JP6433343B2 - 3D position measurement system - Google Patents

Description

  The present invention is a system for measuring the three-dimensional position of a measurement point, and in particular, the three-dimensional position of the measurement point is determined using an indicator bar in which a prism is fixed at a position deviated from the measurement point by a known fixed length. It relates to a measurement system.

  In the field of surveying, measurement, or BIM (Building Information Modeling), generally, a three-dimensional position of a measurement point is measured using a surveying instrument that performs distance measurement and angle measurement and a retroreflective prism. However, since the prism has a required size, the optical reflection point of the prism cannot be set directly at the measurement point. For this reason, generally, a method of fixing the prism to the indicating rod (or indicating stand) is adopted.

  Specifically, the tip of the indicator rod is installed at the measurement point, the prism is fixed to the indicator rod at a position shifted by a known fixed length from the measurement point, and a vertical state of the indicator rod is secured using a bubble tube or the like. Then, the three-dimensional position of the prism is measured, and the three-dimensional position of the measurement point is calculated by moving the measured value vertically downward by the fixed length. However, this method could not be used when the indicator bar had to be tilted, such as in the corner of a room.

  On the other hand, there is a three-dimensional position measurement system that can perform measurement even when the pointing rod is tilted from the measurement point. For example, in Patent Document 1, a reflecting prism is fixed to two points that are separated by a known length on an indicator bar, measurement is performed on two prisms, and the position of the measurement point is determined from the three-dimensional position of the two points. Is calculated. Moreover, in patent document 2, the indicator bar is provided with an incident angle sensor and a tilt sensor, and the position of the measurement point is calculated using the values of these sensors.

Japanese Patent No. 3735422 JP 2010-223754 A

  However, in the configuration of Patent Document 1, since two points cannot be measured at the same time, there is a work constraint that the prism is stationary during the measurement of the two points. Further, when the prism is at a long distance, there is a disadvantage that the distance between the two prisms must be increased. The configuration of Patent Document 2 requires a new sensor and is expensive.

  In order to solve the above problem, an object of the present invention is to provide a three-dimensional position measurement system that can perform measurement without any particular work restriction even when the pointer is inclined from the measurement point.

  In order to achieve the above object, in a three-dimensional position measurement system according to an aspect of the present invention, a pointing rod installed at a measurement point, and a first fixed that is known in the axial direction of the pointing rod from the measurement point There is a prism fixed at a position that is deviated and an analysis pattern, and the analysis pattern is shifted from the prism to a known second fixed length before and after the indicator bar in the axial direction on a plane perpendicular to the axis direction of the indicator bar. A surveying instrument having a tilt case fixed to a position, a distance measuring unit that measures a distance to the prism, a angle measuring unit that performs angle measurement, and an image capturing unit, and the distance measuring unit and the distance measuring unit. From the three-dimensional position of the prism obtained at the corner, the tilt direction of the pointer obtained from the image obtained by imaging the tilt case at the image capturing unit, and the first fixed length Measure the three-dimensional position of the measurement point.

  Alternatively, in the three-dimensional position measurement system according to an aspect, an indicator bar installed at a measurement point, and a prism fixed at a known first fixed length position in the axial direction of the indicator bar from the measurement point; An inclined case that has an analysis pattern, and that fixes the analysis pattern at a position that is known to be displaced from the prism by a second fixed length before and after the axial direction of the indicator rod in a plane perpendicular to the axial direction of the indicator rod; A distance measuring unit that performs distance measurement up to the prism, a angle measuring unit that performs angle measurement, an image capturing unit that captures the surrounding landscape of the prism, and a surveying instrument that includes a prism imaging unit that captures the prism. The prism imaging unit captures the prism, collimates the prism, the three-dimensional position of the prism obtained by the distance measuring unit and the angle measuring unit, and the tilt case at the image imaging unit. Obtained by imaging Inclination direction of the indicator rod obtained from the image, and from the first fixed length, to measure the three-dimensional position of the measurement point.

  In the above aspect, the three-dimensional position measurement system acquires the three-dimensional position of the prism center of the prism by the distance measurement unit and the angle measurement unit, analyzes the image obtained by imaging the tilt case, and The pattern center of the analysis pattern is calculated, the position direction of the tilt case is calculated from the pattern center and the prism center on the image, and from the three-dimensional position of the prism center on the position direction of the tilt case. A three-dimensional position of the pattern center that is a point at which the distance becomes the second fixed length is calculated, and a three-dimensional position of the pattern center and a three-dimensional position of the prism center are calculated from the three-dimensional position of the prism center. The three-dimensional position of the measurement point may be measured by moving by the first fixed length in a direction along a straight line that passes.

  The indicator rod used in the three-dimensional position measurement system of the above aspect has a prism fixed at a position that is shifted from the measurement point to a known first fixed length in the axial direction of the indicator rod, and has an analysis pattern, An inclined case may be formed to fix the analysis pattern at a position deviated from the prism to a known second fixed length before and after the indicator bar in the axial direction on a plane perpendicular to the axis direction of the indicator bar.

