JP7178790B2 - distance measuring device - Google Patents

Description

The present invention relates to a distance measuring device that measures the distance to an object using laser light.

2. Description of the Related Art Conventionally, there has been known a distance measuring device that uses a laser beam to directly measure a distance to an object. Techniques and devices that apply this technique to measure the distance between any two points are also known. In Patent Document 1, a laser beam is projected onto a point to be measured, an image of a range including the point to be measured is captured, and the direct distance to the object is calculated based on the positional information of the laser beam in the image. and a distance measuring device for calculating the distance between two points. Further, Patent Literature 2 discloses a distance measuring device that deflects laser light and calculates the distance between any two points.

JP 2017-090422 A JP 2012-058124 A

However, such a conventional distance measuring device measures the distance between two points separated in a predetermined direction after fixing the device on a measuring stand. Therefore, there is a problem that it is difficult for the user to perform the measurement while holding the distance measuring device in his/her hand.

In view of the above, the distance measuring device according to the present invention is
the main body;
a distance measuring unit that measures a distance to a point to be measured;
an orientation detection unit that detects the orientation of the main body;
a displacement detection unit that detects displacement of the main body during distance measurement by the distance measurement unit;
The distance measurement at the time when the distance to each of two arbitrary measurement points measured by the distance measurement unit and the distance to the first measurement point calculated by the posture detection unit are measured by the distance measurement unit A first orientation, which is the orientation of the device, and a second orientation, which is the orientation of the distance measuring device at the time when the distance to the second measurement target point is measured by the distance measurement unit calculated by the orientation detection unit. and measuring the distance between the two points by using the amount of displacement of the distance measuring device from the first posture to the second posture calculated by the displacement detection unit.

ADVANTAGE OF THE INVENTION According to this invention, the error at the time of measuring the distance between arbitrary 2 points can be reduced, and a measurement precision can be improved.

1 is a perspective view of a distance measuring device according to one embodiment of the present invention; FIG. 1 is a block diagram showing the internal configuration of a distance measuring device according to one embodiment of the present invention; FIG. FIG. 4 is a diagram showing a direct distance measurement method of a distance measurement device according to an embodiment of the present invention; FIG. 4 is a diagram showing a method of installing various sensors of the distance measuring device according to one embodiment of the present invention; FIG. 4 is an explanatory diagram of a posture detection method of the distance measuring device according to one embodiment of the present invention; FIG. 4 is an explanatory diagram of a displacement detection method of the distance measuring device according to one embodiment of the present invention; The figure which shows the distance measurement principle between two points of the distance measuring device which concerns on one Embodiment of this invention. FIG. 2 is a diagram showing the principle of angle measurement between two points of the distance measuring device according to one embodiment of the present invention; 4 is an operation flowchart of a distance measurement mode between two points of the distance measurement device according to the embodiment of the present invention; An example of the control screen of the application for smart phones of the distance measuring device according to one embodiment of the present invention. An example of the distance measurement system between two points|pieces by cooperation with the smart phone of the distance measurement apparatus which concerns on one Embodiment of this invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(First embodiment)
<Overall composition>
FIG. 1 is a perspective view showing the appearance of a distance measuring device 1 according to one embodiment of the present invention. The front side of the distance measuring device 1 is shown on the left side of FIG. 1, and the back side of the distance measuring device 1 is shown on the right side of FIG. The top surface of the main body 10 is provided with a projection section 20 for projecting a laser beam toward the point to be measured and a light receiving section 30 for receiving reflected light from the point to be measured.

Further, on the front portion of the main body 10, an operation section 40 for performing distance measurement and changing various settings, and a display section 50 for displaying measurement results and various setting items are provided. The distance measuring device 1 according to this embodiment can be used by a user holding it in his/her hand, and the operation unit 40 is arranged at a position where it can be easily operated while holding the distance measuring device 1 in his/her hand. ing.

A battery cover 60 is provided on the rear surface of the main body 10, and a power source section 61, which is an electric circuit for supplying power to each section in the distance measuring device 1, and a battery are built therein.

In the following explanation, it is assumed that the time difference method is adopted as the distance measurement method. The time difference method is a method of calculating the distance to the point to be measured from the time difference between the timing of emitting the laser light and the timing of receiving the reflected light. The distance measurement method does not necessarily have to be the time difference method, and other well-known measurement methods such as the phase difference method and the triangular distance measurement method may be used.

<Internal configuration>
FIG. 2 shows the internal configuration of the distance measuring device 1 according to one embodiment of the present invention. As shown in FIG. 2, the projection unit 20 controls the light emission of the laser diode 21 that serves as the light source of the laser light, the projection lens 22 that projects the laser light in parallel toward the measurement target point, and the laser diode 21. It is composed of a laser driver 23 .

The laser driver 23 receives a light emission control signal from the distance measuring section 71 in the control section 70 and outputs laser light. It is also assumed that the laser driver 23 outputs a light emission timing signal S1 for the laser diode 21. FIG.

The light emission timing signal S1 does not necessarily need to be output by the laser driver 23, and the projection section 20 may be configured so that it can be output by another means. For example, a light receiving sensor for detecting light emission of the laser diode 21 may be provided separately, and its output signal may be used as the light emission timing signal S1.

The light-receiving unit 30 includes a condenser lens 31 that collects reflected light from a measurement target point to one point, a light-receiving sensor 32 that detects the collected reflected light and outputs a light-receiving timing signal S2, and a light-receiving timing signal S2. is composed of a signal amplifier 33 for amplifying the .

If the voltage level of the light receiving timing signal S2 is sufficiently large for the detection capability of the time difference measuring section 80 described later, the signal amplifying section 33 may be omitted.

The light emission timing signal S1 from the projection unit 20 and the light reception timing signal S2 from the light reception unit 30 are input to the time difference measurement unit 80, respectively. The time difference measuring unit 80 detects the timings at which the two signals S1 and S2 are respectively input, and calculates the time difference ΔT. The distance measuring section 71 receives the information of the time difference ΔT from the time difference measuring section 80 and calculates the distance.

Note that the time difference ΔT does not necessarily need to be calculated by the time difference measuring unit 80. The time difference measuring unit 80 outputs only the input times of the two signals S1 and S2, and the distance measuring unit 71 calculates the time difference ΔT based on this information. It is good also as a structure which calculates.

A sensor unit 90 is provided in the distance measuring device 1 . The sensor section 90 is composed of a geomagnetic sensor 91 and an acceleration sensor 92 .

In FIG. 2, the configuration of the sensor unit 90 is illustrated as only the geomagnetic sensor 91 and the acceleration sensor 92, but the configuration may be such that other sensors are provided. For example, if the geomagnetic sensor 91 and the acceleration sensor 92 each have temperature characteristics, the temperature sensors may be installed to calibrate the output data of various sensors according to temperature changes. Also, an arbitrary sensor may be provided and the detection result thereof may be displayed on the display unit 50 .

