JP6764768B2 - Position measuring device and position measuring method - Google Patents

Description

The present invention relates to a position measuring device for measuring the position of an object and a position measuring method.

Patent Document 1 describes a three-dimensional position measuring device that measures a three-dimensional position of a target object. This three-dimensional position measuring device is used by arranging a target plate and an image scanning device on the upper floor of a building at a construction work site. This three-dimensional position measuring device consists of three vertical laser devices installed on the standard ink, which is the standard for building, and the above-mentioned three targets that receive the laser light emitted from each vertical laser device. It includes a plate and the image scanning device described above having an image camera that captures a target plate. The position of the target object is determined by the image camera of the image scanning device photographing the laser spot which is the irradiation point of the laser beam from the vertical laser device on each target plate.

JP-A-6-186036

In Patent Document 1, the target plate is physically arranged on the upper floor of the building. Therefore, the work of attaching the target plate is troublesome. In addition, the entire building may shake due to an external force such as wind, and in such a case, there is a concern that the laser spot may deviate from the target plate due to the shaking. If the laser spot deviates from the target plate, the accuracy of position measurement will decrease. Therefore, in order to measure the position with high accuracy, it is necessary to reliably irradiate the target plate with the laser beam. Therefore, in order to reliably irradiate the target plate with the laser beam, the target plate must be arranged with high accuracy. As described above, since the target plate must be arranged with high accuracy, there is a problem that accurate position information cannot be easily obtained.

An object of the present invention is to provide a position measuring device and a position measuring method capable of easily acquiring accurate position information.

The position measuring device according to the present invention is a position measuring device that measures the position of an object, and is a laser display device that is installed at an immovable point and irradiates a laser beam to display a visible reference point in the air. It is provided with a camera installed on the object and taking a picture of a reference point, and a calculation unit for calculating the position of the object using an image taken by the camera.

In the position measuring device according to the present invention, the reference point is displayed in the air by irradiating the laser beam with the laser display device installed at the fixed point. As a result, the reference point can be easily provided as compared with the case where the reference point is physically attached. Also, for example, when measuring the position of an object placed in a building, even if the building shakes due to an external force such as wind, the reference point is displayed in the air, so it is affected by the shaking. Maintain a constant position. In this way, the reference point can be easily displayed in the air, and the position of the reference point can be kept constant even if the building shakes. Therefore, accurate position information can be easily obtained by photographing the reference point with a camera and calculating the position of the object by the calculation unit.

In the position measuring device according to the present invention, the camera is an omnidirectional camera, and may take a picture while rotating 360 degrees. In this case, since the camera rotates 360 degrees while shooting, more accurate position information can be acquired.

In the position measuring device according to the present invention, the object is placed on the work floor of the building and includes a construction machine for constructing the building, and the operation of the construction machine is performed using the position of the construction machine calculated by the calculation unit. A control unit for controlling the above may be further provided. In this case, since the construction machine can be easily operated by using the highly accurate position information, the construction efficiency can be improved.

In the position measuring device according to the present invention, the object is located on the work floor of the building, and the laser display device may adjust the height of the reference point according to the height of the work floor. In this case, since the reference point can be displayed at a place close to the object whose position is to be measured, the position information suitable for the construction situation can be acquired.

The position measurement method according to the present invention is a position measurement method for measuring the position of an object, in which a laser beam is irradiated by a laser display device installed at a fixed point to display a visible reference point in the air. It includes a step, a step of taking a reference point with a camera installed on the object, and a step of calculating the position of the object using an image taken by the camera.

In the position measurement method according to the present invention, a laser beam is irradiated by a laser display device installed at a fixed point to display a reference point in the air. As a result, a reference point can be easily set. Moreover, even if the building is shaken by an external force such as wind, the reference point is maintained at a constant position without being affected by the shaking. Therefore, since the reference point that maintains a constant position can be easily displayed even when the building shakes, it is possible to easily acquire accurate position information as in the above-mentioned position measuring device.

According to the present invention, accurate position information can be easily obtained.

