JPH01167688A - Automatic measurement system for three-dimensional position - Google Patents

Abstract

PURPOSE:To easily measure the position of a moving body in real time by moving a turntable so that an image of an image processor includes two light emission devices and measuring the distance to a reflecting plate by a light wave range finder. CONSTITUTION:A light emission device (a) or a mark with contrast with the circumference, and the reflecting plate (b) for the light wave range finder (e) are fitted to an object (j) of measurement. The turntable (d) is installed on the ground at a measurement point, and the image processor (g) which receives light from the light emission device (a) or mark and the light wave range finder (e) for sighting at the reflecting plate (b) are mounted on the turntable (d). Two light emission devices (a) are suspended at an interval and the reflecting plate (b) is mounted in the middle between the two light emission devices (a). The table (d) is so moved under computer control so that the image of the processor (g) includes the two light emission devices (a). The range finder (e) measures the distance between the reflecting plate (b) and range finder (e). Then the three-dimensional position of the reflecting plate (b) is calculated from the swivel angle of the table (d) and the distance by the range finder (e).

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a light wave distance meter and an image processing device! The three-dimensional position of a moving object! Regarding automatic measurement systems.

[Conventional technology]

Conventionally, methods for measuring the three-dimensional position Y17 of a moving object in real time include a space rocket tracking device or a system used for military purposes.

However, these devices are generally expensive and require complicated handling methods, so if they are used for purposes other than those listed above (
For example, it is not very practical for measuring the position of construction bulldozers, etc.).

-Also, there is a method of manually tracking a moving object using a system that combines a light wave rangefinder and an angle/minute needle, but in this case, a human being must constantly look at the object, so A lot of effort and a lot of errors! may occur.

[Problem that the invention seeks to solve]

The conventional technology described above has the following problems.Tracking devices for space rockets or military use were originally developed for special purposes, and these technologies cannot be applied to the location of construction machinery. It is practically difficult to apply it to measurements, etc.

In addition, the method using a combination system of a light wave rangefinder and an angle/minute needle manually tracks a moving object, resulting in considerable measurement errors and is not suitable for real-time position measurement of a moving object.

° [Problem! [Means for solving the problem] Attach a light emitting device or a mark that contrasts with the surroundings and a reflector for a light wave distance meter to the object to be measured.

On the other hand, a turntable is installed on the ground at the measurement point, and an image processing device that receives light from the light emitter or mark and a light wave distance meter that aims at the reflector are loaded on the turntable.

In order to avoid measurement errors due to movement, vibration, inclination, etc. of the object to be measured, two of the light emitters (or marks) are hung at an interval, and the reflector is installed in the center of the two light emitters.

[Effect]

In order for the two light emitters to fit within the image of the image processing device,
The turntable is moved by combinator control.

A light wave distance meter measures the distance between the reflective plate located at the center of the two light emitters and the light wave distance meter.

The three-dimensional position of the reflector attached to the object to be measured is determined from the vertical and horizontal turning angles of the turntable and the distance measured by the optical distance meter! calculate.

〔Example〕

In Figures 1 and 2, a is a mark to increase the contrast with the emitter or surroundings, b is a reflector, C is a universal guide, d is a tar/table, e is a light distance meter, f is an automatic zoom, g is an image processing device, h is a comviator 11 is a wireless communication device, and j is a moving object to be measured.

Figure 1 shows the construction of three construction bulldozers using this system.
This shows a situation in which dimensional position is automatically measured. In the figure, a light emitter a is a light emitter with a specific frequency, and an optical system consisting of an automatic zoom f and an image processing device g is equipped with a filter that can transmit only the light source of a specific frequency. .

Next, FIG. 2 shows an image obtained when the optical system consisting of the image processing device g focuses on the light emitter a during automatic zoom. In order to track the measurement object j, K requires that the light emitter a exists within this image. Therefore,
The system controls the turntable d based on information obtained by the image processing device g so that the light emitter a is always present in the image of the optical system.

In order to measure the distance to the measurement object j at this point, calculate the vector between the image center and the center of the position of the two reflectors a and a on the image shown in Figure 2, and then use the light wave distance meter e. The turntable DV feedback control is performed so that the optical axis direction and the position of the reflector plate match.

Then, the distance is measured by aiming at the light wave distance meter EV reflector.

At this time, the vertical and horizontal turning angles of the turntable d are constantly counted, so the three-dimensional position of the reflector attached to the measurement object j can be determined from the distance, horizontal angle, and vertical angle measured by the optical distance meter e. Determined by calculation.

Using the wireless communication device 1, transmit the measurement data to the measurement target jK
By performing y feedback, the measurement target j can be automatically controlled.

〔Effect of the invention〕

(1) Real-time position measurement of a moving object can be performed using a relatively simple device.

(2) The measuring device is easy to transport and install, and does not require particularly high skill to operate.

[Brief explanation of the drawing]

FIG. 1 is an overall layout diagram showing an embodiment of the automatic three-dimensional position measurement system of the present invention, and FIG. 2 is an explanatory diagram showing an image of the optical system in FIG. 1. a...Light emitter b...Reflector d...Turntable e...Light wave distance meter...Automatic zoom g...Image processing device h...Computer i...Wireless communication device j...Measurement object

Claims (1)

[Claims] Two light emitters arranged at intervals and a reflecting plate arranged at the center of these light emitters are attached to the object to be measured, and a turntable on which an image processing device and a light wave distance meter are loaded, and the turntable. A drive mechanism and a control mechanism for the table are installed on the ground at the measurement point, the turntable is moved so that the image of the image processing device includes the two light emitters, and the light wave distance meter is used to connect the reflector with the light emitting device. A three-dimensional position automatic measurement system, characterized in that the three-dimensional position of the object to be measured is calculated by measuring the distance of the object.