The geomagnetic sensor 91 detects a vector representing the magnitude and direction of the magnetic field generated by the earth (hereinafter referred to as a geomagnetic vector). The control unit 70 is connected to the geomagnetic sensor 91 via a communication interface, and can acquire geomagnetic vectors in real time.

The acceleration sensor 92 detects a resultant vector of the gravity applied to the device and the acceleration generated along with the movement of the device. The control unit 70 is connected to an acceleration sensor 92 via a communication interface, and can obtain a combined vector of gravity and acceleration applied to the device in real time.

In FIG. 2, the control unit 70 is connected to the geomagnetic sensor 91 and the acceleration sensor 92 via independent communication lines. It is good also as a structure which makes a line common. For example, by adopting the geomagnetic sensor 91 and the acceleration sensor 92 compatible with IIC serial communication and setting different addresses to the respective sensors, the above commonization is possible. Accordingly, communication interface resources of the control unit 70 can be saved.

When the geomagnetic sensor 91 and the acceleration sensor 92 are arranged in the distance measuring device 1, it is desirable to arrange the coordinate system XYZ of each sensor so as to match each other. Although the details will be described later, this makes it possible to easily perform attitude detection and displacement detection, which will be described later.

The control unit 70 includes an orientation detection unit 72 that detects the orientation of the distance measuring device 1 in the three-dimensional space based on data acquired from the geomagnetic sensor 91 and the acceleration sensor 92, and an orientation detection unit 72 that detects the orientation of the distance measuring device 1 in the three-dimensional space A displacement detector 73 is included to detect the amount of displacement. Further, based on the results of the distance measurement unit 71, the orientation detection unit 72, and the displacement detection unit 73, a two-point distance calculation unit 74 calculates a distance between any two points in the three-dimensional space, and a three-dimensional space A two-point angle calculator 75 is included to calculate an angle between any two points in the . A detailed method for calculating the distance between two points will be described later.

<Direct distance measurement>
A method for measuring the direct distance from the distance measuring device 1 to the point to be measured will be described below. The distance measuring section 71 outputs a light emission control signal to the laser driver 23 . The laser driver 23 receives the light emission control signal and causes the laser diode 21 to emit light. The emitted laser light becomes parallel light through the projection lens 22 and is output from the projection unit 20 toward the measurement target point. At the same time, the laser driver 23 outputs the light emission timing signal S1 of the laser diode 21 to the time difference measuring section 80 .

The projected laser light is reflected by the measurement target point and enters the light receiving section 30 . The laser light incident on the light receiving section 30 is condensed on the light receiving surface of the light receiving sensor 32 via the condensing lens 31 . The light receiving sensor 32 detects the laser light and outputs a light receiving timing signal S2. The light reception timing signal S2 is amplified via the signal amplification section 33 and input to the time difference measurement section 80 .

The time difference measuring unit 80 measures the time difference ΔT (=t ₂ −t ₁ ) between the time t ₁ when the light emission timing signal S1 is input and the time t ₂ when the light reception timing signal S2 is input, and measures the distance. Output to unit 71 . This time difference ΔT is also the time of flight until the laser light emitted from the laser diode 21 reaches the light receiving sensor 32 .

The distance measuring unit 71 calculates the distance D from the distance measuring device 1 to the point to be measured based on the information on the time difference ΔT. In general, the measured distance D is the distance that the laser beam travels in half the flight time ΔT of the laser beam, and can be obtained by the following equation, where c is the speed of light.

However, here, as shown in FIG. 3A, the distance D is such that the light-emitting surface of the laser diode 21 and the light-receiving surface of the light-receiving sensor 32 are arranged on the same plane P, and this plane It is the distance from P to the measurement target point on the measurement target.

When the light-emitting surface of the laser diode 21 and the light-receiving surface of the light-receiving sensor 32 are not on the same plane, or when the reference plane P for distance measurement is adopted as a different reference plane P', the following calculation is required. be. That is, as shown in _FIG . 3B, the distance from the reference plane P' to the light emitting surface of the laser diode 21 is D1, and the distance from the reference plane _P ' to the light receiving surface of the light receiving sensor 32 is D2. It can be obtained by the formula.

In general, a time delay occurs in signal transmission on a circuit. This delay time is included in the time difference ΔT measured by the time difference measuring unit 80, and in order to know the accurate time difference from the emission of the laser light to the light reception, it is necessary to correct the delay time for ΔT. There is That is, when the circuit delay time of the light emission timing signal S1 is Δt ₁ and the circuit delay time of the light reception timing signal S2 is Δt ₂ , the times t ₁ and t ₂ detected by the time difference measuring unit 80 and the laser light are The following relationships exist between true times t ₁ ′ and t ₂ ′ at which the laser diode 21 emits light and the light receiving sensor 32 receives light.

From the above relationship, the true time difference .DELTA.T' from the emission of the laser beam to the reception of the laser beam can be obtained by the following equation.

That is, it is possible to accurately calculate the distance by replacing ΔT in the above equation 2 with the above ΔT'.

As can be seen from Equation ₄ , if the delay time Δt1 of the light emission timing signal S1 and the delay time Δt2 of the light reception timing signal S2 _are the same, ΔT and ΔT' are equal. That is, by configuring the circuit so that the delay times Δt ₁ and Δt ₂ are the same, the delay times Δt ₁ and Δt ₂ may be ignored in the calculation of the distance measuring unit 71 .

<Posture detection>
An example of the processing performed by the posture detection unit 72 to detect the posture of the distance measuring device 1 will be described below. In order to distinguish between scalar quantities and vector quantities when dealing with mathematical formulas, vector quantities are specified as "vectors" and expressed in bold in the formulas.

As shown in FIG. 4, it is assumed that the coordinate systems XYZ of the geomagnetic sensor 91 and the acceleration sensor 92 in the distance measuring device 1 are arranged in the same direction as each other. It is also assumed that the projection direction of the laser light is arranged in the X-axis direction. Also, it is assumed that the distance measuring device 1 is stationary in a three-dimensional space, and that the acceleration sensor 92 detects only the gravitational vector.

However, if the acceleration sensor 92 detects only the gravitational vector, the distance measuring device 1 does not necessarily have to be stationary. That is, if the distance measuring device 1 is in uniform linear motion, the following attitude detection method can be applied.

The attitude detection unit 72 acquires a geomagnetic vector from the geomagnetic sensor 91 and a gravitational vector from the acceleration sensor 92 via the communication interface. The data output from each sensor is the coordinate component of the vector detected by each sensor with respect to the coordinate system XYZ. In the following, the geomagnetic vector and the gravitational vector are represented by the geomagnetic vector B and the gravitational vector G, respectively.