FIG. 1 is a schematic view of a construction site to which the position measuring device according to the embodiment of the present invention is applied. FIG. 2 is a block diagram showing an apparatus configuration of the position measuring apparatus according to the embodiment of the present invention. FIG. 3 is a schematic view showing a state of adjusting the height of the reference point by the laser display device of the position measuring device. 4 (a) and 4 (b) are diagrams for explaining the processing by the camera of the position measuring device. FIG. 5 is a diagram for explaining a calculation example by the calculation unit of the position measuring device. FIG. 6 is a diagram for explaining a calculation example by the calculation unit of the position measuring device. FIG. 7 is a diagram for explaining a calculation example by the calculation unit of the position measuring device. FIG. 8 is a diagram showing an example of an image displayed on the display unit of the position measuring device. FIG. 9 is a flowchart showing a position measurement method according to an embodiment of the present invention.

Hereinafter, embodiments of the position measuring device and the position measuring method according to the present invention will be described in detail with reference to the drawings. In the drawings, the same or equivalent elements may be designated by the same reference numerals, and duplicate description may be omitted.

FIG. 1 is a schematic view of a construction site to which the position measuring device according to the embodiment of the present invention is applied. As shown in FIG. 1, the position measuring device 1 according to the present embodiment is used, for example, for the construction of a building B. For example, a crane C (construction machine), a steel frame D (member), and a worker E who construct the building B are located on the work floor FL where the work is performed in the construction of the building B. At the construction site, for example, the steel frame D transported by a truck or the like is installed at the planned construction position P on the work floor FL by using the crane C. Further, on the work floor FL, the positions of the crane C and the steel frame D are adjusted so as not to come into contact with the worker E. In the present embodiment, the position measuring device 1 automatically performs construction management for installing members using a construction machine and safety management for adjusting the positions of construction machines and members so as not to come into contact with workers.

The position measuring device 1 will be described with reference to FIG. FIG. 2 is a block diagram showing a device configuration of the position measuring device 1. The position measuring device 1 measures the position of the object A. In the present embodiment, as an example, the relative three-dimensional coordinate data of the object A with respect to an arbitrary origin O (see FIG. 5) is acquired. The object A includes the crane C, the steel frame D, and the worker E described above. The position measuring device 1 includes a laser display device 2, a camera 3, a computer 4, a display unit 5, a construction machine controller 6, and an alarm device 7. Each of the camera 3, the computer 4, the display unit 5, the construction machine controller 6, and the alarm device 7 has an interface for wireless communication such as a wireless LAN (Local Area Network) or Bluetooth (registered trademark). It is possible to send and receive data wirelessly to each other.

The laser display device 2 irradiates a laser beam to display a visible reference point TA (or reference point TB) in the air. The laser display device 2 is installed directly on the ground GL. Here, the ground GL is a fixed point that does not displace even when an external force such as wind acts on it. The laser display device 2 is installed at a predetermined position on the ground GL (details will be described later), and displays the reference points TA and TB vertically above the predetermined position. The laser display device 2 is composed of, for example, a plasma generator including a laser irradiation unit (not shown) that irradiates a laser beam. In this case, the laser display device 2 generates plasma at a predetermined position and displays the reference points TA and TB at arbitrary positions in the air.

The laser display device 2 adjusts the heights of the reference points TA and TB according to the height of the working floor FL. FIG. 3 is a schematic view showing a state of height adjustment of the reference point TA by the laser display device 2 of the position measuring device 1. As shown in FIG. 3, the laser display device 2 displays the reference point TA1 at a position close to the ground GL, for example, when the work is performed on the ground GL (when the height position of the work floor FL1 is the ground GL). To do. Specifically, the laser display device 2 displays the reference point TA1 above the ground GL by a predetermined distance.

When the work is performed on the work floor FL2 above the ground GL, the laser display device 2 displays the reference point TA2 at a position higher than the reference point TA1 (a predetermined distance above the work floor FL2), and displays the reference point TA2 on the work floor. When work is performed on the work floor FL3 above FL2, the reference point TA3 is displayed at a position higher than the reference point TA2 (a predetermined distance above the work floor FL3). The laser display device 2 is located at a position close to each work floor FL (FL1, FL2, FL3) and at a height position (higher than each work floor FL) visible from the place where the work is performed. Display TA (TA1, TA2, TA3).