  In order to achieve the above object, a three-dimensional position measurement method according to an aspect of the present invention includes an indicator bar installed at a measurement point, and a first fixed that is known in the axial direction of the indicator bar from the measurement point. There is a prism fixed at a position that is deviated and an analysis pattern, and the analysis pattern is shifted from the prism to a known second fixed length before and after the indicator bar in the axial direction on a plane perpendicular to the axis direction of the indicator bar. A surveying instrument having an inclined case fixed to a position, a distance measuring unit that measures a distance to the prism, a angle measuring unit that performs angle measurement, and an image capturing unit, and the distance measuring unit and the A prism position acquisition step of acquiring a three-dimensional position of the prism center of the prism in the angle measuring unit; and a pattern center calculation step of calculating an image obtained by imaging the tilt case and calculating a pattern center of the analysis pattern. On the image A module position calculating step of calculating a position direction of the tilt case from the pattern center and the prism center; and a distance from a three-dimensional position of the prism center on the position direction of the tilt case is the second fixed length. A pattern center position calculating step for calculating a three-dimensional position of the pattern center, and a straight line passing through the three-dimensional position of the pattern center and the three-dimensional position of the prism center from the three-dimensional position of the prism center. A measuring point measuring step of moving in the direction along the first fixed length and measuring the three-dimensional position of the measuring point.

  Alternatively, in the three-dimensional position measurement system according to an aspect, an indicator bar installed at a measurement point, and a target fixed at a known first fixed length deviating position in the axial direction of the indicator bar from the measurement point; An inclined case that has an analysis pattern, and that fixes the analysis pattern at a position deviated from the target by a second fixed length before and after the target bar in the axial direction on a plane perpendicular to the axial direction of the pointer bar; A surveying instrument having a distance measuring unit for measuring a distance to the target, an angle measuring unit for measuring an angle, and an image imaging unit, and analyzing an image obtained by imaging the inclined case and the target. The pattern center of the analysis pattern and the target center of the target are calculated, the three-dimensional position of the target center is obtained by the distance measuring unit and the angle measuring unit, and in the pattern on the image And the target center, the position direction of the inclined case is calculated, and the distance from the three-dimensional position of the target center on the position direction of the inclined case is the second fixed length. Calculating a three-dimensional position, moving from the three-dimensional position of the target center in a direction along a straight line passing through the three-dimensional position of the pattern center and the three-dimensional position of the target center by the first fixed length; The three-dimensional position of the measurement point is measured.

  Alternatively, in the three-dimensional position measurement system according to an aspect, the prism includes a prism fixed to a known first fixed length position shifted from the measurement point and an analysis pattern, and the analysis pattern is the prism of the measurement point and the prism. An inclined case fixed at a position perpendicular to the line connecting the centers and in the same direction as the first fixed length and shifted from the prism to a known second fixed length, and distance measurement for measuring the distance to the prism And a surveying instrument that includes an angle measuring unit that performs angle measurement, and an image capturing unit, and the three-dimensional position of the prism center is acquired by the distance measuring unit and the angle measuring unit. The image obtained by imaging is analyzed to calculate the pattern center of the analysis pattern, the position direction of the tilt case is calculated from the pattern center and the prism center on the image, and the position of the tilt case The three-dimensional position of the pattern center, which is the point at which the distance from the three-dimensional position of the prism center becomes the second fixed length, is calculated, and the three-dimensional position of the pattern center is calculated from the three-dimensional position of the prism center. The three-dimensional position of the measurement point is measured by moving by the first fixed length in a direction along a straight line passing through the position and the three-dimensional position of the prism center.

  According to the present invention, even if the pointer is inclined, the three-dimensional position of the measurement point can be measured only by installing the tip of the pointer at the measurement point.

It is a perspective view which shows the whole structure of the three-dimensional position measuring system which concerns on this Embodiment. It is a block diagram which shows the internal structure of a surveying instrument. It is a right perspective view which shows the structure of the indicator stick which concerns on this Embodiment. It is a top view of the measurement state of the pointer. It is the figure which looked at the indicator rod from the surveying instrument, where (a) shows the state when the axial direction of the indicator rod coincides with the line-of-sight direction, and (b) shows the axis direction of the indicator rod from the line-of-sight direction. It is a figure which shows a state when it shift | deviates. It is a measurement flow figure of a three-dimensional position measurement system, (a) is a flow of a basic form, (b) is a flow in the case of performing automatic tracking. It is a flowchart which calculates a three-dimensional position. It is an example of a visual image. It is an image figure of a measuring method. It is a modification of an analysis pattern. It is a modification of an inclination case. It is a modification of an inclination case. It is a modification of an inclination case. It is a flowchart which calculates the three-dimensional position which concerns on the modification of FIG. It is an example of a visual image. It is an example of a visual image. It is an image figure of the measurement method which concerns on the modification of FIG. It is a right perspective view which shows the structure of the indicator stick which concerns on this 2nd Embodiment. It is a block diagram which shows the internal structure of the surveying instrument which concerns on 2nd Embodiment. It is a measurement flow figure of the three-dimensional position measurement system concerning a 2nd embodiment, (a) is a flow of a basic form, and (b) is a flow in the case of performing automatic tracking. It is a right perspective view which shows the structure which concerns on 3rd Embodiment.

  Next, preferred embodiments of the present invention will be described with reference to the drawings.

(Whole system)
FIG. 1 is a perspective view showing the overall configuration of the three-dimensional position measurement system according to the present embodiment. The three-dimensional position measurement system 1 includes a surveying instrument 2, a prism 3, an indicator bar 4, and an inclined case 5. The indicator bar 4 is used with its tip placed at the measurement point X. The surveying instrument 2 is installed at a known point using a tripod 6. Note that the arrow e indicates the line-of-sight direction of the surveying instrument 2.

(Surveying instrument)
The surveying instrument 2 is a motor drive total station capable of automatic tracking. FIG. 2 is a block diagram showing the internal configuration of the surveying instrument 2.

The surveying instrument 2 includes a horizontal angle detector 11, a vertical angle detector 12, an inclination sensor 13, an operation unit 14, a horizontal rotation driving unit 15, a vertical rotation driving unit 16, an arithmetic control unit 17, and a storage. A unit 18, a communication unit 19, an EDM 20, a prism imaging unit 21, an image imaging unit 22, a display unit 23, a scanning unit 24, and a second image imaging unit 25 are provided .