Since the coordinate system XYZ is a coordinate system fixed to each sensor and thus to the distance measuring device 1, it is a dynamic coordinate system with respect to the ground surface as the posture of the distance measuring device 1 changes. Therefore, using the geomagnetic vector B and the gravitational vector G obtained from each sensor, a static coordinate system with respect to the earth's surface is formed by the following procedure.

The geomagnetic vector B and the gravitational vector G are always linearly independent as far as the earth's surface is concerned. However, since the geomagnetism has an inclination with respect to the earth's surface, the geomagnetic vector B and the gravitational vector G are not orthogonal to each other. Therefore, as shown in FIG. 5(a), a plane PG perpendicular to the gravitational vector _G is considered, and the geomagnetic vector B' is obtained from the projection vector of the geomagnetic vector B onto that plane. This method is also known as the Gram-Schmidt orthogonalization method, and can be obtained by the following equation.

Here, the projection vector of the geomagnetic vector B normalized to have a length of 1 is defined as a geomagnetic vector B', and the gravity vector G normalized to have a length of 1 is defined as a gravity vector G'. there is BG' represents the inner product of the geomagnetic vector B and the gravitational vector G', and |G| represents the absolute value of the gravitational vector G. The geomagnetic vector B' is directed in the same direction with respect to the earth's surface as the geomagnetic vector B, and is orthogonal to the gravitational vector G. As shown in FIG.

From the geomagnetic vector B' and the gravitational vector G', the outer product vector N is defined as follows.

Here, G'×B' represents the outer product of the gravitational vector G' and the geomagnetic vector B'.

The three vectors of the gravitational vector G', the geomagnetic vector B', and the outer product vector N obtained by the above procedure are a group of vectors whose lengths are normalized to 1 and which are orthogonal to each other. The above vectors G', B', and N are a static vector group with respect to the earth's surface because the geomagnetic vector B and the gravitational vector G are always constant with respect to the earth's surface. Therefore, if the above vectors G', B', and N are rewritten as vectors ex', ey', and ez', respectively, and the directions pointed by them are the _X ', _Y ', and _Z ' axes, the coordinate system is X'Y'Z' form a right-handed orthogonal coordinate system. This coordinate system X'Y'Z' is employed as a new reference coordinate system for the distance measuring device 1. FIG.

The method of obtaining the above coordinate system is an example, and is not limited to this. For example, the above vector group e _x ', _ey ', and _ez ' may be spatially rotated and adopted as a new coordinate system. Further, the orthogonal coordinate system is not necessarily required, and for example, an oblique coordinate system may be adopted.

As described above, the projection direction of the laser light is arranged in the X-axis direction of each sensor. Therefore, as shown in FIG. 5(b), it is possible to know the posture of the device with respect to the ground surface by obtaining the coordinate component in the X-axis direction in the coordinate system X'Y'Z'.

An example of how to obtain the coordinate component in the X-axis direction in the coordinate system X'Y'Z' is shown below. Unit vectors in the X-axis, Y-axis, and Z-axis directions in the coordinate system XYZ on the sensor are assumed to be vectors e _x , _{ey, and e z ,} respectively. At this time, any vector R in the three-dimensional space can be expressed as follows in the coordinate system XYZ.

Here, R _x , R _y , and R _z are coordinate components of the vector R in the X-axis, Y-axis, and Z-axis directions, respectively. On the other hand, the vector R can be expressed as follows in the coordinate system X'Y'Z'.

Here, _Rx ', _Ry ', and _Rz ' are coordinate components of the vector R in the X'-axis, Y'-axis, and Z'-axis directions, respectively. Since Equations 8 and 9 above represent the same vector R in three-dimensional space, the respective right-hand sides can be put in equations.

Rewriting the above equation in matrix form, we get:

Here, (e _x 'e _y ' _ez ') represents a matrix having vectors e _x ', _ey ', and _ez ' as column vectors. Multiplying the inverse matrix (e _x 'e _y 'e _z ') ⁻¹ of the matrix (e _x 'e _y 'e _z ') from the left side of Equation 11 yields the following equation.

This is a coordinate conversion formula from the coordinate system XYZ to the coordinate system X'Y'Z'. That is, when the coordinate components of a vector represented by the coordinate system XYZ are desired to be represented by the coordinate system X'Y'Z', the transformation can be performed based on the above equations.

Since the projection direction of the laser light is the X-axis direction of the coordinate system XYZ, if R _x =1, R _y =0, and R _z =0 in Equation 12, the X-axis direction in the coordinate system X'Y'Z' is obtained.

The posture detection method and calculation method described above are merely examples, and are not limited to these. Any configuration and calculation method that can uniquely determine the posture of the distance measuring device 1 in the three-dimensional space may be used.

When the attitude change is limited to the elevation direction, that is, when the attitude change in the rotation direction around the gravity direction can be ignored, only the gravity vector G obtained from the acceleration sensor 92 is used to change the elevation direction. It is also possible to omit the geomagnetic sensor 91 by detecting a change in posture. Even if the attitude change is not limited to the elevation direction, only the acceleration sensor 92 is used to calculate only the attitude change in directions other than the direction of rotation about the direction of gravity, without using the geomagnetic sensor 91. By doing so, it is possible to improve the calculation accuracy of the distance between two points, which will be described later, compared to the case where the posture change is not detected.

<Displacement detection>
In the following, the details of the processing performed by the displacement detector 73 in order to detect the displacement of the distance measuring device 1 from its resting state will be described. The distance measuring device 1 according to this embodiment can be used by a user holding it in his or her hand. Also, when measuring a distance between two points, which will be described later, the distance measuring device 1 may be displaced while directly measuring the distance between the two points. case it becomes noticeable. By performing the displacement detection described below and using the results, the accuracy of the distance measurement between two points can be improved.

As shown in FIG. 2, the displacement detection unit 73 acquires data from the geomagnetic sensor 91 and the acceleration sensor 92 via the communication interface at regular time intervals Δt.

As described above, the information obtained from the acceleration sensor 92 is a composite vector of gravity and acceleration applied to the sensor as shown in FIG. 6(a). In order to obtain the displacement of the device, time-series data of the acceleration applied to the device during displacement is required. Therefore, it is necessary to remove the gravity component from the information obtained from the acceleration sensor 92 and extract only the acceleration component.

An example of a method of removing the gravity component from the information obtained from the acceleration sensor 92 and extracting time-series data of acceleration will be described below. The gravity vector at time t is G(t), the acceleration vector is a(t), the combined vector of gravity and acceleration obtained from the acceleration sensor 92 is M(t), and the geomagnetic vector obtained from the geomagnetic sensor 91 is B(t).