The reference points TA and TB are used in the calculation (described later) for acquiring the position of the object A. Therefore, the reference points TA and TB are displayed at a predetermined fixed position. Here, as an example, two reference points TA and a reference point TB are displayed (see FIG. 5). The two reference points TA and TB are displayed by, for example, each of the two laser display devices 2. Of the two laser display devices 2, one laser display device 2 is installed at the origin O, and the other laser display device 2 is installed at a point G1 on the ground on the Y-axis separated from the origin O by an arbitrary distance L1. Will be done. The laser display device 2 installed at the origin O displays the reference point TA in the air at the height position H1, and the laser display device 2 installed at the point G1 displays the reference point TB in the air at the height position H2. .. At this time, the three-dimensional coordinate data of the reference point TA is (Txa, Tya, Tza) = (0,0, H1), and the three-dimensional coordinate data of the reference point TB is (Txb, Tyb, Tzb) = ( 0, L1, H2).

The camera 3 captures the reference points TA and TB. The camera 3 is an omnidirectional camera. The camera 3 shoots in the 360-degree direction. 4 (a) and 4 (b) are diagrams for explaining the processing by the camera 3 of the position measuring device 1. The alternate long and short dash line in FIG. 4A shows the image plane of the image 3a taken by the camera 3, and the alternate long and short dash line in FIG. Here, the Cartesian coordinates composed of the Zc axis, which is the rotation axis of the camera 3, and the Xc axis and the Yc axis orthogonal to the Zc axis, respectively, are defined as the camera coordinate system Sc. In image 3a, the U axis is parallel to the Zc axis and the V axis is parallel to the plane including the Xc and Yc axes.

The camera 3 is installed on each of the objects A, and takes a picture while rotating 360 degrees while being installed on the object A. When the object A is the worker E, the camera 3 is built in, for example, a mobile terminal owned by the worker E. The camera 3 includes a photographing unit 31, a storage unit 32, and a calculation unit 33. Further, the camera 3 includes a posture sensor 34 that detects the horizontal inclination of the object A on which the camera 3 is installed.

As shown in FIGS. 4 and 5, the photographing unit 31 of the camera 3 photographs the reference points TA and TB. The photographing unit 31 acquires the image 3a while rotating 360 degrees around the Zc axis. At this time, the photographing unit 31 uses the inclination of the object A detected by the attitude sensor 34 to match the camera coordinate system Sc with the site coordinate system S and perform imaging. In the plane-developed image plane shown in FIG. 4B, the U-axis is parallel to the Z-axis and the V-axis is parallel to the plane including the X-axis and the Y-axis. Further, the photographing unit 31 may have, for example, a barcode reading device for reading the identification barcode of the object A attached to the object A.

The storage unit 32 stores an ID (Identification) that identifies each object A on which the camera 3 is installed. The storage unit 32 is composed of, for example, an IC (Integrated circuit) chip. The storage unit 32 stores, for example, the name, function, dimension, shape, weight, and material of each object A as information associated with the ID. The ID of each object A may be acquired by the storage unit 32 by displaying a barcode on each object A and reading the barcode with the barcode reading device of the photographing unit 31.

The calculation unit 33 calculates the three-dimensional coordinate data (position) of the object A by using the image 3a captured by the photographing unit 31 and the ID of the object A stored by the storage unit 32. Specifically, the calculation unit 33 calculates the three-dimensional coordinate data of the camera position TC, which is the position of the camera 3 installed on the object A. The calculation unit 33 uses, for example, the coordinate data (Va, Ua) of the reference point TA obtained from the image 3a shown in FIG. 4 (b) and the coordinate data (Vb, Ub) of the reference point TB to obtain the camera position TC. Calculate the three-dimensional coordinate data of.

