographs a cylindrical image including the cylindrical target 12 with the digital camera of the collimating telescope 101 (FIG. 3: S103).

  Further, the image center calculation unit 204 converts the outer edge of the cylindrical target 12 in the horizontal direction in the cylindrical image into the outer surface of the cylindrical target 12, and based on the converted outer surface of the cylindrical target 12, the cylindrical image The center line CL of the cylindrical target 12 is calculated (FIG. 3: S104).

  For example, as illustrated in FIG. 15A, the image center calculation unit 204 binarizes the captured cylindrical image 1500 to generate a cylindrical binary image 1501 in which the outer edge of the cylindrical target 12 is specified. Here, for example, the upper and lower sides of the cylindrical target 12 are hidden from the field of view of the digital camera, and the cylindrical target 12 appears in a rectangular shape.

  Next, the center calculation unit 204 predetermines pixels (left outer edge pixel 1502 and right outer edge pixel 1503) constituting the outer edge (here, left and right outer edges) of the cylindrical target 12 from the cylindrical binarized image 1501. Extract a number. As shown in FIG. 15B, the center calculation unit 204 approximates the extracted number of pixels 1502 on the left outer edge with a first straight line as a point, and sets the number of pixels 1503 on the right outer edge as a point. Approximate with two straight lines. Here, the expression of the first straight line 1504 is approximated by the least square method for a predetermined number of pixels 1502 (points) constituting the left outer edge of the cylindrical target 12, and a predetermined number of pixels 1503 constituting the right outer edge. The equation of the second straight line 1505 is approximated to (point) by the method of least squares. During the approximation, the first straight line 1504 and the second straight line 1505 are parallel to the vertical axis of the two-dimensional coordinate system (X coordinate system) in the cylindrical image 1500. Thereby, the left and right outer edges of the cylindrical target 12 can be converted into the left and right outer surfaces of the cylindrical target 12. Then, the image center calculation unit 204 calculates the center line CL (Ycl) between the approximated first straight line 1504 and the second straight line 1505 as the center line of the cylindrical target 12 in the cylindrical image 1500.

  Then, the center determination unit 205 determines whether or not the center line CL of the cylindrical target 12 is included in a predetermined center determination range D with reference to the center position C0 of the cylindrical image 1500 (FIG. 3: S105). ).

  For example, the center determining unit 205 sets the center position C0 (Xc0, Yc0) of the cylindrical image 1500 as a strip-shaped center determining range D with the Y coordinate value (Yc0) as the center and the threshold value d as the left and right widths. As shown in FIG. 15B, it is determined whether or not the center line CL of the spherical target 12 is included in the center determination range D in the two-dimensional coordinate system in the cylindrical image 1500.

  As a result of the determination, when the center line CL of the cylindrical target 12 is included in the center determination range D (FIG. 3: S105 YES), the real center calculation unit 206 determines the three-dimensional coordinate value of the center of the surface of the cylindrical target ( Xs, Ys, Zs) from the two-dimensional coordinate values (Xs, Ys) in the horizontal direction toward the central axis C of the cylindrical target 12 in the horizontal direction of the measured horizontal angle H. The two-dimensional coordinate value moved by the radius r is calculated as the two-dimensional coordinate value (Xc, Yc) of the central axis C of the cylindrical target 12 in the horizontal direction (FIG. 3: S105).

  Here, the central axis C of the cylindrical target 12 means the center of the cylindrical target 12 when the cylindrical target 12 is viewed from the vertical direction. For example, the real center calculation unit 206 adds the XY coordinate values (Xs, Ys) of the center S of the surface of the cylindrical target 12, the horizontal angle H, and the cylindrical target 12 to the above two formulas (1) and (2). By substituting the radius r, the XY coordinate values (Xc, Yc) of the central axis C of the cylindrical target 12 are calculated.

  The radius r of the cylindrical target 12 is calculated as follows, for example. That is, when the distance B between the first straight line 1504 and the second straight line 1505 approximated above is calculated, this distance B becomes the diameter of the cylindrical target 12, and the center of this distance B is the cylindrical target 12. The central axis C of This distance B has the same value at any position in the vertical direction. Therefore, a value obtained by multiplying the distance B by 1/2 is calculated as the radius r of the cylindrical target 12 in the cylindrical image 1500. Further, the radius R of the actual dimension of the cylindrical target 12 registered in advance may be used.

  Thereby, the two-dimensional coordinate value (Xc, Yc) of the central axis C of the cylindrical target 12 can be calculated with one photographed image. The Z coordinate value (Zc) in the vertical direction of the center axis C of the cylindrical target 12 is equivalent to the Z coordinate value (Zs) in the vertical direction of the center of the surface of the cylindrical target 12, so this value can be used. good. Further, similarly to the spherical target 12, the calculation can be performed even when the cylindrical target 12 is moving. As an application example of the calculation of the two-dimensional coordinate value (Xc, Yc) of the central axis C of the cylindrical target 12, for example, a pile driven pile is regarded as a cylindrical target, and the two-dimensional coordinate value (Xc, An example of calculating and monitoring Yc) over time can be given.