Let time _t0 be a stationary state immediately before the distance measuring device 1 starts to be displaced. At this time, no acceleration due to the displacement of the distance measuring device 1 is applied to the acceleration sensor 92, so the combined vector M(t ₀ ) detected by the acceleration sensor 92 is equal to the gravitational vector G(t ₀ ). That is, the following formula holds.

This gravitational vector G(t ₀ ) is stored in the displacement detector 73 . Also, the geomagnetic vector B(t ₀ ) detected by the geomagnetic sensor 91 at time t ₀ is also stored in the displacement detector 73 .

The time Δt seconds after t ₀ is t ₁ (t ₁ =t ₀ +Δt). It is also assumed that the distance measuring device ₁ has started to displace at time t1. At this time, both gravity and acceleration are applied to the acceleration sensor 92, and the resultant vector M(t ₁ ) is detected. The acceleration vector a(t ₁ ) at time t ₁ is the difference between this M(t ₁ ) and the gravity vector G(t ₁ ), that is, a(t ₁ )=M(t ₁ )−G(t ₁ ) can be obtained from However, the gravitational vector G(t ₁ ) is an unknown quantity. Therefore, if Δt is set to a sufficiently short time, it can be considered that the posture of the device has hardly changed since time _t0 . That is, the gravitational vector G(t ₁ ) can be considered equal to G(t ₀ ), and the acceleration vector a(t ₁ ) can be expressed by the following equation.

However, the attitude of the device at time t ₁ actually changes from time t ₀ , and accordingly the gravity vector G(t ₁ ) at time t ₁ changes from G(t ₀ ). it is conceivable that. Therefore, the gravitational vector G(t ₁ ) at time t ₁ is predicted from changes in the geomagnetic vector B(t).

On the earth's surface, the directional relationship between geomagnetism and gravity is always constant in this embodiment. That is, if the change in the direction of the geomagnetic vector B(t) between _{times t0} and t1 is known, the change in the direction of gravity can also be uniquely determined. Therefore, as shown in FIG. 6B, when the geomagnetic vector B(t) and the gravitational vector G(t) are expressed in spherical coordinates based on the coordinate system XYZ, the respective zenith angles θ _B (t) and θ _G (t) and azimuth angles φ _B (t) and φ _G (t) can be expressed by the following equations.

Here, B _x (t), B _y (t), and B _z (t) are the coordinate components of the geomagnetic vector B (t) in the X-, Y-, and Z-axis directions in the coordinate system XYZ, and G _x ( t), G _y (t), and G _z (t) are coordinate components in the X-axis, Y-axis, and Z-axis directions of the geomagnetic vector G(t) in the coordinate system XYZ.

Directional changes Δθ _B0 and Δφ _B0 of the geomagnetic vector B(t) between times t ₀ and t ₁ can be obtained by the following equations.

Along with this, the gravitational vector G(t ₀ ) should also undergo a similar change in direction from time t ₀ to t ₁ . That is, the directions θ _G (t ₁ ) and φ _G (t ₁ ) of the gravitational vector at time t ₁ can be expressed by the following equations.

From Equation 17, each coordinate component of the gravitational vector G(t ₁ ) in the coordinate system XYZ can be obtained by the following equation as an inverse transformation of Equation 15.

However, it is assumed here that the magnitude of the gravitational vector G(t) |G(t)| is always constant on the ground surface and does not change from time _t0 . The acceleration vector a(t ₁ ) and the gravitational vector G(t ₁ ) obtained by the above procedure are stored in the displacement detector 73 .

The time Δt seconds after t ₁ is t ₂ (t ₂ =t ₁ +Δt). At this time, the acceleration sensor 92 detects the combined vector M(t ₂ ) of the gravity and acceleration applied to the distance measuring device 1 . Here again, if Δt is a sufficiently short time, it can be considered that the attitude of the device has not changed significantly since time t ₁ , and the gravitational vector G(t ₂ ) is considered equal to G(t ₁ ). be able to. That is, the acceleration vector a(t ₂ ) detected by the acceleration sensor 92 at time t ₂ can be expressed by the following equation.

Further, the gravitational vector G(t ₂ ) at time t ₂ is obtained as follows from the direction changes Δθ _B1 and Δφ _B1 of the geomagnetic vector B(t) between times t ₁ and t ₂ .

The acceleration vector a(t ₂ ) and the gravitational vector G(t ₂ ) obtained by the above procedure are stored in the displacement detector 73 .

Time-series data of the acceleration vector a(t) and the gravity vector G(t) can be obtained by repeating the above procedure at time intervals Δt. In general, the acceleration vector a( _tn ) and the gravity vector G( _tn ) at time _tn can be expressed as follows.

An example of a method of obtaining the displacement from time _t0 of the distance measuring device 1 from the time-series data of the acceleration vector a( _tn ) obtained by the above procedure is shown below. In general, the acceleration vector a(t) and the position vector x(t) satisfy the following differential equation, which can be solved to obtain the position vector x(t) resulting from the acceleration vector a(t). .

Here, the initial velocity vector is ₀ because the device was stationary at time t0. In addition, the initial position vector can also be set to 0, since it is only necessary to obtain the relative displacement from the stationary state. That is, assuming that the velocity vector is v(t), Equation 22 can be solved based on the following initial conditions.

In general, solving Equation 22 for the position vector x(t) requires integrating the acceleration vector a(t) twice with respect to time t. However, the information on the acceleration vector a(t _n ) currently obtained is discrete information at time intervals Δt, so continuous integration cannot be performed. Therefore, the solution is obtained by discrete summation as follows.

Here, t is the displacement end time, and n is the division number obtained by dividing the time from _t0 to t by the time interval Δt. The solution vector x(t) obtained from Equation 24 is the displacement from rest for the distance measuring device 1 to be determined. Hereinafter, this solution vector x(t) will be represented as Δx.

The displacement vector Δx obtained by the above procedure is the displacement viewed from the coordinate system XYZ. In order to replace this with the displacement seen from the static coordinate system X'Y'Z' with respect to the earth's surface, the coordinate transformation should be performed by Equation (12). That is, if the displacement vector viewed from the coordinate system X'Y'Z' is represented by .DELTA.x', it can be obtained by the following equation.

In the above procedure, after calculating the displacement vector Δx in the coordinate system XYZ, coordinate conversion to the coordinate system X'Y'Z' was performed to obtain the displacement vector Δx'. This is not the case. For example, the acceleration vector a(t _n ) may be coordinate-transformed into the coordinate system X'Y'Z' first, and then the integral (or series) calculation may be performed. That is, if the acceleration vector and the velocity vector in the coordinate system X'Y'Z' are set to a'( _tn ) and v'( _tn ), respectively, the displacement vector Δx' can be similarly calculated as follows: can ask.