Of the three-dimensional coordinates shown in FIG. 5, focusing on the two-dimensional coordinates including the X-axis and the Y-axis, Tx and Ty are calculated as follows. As shown in FIG.
θ _AB : The angle formed by the line segment connecting the reference point TA and the camera position TC and the line segment connecting the reference point TB and the camera position TC θ _AO : The line segment connecting the reference point TA and the camera position TC and the Xc axis. Angle θ _AC : Angle formed by the line segment connecting the Y-axis and the reference point TB and the camera position TC θ _BC : Angle formed by the line segment connecting the Y-axis and the reference point TA and the camera position TC _LAB : With the reference point TA Distance from reference point TB L _AC : Distance between reference point TA and camera position TC L _BC : Distance between reference point TB and camera position TC Each value is obtained as follows.

θ _AB is obtained from the absolute value | Vb-Va | (see FIG. 4B), and θ _AO is obtained from Va. θ _BC is obtained from Eq. (1), and θ _AC is obtained from Eq. (2).

_{LA B} is obtained from Eq. (3) from Pythagorean theorem, and L _AC is obtained from Eq. (4) from the sine theorem.

Theta _BC was determined from the equation (1) and (4), using the _{L AC} can be obtained Tx from equation (5) can be obtained Ty from equation (6).

Incidentally, obtains the _{L BC} from equation (7), _AC theta obtained from equation (7) and formula (2), with _{L BC,} may be obtained Tx from equation (8).

このＨａを用いて、式（１０）からＴｚを得ることができる。

以上の計算から得た対象物Ａの３次元座標データ（Ｔｘ，Ｔｙ，Ｔｚ）は、計算部３３からコンピュータ４に送信される。 Tz is calculated as follows. As shown in FIG. 7, the vertical distance between the reference point TA and the camera position TC is defined as Ha. Ha is the Ua (see FIG. 4 _{(b)), L} and _AC (see FIG. 6), with the focal length f of the imaging unit 31 of the camera 3 is determined from the equation (9).

Using this Ha, Tz can be obtained from the equation (10).

The three-dimensional coordinate data (Tx, Ty, Tz) of the object A obtained from the above calculation is transmitted from the calculation unit 33 to the computer 4.

The computer 4 is installed, for example, on the ground GL or the work floor FL. The computer 4 receives the position information of the object A from the camera 3. The computer 4 controls the display unit 5, the construction machine controller 6, and the alarm device 7 by using the three-dimensional coordinate data (Tx, Ty, Tz) of the object A. The computer 4 includes a storage unit 41 and a control unit 42.

The storage unit 41 is composed of various storage media such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a hard disk. The storage unit 41 stores the position information of the plurality of objects A calculated by the calculation unit 33. Further, the storage unit 41 stores the position information of the planned construction positions P of the plurality of steel frames D.

The control unit 42 is composed of a CPU (Central Processing Unit). The control unit 42 causes the display unit 5 to display a plurality of position information stored in the storage unit 41. Further, the control unit 42 controls the operation of the crane C and also controls the operation of the alarm device 7 by using a plurality of position information stored in the storage unit 41. The control unit 42 controls the operation of the crane C by using, for example, the position information of the crane C, and causes the crane C to install the steel frame D at the planned construction position P. Further, in order to prevent the crane C or the steel frame D from coming into contact with the worker E, the control unit 42 sets an alarm device 7 so as to output an alarm when the crane C or the steel frame D and the worker E approach each other. Control.

The display unit 5 is installed, for example, on the ground GL or the work floor FL. The display unit 5 displays the position information of the object A. FIG. 8 is a diagram showing an example of an image displayed on the display unit 5 of the position measuring device 1. As shown in FIG. 8, the display unit 5 has a display 51. The display unit 5 displays the position information of the object A on the display 51 under the control of the control unit 42 of the computer 4. On the display 51, for example, points on the XY plane of each object A are displayed in real time. Further, the display 51 may display the image 3a captured by the photographing unit 31 of the camera 3.

