JPH05126576A - Measuring device of attitude using laser light - Google Patents

Abstract

PURPOSE:To obtain a measuring device of an attitude using a laser light which can execute measurement of the attitude easily and reliably and can be made to have a simple and inexpensive structure. CONSTITUTION:Laser light sensing parts 1 to 5 are constructed in a three- dimensional frame structure and a laser light is applied in two directions perpendicular to each other. According to this constitution, five degrees of freedom of vertical and horizontal displacements and angles of rotations in three directions are measured simultaneously by one device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture measuring device used for controlling the posture of a shield machine or the like.

[0002]

2. Description of the Related Art Conventionally, as an attitude measuring device of this type, a level sensor incorporated in a device for controlling an attitude measures a rotation angle in two directions (pitching / rolling), and further, a gyro compass or a laser transit with an optical distance meter. It is generally known to obtain the displacement and the rotation angle in the horizontal plane by using.

[0003]

However, in the above-mentioned conventional attitude measuring device, in order to read displacements and rotations by a plurality of independent measuring instruments, some measuring operations are performed in parallel, and measurement with different accuracy is performed. The work of synthesizing the values was necessary. Further, since a plurality of measuring instruments are required, the cost of the posture measuring device becomes high.

The present invention was devised in view of the above-mentioned circumstances, and the purpose thereof is to use a laser beam capable of easily and surely performing posture measurement and having a simple and inexpensive structure. An object is to provide a posture measuring device.

[0005]

SUMMARY OF THE INVENTION An attitude measuring device according to the present invention comprises a light emitting section for outputting a laser beam and a reading point of the laser beam for the vertical reference laser to form horizontal and vertical reference laser surfaces. The first, third and fifth light receiving portions which are set perpendicularly to the horizontal reference laser surface on both sides across the surface, and the reading point of the laser light are on both sides across the horizontal reference laser surface. It is provided with second and fourth light receiving portions set perpendicularly to the vertical reference laser surface.

Then, using the readings of the first to fifth light receiving portions, the displacement in the X-axis direction which is the horizontal direction and the displacement in the Y-axis direction which is the vertical axis, and the rotation around the X-axis and the Y-axis. In this case, a total of five degrees of freedom of the rotation angle around the Z axis, which is the rotation axis and the depth direction axis, are calculated at one time.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An attitude measuring apparatus using a laser beam of the present invention will be described below with reference to illustrated embodiments.

The attitude measuring device 6 (see FIG. 1) has a light emitting portion 9 for outputting laser light and a laser light reading point 10 so as to form horizontal and vertical reference laser surfaces 7, 8.
However, on both sides of the vertical reference laser plane 8, the first, third and fifth light receiving portions 1, 3, 5 set on the horizontal reference laser plane 7 and the laser light reading point 10 are set to the horizontal reference plane. Vertical reference laser surface 8 on both sides of the laser surface 7
And second and fourth light receiving portions 2 and 4 which are set vertically.

The first to fifth light receiving parts 1, 2, 3, 4,
Using the reading of 5, the displacement in the X-axis direction, which is the horizontal direction, and the displacement in the Y-axis direction, which is the vertical axis, and the rotation around the X-axis,
It is configured to calculate a total of five degrees of freedom about the rotation angle around the Y axis and the Z axis that is the depth direction axis at one time.

Each of the light receiving sections 1 to 5 here is a device (hereinafter, electronic staff) for detecting the level of laser light by an internal optical fiber.

Next, the basic principle for obtaining the displacement and the rotation angle of the posture measurement object will be described. The reading δi of each electronic staff when each light receiving portion is irradiated with laser light in two directions at right angles is as follows. It is expressed by the function of. That is, δi = f
(X, y, θx, θy, θz). Where x is X
Axial displacement, y is Y-axis displacement, θx is a rotation angle around the X axis, θy is a rotation angle around the Y axis, and θz is a rotation angle around the Z axis.

Thus, there are five degrees of freedom (x, y, θ
x, θy, θz), and since a total of five equations can be obtained from one reading by each staff, the posture of the object can be grasped at once by solving them.

FIG. 2 shows the measurement state when the rotation of θx is generated around the X axis, and FIG. 3 is the measurement state when the rotation of θy is generated around the Y axis in the posture measuring apparatus of the present invention. , FIG. 4 shows the measurement state when the rotation of θz is generated around the Z axis.

Further, as shown in FIG. 5, it is possible to install the light receiving section even in a space having no depth by using the electronic staff which is each of the light receiving sections 1 to 5 and the mirror 11 as needed. As a result, it is possible to provide a measuring device which has excellent economical efficiency and practicality and has an extremely wide range of applications.

[0015]

EFFECTS OF THE INVENTION The laser light receiving portion has a three-dimensional frame structure, and by irradiating laser light in two directions at right angles, vertical and horizontal displacements and five degrees of freedom in three-direction rotation angles can be measured simultaneously by one device can do. Further, the light receiving portion having a simple structure is economical, and unlike the planar receiving unit, it can be freely handled by adjusting the side length of the frame to the required measurement accuracy.

[Brief description of drawings]

FIG. 1 is a schematic view showing an attitude measuring device using a laser beam of the present invention.

FIG. 2 is a schematic view showing a measurement state when a rotation of θx is generated around the X axis in the attitude measuring device using the laser light of the present invention.

FIG. 3 is a schematic diagram showing a measurement state when a rotation of θy about the Y axis occurs in the attitude measuring device using the laser light of the present invention.

FIG. 4 is a schematic view showing a measurement state when a rotation of θz is generated around the Z axis in the attitude measuring device using the laser beam of the present invention.

FIG. 5 is a schematic view showing another embodiment of the attitude measuring apparatus using the laser light of the present invention.

[Explanation of symbols]

1 ... 1st light receiving part, 2 ... 2nd light receiving part, 3 ... 3rd light receiving part, 4
... Fourth light receiving section, 5 ... Fifth light receiving section, 6 ... Attitude measuring device, 7
… Horizontal reference laser plane, 8… Vertical reference laser plane, 9…
Light emitting part, 10 ... Laser light reading point, 11 ... Mirror.

Claims (1)

[Claims] 1. A horizontal light emitting portion for outputting a laser beam and a reading point of the laser light are formed on both sides of the vertical reference laser surface so as to form horizontal and vertical reference laser surfaces. A first, a third and a fifth light receiving portion which are set vertically to the second and a reading point of the laser beam which is set perpendicularly to the vertical reference laser surface on both sides of the horizontal reference laser surface. A fourth light receiving portion, and using the readings of the first to fifth light receiving portions, a displacement in the X-axis direction that is the horizontal direction and a displacement in the Y-axis direction that is the vertical axis, and further A posture measuring apparatus using a laser beam, wherein a total of five degrees of freedom of rotation angles about the X axis, the Y axis, and the Z axis that is the depth direction axis are calculated at one time.