Also, although the displacement detection unit 73 reads data from the geomagnetic sensor 91 and the acceleration sensor 92 at a constant time interval Δt, it does not have to be constant. The width of Δt may be chosen arbitrarily as long as the time interval is short enough to determine the displacement vector x(t). In this case, the time interval Δt _i from the time t ₀ is stored in time series in the displacement detection unit 73, and the calculation is performed by changing the equation 24 as follows.

In the above procedure, temporal change in the direction of the geomagnetic vector B(t) is used to predict the gravitational vector G(t) at an arbitrary time, but the prediction method is not limited to this. For example, by providing the distance measuring device 1 with a gyro sensor, the angular acceleration of the device may also be obtained, and the direction of the gravitational vector G(t) may be predicted from that information.

<Distance measurement between two points>
Below, in order to calculate the distance between any two points in the three-dimensional space by applying the aforementioned "direct distance measurement", "attitude detection", and "displacement detection", the distance between two points calculation unit 74 Details of the processing to be performed will be described with reference to FIG. Two points in the three-dimensional space to be measured are defined as points A and B, respectively.

First, the direct distance to point A is measured by the distance measuring device 1 . Let O be the position of the device in the three-dimensional space at this time. The distance from point O to point A can be measured by the method described in "Direct Distance Measurement". At the same time, the attitude of the device in the static coordinate system X'Y'Z' with respect to the ground can also be detected by the method described in "Attitude Detection". Thus, the A-point distance vector rA from the O point to the _A point can be obtained.

Next, the direct distance to point B is measured by the distance measuring device 1 . However, when pointing the device toward point B, the measurement reference position of point B is generally displaced from the reference position O when point A was measured earlier. This deviation from the O point is detected by the method described in "Displacement detection". Now, if the direction of the device is directed from point A to point B, and the position of the device in the three-dimensional space shifts from point O to point O', then the vector from point O to point O' is exactly the "displacement Detection” is the displacement vector Δx′ itself.

Here, the positions of the device are the points O and O', but in practice, it is preferable to use the points O and O' as the positions of the distance measuring section 71 that performs "direct distance measurement". That is, it is desirable to detect the displacement of the distance measuring section 71 as the displacement detection. That is, the displacement of the distance measuring unit 71 is calculated by arranging the position of the acceleration sensor 92 that performs "displacement detection" and the distance measuring unit 71, for example, adjacent to the position where they overlap in the Y-axis direction in the distance measuring device 1. You can Further, based on the relative positions of the distance measuring section 71 and the acceleration sensor 92 in the distance measuring device 1, the displacement of the distance measuring section 71 may be calculated from the displacement detected by the acceleration sensor 92 and used.

Based on the above, the direct distance from point O' to point B is measured. In the same way as when measuring the direct distance from point O to point A, the distance from point O' to point B is measured by "direct distance measurement", and the device in the coordinate system X'Y'Z' is measured by "posture detection". The postures are detected respectively, and the B-point distance vector rB from the O' point to the _B point is obtained.

Using the three vectors r _A , Δx' and r _B obtained above, it can be seen from FIG. 7 that the distance AB between two points can be obtained by the following equation.

The calculation of Equation 27 may be performed by calculating the sum of the components of each vector and then taking the absolute value, or by using the inner product of the vectors and calculating as follows.

<Angle measurement between two points>
In the following, by applying the aforementioned "direct distance measurement" and "posture detection", the details of the processing performed by the angle calculation unit 75 between two points in order to calculate the angle formed by any two points in the three-dimensional space will be described. , will be described with reference to FIG. Two points in the three-dimensional space to be measured are defined as points A and B, respectively.

First, the direct distance to point A is measured by the distance measuring device 1 . Let O be the position of the device in the three-dimensional space at this time. The A-point distance vector rA from point O to point _A in the coordinate system X'Y'Z' can be obtained in the same manner as described in "Measurement of distance between two points".

Next, the direct distance to point B is measured by the distance measuring device 1 . Let O' be the position of the device in the three-dimensional space at this time. A distance vector rB from point O' to point _B in the coordinate system X'Y'Z' can also be obtained in the same manner as described above.

Using the two vectors r _{A and r B obtained above, the angle formed by the two vectors r A and r B in the} three-dimensional space, that is, the angle θ formed by the two straight lines OA and O'B, can be obtained from FIG. It can be seen from the vector inner product calculation that it is obtained as follows.

Here, r _Ax , r _Ay , and r _Az are coordinate components in the X'-, Y'-, and Z'-axis directions of the distance vector r _A , and r _Bx , r _By , and r _Bz are the X coordinates of the distance vector r _B . '-axis, Y'-axis, and Z'-axis coordinate components.

In the above explanation, the displacement of the measurement reference position (displacement vector Δx' from point O to point O') that accompanies turning the device from point A to point B was not considered. ], taking into account the displacement vector Δx', the specification for calculating the angle formed by OA and OB at point O or the angle formed by O'A and O'B at point O' is Also good. At this time, when calculating the angle θ1 formed by OA and OB at point O, the inner product of vectors rA and Δx' _{+ rB} is calculated, and the angle θ2 formed by _O'A and _O'B at point O' is When calculating, the inner product of vectors r _A −Δx′ and r _B should be calculated in the same procedure as in Equation (29).

<Operation mode: Direct distance measurement mode>
The operation modes of the distance measuring device 1 controlled by the control section 70 will be described below. The distance measurement device 1 according to this embodiment has a direct distance measurement mode as an example of an operation mode.

When an operation instruction in the direct distance measurement mode is input to the control unit 70 based on an operation input to the operation unit 40, the control unit 70 sets the distance measurement device 1 to the direct distance measurement mode. Based on the operation input from the operation unit 40, the control unit 70 performs the following control for direct distance measurement.

The user directs the distance measuring device 1 toward the point to be measured and instructs the projection of the laser beam from the operation unit 40 . In response to the above instruction, the control unit 70 outputs a light emission control signal to the projection unit 20, and projects a laser beam from the projection unit toward the point to be measured. Note that direct distance measurement is not performed at this stage.

The user determines the position to be measured while confirming the irradiation point of the laser beam reflected on the measurement target point. After that, the user directly issues a distance measurement execution instruction from the operation unit 40 . Upon receiving the above instruction, the control unit 70 measures the direct distance to the point to be measured by the method described in "Direct distance measurement".

The result of the measured direct distance is displayed on the display unit 50 to notify the user. The user confirms the displayed result, and if he wants to perform measurement again, he gives an instruction to project the laser beam, and if he wants to finish the measurement, he gives an instruction to end the direct distance measurement mode from the operation unit 40 .