The construction machine controller 6 is built in, for example, the crane C. The construction machine controller 6 is a controller that operates the crane C. The construction machine controller 6 is constructed by the crane C under the control of the control unit 42 of the computer 4. The construction machine controller 6 operates the crane C so that the crane C installs the steel frame D at the planned construction position P, for example. Further, the construction machine controller 6 controls the operation of the crane C so that the crane C does not come into contact with the worker E.

The alarm device 7 outputs an alarm when the crane C or the steel frame D and the worker E approach each other. The alarm device 7 is installed, for example, on the work floor FL. By installing the alarm device 7 on the work floor FL in this way, the alarm can be reliably transmitted to the worker E on the work floor FL. The alarm device 7 may be an alarm that emits an alarm sound, or may be a patrol lamp that emits light. The alarm device 7 may be built in the mobile terminal possessed by the worker E, or may transmit an alarm to the mobile terminal.

Next, a position measuring method for measuring the position of the object A using the position measuring device 1 will be described with reference to FIGS. 1, 2 and 9. In the present embodiment, as an example, a case where three-dimensional coordinate data (Tx, Ty, Tz) of the crane C is acquired will be described. FIG. 9 is a flowchart showing a position measurement method according to an embodiment of the present invention. The position measurement method includes a step S1 for displaying the reference point, a step S2 for photographing the reference point, a step S3 for calculating the position of the object, and a step S4 for controlling the construction machine.

First, two laser display devices 2 are installed on the ground GL. Of the two laser display devices 2, one laser display device 2 is installed at the origin O, and the other laser display device 2 is installed at a point G1 on the Y-axis separated from the origin O by an arbitrary distance L1 ( (See FIG. 5). The laser display device 2 installed at the origin O irradiates a laser beam to display a reference point TA in the air. The laser display device 2 installed at the point G1 irradiates the laser beam to display the reference point TB in the air. As described above, the laser display device 2 installed on the ground GL irradiates the laser beam to display the reference points TA and TB that can be visually recognized in the air (step S1 for displaying the reference point).

Next, the cameras 3 installed on the crane C take pictures of the reference points TA and TB while rotating. Specifically, the photographing unit 31 of the camera 3 installed on the crane C photographs the image 3a while rotating 360 degrees around the Zc axis of the camera coordinate system Sc (FIGS. 4A and 4B). reference). At this time, the attitude sensor 34 of the camera 3 detects the inclination of the crane C in the horizontal direction. Using the inclination of the crane C detected by the attitude sensor 34, the camera coordinate system Sc and the site coordinate system S are matched and photographed. As described above, the reference points TA and TB are photographed by the camera 3 installed on the crane C (step S2 for photographing the reference points).

Next, the calculation unit 33 calculates the three-dimensional coordinate data of the crane C by using the image 3a captured by the photographing unit 31 and the ID of the crane C stored in the storage unit 32. Specifically, the calculation unit 33 calculates the three-dimensional coordinate data (Tx, Ty, Tz) of the camera position TC of the camera 3 installed on the crane C (see FIG. 5). The calculation unit 33 obtains three-dimensional coordinate data (Tx, Ty, Tz) by the method described above. The calculation unit 33 wirelessly transmits the three-dimensional coordinate data (Tx, Ty, Tz) to the computer 4. As described above, the three-dimensional coordinate data of the crane C is calculated using the image 3a captured by the camera 3 (step S3 for calculating the position of the object).

The computer 4 wirelessly receives the three-dimensional coordinate data (Tx, Ty, Tz) of the crane C. Using the three-dimensional coordinate data (Tx, Ty, Tz) of the crane C, the control unit 42 of the computer 4 controls the operation of the crane C via the construction machine controller 6. Under the control of the control unit 42, for example, the crane C installs the steel frame D at the planned construction position P. Further, under the control of the control unit 42, the crane C operates while avoiding the operator E. As described above, the operation of the crane C is controlled by using the three-dimensional coordinate data (Tx, Ty, Tz) of the crane C calculated by the calculation unit 33 (step S4 for controlling the construction machine).

As described above, a series of processes is completed after step S4 for controlling the construction machine is executed. By repeatedly executing this process on a plurality of objects A independently of each other and in parallel, the construction of the building B can be performed fully automatically.

