JPH0212561Y2 - - Google Patents
Info
- Publication number
- JPH0212561Y2 JPH0212561Y2 JP6301984U JP6301984U JPH0212561Y2 JP H0212561 Y2 JPH0212561 Y2 JP H0212561Y2 JP 6301984 U JP6301984 U JP 6301984U JP 6301984 U JP6301984 U JP 6301984U JP H0212561 Y2 JPH0212561 Y2 JP H0212561Y2
- Authority
- JP
- Japan
- Prior art keywords
- light
- receiving element
- light receiving
- laser beam
- receiving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000005259 measurement Methods 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Description
【考案の詳細な説明】
本考案は位置計測装置に関するもので、とくに
レーザ光線を用いて計測対象物の位置を計測する
位置計測装置を提供することを目的とするもので
あり、トンネルのシールド工法等における掘削機
の位置や方向の計測または構造物等の変位計測に
利用することができる位置計測装置である。[Detailed description of the invention] The present invention relates to a position measuring device, and in particular, the purpose is to provide a position measuring device that measures the position of an object to be measured using a laser beam. This is a position measuring device that can be used to measure the position and direction of excavators, etc., or to measure the displacement of structures, etc.
すなわち、本考案の位置計測装置は、レーザ光
線の発光部を微少角で回転せしめ、その回転角と
測定物との距離により位置を計測するものであ
る。 That is, the position measuring device of the present invention rotates the laser beam emitting part by a minute angle, and measures the position based on the rotation angle and the distance to the object to be measured.
以下、本考案の位置計測装置と該位置計測装置
による計測方法を図面にしたがつて説明する。第
１図は本考案位置計測装置の計測原理を示す説明
図である。１は一端から所定の極細光束を投光す
るようになるレーザ発光器であり、該レーザ発光
器１は水平方向旋回自在になる微少角旋回盤２に
対して光束軸芯Ｌが微少角旋回盤２の回転軸芯Ｏ
と交差する位置に固設するとともに、適宣回動伝
達機構を介してステツプモータ３と該微少角旋回
盤２を回動連結してなる。４は被計測物ａの一部
に固設する受光台であり、該受光台４の上面には
異なつた二点に上記レーザ光を受光感知するよう
になる第一受光素子５と第二受光素子群６を設
け、該第二受光素子群６は受光台４と直交する方
向に多数の受光素子６ａ，６ｂ，６ｃ…を連続し
て並設してなる（第２図参照）。該第一受光素子
５、第二受光素子群６の各受光素子６ａ，６ｂ，
６ｃ…受光出力と前記ステツプモータ３のステツ
プ数出力をマイクロコンピユータ７に入力するよ
うになる。 DESCRIPTION OF THE PREFERRED EMBODIMENTS The position measuring device of the present invention and the measuring method using the position measuring device will be explained below with reference to the drawings. FIG. 1 is an explanatory diagram showing the measurement principle of the position measuring device of the present invention. Reference numeral 1 denotes a laser emitter that emits a predetermined ultra-fine beam from one end, and the laser emitter 1 has a very small angle turning table 2 that allows the beam axis L to rotate freely in the horizontal direction. 2 rotation axis O
The step motor 3 and the minute angle turning table 2 are fixedly installed at a position intersecting with the motor 3, and are rotatably connected to the step motor 3 through an appropriate rotation transmission mechanism. 4 is a light receiving stand fixed to a part of the object to be measured a, and on the upper surface of the light receiving stand 4 there are a first light receiving element 5 and a second light receiving element that receive and sense the laser beam at two different points. An element group 6 is provided, and the second light-receiving element group 6 is made up of a large number of light-receiving elements 6a, 6b, 6c, . Each light receiving element 6a, 6b of the first light receiving element 5, second light receiving element group 6,
6c...The light receiving output and the step number output of the step motor 3 are input to the microcomputer 7.
つぎに、上記構成の位置計測装置によつて被計
測物ａの位置を計測する方法を説明する。 Next, a method of measuring the position of the object to be measured a using the position measuring device having the above configuration will be explained.