In the above description, the direct distance measurement is divided into two steps of "laser beam projection" and "distance measurement execution", and the user is requested to give two steps of instructions, but this is not the only option. For example, by automatically repeating "projection of laser light" and "execution of distance measurement" at regular time intervals, the distance is continuously measured directly, and the measurement results are displayed on the display unit 50 in real time. Also good.

Further, the two steps of “projection of laser light” and “execution of distance measurement” may be instructed by one switch of the operation unit 40 . For example, a configuration may be adopted in which the "laser beam projection" instruction is given by keeping the switch pressed, and the "distance measurement execution" instruction is given when the switch is released. As a result, the laser beam does not continue to be projected all the time, and the danger of continuously exposing the laser beam to the eyes of the user and surrounding people can be avoided. Measurement can be performed and operability is improved.

In addition, the projection of the laser light may be stopped when the "execution of the distance measurement" is not performed for a certain period of time after the "projection of the laser light" is instructed. As a result, the same danger as described above can be avoided, and at the same time, the power consumption of the power supply unit 61 due to continuous projection of the laser beam can be reduced.

Further, it is also possible to adopt a configuration in which a plurality of measurements are performed in response to one instruction to “execute measurement of distance”, and the average value thereof is calculated within the control section 70 and displayed. This makes it possible to suppress variations in measurement results. Further, the configuration may be such that the number of measurements can be set by operating the operation unit 40 .

Also, the distance measuring device 1 may be configured to have a sound generating unit such as a speaker or a buzzer. As a result, not only is the notification of measurement completion to the user displayed on the display unit 50 , but also an auditory notification is given, so that the user can recognize the completion of measurement without checking the display unit 50 .

Moreover, it is good also as a structure which provides lamps, such as LED, in the distance measuring device 1. FIG. For example, by installing blue and red LEDs, it is possible to improve visibility for the user by lighting the blue LED when the measurement is completed normally, and blinking the red LED when an error occurs during the measurement. .

<Operation mode: Distance measurement mode between two points>
The distance measurement device 1 according to this embodiment has a two-point distance measurement mode as an example of an operation mode. The measurement method in this operation mode conforms to the above-mentioned "distance measurement between two points".

When an operation instruction in the two-point distance measurement mode is input to the control unit 70 based on an operation input to the operation unit 40, the control unit 70 sets the distance measurement device 1 to the two-point distance measurement mode. . Based on the operation input from the operation unit 40, the control unit 70 performs the following control to measure the distance between two points in the three-dimensional space.

The user directs the distance measuring device 1 to the first point to be measured, and performs measurement in the same procedure as in the direct distance measurement mode. At this time, by displaying the measurement result on the display unit 50, the user is notified that the measurement of the first point has been completed.

At the same time as the measurement of the first point is executed, the "displacement detection" function is enabled to detect the displacement of the distance measuring device 1 in the three-dimensional space from the measurement position of the first point.

The user directs the distance measuring device 1 to the second point to be measured, and performs measurement in the same procedure as in the direct distance measurement mode. At this time, the 'displacement detection' function is kept valid during the 'projection of laser light' step, and the process ends based on the instruction to 'execute distance measurement'. This makes it possible to accurately detect the displacement vector Δx' from the point O to the point O', which was described in detail in "Measurement of distance between two points".

By displaying the measurement result of the second point and the measurement result of the distance between the two points on the display unit 50, the completion of the measurement is notified to the user. The user confirms the displayed result, and if he/she wants to measure again, instructs to start measuring the first point. conduct.

This operation mode has a function of enabling/disabling the “displacement detection” function to be selected from the operation unit 40 . As a result, the displacement vector Δx' of the distance measuring device 1 in the equation 28 can be set to 0 when, for example, it is guaranteed that the points O and O' coincide with each other. can be reduced. At this time, Equation 29 is reduced to the following cosine theorem, resulting in Equation 31.

FIG. 9 shows an operational flow chart for the two-point distance measurement mode. When the distance measurement device 1 is set to the distance measurement mode between two points, in step F1, a measurement counter N that counts the number of measurements is initialized to 0, and the input of a laser projection instruction to the operation unit 40 is awaited ( step F2).

When the operation unit 40 inputs a laser projection instruction, the laser beam is projected (step F3), and then in step F4, the operation unit 40 waits for a distance measurement execution instruction to be input.

When the distance measurement execution instruction is received, the measurement counter N is incremented (step F5). As a result of the increment, when N is 1 (in the case of the first measurement), displacement detection is started (step F7), and the displacement of the distance measuring device 1 in the three-dimensional space using the geomagnetic sensor 91 and the acceleration sensor 92 is detected. start detecting. As a result of the increment, when N is 2 (in the case of the measurement of the second point), the displacement detection function is terminated (step F8), and the amount of displacement after the start of displacement detection is calculated in step F7.

Then, in step F9, the distance measurement unit 71 executes the N-th distance measurement, and displays the measurement result on the display unit 50 (step F10). At this time, the posture of the distance measuring unit 71 is detected using the geomagnetic sensor 91 at the same time when the distance measuring unit 71 starts measuring the distance.

At this time, if the value of the measurement counter N is 2, that is, if the measurement of the two points to be the distance between the two points is completed, the distance between the two points is calculated (step F12), and the result is also included. is displayed on the display unit 50 (step F13). If the value of the measurement counter N is 1, that is, if only the measurement for the first point has been completed, the process returns to step F2 and waits for execution of the measurement cycle for the second point. Here, as described above, the two-point distance measurement mode may be ended when the second point measurement instruction, that is, the laser projection instruction in this operation mode is not given for a predetermined period of time.

In step F14, if there is no continuous measurement instruction to the operation unit 40, the two-point distance measurement mode is terminated. If there is a continuous measurement instruction, the process returns to step F1 and repeats the above steps. In step F14, it is determined that there has been a continuous measurement instruction by receiving a laser projection instruction to the operation unit 40 corresponding to step F2, and the measurement counter N is initialized (step S1) and left as it is. You may proceed to step F3.

<Operation mode: Angle measurement mode between two points>
The distance measuring device 1 according to this embodiment has a two-point angle measurement mode as an example of an operation mode. The measurement method in this operation mode conforms to the above-described "angle measurement between two points".

When an operation instruction in the two-point angle measurement mode is input to the control unit 70 based on an operation input to the operation unit 40, the control unit 70 sets the distance measuring device 1 to the two-point angle measurement mode. . Based on the operation input from the operation unit 40, the control unit 70 performs the following control to measure the angle formed by two points in the three-dimensional space.

The measurement procedure is basically the same as the distance measurement mode between two points. That is, the user first directs the distance measuring device 1 to the first point to be measured, and then directs the distance measuring device 1 to the second point to be measured.