Note that step S4 for controlling the construction machine may be omitted depending on the type of the object A. Before and after step S4 for controlling the construction machine, a step of displaying the position of the object A by the display unit 5 using the three-dimensional coordinate data (Tx, Ty, Tz) of the object A may be provided. Before and after the step S4 of controlling the construction machine, a step of outputting an alarm by the alarm device 7 may be provided by using the three-dimensional coordinate data (Tx, Ty, Tz) of the object A.

Next, the operation and effect of the position measuring device 1 and the position measuring method according to the present embodiment will be described.

In the position measuring device 1 according to the present embodiment, each of the reference points TA and TB is displayed in the air by irradiating the laser beam with the laser display device 2 installed on the ground GL. As a result, the reference points TA and TB can be easily provided as compared with the case where the reference points are physically attached. Further, even if the building B is shaken by an external force such as wind during the measurement of the position of the object A arranged on the work floor FL of the building B, the reference points TA and TB are displayed in the air. Therefore, it maintains a constant position without being affected by shaking. In this way, the reference points TA and TB can be easily displayed in the air, and the positions of the reference points TA and TB can be kept constant even if the building B shakes. Therefore, by photographing the reference points TA and TB with the camera 3 and calculating the three-dimensional coordinate data (Tx, Ty, Tz) of the object A by the calculation unit 33, accurate position information can be easily obtained in real time. Can be obtained.

Further, the camera 3 is an omnidirectional camera, and shoots while rotating 360 degrees. Since the camera 3 rotates 360 degrees for shooting, the camera 3 can more reliably shoot the reference points TA and TB. Therefore, more accurate position information can be acquired.

Further, the object A includes a crane C that is arranged on the work floor FL of the building B and constructs the building B, and the position measuring device 1 is a three-dimensional coordinate data of the crane C calculated by the calculation unit 33. A control unit 42 that controls the operation of the crane C using (Tx, Ty, Tz) is further provided. As a result, the crane C can be easily operated by using the highly accurate position information, so that the construction efficiency can be improved.

Further, the object A is located on the work floor FL of the building B, and the laser display device 2 adjusts the heights of the reference points TA and TB according to the height of the work floor FL. As a result, the reference points TA and TB can be displayed at a location close to the object A whose position is to be measured, so that position information suitable for the construction situation can be acquired.

In the position measurement method according to the present embodiment, the laser light is irradiated by the laser display device 2 installed on the ground GL, and the reference points TA and TB are displayed in the air. As a result, the reference points TA and TB can be easily provided. Further, even when the building B is shaken by an external force such as wind, the reference points TA and TB are maintained at a constant position without being affected by the shaking. Therefore, since the reference points TA and TB that maintain a constant position even when the building B shakes can be easily displayed, accurate position information can be easily acquired as in the position measuring device 1 described above. be able to.

Although the embodiments according to the present invention have been described above, the present invention is not limited to the above-described embodiments. That is, it is easily recognized by those skilled in the art that various modifications and changes can be made within the scope of the gist of the present invention described in the claims.

In the above-described embodiment, the example in which the laser display device 2 is directly installed on the ground GL has been described, but the laser display device 2 may not be directly installed on the ground GL. The laser display device 2 may be installed on a table placed on the ground GL, for example. Further, the place where the laser display device 2 is installed does not have to be the ground GL. The laser display device 2 may be installed at a fixed point that does not displace even when an external force such as wind acts on it.

Further, in the above-described embodiment, an example in which the laser display device 2 adjusts the heights of the reference points TA and TB according to the height of the working floor FL has been described, but the laser display device adjusts the height of the reference points. You don't have to. For example, the laser display device displays a reference point at a position higher than the height of the building B after the construction is completed (a predetermined distance above the uppermost work floor FL) from the stage where the work floor FL is above ground GL. You may leave it. Further, in the above-described embodiment, the example in which the reference points TA and TB are displayed vertically above the laser display device 2 has been described, but the reference points may be displayed at a place other than the vertically above the laser display device 2.