たとえば第一受光素子５までの距離がL1の位
置にレーザ発光器１の回転軸芯Ｏをセツトし、こ
のときの上記距離L1方向の受光素子５と受光素
子群６間の長さがL2であることをあらかじめ計
測して既知値L1，L2を得る。この状態で微少角
旋回盤２を旋回してレーザ光束Ｌを受光素子５と
受光素子群６間に位置せしめ、この位置からステ
ツプモータ３を駆動して微少角旋回盤２を左右方
向に旋回し、レーザ発光器１から投光される極細
のレーザ光束Ｌをそれぞれ受光素子５と受光素子
群６のいずれかの受光素子により受光するととも
に、その受光信号時のステツプモータ３の入力信
号をマイクロコンピユータ７で読みとると同時
に、ステツプ数と１ステツプ当りの微少角旋回盤
２の旋回角度から第一受光素子５側の旋回角度θ
１と第二受光素子６側の旋回角度θ２が演算計測
される。 For example, if the rotation axis O of the laser emitter 1 is set at a position where the distance to the first light receiving element 5 is L1 , then the length between the light receiving element 5 and the light receiving element group 6 in the above distance L1 direction is By measuring in advance that L 2 is true, known values L 1 and L 2 are obtained. In this state, the minute angle turning table 2 is rotated to position the laser beam L between the light receiving element 5 and the light receiving element group 6, and from this position, the step motor 3 is driven to turn the minute angle turning table 2 in the left and right direction. , the ultrafine laser beam L emitted from the laser emitter 1 is received by either the light receiving element 5 or the light receiving element group 6, and the input signal of the step motor 3 at the time of the received light signal is sent to the microcomputer. At the same time, the rotation angle θ on the first light receiving element 5 side is determined from the number of steps and the rotation angle of the minute angle turning table 2 per step.
1 and the turning angle θ2 on the second light receiving element 6 side are calculated and measured.
したがつて第一受光素子５と第二受光素子６の
レーザ光束Ｌから距離x1，x2は x1＝L1tanθ1
x2＝（L1＋L2）tanθ2
によつて計出され、また上記x1とx2の値からレー
ザ光束Ｌと両受光素子５，６を結ぶ線分の角度θ
が
θ＝tan-1x1+x2／L2
によつて計出される。 Therefore, the distances x 1 and x 2 from the laser beam L of the first light receiving element 5 and the second light receiving element 6 are calculated by x 1 = L 1 tan θ 1 x 2 = (L 1 + L 2 ) tan θ 2 . , and from the values of x 1 and x 2 above, the angle θ of the line segment connecting the laser beam L and both light receiving elements 5 and 6
is calculated by θ=tan -1 x 1+ x 2 /L 2 .
すなわち、上記計出値x1，x2およびθは被計測
物ａに固着した受光台の絶対位置を検出するもの
で、この検出値から被計測物ａの水平方向の絶対
位置を計測される。 That is, the above measured values x 1 , x 2 and θ are used to detect the absolute position of the light receiving stand fixed to the object to be measured a, and from these detected values, the absolute position of the object to be measured in the horizontal direction is measured. .
また被計測物ａの鉛直方向の絶対位置はレーザ
投光器１からレーザ光束Ｌを投光したとき、第二
受光素子群６の並列した受光素子６ａ，６ｂ，６
ｃ…のうちの一個が受光するようになるからあら
かじめ配設ピツチをマイクロコンピユータ７に入
力しておく事により水平方向の計測と同時に計測
されるものである。 Further, the absolute position of the object to be measured in the vertical direction is determined by the parallel light receiving elements 6a, 6b, 6 of the second light receiving element group 6 when the laser beam L is emitted from the laser projector 1.
Since one of c... will receive light, by inputting the arrangement pitch into the microcomputer 7 in advance, the measurement can be performed simultaneously with the measurement in the horizontal direction.
上記位置計測装置は第３図に示すようにトンネ
ルシールド工法の自動掘削機の位置および姿勢制
御の検出手段に利用するもので自動掘削機１０の
一部に受光台４を固設するとともに、トンネル穴
１１の後方にレーザ発光器１を設置し、常時レー
ザ光を旋回照射しながら位置計測装置を検出し、
該計測値により上記自動掘削機１０の姿勢を修正
制御することができる。 As shown in FIG. 3, the above-mentioned position measuring device is used as a detection means for controlling the position and attitude of an automatic excavator using the tunnel shield construction method. A laser emitter 1 is installed behind the hole 11, and the position measuring device is detected while rotating and irradiating the laser beam at all times.
Based on the measured value, the attitude of the automatic excavator 10 can be corrected and controlled.
また第４図は構造物１２の変位計測の実施例を
示すもので、この計測の場合微少角旋回盤２が垂
直面内で旋回するように支持するとともに、構造
物１２の計測部位に受光台４を両受光素子５，６
面が垂直方向になるように固設することにより、
該計測部位の変位および傾倒を計測することがで
きる。 FIG. 4 shows an example of measuring the displacement of the structure 12. In this measurement, the small angle turning table 2 is supported so as to rotate in a vertical plane, and a light receiving stand is placed at the measurement site of the structure 12. 4 to both light receiving elements 5 and 6
By fixing the surface vertically,
Displacement and inclination of the measurement site can be measured.