  The EDM (light wave range finder) 20 is a distance measuring unit that collimates the prism 3 and emits distance measuring light such as an infrared laser to measure the distance to the prism 3. The scanning unit 24 scans the prism 3 by emitting scanning light such as an infrared laser having a wavelength different from that of the distance measuring light. The horizontal rotation driving unit 15 and the vertical rotation driving unit 16 are motors that rotate and drive the housing containing the EDM 20 in the horizontal and vertical directions. The horizontal angle detector 11 and the vertical angle detector 12 are rotary encoders, and measure the horizontal angle and the vertical angle of the collimating optical axis by obtaining the horizontal and vertical rotation angles of the housing that houses the EDM 20, respectively. It is a corner. The inclination sensor 13 is used for detecting the inclination of the casing of the EDM 20 and leveling it horizontally.

  The storage unit 18 includes a program for controlling the EDM 20 to perform distance measurement and angle measurement, a program for driving the horizontal rotation driving unit 15 and the vertical rotation driving unit 16 based on a signal input from the operation unit 14, and communication. Various programs such as a program for controlling the lens, a program for automatically collimating the prism 3, a program for performing automatic tracking, an image processing program to be described later, and a calculation program for calculating the three-dimensional position of the measurement point X to be described later are stored. Has been. Various operations required for the program can be performed from the operation unit 14. The arithmetic control unit 17 executes the above programs and performs various calculations and various controls. The communication unit 19 receives an instruction signal from an external wireless device or the like. When instructed from the outside, the arithmetic control unit 17 rotates the EDM 20 in the direction of the measurement point, and also starts / stops automatic tracking. The display unit 23 displays various displays and measurement values.

  The prism imaging unit 21 and the image imaging unit 22 are image sensors that output image signals, and are configured by an aggregate of pixels (pixels) such as a CCD or a CMOS sensor. The image capturing unit 22 captures the scenery around the prism 3 (landscape including the prism 3). The prism imaging unit 21 is provided with a filter that passes only the wavelength of the scanning light, and is configured to receive the scanning light from the scanning unit 24 reflected by the prism 3 so that only the prism 3 is suitably photographed. Has been. The second image capturing unit 25 is an arbitrary component and has a wider angle than the image capturing unit 22. The use will be described later.

  The above is an example of the configuration of the surveying instrument 2, and modifications based on the knowledge of those skilled in the art may be made.

(Instruction bar)
FIG. 3 is a right perspective view showing the configuration of the indicating rod 4 according to the present embodiment, and FIG. 4 is a plan view of the measuring state of the indicating rod 4 in FIG. The indicator bar 4 includes a rod-like support 31, a prism 3, and an inclined case 5.

  The support 31 has a tip-like shape at the tip, and the tip is set at the measurement point X during measurement. Although the raw material of the support body 31 is not specifically limited, For example, what has moderate rigidity and lightweight property, such as a metal, is preferable. The prism 3 is fixed to the other end of the support 31.

  The prism 3 is fixed so that the center of the prism 3 (hereinafter, prism center Pc) is disposed on the axial direction PP of the indicator rod 4 (support 31). Strictly speaking, the prism center Pc is the flying point of the prism 3. Here, the levitation point refers to a virtual point that appears stationary even when the prism 3 is tilted with respect to the surveying instrument 2. The length from the prism center Pc to the tip (measurement point X) of the support 31 is fixed at a known distance (hereinafter, this distance is referred to as a first fixed length L1). In this embodiment, the prism 3 can adopt a prism 3 other than the corner cube prism, which can emit reflected light parallel to the incident light and can analyze the image of the target center, and can use a retroreflective sheet or the like. .

(Inclined case)
As shown in FIGS. 3 and 4, the inclined case 5 includes an analysis pattern 41 for analysis and a case 42 that supports the analysis pattern 41.

  The analysis pattern 41 is a position that is shifted by a known distance (second fixed length L2) forward from the prism center Pc in a direction perpendicular to the axial direction PP of the pointing rod 4 in the axial direction PP of the pointing rod 4. It is fixed to. Regarding the description in the front-rear direction, the measurement point X side in the axial direction PP is the rear. The analysis pattern 41 is formed as a perfect circle having a pattern width 44 in this embodiment.

  However, the analysis pattern 41 may have any shape as long as the center of the analysis pattern 41 (pattern center Kc described later) is obtained by image analysis. A modified example of the analysis pattern 41 will be described later (FIG. 10).

  The case 42 is a cylindrical hollow body having an opening 43 in the front and an analysis pattern 41 formed on the front surface, and accommodates the prism 3 therein. The case 42 is fixed to the support 31.

  However, the case 42 does not have to have a shape that roughly matches the analysis pattern 41 as long as the analysis pattern 41 can be fixed before and after the prism 3.

  The analysis pattern 41 is formed on the front surface of the case 42 that defines the opening 43, but it is not necessary to form the analysis pattern 41 with the same material as the case 42. It is also preferable to form white black or the like by printing, pasting or the like. The analysis pattern 41 may be formed on the outer periphery or inner periphery of the case 42. The prism 3 and the inclined case 5 may be fixed by suitable fixing means such as adhesion / screwing / concave / convex engagement / welding.

  Next, FIG. 5 is a view of the indicator rod 4 viewed from the surveying instrument 2, and FIG. 5A is a diagram showing a state when the axial direction PP of the indicator rod 4 and the line-of-sight direction e coincide with each other. ) Is a diagram showing a state when the axial direction PP of the pointing rod 4 is deviated from the line-of-sight direction e.