Further, in the above-described embodiment, an example of displaying two reference points TA and TB has been described, but the number of reference points may be one or three or more. The number of laser display devices 2 may be changed according to the number of reference points.

Further, in the above-described embodiment, the example in which the camera 3 is an omnidirectional camera has been described, but the camera does not have to be an omnidirectional camera. For example, it may be a camera that shoots while rotating 180 degrees, or it may be a camera that shoots while rotating in a range of other angles. Alternatively, the camera may be one that shoots without rotating. When shooting without rotating the cameras, a plurality of cameras may be used to shoot a plurality of directions, and a plurality of images taken by the plurality of cameras may be used to calculate the position. As described above, the number of cameras is not particularly limited.

Further, the calculation by the calculation unit 33 is not limited to the calculation example in the above-described embodiment. The calculation unit 33 may calculate the three-dimensional data by using an equation other than the above-mentioned equations (1) to (10). The calculation unit 33 may calculate the position of the object A by using the distance and the angle from the camera position TC to the reference points TA and TB. For example, the distance between the camera position TC and the reference points TA and TB may be measured from the respective sizes of the reference points TA and TB, and the position may be calculated using the measured distances and angles. The calculation unit 33 may calculate the distance between the camera position TC and the reference points TA and TB using the focal length f of the camera 3.

Further, in the above-described embodiment, the example in which the object A includes the crane C, the steel frame D, and the worker E has been described, but the objects are other than the crane C, the steel frame D, and the worker E. May be good. The object may include, for example, a concrete finishing robot for finishing concrete, a bolting robot for bolting, a bar arrangement robot, or a wall mounting robot.

Further, in the above-described embodiment, the case where the position measuring device 1 is used for the construction of the building B has been described, but the position measuring device 1 can be applied to other than the construction of the building B. The position measuring device 1 may be applied to the construction of a structure such as a bridge. Further, the object is, for example, arranged on a scaffold for constructing a structure, and may include a construction machine for constructing the structure.

Further, in the above-described embodiment, the case of acquiring the three-dimensional coordinate data of the object A relative to the origin O as an example of measuring the position of the object A has been described, but the data of the measurement target is the three-dimensional coordinate data. Not limited to. The position of the object A may be measured to obtain two-dimensional coordinate data of the object A relative to the origin O.

Further, in the above-described embodiment, an example has been described in which the camera 3, the computer 4, the display unit 5, the construction machine controller 6, and the alarm device 7 can transmit and receive data to and from each other by wirelessly communicating with each other. , Not limited to wireless communication. For example, a cable may be used for wired communication.

1 ... Position measuring device, 2 ... Laser display device, 3 ... Camera, 3a ... Image, 33 ... Calculation unit, 42 ... Control unit, A ... Object, B ... Building, C ... Crane (construction machine), FL ... Work Floor, GL ... Ground (fixed point), TA, TB ... Reference point.

Claims (5)

A position measuring device that measures the position of an object placed on the work floor of the building in the construction of a building .
A laser display device installed at a fixed point located outside the building and irradiating a laser beam to display a visible reference point in the air according to the height of the work floor .
A camera installed on the object and taking a picture of the reference point,
A calculation unit that calculates the position of the object using the image taken by the camera,
A position measuring device comprising. The camera is an omnidirectional camera and shoots while rotating 360 degrees.
The position measuring device according to claim 1. The object is placed on the work floor of the building and includes a construction machine for constructing the building.
A control unit that controls the operation of the construction machine by using the position of the construction machine calculated by the calculation unit is further provided.
The position measuring device according to claim 1 or 2. The object further includes a worker who works on the work floor.
The control unit uses the position information of the construction machine and the position information of the worker calculated by the calculation unit to control the operation of the construction machine so that the construction machine does not come into contact with the worker. ,
The position measuring device according to claim 3. A position measurement method that measures the position of an object placed on the work floor of a building .
A step of irradiating a laser beam with a laser display device installed at a fixed point located outside the building to display a visible reference point in the air according to the height of the work floor .
A step of photographing the reference point with a camera installed on the object, and
The step of calculating the position of the object using the image taken by the camera, and
A position measurement method comprising.

Images