  When the center line CL of the cylindrical target 12 is not included in the center determination range D as a result of the determination (FIG. 3: S105 NO), the difference calculation unit 207 determines that the cylindrical target in the Y coordinate system of the cylindrical image 1500 The difference (dY1) between the 12 center lines CL and the center position C0 of the cylindrical image 1500 is calculated (FIG. 3: S107), and the horizontal angle corresponding to the calculated Y coordinate value difference (dY1) Based on the deviation dH1, the observation direction of the collimating telescope 101 is corrected (FIG. 3: S108). Then, similarly to the above, the process returns to S101 and collimation is performed again.

<Example 2>
In Example 1, the position measuring device 1 in which the spherical target was replaced with a cylindrical target was used to calculate the two-dimensional coordinate values (Xc, Yc) of the central axis C of the cylindrical target 12. Here, assuming that the target T on which the cylindrical target 12 is installed moves, as shown in FIG. 16A, the target T is a vibration test machine that is tilted sideways, and the cylindrical target 12 is installed on the left side. The cylindrical target 12 is vibrated in the horizontal direction at a specific frequency.

<Position measurement test 3>
Next, the Y-coordinate value of the central axis C of the cylindrical target 12 is measured using the position measuring device 1 in a state where the vibration testing machine T is operated and the cylindrical target 12 is vibrated left and right at a specific frequency (for example, 10 Hz). A predetermined period (for example, 3 seconds) was calculated for (Yc). On the other hand, the reference amplitude Y coordinate value of the vibration testing machine T was measured in advance to confirm the measurement accuracy. As a result, as shown in FIG. 16B, the Y coordinate value (Yc) of the center axis C of the cylindrical target 12 that is the experimental value changes according to the waveform of the reference amplitude Y coordinate value that is the design value, and the reference amplitude Y It was confirmed that it almost coincided with the coordinate value.

  Here, the calculated maximum value of the Y coordinate value (Yc) of the central axis C of the cylindrical target 12 is 6.49 mm, the maximum value of the reference amplitude Y coordinate value is 6.14 mm, and the difference between them is 0.35 mm. there were. The calculated minimum value of the Y coordinate value (Yc) of the central axis C of the cylindrical target 12 is −9.13 mm, the minimum value of the reference amplitude Y coordinate value is −7.75 mm, and the difference between them is 1.38 mm. Met. That is, even if the cylindrical target 12 vibrates, the measurement error is less than 2.0 mm, and it can be confirmed that the measurement accuracy is high. Moreover, the calculation time of one point was 0.5 second or less like the above, and it was confirmed that the measurement time was short.

  In the present invention, the surveying instrument 10 and the terminal device 11 are configured to include each unit. However, a program that realizes each unit may be stored in a storage medium, and the storage medium may be provided. In the configuration, the program is read by a predetermined processing device, and the processing device realizes each unit. In that case, the program itself read from the recording medium has the effects of the present invention. Furthermore, the steps executed by each unit can be provided as the position measurement method of the present invention.

  As described above, the position measuring device and the position measuring method according to the present invention include three-dimensional or two-dimensional coordinates such as general structures, buildings, equipment devices, ground, roads, vehicles, railways, shield machines, and drones. This is useful in the measurement field, civil engineering field, surveying field, etc. that measure values, and even if the object target is moving, the coordinate value of the center of the object target can be obtained with high accuracy and in a short time with a single shot image. This is effective as a position measuring apparatus and a position measuring method capable of measuring.

DESCRIPTION OF SYMBOLS 1 Position measuring device 10 Surveying instrument 11 Terminal device 12 Object target 201 Collimating unit 202 Object ranging unit 203 Object imaging unit 204 Image center calculating unit 205 Center determining unit 206 Real center calculating unit 207 Difference calculating unit 208 Continuous measuring unit

Claims (7)