  When the line-of-sight direction e of the surveying instrument 2 coincides with the axial direction PP of the pointing rod 4, the prism 3 appears to be located at the pattern center Kc of the pattern 41 as shown in FIG. On the other hand, when the line-of-sight direction e does not coincide with the axial direction PP of the pointing rod 4, the prism 3 is not located at the pattern center Kc and moves in the direction opposite to the line-of-sight movement direction, as shown in FIG. appear.

  In the tilt case 5, the position of the prism 3 (prism center Pc) with respect to the pattern center Kc changes according to the tilt angle with the line-of-sight direction e. Therefore, by photographing the pattern 41 and analyzing the image, the position direction of the inclined case 5 with respect to the line-of-sight direction can be determined. Next, if it is known how far the pattern 41 is from the prism center Pc (second fixed length L2), the inclination direction of the indicating rod 4 can be analyzed. Specifically, the three-dimensional position of the measurement point X can be measured from the following method.

(Measurement method)
First, the outline of measurement will be described. 6A and 6B are measurement flow diagrams of the three-dimensional position measurement system 1. FIG. 6A is a basic flow, and FIG. 6B is a flow when automatic tracking is performed.

  Basically, as shown in (a), first, in step S11, the scanning unit 24 searches and scans the prism 3. Next, in step S12, it is determined whether the prism 3 has been automatically collimated from an image in which only the prism 3 is captured using the prism imaging unit 21. If collimation is not possible, the process returns to step S11. If collimation is possible, the process proceeds to step S13, and the prism 3 is distance-measured and the three-dimensional position of the prism 3 is measured. Next, the process proceeds to step S <b> 14, and the inclined case 5 is photographed by the image capturing unit 22. Note that steps S13 and S14 may be performed simultaneously. Next, the process proceeds to step S15, and the three-dimensional position of the measurement point X is calculated. Next, the process proceeds to step S16, the measurement point X is displayed on the display unit 23, and the process ends.

  When performing automatic tracking, as shown in (b), first, in step S21, the prism 3 is searched and scanned, and in step S22, the prism 3 is extracted from an image in which only the prism 3 is captured using the prism imaging unit 21. Is determined to be locked (collimation), and steps S23 to S26 are the same as steps S13 to S16. If the stop of automatic tracking is instructed in step S27, the process proceeds to step S28 to stop tracking. If there is no stop instruction, the process returns to step S22 to continue tracking.

(Three-dimensional position calculation method)
Next, a method for calculating the three-dimensional position of the measurement point X in step S15 or S25 of FIG. 6 in the present embodiment will be described. FIG. 7 is a flowchart for calculating a three-dimensional position. 8 and 9 are diagrams for supplementing the description of the flow of FIG. 7, in which FIG. 8 is an example of a visual image, and FIG. 9 is an image diagram of a calculation method.

  First, in step S111, the pattern center Kc of the analysis pattern 41 is image-analyzed from the visual image captured by the image capturing unit 22 (see FIG. 8).

  Next, in step S 112, the distance measurement value of the prism 3 obtained by the EDM 20 and the angle measurement value of the prism 3 obtained by the horizontal angle detector 11 and the vertical angle detector 12 are read from the storage unit 18.

  Next, in step S113, the horizontal displacement amount Xc and the vertical displacement amount Yc between the position of the prism center Pc and the pattern center Kc on the image are obtained (see FIG. 8). The prism 3 is often captured by the prism imaging unit 21 but is not captured by the image imaging unit 22. However, since the three-dimensional position of the prism center Pc is clearly known, when the prism 3 is collimated in advance, the prism center Pc is registered in the storage unit 18 at which point on the visual image of the image capturing unit 22 is located. Just keep it. Then, the position direction (direction vector B) of the inclined case 5 (pattern center Kc) is obtained from the shift amounts Xc and Yc (see FIG. 9). The direction vector is a vector having only direction information having no size.

  Next, in step S114, the sphere S having the radius of the second fixed length L2 around the prism center Pc is calculated, and the intersection of the sphere S and the direction vector B is obtained. The position information of this intersection is the three-dimensional position of the pattern center Kc. Then, a straight line (direction vector A) passing through the pattern center Kc (three-dimensional position) and the prism center Pc (three-dimensional position) is obtained. (See FIG. 9). The direction vector A is the inclination direction of the pointing rod 4.

  Next, in step S115, the first fixed length L1 is moved from the position (three-dimensional position) of the prism center Pc in the direction of the direction vector A to obtain the three-dimensional position of the measurement point X.

(effect)
As described above, in the three-dimensional position measurement system 1 of the present embodiment, the analysis pattern 41 is shifted back and forth by the known amount (second fixed length L2) from the prism 3 (prism center Pc) in the axial direction PP by the inclined case 5. Therefore, the line (direction vector A) connecting the pattern center Kc and the prism center Pc coincides with the axial direction PP of the pointing rod 4. Therefore, the measurement point X can be measured by moving the prism vector P (see FIG. 9) up to the prism center Pc by the first fixed length L1 in the direction of the direction vector A.

  In addition, even if step S11-S13 or S21-23 of FIG. 6 performs collimation using the image acquired by the image imaging part 22, this invention can be implemented. In this case, you may collimate from the image imaged using the illumination light of a continuous spectrum instead of the specific wavelength by the scanning part 24. FIG.

  However, a prism imaging unit 21 is provided separately from the image imaging unit 22, and S11 to S13 or S21 to 23 are viewed using an image obtained by imaging only the prism 3 obtained by the scanning unit 24 and the prism imaging unit 21. By performing the collation, the automatic collimation of the prism 3 can be performed more reliably, and the position of the prism 3 can be analyzed more accurately. Therefore, the three-dimensional position of the prism center Pc in the above step S115 is determined. This is preferable because it can be obtained with higher accuracy.