By displaying the measurement result of each of the two points and the calculation result of the angle formed between the two points on the display unit 50, the user is notified of the completion of the measurement. The user confirms the displayed result, and if he/she wants to measure again, instructs to start measuring the first point, and if he/she wants to finish the measurement, he/she gives an instruction to end the angle measurement mode between two points from the operation unit 40. conduct.

This operation mode has a function of selecting the target of the angle to be measured from the operation unit 40 . As described in detail in "Angle measurement between two points", the angles to be calculated are the angle formed by straight lines OA and OB at point O, the angle formed by straight lines O'A and O'B at point O', A relative angle between r _A and r _B ignoring the displacement vector Δx' is considered. This selectability allows the user to measure the desired angle. These angles may be selectable, or all or part of them may be displayed on the display unit 50 . Moreover, the result of combining a plurality of calculated angles may be displayed, for example, an average value may be displayed. In these cases, an error may be displayed when the displacement vector .DELTA.x' exceeds a predetermined value. By making the displacement vector Δx' fall below a predetermined value by re-measuring, the accuracy of angle calculation can be improved.

In addition, this operation mode is not limited to angles, and may be configured to measure arbitrary angles of a closed figure with three vectors r _A , Δx′, and r _B as shown in FIG. 7 . Thereby, the user can measure a desired angle by selecting an angle portion to be known in a figure closed by r _A , Δx′, and r _B . It should be noted that the closed figure itself may be displayed on the display unit 50 to display part or all of each angle.

(Second embodiment)
<Example of automatic control from an external device>
In this embodiment, another control mode when the distance measuring device 1 can be equipped with a communication function with an external device will be described below. The external devices here include PCs, smart phones, tablet terminals, and various industrial electronic devices such as sequencers. In the following description, only parts different from the first embodiment will be described, and other descriptions will be omitted.

In this aspect, the distance measuring device 1 has a communication interface section with an external device as an internal configuration, and is managed and controlled by the control section 70 . The communication interface includes wired communication such as USB and wireless communication such as Wi-Fi. Moreover, as a communication protocol, a common protocol such as MODBUS (registered trademark) as a connection means with industrial electronic equipment may be adopted, or a unique protocol may be created and adopted.

The control unit 70 may be configured to prepare a command group corresponding to various controls of the distance measuring device 1 . As a result, the external device may be configured to perform arbitrary control of the distance measuring device 1 by transmitting an instruction command corresponding to desired control to the distance measuring device 1 . For example, control instructions such as "perform direct distance measurement" and "read measurement results" may be prepared.

Table 1 shows an example of the control command. The type of control that can be assumed is not limited to this.

When controlling from a PC, smartphone, or tablet terminal, an application for each device may be prepared. For example, an application for smartphones compatible with iOS (registered trademark) or Android (registered trademark) OS is prepared, and the above instruction command is transmitted via Wi-Fi from the touch operation on the smartphone, and the distance measuring device 1 is operated. It is good also as composition which performs various control.

FIG. 10 shows an example of how the distance measuring device 1 is operated from the smartphone 2 and the screen configuration of an application running on the smartphone 2 . The screen configuration of the application is an example, and is not limited to this.

In FIG. 10, the smartphone 2 is used to operate the distance measuring device 1 to measure the distance between points A and B in the two-point distance measurement mode, and the result is displayed on the display screen of the smartphone 2. is shown. On this display screen, the distance from the distance measuring device 1 to the point A and the distance to the point B, and the distance between the two points A and B are displayed together.

<Distance measurement system between two points in cooperation with an external device>
A control mode in the case of cooperating with an external device using the communication function described above will be described below. In the description so far, the geomagnetic sensor 91 and the acceleration sensor 92 are provided in the distance measuring device 1, and various measurements such as posture detection, displacement detection, and distance measurement between two points can be performed by the distance measuring device 1 alone. board.

Here, the geomagnetic sensor 91 and the acceleration sensor 92 are not provided in the distance measuring device 1, and the distance between two points can be measured by using the data of the geomagnetic sensor and the acceleration sensor of the external device through the communication function. A configuration for performing various calculations of is described with reference to FIG. A smart phone, a tablet terminal, etc. are mentioned as an external device. In the following description, the smartphone 2 is used as the external device.

As shown in FIG. 11( a ), the distance measuring device 1 and the smart phone 2 are connected to each other by a fixing component 3 . As a result, the distance measuring device 1 and the smartphone 2 can always keep their mutual attitudes and positional relationships constant in the three-dimensional space. That is, the data detected by the geomagnetic sensor and the acceleration sensor in the smartphone 2 are equivalent to the data detected when each sensor is installed in the distance measuring device 1 . In addition, the fixed part 3 may be configured integrally with a part of the distance measuring device 1 . As a fixing method, for example, it may be fixed by a connector that is inserted into and removed from a connector of the smartphone 2. In that case, it may be configured so that data can be transmitted and received via the connector. .

An application is running on the smartphone 2, and each detection data is read in real time from its own geomagnetic sensor and acceleration sensor.

The distance measuring device 1 issues a request to the smartphone 2 at the timing when the data of the geomagnetic sensor and the acceleration sensor are required. Upon receiving this request, the smartphone 2 transmits the current values of the geomagnetic sensor and the acceleration sensor to the distance measuring device 1 via the communication interface.

The distance measuring device 1 receives data from the geomagnetic sensor and the acceleration sensor from the smartphone 2, and uses the data to perform various calculation processes such as posture detection and displacement detection. Accordingly, similar functions can be realized without providing the distance measuring device 1 with various sensors.

However, if a displacement detection calculation is performed based on the acceleration vector a _s (t) detected by the acceleration sensor in the smartphone 2 , the displacement vector Δx _s ′ of the smartphone 2 body is obtained. It generally differs from the displacement vector Δx′ of the distance measuring device 1 .

Therefore, as shown in FIG. 11A, a relative position vector r _s in the coordinate system XYZ, which indicates the relative position between the distance measuring device 1 and the smartphone 2 when connected by the fixing part 3, can be set as a parameter. It should be configured as follows. As a result, the displacement vector Δx′ of the distance measuring device 1 can be obtained as follows even with the acceleration sensor in the smartphone 2 . The setting of the relative position vector _rs may be set in advance for each model of the smartphone 2, for example. In that case, for example, the relative position vector r _s may be set by inputting the model name on an application running on the smartphone 2 or acquiring model information stored in the smartphone 2 . The relative position vector r _s for each model of the smartphone 2 may be acquired from a table stored in a server (not shown).