以上述べたように本考案の位置計測装置によれ
ば被計測物の絶対位置と姿勢（向き）を経時的に
測定することができるので各種自動機器等の位置
姿勢制御や、構造物等の経時変位計測を行なうこ
とができるもので、きわめて利用範囲の広いもの
である。また本考案の位置計測装置は構造がきわ
めて簡単でありレーザ光を使用しているため、建
設現場等の悪い雰囲気においても利用可能であ
り、本考案の実用的効果は大きい。 As described above, the position measuring device of the present invention can measure the absolute position and orientation (orientation) of the object to be measured over time, so it can be used to control the position and orientation of various automatic devices, etc., and to monitor structures etc. over time. It is capable of measuring displacement and has an extremely wide range of uses. Further, since the position measuring device of the present invention has a very simple structure and uses laser light, it can be used even in a bad atmosphere such as a construction site, and the practical effects of the present invention are great.
第１図は本考案位置計測装置の一実施例の平面
図とその計測方法を示す説明図、第２図は第１図
における−線断面図、第３図は自動掘削機の
位置および姿勢計測の実施態様を示す説明図、第
４図は構造物の変位計測の実施態様を示す説明図
である。
１……レーザ発光器、２……微少角旋回盤、３
……ステツプモータ、４……受光台、５，６……
受光素子、７……マイクロコンピユータ、Ｌ……
レーザ光束。
Fig. 1 is a plan view of an embodiment of the position measuring device of the present invention and an explanatory diagram showing its measurement method, Fig. 2 is a sectional view taken along the - line in Fig. 1, and Fig. 3 is a position and attitude measurement of an automatic excavator. FIG. 4 is an explanatory diagram showing an embodiment of displacement measurement of a structure. 1...Laser emitter, 2...Small angle turning machine, 3
...Step motor, 4... Light receiving stand, 5, 6...
Light receiving element, 7...Microcomputer, L...
laser beam.
Claims (1)
該旋回軸芯と直交するようになり、一端からレー
ザ光を投光するレーザ発光器から構成されるレー
ザ光投光部と、被計測物の一部に取り付けられる
受光台の異なる２点に上記レーザ光を受光感知す
る受光素子と受光素子群をそれぞれ設け該受光素
子群が上記２点を含む面と直交方向に並列した多
数の受光素子からなる受光部と、上記ステツプモ
ータのステツプ数からレーザ発光器の微少旋回角
度を演算すると同時に上記受光素子からの入力信
号により、該旋回角度を計出する数値制御部とか
らなり、受光台の絶対位置と方向を計測するよう
にしたことを特徴とする位置計測装置。 A laser beam projecting section consisting of a laser emitter that is driven by a step motor to make the beam axis perpendicular to the rotation axis and emits a laser beam from one end, and a part of the object to be measured. A light-receiving element and a light-receiving element group for receiving and sensing the laser beam are provided at two different points on a light-receiving stand attached to the holder, respectively, and the light-receiving element group is composed of a large number of light-receiving elements arranged in parallel in a direction perpendicular to a plane containing the two points. and a numerical control section that calculates the slight turning angle of the laser emitter from the number of steps of the step motor and at the same time calculates the turning angle based on the input signal from the light receiving element. A position measuring device characterized by measuring a direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6301984U JPS60176110U (en) | 1984-05-01 | 1984-05-01 | position measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6301984U JPS60176110U (en) | 1984-05-01 | 1984-05-01 | position measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60176110U JPS60176110U (en) | 1985-11-21 |
| JPH0212561Y2 true JPH0212561Y2 (en) | 1990-04-09 |
Family
ID=30592775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6301984U Granted JPS60176110U (en) | 1984-05-01 | 1984-05-01 | position measuring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60176110U (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62231116A (en) * | 1986-03-31 | 1987-10-09 | Kumamoto Tekunoporisu Zaidan | Fine movement detecting device |
| JP2505010Y2 (en) * | 1989-08-01 | 1996-07-24 | 石川島播磨重工業株式会社 | Corner target for position measurement |
| JP2524535B2 (en) * | 1990-01-16 | 1996-08-14 | 五洋建設株式会社 | Position measuring method for shield excavator |
-
1984
- 1984-05-01 JP JP6301984U patent/JPS60176110U/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60176110U (en) | 1985-11-21 |
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