  According to the present embodiment, the operator simply touches the tip of the indicator rod 4 to the measurement point X, and even if the indicator rod 4 is tilted, the operator does not need to make adjustments such as leveling the prism 3. Since the three-dimensional position of X can be measured, work efficiency is improved. Also, as shown in FIG. 5B, when combined with the automatic tracking function, the distance measurement angle value and the pattern center Kc of the prism 3 are calculated in real time during prism tracking, and the position of the measurement point X is updated. As a result, the operator can continuously measure by simply placing the pointer 4 on the points to be measured one after another, and the work efficiency is further improved.

  Further, it is not necessary to provide a new sensor for measuring the inclination of the indicating rod 4 and is inexpensive. Further, since the measurement point X is calculated from the analysis value of the analysis pattern 41 based on the prism position obtained with high accuracy, the accuracy is higher than when using the sensor value.

  Further, the three-dimensional position measurement system 1 according to the present embodiment only needs to change the position where the prism 3 is provided and add the inclined case 5 to the conventional indicator bar. The inclined case 5 is very inexpensive because it can be easily formed from the analysis pattern 41 and the case 42 for indicating the analysis pattern 41.

  In addition, the three-dimensional position measurement system 1 of the present embodiment can easily design the sensitivity of the tilt angle. If the distance of the second fixed length L2 is increased, the amount of movement of the prism 3 on the image with respect to the inclination angle from the line-of-sight direction e appears large. That is, the inclination angle sensitivity can be easily designed simply by changing the length of the inclined case 5 (second fixed length L2). For this reason, it is also preferable to prepare an inclined case 5 for long-distance ranging, medium-distance ranging, and short-distance ranging so that it can be changed according to the application.

  Further, if the tilt angle from the line-of-sight direction e is excessive, there is a high possibility that an error occurs in the image analysis. However, in the three-dimensional position measurement system 1 of the present embodiment, the prism 3 is moved by the case 42 when the tilt angle is excessive. Since collimation cannot be performed, steps S12 and S22 and subsequent steps in FIG. 6 do not operate and measurement is stopped, so that erroneous measurement can be prevented.

(Modification)
10 to 13 are modifications of the present embodiment.

  FIG. 10 shows a modified example of the analysis pattern 41. The analysis pattern shown in (a) is a pattern in which a part of the elliptical analysis pattern 41 is missing. Even in this case, the pattern center Kc can be obtained from the midpoint of the parallel lines. The analysis pattern shown in (b) is a rectangular pattern. Even in this case, the pattern center Kc can be obtained from the intersection of the diagonal lines. The analysis pattern 41 shown in (c) is a pattern formed by two parallel straight lines. Even in this case, the pattern center Kc can be obtained from the intersection of diagonal lines, the midpoint of a perpendicular bisector, or the like.

  FIG. 11 is a modification of the position of the inclined case 5. In this example, the inclined case 5 is formed behind the prism 3. That is, in this example, the analysis pattern 41 has a known distance (second fixed length) on the plane perpendicular to the axial direction PP of the indicator bar 4 and rearward from the prism center Pc in the axial direction PP of the indicator bar 4. It is fixed at a position shifted by L2). Also with this configuration, the measurement point X can be similarly measured by the method shown in FIG.

  FIG. 12 is a modified example in which the lighting device 8 is provided on the back surface of the inclined case 5 of FIG. The lighting device 8 may be in any form, but for example, an LED chip and an electronic board are accommodated in a casing as shown in the figure, and are configured to be turned on / off as required by an external switch. By providing the illumination device 8 on the back surface of the inclined case 5, the analysis pattern 41 can be photographed even in a dark place, which is effective at the time of measurement at night or the like.

  FIG. 13 shows another modification of the position of the inclined case 5. In this example, the inclined case 5 is formed not around the axial direction PP of the indicator bar 4 but around the prism 3. The analysis pattern 41 is on a plane perpendicular to the axial direction PP of the indicator bar 4 and is in a position displaced by the second fixed length L2 before and after the axial direction PP of the indicator bar 4, the axial direction PP of the indicator bar 4. It doesn't have to be on top. In the case of this configuration, it is necessary to form a mark Q that can be imaged by the image imaging unit 22 at a position that is the center of the analysis pattern 41 inside the case 42. The mark Q is preferably formed of a material having a high contrast such as a black and white pattern.

  In this embodiment, the case 42 may be formed of a material having translucency so that the mark Q can be easily imaged. More preferably, it is preferable to form the entire circumference with a translucent material in which other shadows are difficult to project for imaging, rather than a transparent material or a form in which light is taken with a hole, for example, an acrylic resin is suitable.

  In the form shown in FIG. 13, since the analysis pattern 41 is not on the axial direction PP of the pointing rod 4, the measurement point X can be measured by the following method. FIG. 14 is a flowchart for calculating a three-dimensional position. 15 to 17 are diagrams for supplementing the description of the flow of FIG. 14, and examples of the visual images of FIGS. 15 and 16, and FIG. 17 are image diagrams of the calculation method.

  First, in step S211, the pattern center Kc of the analysis pattern 41 is image-analyzed from the visual image captured by the image capturing unit 22 (see FIG. 15).

  Next, in step S212, the three-dimensional position of the prism 3 (the distance measurement value and the angle measurement value of the prism center Pc) obtained by the EDM 20 is read from the storage unit 18.

  Next, in step S213, the horizontal displacement amount Xc and the vertical displacement amount Yc of the position of the prism center Pc and the pattern center Kc on the image are obtained (see FIG. 15), and the tilt case 5 is obtained from the displacement amounts Xc and Yc. Position direction (direction vector B) is obtained (see FIG. 17).

  Next, in step S214, image analysis is performed on the mark center Km of the mark Q from the visual image captured by the image capturing unit 22 (see FIG. 16).

  Next, in step S215, the horizontal deviation amount Xd and the vertical deviation amount Yd between the mark center Km and the pattern center Kc on the image are obtained, and the mark radius r from the pattern center Kc to the mark center Km is obtained (FIG. 16). reference).

  Next, in step S216, image analysis is performed on the long side radius R of the analysis pattern 41 (see FIG. 16).

  Next, in step S217, the horizontal inclination angle θx and the vertical inclination angle θy of the inclined case 5 viewed from the line-of-sight direction of the surveying instrument 2 are obtained from the function f (r / R) = θ (see FIG. 17). In the inclined case 5, the position of the mark Q with respect to the analysis pattern 41 changes according to the inclination angle with respect to the line-of-sight direction, so that the change in inclination angle with respect to the line-of-sight direction is from the pattern center Kc to the mark center Km. It can be related by a function with respect to the mark radius r. An example of this function is in Japanese Patent Publication No. 2014-102246.

  Next, in step S218, the normal direction (direction vector A) of the tilted case 5 as seen from the line-of-sight direction of the surveying instrument 2 is obtained from the direction vector B, the tilt angle θx, and the tilt angle θy (see FIG. 17). The direction vector A is the inclination direction of the pointing rod 4.

  Next, in step S219, the first fixed length L is moved from the position (three-dimensional position) of the prism center Pc in the direction of the direction vector A to obtain the three-dimensional position of the measurement point X.

  In this modification, since the analysis pattern 41 of the inclined case 5 is provided on a plane perpendicular to the axial direction PP of the indicator rod 4, the direction vector A obtained by the analysis of the inclined case 5 is the axial direction of the indicator rod 4. It matches PP. Therefore, the measurement point X can be measured by moving the prism vector P (see FIG. 17) up to the prism center Pc by the first fixed length L1 in the direction of the direction vector A.

  In this modified example, as in the above-described embodiment, the three-dimensional position of the measurement point X can be measured only by installing the tip of the indicator bar 4 at the measurement point X even if the indicator bar 4 is inclined. Further, it is not necessary to provide a new sensor for measuring the inclination of the indicating rod 4 and is inexpensive. Further, since it is only necessary to change the position where the prism 3 is provided and add the inclined case 5 to the conventional indicator bar, it can be formed easily and is very inexpensive. In addition, the sensitivity of the tilt angle can be easily designed by the length of the case 42 (second fixed length L2). In this embodiment, the prism 3 can be replaced with a different size regardless of the size of the inclined case 5.

(Second Embodiment)
(Whole system)
The second embodiment differs from the above embodiment in that the prism 3 is not an essential component.
(Instruction bar)
FIG. 18 is a right perspective view showing the configuration of the indicating rod 4 according to the second embodiment. The indicator bar 4 includes a rod-like support 31 and an inclined case 5. As for the support body 31, the front-end | tip is installed in the measurement point X like the said embodiment.

  At the other end of the support 31, a mark T that can be imaged by the image imaging unit 22 is formed at the position of the prism 3 instead of the prism 3. That is, the mark T is fixed from the measurement point X with the first fixed length L1. The mark T may be formed on an arbitrary support member, for example, a board 32 fixed to the support 31 perpendicularly. Also in this embodiment, the mark T is preferably formed of a material having a high contrast such as a black and white pattern.

The inclined case 5 is formed so as to accommodate the mark T therein. The analysis pattern 41 is fixed by the case 42 at a position that lies on a plane perpendicular to the axial direction PP of the indicator bar 4 and is displaced forward from the mark T in the direction of the axial direction PP of the indicator bar 4 by the second fixed length L2. Has been. The case 42 may be supported and fixed by the board 32 or the like. That is, in the second embodiment, the three-dimensional position of the measurement point X is measured by collimating the mark T as a target and measuring the mark T by non-prism distance measurement.
(Surveying instrument)
FIG. 19 is a block diagram showing an internal configuration of the surveying instrument 2 ′ according to the second embodiment. Even if the surveying instrument 2 used in the above embodiment is used or the surveying instrument 2 ′ having the following configuration is used, this embodiment can be implemented as long as the image capturing unit 22 has high accuracy. In the surveying instrument 2 ′ in FIG. 19, the EDM 20, the prism imaging unit 21, and the scanning unit 24 that are provided for collimating (tracking) the prism 3 are not essential, and the non-prism ranging unit 20 ′ I just need it. The non-prism distance measuring unit 20 ′ is a distance measuring unit that emits distance measuring light such as a laser beam having a fine beam and performs distance measurement to a target other than the prism. In this embodiment, the target is the mark T, and collimation (tracking) to the mark T is performed by known image processing such as pattern matching in imaging by the image imaging unit 22.
(Measurement method)
An outline of measurement according to the second embodiment will be described. 20A and 20B are measurement flow diagrams of the three-dimensional position measurement system according to the second embodiment. FIG. 20A is a basic flow, and FIG. 20B is a flow when automatic tracking is performed. Basically, as shown in (a), first, in step S31, the image pickup unit 22 photographs the inclined case 5. Next, in step S32, the image of the mark T is analyzed from the image captured using the image capturing unit 22, and it is determined whether the target is automatically collimated. If collimation is not possible, the process returns to step S31. If collimation is possible, the process proceeds to step S33, where the mark T is measured for distance and the three-dimensional position of the mark T is measured. Next, the process proceeds to step S34, and the three-dimensional position of the measurement point X is calculated. Next, it transfers to step S35, displays the measurement point X on the display part 23, and complete | finishes. When performing automatic tracking, as shown in (b), first, in step S41, the inclined case 5 is photographed by the image capturing unit 22. Next, in step S42, it is determined whether or not the target mark T has been locked (automatic collimation). If so, the process proceeds to step S43 to measure the distance of the mark T by distance measurement. The other steps S44 to 47 are the same as steps S25 to S28 in FIG.
(Three-dimensional position calculation method)
The method for calculating the three-dimensional position of the measurement point X in step S34 or S44 in FIG. 20 is the same as the “three-dimensional position calculation method” in the above embodiment, in which the prism 3 is replaced with the mark T and the prism center Pc is marked. If it is replaced with the mark center Tc of T, it can be performed in the same manner as in the flow of FIG.
(effect)
As described above, in the second embodiment, the step of collimating (tracking) the prism 3 and performing the prism distance measurement in the above embodiment is performed by collimating (tracking) the mark T of the inclined case 5 and performing the non-prism distance measurement. By substituting for this step, the three-dimensional position of the measurement point X can be measured as in the above embodiment, without the prism 3.
(Modification)
Also in the second embodiment, the analysis pattern 41 may be modified following FIG. In this embodiment, since the collimation of the mark T is suitably performed, for example, a bar code such as a QR code (registered trademark) with a color different from the mark Q of the inclined case 5 is preferably used. 11, the analysis pattern 41 may be fixed on a surface perpendicular to the axial direction PP of the pointing rod 4 at a position shifted backward from the mark T by the second fixed length L2. Moreover, you may provide the illuminating device 8 in the back surface of the inclination case 5 according to FIG. 13, the position of the inclined case 5 may be offset to a position around the mark T. Also in this case, it is preferable that the mark T has a color different from that of the mark Q of the inclined case 5 or a barcode such as a QR code (registered trademark) so as to be easily collimated.

(Third embodiment)
(Whole system)
The third embodiment differs from the above embodiment in that the rod (support 31) is not an essential component. FIG. 21 is a right perspective view showing the configuration according to the third embodiment. The surveying instrument 2 may be the one shown in FIG. 2, and the prism 3 is preferably imaged by the prism imaging unit 21. The third embodiment has no support 31 and includes a prism 3 and an inclined case 5.

(effect)
That is, even without the support 31, the prism 3 (prism center Pc) is disposed at a position offset from the measurement point X by the first fixed length L 1, and the analysis pattern 41 of the inclined case 5 is arranged between the measurement point X and the prism center. If it is provided on a plane perpendicular to the line connecting Pc and is arranged at a position offset by a second fixed length L2 from the prism center Pc in the same direction as the first fixed length L1, it is the same as the flow of FIG. With this method, the three-dimensional position of the measurement point X can be measured. For example, as shown in FIG. 21, this form is effective when a prism 3 cannot be placed in the vicinity of the sensor 61 by the housing 60 with respect to a device in which some sensor 61 is built in a certain housing 60. What is necessary is just to obtain | require 1st fixed length L1 using the mechanical drawing of the said apparatus. In the third embodiment, the three-dimensional position of the measurement point X can be measured even if the mark T is changed to a non-prism distance measurement configuration in place of the prism 3 according to the second embodiment. .

  In addition, as another modification according to the above-described embodiment and the modification, the prism 3 and the analysis pattern 41 may not be reflected in the field of view of the image capturing unit 22 at the time of short distance measurement. A second image capturing unit 25 may be provided. In addition, by providing a marking pen at the tip of the support 31 of the pointing rod 4, the measured trajectory can be left on the site during work. Further, since the drawn locus (measurement point X) is recorded as data in real time, information such as the speed drawn by the arithmetic control unit 17 can also be acquired. In addition, the length of the indicator rod 4 may be configured to be freely extendable and contractable in a form in which the first fixed length L1 and / or the second fixed length L2 is accurately known and positioned.

  As described above, the embodiment and the modification examples of the three-dimensional position measurement system of the present invention have been described. However, these are merely examples of the present invention, and each form and each modification example can be combined based on the knowledge of those skilled in the art. Such a form is also included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Three-dimensional position measurement system 2 Surveying instrument 3 Prism 4 Indicator bar 5 Inclined case 11 Horizontal angle detector (angle measuring part)
12 Vertical angle detector (angle measuring section)
17 Calculation control unit 20 EDM (ranging unit)
21 Prism imaging unit 22 Image imaging unit 41 Analysis pattern 44 Pattern width Kc Pattern center Pc Prism center L1 First fixed length L2 Second fixed length

Claims (7)

A three-dimensional position measurement system for measuring a three-dimensional position of a measurement point,
An indicator bar installed at the measurement point;
A prism fixed at a position deviating from the measurement point to a known first fixed length in the axial direction of the indicator rod;
An inclined case that has an analysis pattern, and that fixes the analysis pattern at a position that is known to be displaced from the prism by a second fixed length before and after the axial direction of the indicator rod in a plane perpendicular to the axial direction of the indicator rod;
A surveying instrument having a distance measuring unit for measuring a distance to the prism, an angle measuring unit for measuring an angle, and an image capturing unit;
The three-dimensional position of the prism obtained by the distance measuring unit and the angle measuring unit, the inclination direction of the pointer obtained from the image obtained by imaging the inclined case by the image imaging unit, and the first A three-dimensional position measurement system, wherein the three-dimensional position of the measurement point is measured from a fixed length.
A three-dimensional position measurement system for measuring a three-dimensional position of a measurement point,
An indicator bar installed at the measurement point;
A prism fixed at a position deviating from the measurement point to a known first fixed length in the axial direction of the indicator rod;
An inclined case that has an analysis pattern, and that fixes the analysis pattern at a position that is known to be displaced from the prism by a second fixed length before and after the axial direction of the indicator rod in a plane perpendicular to the axial direction of the indicator rod;
A surveying instrument having a distance measuring unit that measures the distance to the prism, a angle measuring unit that performs angle measurement, an image imaging unit that captures the surrounding landscape of the prism, and a prism imaging unit that captures the prism; Prepared,
The prism is imaged by the prism imaging unit, the prism is collimated, and the three-dimensional position of the prism obtained by the distance measuring unit and the angle measuring unit, and the tilted case is imaged by the image imaging unit. A three-dimensional position measurement system that measures the three-dimensional position of the measurement point from the inclination direction of the pointer and the first fixed length obtained from the image obtained in this manner.
The three-dimensional position measurement system includes:
The three-dimensional position of the prism center of the prism is acquired by the distance measuring unit and the angle measuring unit,
Analyzing the image obtained by imaging the tilt case to calculate the pattern center of the analysis pattern,
Calculate the position direction of the inclined case from the pattern center and the prism center on the image,
Calculating the three-dimensional position of the pattern center, which is the point at which the distance from the three-dimensional position of the prism center on the position direction of the inclined case becomes the second fixed length;
The three-dimensional position of the measurement point is moved from the three-dimensional position of the prism center along the straight line passing through the three-dimensional position of the pattern center and the three-dimensional position of the prism center by the first fixed length. The three-dimensional position measurement system according to claim 1, wherein the position is measured.
A pointer used in the three-dimensional position measurement system according to any one of claims 1 to 3,
A prism is fixed at a position deviated from the measurement point to a known first fixed length in the axial direction of the indicator rod,
An inclined case is formed which has an analysis pattern and fixes the analysis pattern at a position deviated from the prism to a known second fixed length before and after the axial direction of the indicator rod in a plane perpendicular to the axial direction of the indicator rod. Indicator bar.
A three-dimensional position measurement method for measuring a three-dimensional position of a measurement point,
An indicator bar installed at the measurement point;
A prism fixed at a position deviating from the measurement point to a known first fixed length in the axial direction of the indicator rod;
An inclined case that has an analysis pattern, and that fixes the analysis pattern at a position that is known to be displaced from the prism by a second fixed length before and after the axial direction of the indicator rod in a plane perpendicular to the axial direction of the indicator rod;
Using a surveying instrument having a distance measuring unit for measuring a distance to the prism, an angle measuring unit for measuring an angle, and an image capturing unit,
A prism position acquisition step of acquiring a three-dimensional position of a prism center of the prism at the distance measuring unit and the angle measuring unit;
A pattern center calculating step of analyzing the image obtained by imaging the inclined case and calculating a pattern center of the analysis pattern;
A module position calculating step for calculating a position direction of the inclined case from the pattern center and the prism center on the image;
A pattern center position calculating step of calculating a three-dimensional position of the pattern center, which is a point at which the distance from the three-dimensional position of the prism center on the position direction of the inclined case becomes the second fixed length;
The three-dimensional position of the measurement point is moved from the three-dimensional position of the prism center along the straight line passing through the three-dimensional position of the pattern center and the three-dimensional position of the prism center by the first fixed length. A measuring point measuring process for measuring the position;
A three-dimensional position measurement method characterized by comprising:
A three-dimensional position measurement system for measuring a three-dimensional position of a measurement point,
An indicator bar installed at the measurement point;
A target fixed at a position deviating from a first fixed length known in the axial direction of the indicator rod from the measurement point;
An inclined case having an analysis pattern, and fixing the analysis pattern to a known second fixed length deviating position from the target in front and back in the axial direction of the indicator rod in a plane perpendicular to the axial direction of the indicator rod;
A surveying instrument having a distance measuring unit for measuring a distance to the target, an angle measuring unit for measuring an angle, and an image capturing unit;
Analyzing the image obtained by imaging the inclined case and the target to calculate the pattern center of the analysis pattern and the target center of the target,
The three-dimensional position of the target center is acquired by the distance measuring unit and the angle measuring unit,
Calculate the position direction of the inclined case from the pattern center and the target center on the image,
Calculating the three-dimensional position of the pattern center, which is the point at which the distance from the three-dimensional position of the target center on the position direction of the inclined case becomes the second fixed length;
The three-dimensional position of the measurement point is moved from the three-dimensional position of the target center in a direction along a straight line passing through the three-dimensional position of the pattern center and the three-dimensional position of the target center, A three-dimensional position measurement system characterized by measuring position.
A three-dimensional position measurement system for measuring a three-dimensional position of a measurement point,
A prism fixed at a position deviating from a measurement point by a first known fixed length;
A position having an analysis pattern, the analysis pattern having a plane perpendicular to a line connecting the measurement point and the prism center of the prism, and a known second fixed length deviating from the prism in the same direction as the first fixed length. An inclined case fixed to the
A surveying instrument having a distance measuring unit for measuring a distance to the prism, an angle measuring unit for measuring an angle, and an image capturing unit;
The three-dimensional position of the prism center is acquired by the distance measuring unit and the angle measuring unit,
Analyzing the image obtained by imaging the tilt case to calculate the pattern center of the analysis pattern,
Calculate the position direction of the inclined case from the pattern center and the prism center on the image,
Calculating the three-dimensional position of the pattern center, which is the point at which the distance from the three-dimensional position of the prism center on the position direction of the inclined case becomes the second fixed length;
The three-dimensional position of the measurement point is moved from the three-dimensional position of the prism center along the straight line passing through the three-dimensional position of the pattern center and the three-dimensional position of the prism center by the first fixed length. A three-dimensional position measurement system characterized by measuring position.