When measuring the first point and the second point, the coordinate components of the vector rs in the coordinate system _X'Y'Z ' are obtained by coordinate transformation and designated as _rs1 ' and _rs2 ', respectively. Then, as can be seen from FIG. 11(b), the displacement vector .DELTA.x' of the distance measuring device 1 can be calculated by the following equation.

In the above description, the distance measuring device 1 is configured to perform various calculation processes such as attitude detection and displacement detection, but this is not the only option. For example, the distance measurement device 1 may receive a request from the smartphone 2 to perform distance measurement, and the smartphone 2 may receive the result of the measurement, and perform various calculation processes on the smartphone 2 side.

(Third embodiment)
This embodiment has the same configuration as the first embodiment or the second embodiment, but is different in display control when the two-point distance measurement mode is executed. In the following description, only parts different from the first embodiment will be described, and other descriptions will be omitted.

In the present embodiment, it is possible to select a “horizontal distance measurement mode” or a “vertical distance measurement mode” by operating the operation unit 40 .

When the "horizontal distance measurement mode" is selected, the horizontal component of the distance between two points calculated in the "distance measurement mode between two points" described in the first embodiment, that is, the ground surface at the X'Y'Z' coordinates The distance on the Y'Z' plane parallel to , or the distance in the Y'-axis direction or the Z'-axis direction is calculated and displayed. However, it is possible to display on the display unit 50 at the same time as other distances such as the distance in the three-dimensional space calculated by the X'Y'Z' coordinates.

When the "vertical distance measurement mode" is selected, similarly, the vertical component in the distance between two points calculated in the "distance measurement mode between two points" described in the first embodiment, that is, X'Y'Z' In terms of coordinates, the distance on the X'Y' plane or Y'Z' plane perpendicular to the ground surface or the distance in the X' axis direction is calculated and displayed. However, it is possible to display on the display unit 50 at the same time as other distances such as the distance in the three-dimensional space calculated by the X'Y'Z' coordinates.

In this way, by configuring the "horizontal distance measurement mode" or "vertical distance measurement mode" to be selectable, it is possible to calculate the distance on the plane or axis desired by the user. Any desired distance can be measured regardless of the physical shape.

In the embodiments described above, posture and displacement detection is executed at the time when the distance to the measurement target point is measured. For example, according to the method described with reference to FIG. 9, the attitude is detected at the same time as the laser beam is projected and the distance measurement is started. Orientation detection may be performed after calculating the distance to the measurement target point.

Similarly, in displacement detection as well, an example was described in which the measurement continues from the start of distance measurement to the first measurement target point until the end of distance measurement to the second measurement target point. It is not necessarily limited to this. For example, the displacement detection used to calculate the distance between the two points may be started when a predetermined time has passed since the start of distance measurement to the first point to be measured or when a displacement amount is detected. . In addition, the displacement is intermittently detected at a predetermined timing until the second distance measurement is performed, and the predetermined time or number of samples has elapsed since the execution instruction for the second distance measurement was given. The displacement amount may be used for calculating the distance between the two points except for the displacement amount data from the point in time.

The present invention is not limited to the embodiments described above, and various modifications are possible without departing from the technical scope of the present invention.

1 distance measuring device 2 smartphone 3 fixed part 10 main body 20 projection unit 21 laser diode 22 projection lens 23 laser driver 30 light receiving unit 31 condenser lens 32 light receiving sensor 33 signal amplification unit 40 operation unit 50 display unit 60 battery lid 61 power supply unit 70 Control unit 71 Distance measurement unit 72 Posture detection unit 73 Displacement detection unit 74 Distance calculation unit 75 Angle calculation unit 80 Time difference measurement unit 90 Sensor unit 91 Geomagnetic sensor 92 Acceleration sensor

Claims (5)

A distance measuring device,
the main body;
a distance measuring unit that measures a distance to a point to be measured;
an orientation detection unit that detects the orientation of the main body;
a displacement detection unit that detects displacement of the main body during distance measurement by the distance measurement unit;
The distance measurement at the time when the distance to each of two arbitrary measurement points measured by the distance measurement unit and the distance to the first measurement point calculated by the posture detection unit are measured by the distance measurement unit A first orientation, which is the orientation of the device, and a second orientation, which is the orientation of the distance measuring device at the time when the distance to the second measurement target point is measured by the distance measurement unit calculated by the orientation detection unit. 2. A distance measuring device , wherein the distance between the two points is measured using the amount of displacement of the distance measuring device from the first posture to the second posture calculated by the displacement detection unit. 2. The distance measuring device according to claim 1, wherein the attitude detection section includes a geomagnetic sensor, and the displacement detection section includes an acceleration sensor. A distance measuring device,
the main body;
a distance measuring unit that measures a distance to a point to be measured;
an orientation detection unit that includes a geomagnetic sensor and detects the orientation of the main body;
a displacement detection unit that includes an acceleration sensor and detects displacement of the main body during distance measurement by the distance measurement unit;
with
The distance measurement unit measures a distance to a first measurement target point and a distance to a second measurement target point,
The orientation detection unit measures a first orientation, which is the orientation of the distance measuring device when the distance to the first measurement target point is measured, and the distance to the second measurement target point. using the geomagnetic sensor to calculate a second attitude, which is the attitude of the distance measuring device at the point in time;
The displacement detection unit uses the acceleration sensor to calculate a displacement amount of the distance measuring device from the first posture to the second posture,
Using the distance to the first point to be measured, the first orientation, the distance to the second point to be measured, the second orientation, and the amount of displacement, from the first point to be measured A distance measuring device that measures a distance to a second measurement target point. calculating a first vector, which is a vector quantity from the main body to the first measurement target point, from the distance to the first measurement target point and the first orientation, and calculating the second measurement target point; A second vector, which is a vector quantity from the main body to the second measurement target point, is calculated from the distance to and the second posture, and the first vector, the second vector, and the displacement 4. The distance measuring device according to claim 3, wherein the distance from the first point to be measured to the second point to be measured is measured by vector calculation using quantities. A distance measuring system comprising a distance measuring device,
a distance measuring unit that measures a distance to a point to be measured;
an orientation detection unit that detects the orientation of the distance measurement unit during distance measurement;
a displacement detection unit that detects the amount of displacement of the distance measurement unit during the period from when the distance measurement unit measures the distance to the first measurement target point to when the distance to the second measurement target point is measured; prepared,
Each distance to any two points to be measured by the distance measuring unit and the distance to the first point to be measured by the distance measuring unit calculated by the posture detecting unit at the time when the distance is measured A first orientation, which is the orientation of the measuring device, and a second orientation, which is the orientation of the distance measuring device when the distance to the second measurement target point is measured by the distance measuring unit calculated by the orientation detecting unit. and measuring the distance between the two points using the displacement amount of the distance measuring device from the first posture to the second posture calculated by the displacement detection unit. .

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