A collimating unit for collimating the collimating telescope of the surveying instrument to the center of the surface of the spherical target;
An object distance measuring unit that measures a three-dimensional coordinate value of the center of the surface of the spherical target according to a horizontal angle, a vertical angle of the collimating telescope, and a non-prism mode of the surveying instrument;
An object imaging unit that captures a spherical image including the spherical target with a digital camera in which the optical axis of the collimating telescope matches the center of the captured image;
An image center calculation unit that converts an outer edge of a sphere target in the sphere image into a sphere target circumference, and calculates a center position of the sphere target in the sphere image based on the converted sphere target circumference;
A center determination unit that determines whether the center position of the sphere target is included in a predetermined center determination range based on the center position of the sphere image;
When the center position of the spherical target is included in the center determination range, from the three-dimensional coordinate value of the center of the surface of the spherical target toward the core of the spherical target in the direction of the measured horizontal angle and vertical angle An actual center calculation unit that calculates a three-dimensional coordinate value moved by the radius of the spherical target as a three-dimensional coordinate value of the core of the spherical target;
A position measuring device comprising: When the center position of the sphere target is not included in the center determination range, the difference between the XY coordinate values of the sphere target center position and the sphere image center position in the XY coordinate system of the sphere image is calculated, and the calculation is performed. The difference calculation part which correct | amends the observation direction of the said collimating telescope based on the horizontal angle deviation and the vertical angle deviation corresponding to the difference of the performed XY coordinate value, and redoes the collimation of the said collimating telescope is further provided. Position measuring device. The image center calculation unit binarizes the captured sphere image to generate a sphere binarized image in which an outer edge of the sphere target is specified, and the sphere target is generated from the generated sphere binarized image. The predetermined number of pixels constituting the outer edge of the circle is extracted, the extracted predetermined number of pixels are approximated by a circle as a point, and the radius of the approximated circle is calculated as the radius of the spherical target. The position measuring device described. The real center calculation unit calculates the XY coordinate value (Xs, Ys) of the center of the surface of the spherical target, the horizontal angle H, and the radius r of the spherical target from the following two formulas (1) and (2). To calculate the XY coordinate value (Xc, Yc) of the core of the sphere target, and in the following equation (3), the Z coordinate value (Zs) of the center of the surface of the sphere target, The Z coordinate value (Zc) of the core of the spherical target is calculated by substituting the vertical angle V and the radius r of the spherical target. Xc = Xs + r × cosH (1)
Yc = Ys + r × sinH (2)
Zc = Zs−r × sin (V−90 degrees) (3)
The position measuring device according to any one of claims 1 to 3. A collimation step for collimating the surveying instrument's collimating telescope to the center of the surface of the spherical target;
An object ranging step of measuring a three-dimensional coordinate value of the center of the surface of the spherical target by the horizontal angle and vertical angle of the collimating telescope and the non-prism mode of the surveying instrument;
An object photographing step of photographing a spherical image including the spherical target with a digital camera in which the optical axis of the collimating telescope matches the center of the photographed image;
An image center calculation step of converting a sphere target boundary in the sphere image into a sphere target circumference, and calculating a center position of the sphere target in the sphere image based on the converted sphere target circumference;
A center determination step for determining whether the center position of the sphere target is included in a predetermined center determination range based on the center position of the sphere image;
When the center position of the spherical target is included in the center determination range, from the three-dimensional coordinate value of the center of the surface of the spherical target toward the core of the spherical target in the direction of the measured horizontal angle and vertical angle A real center calculating step of calculating a three-dimensional coordinate value moved by a radius of the spherical target as a three-dimensional coordinate value of the core of the spherical target;
A position measurement method comprising: A collimating unit for collimating the collimating telescope of the surveying instrument to the center of the surface of the cylindrical target in the horizontal direction;
An object distance measuring unit for measuring a three-dimensional coordinate value of the center of the surface of the cylindrical target according to a horizontal angle, a vertical angle of the collimating telescope, and a non-prism mode of the surveying instrument;
An object photographing unit for photographing a cylindrical image including the cylindrical target with a digital camera in which the optical axis of the collimating telescope matches the center of the photographed image;
Image center calculation for converting the outer edge of the cylindrical target in the horizontal direction in the cylindrical image to the outer surface of the cylindrical target, and calculating the center line of the cylindrical target in the cylindrical image based on the outer surface of the converted cylindrical target And
A center determination unit that determines whether or not the center line of the cylinder target is included in a predetermined center determination range based on the center position of the cylinder image;
When the center line of the cylindrical target is included in the center determination range, among the three-dimensional coordinate values of the center of the surface of the cylindrical target, the two-dimensional coordinate value in the horizontal direction is used in the direction of the measured horizontal angle. An actual center calculation unit that calculates a two-dimensional coordinate value moved by the radius of the cylindrical target toward the central axis of the cylindrical target as a two-dimensional coordinate value of the central axis of the cylindrical target in the horizontal direction;
A position measuring device comprising: A collimation step for collimating the surveying instrument's collimating telescope to the center of the surface of the cylindrical target in the horizontal direction;
An object ranging step of measuring a three-dimensional coordinate value of the center of the surface of the cylindrical target according to a horizontal angle, a vertical angle of the collimating telescope, and a non-prism mode of the surveying instrument;
An object photographing step for photographing a cylindrical image including the cylindrical target with a digital camera in which the optical axis of the collimating telescope matches the center of the photographed image;
Image center calculation for converting the outer edge of the cylindrical target in the horizontal direction in the cylindrical image to the outer surface of the cylindrical target, and calculating the center line of the cylindrical target in the cylindrical image based on the outer surface of the converted cylindrical target Steps,
A center determination step for determining whether the center line of the cylinder target is included in a predetermined center determination range based on the center position of the cylinder image;
When the center line of the cylindrical target is included in the center determination range, among the three-dimensional coordinate values of the center of the surface of the cylindrical target, the two-dimensional coordinate value in the horizontal direction is used in the direction of the measured horizontal angle. A center calculating step of calculating a two-dimensional coordinate value moved by the radius of the cylindrical target toward the central axis of the cylindrical target as a two-dimensional coordinate value of the central axis of the cylindrical target in the horizontal direction;
A position measurement method comprising: