JPH05312571A - Position indicator of position-measuring plotter - Google Patents

Abstract

PURPOSE:To enable measurement of coordinates of a position even when it is shaded by a shield or the like, by a method wherein the position indicated by the fore end part of a support pole body is calculated from space coordinates of a plurality of targets, by fixing the targets in a plurality to the support pole body. CONSTITUTION:A plurality of targets 2a and 2b are fixed to a pole 1 having ferrule parts 3 and 3b provided in the opposite end parts and to be set at a position of which the coordinates are to be measured. Light emitted from a light-emitting element 4a for distance measurement of a position detecting means 4 is reflected by a reflector 22 of the target 2 and the reflected light is received by a light-receiving element 4b for distance measurement of the position detecting means 4. Therefore the distance to the target 2 is measured on the basis of the principle of an electronic distance measuring device, while the angle of direction of the position detecting means 4 to the target 2 is measured, and the space coordinates of the target 2 are determined from these distance and angle. This measurement is executed for the targets 2a and 2b in a plurality. Since the ferrule parts 3a and 3b are disposed on the same straight line as these targets 2a and 2b, the space coordinates of the position indicated by the ferrule parts 3a and 3b can be calculated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used in a position measuring and drawing apparatus for measuring the position coordinates of a predetermined object placed at a scene of a traffic accident or the like to create a plan view. The present invention relates to a position pointing device that points a position to be measured when measuring a distance.

When a traffic accident occurs, it is necessary to grasp the situation of the site for accident investigation, and a police officer conducts a live condition inspection and prepares a record, and as a part of it, the distance between related objects. A site sketch (plan view) as shown in FIG. 9 is created in which the positional relationship between and is clear.

When creating such a floor plan,
Conventionally, an investigator directly measures the distance between related objects using a tape measure, and creates a plan view using the measurement result. However, measuring with a tape measure requires manpower,
It may be necessary to work with traffic blocked for a long time for measurement, which may cause traffic congestion at sites with heavy traffic, or the risk of workers being collided by vehicles passing by the side. Accompany. Therefore, it is necessary to shorten the working time on the road as much as possible.

Therefore, the applicant of the present invention is easy to operate, can perform measurement work at a traffic accident site in the shortest possible time, and creates a site sketch at the accident site so that the accident site and the completed site can be created. A position measuring / plotting device has been proposed which enables quick and easy collation with sketches (Japanese Patent Laid-Open No. 2-281380). The invention according to the application is on an image display unit for displaying a captured image while capturing a target (or a marker) previously arranged at a desired position at an accident site with a capturing unit such as a television camera and capturing the target. By pointing the target by pointing means such as a cursor, the position detecting means is directed in the direction of the designated target, and the distance and angle from the reference position to the target are detected by the position detecting means, The coordinates are calculated, and the site sketch is created on the sketch or the sketch display means based on the calculated coordinates.

[0005]

However, the targets captured by the above-described conventional position measuring and drawing apparatus are arranged according to the respective objects of interest, and are substantially equal to the objects of interest. It is necessary to prepare the number. Further, since the target is arranged on the road surface on which the object of interest is located, there must be something that cuts off between the photographing means or the position detecting means and the target. It is difficult to measure the position of the object on the opposite side of the vehicle.

Further, in order to perform the measurement quickly, it is desirable that the photographing means and the position detecting means measure the positions of all the objects without moving the positions originally arranged. However, the site where the traffic accident occurs is often an intersection, especially an intersection with poor visibility due to obstacles, etc. There are cases where there is an object whose position cannot be measured due to the shadow of.

Therefore, the object of the present invention is not only to prepare a large number of targets according to the number of related objects, but also to capture directly by the photographing means on the opposite side of the accident vehicle or because of the shields. It is an object of the present invention to provide a position pointing device of a position measurement drawing device that can easily point the position of an object that is in a position where it cannot.

[0008]

As a means for solving the above technical problems, a position indicating device of a position measuring and drawing apparatus according to the present invention projects a light from a light emitting portion to a target arranged at an appropriate position. The position detecting means for detecting the spatial coordinates of the target by measuring the distance and the direction to the target by capturing the reflected light at the light receiving part, and detecting the multiple target positions by the position detecting means In a position measurement drawing device that creates a plan view from a large number of spatial coordinates, in a position pointing device that includes the target that reflects the light from the light emitting unit in a predetermined direction, place the tip part at a position to be measured such as a road surface. It is characterized in that it is composed of a support rod body that is erected upright and a plurality of targets that are fixedly attached to the support rod body at appropriate intervals.

[0009]

The light emitting portion of the position detecting means projects a target of the position pointing device, and the reflected light is received by the light receiving portion to measure the spatial coordinates of the one target. Then, the light is projected onto another target of the position pointing device, and the spatial coordinates of the other target are measured from the reflected light. Since these two spatial coordinates and the tip end portion are related to the same support rod, they are located on a straight line, and the distance between the two targets and the tip end portion erected on the predetermined surface. Since the distance from the target to the target is known, the spatial coordinates of the tip can be calculated from the spatial coordinates of the two targets. Therefore, the spatial coordinates of the position designated by the tip of the supporting rod can be acquired, and the plan view can be created based on the position.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The position indicating device of the position measuring and drawing apparatus according to the present invention will be specifically described below based on the illustrated embodiments.

FIG. 1 is a schematic perspective view of a position pointing device according to the present invention. This position pointing device includes a pole 1 as a support rod, a first target 2a fixed to the pole 1 at an appropriate position, and a first target 2a. It consists of two targets 2b. Also,
Both ends of the pole 1 are sharply formed so that the projections 3a and 3b are formed.
Therefore, when designating the position to be measured, one of the stone protrusions 3a and 3b is struck to a site such as the ground or road surface where the position is to be measured, and the pole 1 is set up. That is, if the stone protrusion 3a is placed on the road surface, the first target 2a is located on the lower side and the second target 2b is placed on the upper side. Then, the first target 2a is located on the upper side and the second target 2b is located on the lower side. Then, the light is projected onto the targets 2a and 2b by the position detecting means described later, and is reflected in the predetermined direction by the targets 2a and 2b.

FIG. 3 shows the position detecting means 4 and the target 2.
Shows the schematic configuration of. The target 2 comprises a light source 21 such as an LED and a reflector 22 such as a corner cube, and the light incident on the target 2 is reflected by the reflector 22 in a predetermined direction. Further, as shown in FIG. 4A, the light source 21 is arranged in a circular shape so as to surround the reflector 22, and the light source 21 is also arranged at the center of the reflector 22. By doing so, the image of the circular light source 21 becomes relatively large at the time of short-distance measurement, and the four-division light receiving element described later enters inside the image of the circular light source 21, and the light from the light source 21 is received. It is possible to improve the controllability by preventing the incident on the element. In addition, the modulation frequency of the light emitted from the light source 21 is set to the light source of the first target 2a.
21 and the light source 21 of the second target 2b.

As shown in FIG. 3, the position detecting means 4 is provided with a distance measuring light emitting element 4a as a light emitting section and a distance measuring light receiving element 4b as a light receiving section. The light emitted toward the target 2 from is reflected by the reflector 22 and is captured by the light receiving element 4b. The light emitted from the light emitting element 4a for distance measurement passes through the beam splitter 4c, is reflected by the beam splitter 4d in a substantially right angle direction, and is projected onto the target 2. And the target 2
The reflected light from is reflected by the beam splitter 4d, further reflected by the beam splitter 4c, and incident on the distance measuring light receiving element 4b. A capture light-receiving unit 5 for capturing the target 2 is disposed behind the beam splitter 4d, and the light emitted from the light source 21 of the target 2 passes through the beam splitter 4d to the capture light-receiving unit 5. It is incident. An objective lens 4e is provided in front of the beam splitter 4d.

As shown in FIG. 5, the capture light receiving section 5 has
Each of the light receiving elements 5a, 5b, 5c is composed of a multi-divided light receiving element such as a four-divided light receiving element
The output signal of 5d is input to the position calculating means (not shown). Now, assuming that the values of the output voltages of these light receiving elements 5a, 5b, 5c, and 5d are Ea, Eb, Ec, and Ed, respectively, in the position calculating means, for example,

[Equation 1] (Ea + Eb)-(Ec + Ed) = K

## EQU2 ## (Ea + Ec)-(Eb + Ed) = L is calculated. These output voltage values Ea, Eb, Ec, Ed
Is changed at the incident position on the capture light receiving unit 5, and when the four output voltages are not 0 and the values K and L in the equations 1 and 2 are both "0", the symbol P in FIG. As indicated by, the light from the light source 21 is incident on the central portion of the capture light receiving unit 5.

Next, the configuration of the position measurement drawing device will be described with reference to FIGS. 6 to 8.

FIG. 6 shows a scene of a traffic accident or the like for which a site sketch is to be prepared. The photographing means 6 (see FIG. 8) such as a television camera and the position detecting means 4 are combined at appropriate positions on the scene. A measurement head 11 is installed to take a picture of the situation at the site. Further, the optical axis of the position detecting means 4 incorporated in the measuring head 11 and the optical axis of the photographing means are parallel to each other, and the photographing means captures the target 2 near the center of the screen. When the equation (2) is controlled such that the values K and L are both "0", the optical axis of the position detecting means 4 penetrates the center of the target 2. And
The measuring head 11 is supported by vertical rotating means 11a for appropriately tilting the optical axis of the measuring head 11 in a vertical plane and horizontal rotating means 11b for properly tilting the optical axis in a horizontal plane. By operating these rotating means 11a, 11b, the measuring head 11, that is, the optical axis S (see FIG. 3) of the position detecting means 4 can be changed in an appropriate direction.

A control unit 13 shown in FIG. 7 is connected to the measuring head 11 by a cable 12, and the control unit 13 includes the position calculating means. The control unit 13 includes an image display means 14 such as a CRT for displaying an image photographed by a photographing means incorporated in the measuring head 11 and a computer 15 for performing input / output processing. Further, a mouse, which is an input means for inputting predetermined information regarding the site sketch to be drawn, to the computer 15
16 and an XY plotter 17 for printing a sketch are connected. Further, the control unit 13 is supplied with power from a backup power source 18, and the backup power source 18 can be connected to a commercial power source via a cord 18a and can be connected to a vehicle-mounted battery via a cord 18b.

FIG. 8 is a block diagram showing the above-described structure of the position measuring / plotting device.
Are driven by the control circuit 23. Then, the tracking control light emitted from the light source 21 is made incident on the capture light receiving section 5 composed of a quadrant element incorporated in the light wave range finder of the position detecting means 4. It should be noted that the tracking control light is emitted from the state of the target 2, such as the battery 24
Can also be used as a communication signal for transmitting a state in which there is a possibility that the power will be consumed and output will be reduced. Further, the distance measuring light emitted from the distance measuring light emitting element 4a of the light distance meter is reflected by a reflector 22 such as a corner cube arranged on the target 2 and the reflected light is measured by the light distance meter. It is incident on the distance light receiving element 4b. Therefore, the distance to the target 2 is measured by the optical distance meter. Further, the target 2 is photographed by the photographing means 6 such as a television camera, so that the lightwave range finder, that is, the position detecting means 4 is roughly directed to the target 2. The position detection means 4 is supported by a vertical rotation means 11a which is a lift drive section and a horizontal rotation means 11b which is a rotation drive section, and the vertical angle and the horizontal angle are adjusted by these rotation means 11a and 11b. .. Further, a elevation encoder 11c and a turning encoder 11d are connected to the turning means 11a and 11b, respectively, so that the turning angle can be detected.

The capture light receiving section 5, the vertical rotating means 11a, the horizontal rotating means 11b, the photographing means 6 and the like are driven by the circuit section 7. And, the circuit section 7 is connected to the control circuit 13a of the control section 13 by cables 12a to 12e, and the cable 12 is respectively a camera image capture signal line 12a, a drive mechanism control signal line 12b, a turning / lowering angle. Data read signal line 12
c, a distance data read signal line 12d and a communication data read signal line 12e. The computer 15 and the image display means 14 are connected to the control circuit 13a, and the mouse 15 and the XY plotter 17 are connected to the computer 15.

The operation of the position pointing device according to the present invention constructed as described above will be described together with the manner in which a site sketch is created by the position measurement drawing device.

As shown in FIG. 6, the measuring head 11 is installed at an appropriate position on the site where the sketch is to be created. Since the measuring head 11 is provided with the position detecting means 4, the position detecting means 4 is also installed on the site. On the other hand, the pole 1 with the target 2 attached at the position where the coordinates should be measured
Is held, and the light source 21 and the reflector 22 of the target 2 are opposed to the measurement head 11. Then, the mouse 16 is operated to give an instruction so that the target 2 is imaged on the image display means 14 by capturing the image photographed by the photographing means provided in the measuring head 11, and the vertical angle of the measuring head 11 and Adjust the horizontal angle.

Then, when the photographing means of the measuring head 11 captures the target 2 near the center of the screen, the light emitted from the light source 21 of the target 2 enters the capture light receiving section 5 of the position detecting means 4. When the light emitted from the light source 21 of the target 2 is incident on the capture light receiving section 5 of the position detecting means 4, the incident light is received by the light receiving elements 5a, 5b, 5c of the capture light receiving section 5.
It will be incident on any one or more of 5d. In the position calculation means (not shown), the respective light receiving elements 5a, 5b,
From the output voltages of 5c and 5d, the operations shown in the equations (1) and (2) are performed, and the vertical rotation means 11a is operated so that the values K and L in these equations (1) and (2) are equal to or less than predetermined values. Horizontal rotation means 1
Send an actuation signal to 1b. That is, when the vertical rotation means 11a and the horizontal rotation means 11b are operated based on this operation signal, the direction of the optical axis of the position detection means 4 changes, so that the incident position on the capture light receiving unit 5 also changes. .. While monitoring this change by the position calculating means, the position detecting means 4 is appropriately rotated by the vertical rotating means 11a and the horizontal rotating means 11b, and the light from the light source 21 is received by the light receiving elements 5a, 5b, 5c ,. The position detection means 4 is arranged so as to make the light incident on 5d evenly.
If the light emitted from the distance measuring light emitting element 4a is reflected by the reflector 22 of the target 2 and is incident on the distance measuring light receiving element 4b, the distance measuring light emitting element 4a can surely be emitted. The light projected toward the can be captured by the distance measuring light receiving element 4b.

If the light emitted from the distance measuring light emitting element 4a is captured by the distance measuring light receiving element 4b, the linear distance from the position detecting means 4 to the target 2 can be measured by the known principle of the light wave distance meter. .. Further, the angle rotated by the vertical rotation means 11a becomes an elevation angle or a depression angle in the vertical plane from the position detection means 4 to the target 2, and the horizontal rotation means
The angle rotated by 11b becomes the deflection angle (turning angle) in the horizontal plane, and therefore the spatial coordinates (three-dimensional coordinates) of the target 2 can be calculated from these straight line distances and elevation angles or depression angles and deflection angles.

Then, the measurement of the target 2 is performed by using two targets 2 for one position to be measured.
Do this for each of a and 2b. For example, the ridge 3a
When the pole 1 is erected by pushing against the road surface, the target 2a is located below and the target 2b is located above.
Since the stone protrusion 3a is on the straight line connecting these targets 2a and 2b, the spatial coordinates of the stone protrusion 3a, that is, the position to be measured can be calculated from the spatial coordinates of these two targets 2a and 2b, and the spatial coordinates can be calculated on the horizontal plane. If it is projected onto, the plane coordinates can be obtained. Furthermore, if the modulation frequencies of these two targets 2a and 2b are made different, it is possible to determine which data of the targets 2a and 2b the acquired spatial coordinates are,
This is advantageous for calculating the spatial coordinates of the position to be measured.

FIG. 2 shows an example of an image obtained by photographing the situation of the site by the photographing means 6. For example, the position Q to be measured enters under the accident vehicle 30 or is located on the opposite side of the accident vehicle 30. However, the measuring head 11 equipped with the photographing means 6 cannot directly capture the position Q to be measured, and when the pole 1 is set upright, the target 2 is hidden behind the accident vehicle 30. It shows the method of measurement in a situation where it will end up. In such a situation, the pole 1 may be appropriately tilted so that neither of the targets 2a and 2b is blocked by the shield 30. That is, even if the pole 1 is inclined, the stone protrusion 3b is arranged on the same straight line as the targets 2a and 2b. Therefore, from the spatial coordinates of the targets 2a and 2b, the spatial coordinate of the stone protrusion 3b is obtained. Can be calculated, and the coordinates of the position Q to be measured can be acquired. In this case, the stone projection
The position Q is designated by the stone protrusion 3b by using a position indicating device in which the distance from 3b to the second target 2b is made longer than the distance from the stone protrusion 3a to the first target 3a. Further, when the position R to be measured is at a high position, the target 2 cannot be placed at the position R, but if the position R is pointed by the ridge 3b as shown in FIG. You can

That is, when the measurement position is designated by the stone protrusion 3b, for example, the distance from the stone protrusion 3b to the target 2a is set to be twice as long as the distance from the stone protrusion 3b to the target 2b. The spatial coordinates of (Xa,
Ya, Za), (Xb, Yb, Zb), and the spatial coordinates of the measurement position are (X, Y, Z),

(3) (X + Xa) / 2 = Xb

[Equation 4] (Y + Ya) / 2 = Yb

## EQU5 ## Since (Z + Za) / 2 = Zb, from these Equation 3, Equation 4, and Equation 5,

[Equation 6] X = 2 * Xb−Xa

(7) Y = 2 * Yb-Ya

## EQU8 ## Z = 2 * Zb-Za. In this way, if the target 2b is arranged at an intermediate position between the stone protrusion 3b and the target 2a and the target 3b is used to indicate the measurement position, the target 2b will be the stone protrusion 3b.
As long as it is at the intermediate position between the target 2a and the target 2a, the measurement position can be calculated by the above equations 6, 7, and 8. The position of the target 2a is twice the distance from the stone protrusion 3b to the target 2b in order to simplify the mathematical formula, but it does not necessarily have to be twice, and it can be changed as necessary and the mathematical formula adjusted accordingly. It goes without saying that it can be something.

Further, as shown in FIGS. 1 and 2, if the targets 2a and 2b are arranged so as to be offset from the central portion of the pole 1 to one end portion, for example, the stone projection 3a side, the shield 30 can be provided. When the height is low, by using the stone projection 3b by pushing it against the road surface, the targets 2a and 2b are both positioned higher than the upper end of the shield 30.
You don't have to tilt.

Then, as shown in FIG. 6, the poles 1 are used to indicate the relevant objects whose positions are to be measured, such as the utility poles 51 and 52, the streetlights 53, the road signs 54, and the pedestrian crossings 55, and the respective targets 2 are detected. And calculates the spatial coordinates of the relevant object. Once the spatial coordinates for these related objects have been obtained, they are projected onto the horizontal plane. Then, a site sketch as shown in FIG. 9 is created from these projected coordinates. It should be noted that the construction drawing of the site may be created while being displayed on the image display means 14 and printed by the XY plotter 17.

[0029]

As described above, according to the position indicating device of the position measuring / drawing device according to the present invention, a plurality of targets are provided with appropriate intervals on the support rods for indicating the position to be measured by the tip portion. Since the target is arranged and fixed, the target and the tip for indicating the position are arranged on the same straight line. Since the distances between these targets and the tips are known, the spatial coordinates of the tips, that is, the spatial coordinates of the position to be measured can be calculated by measuring the spatial coordinates of these targets. Then, by projecting the spatial coordinates of the calculated position on a horizontal plane, a site sketch can be created.
Since the position to be measured is calculated from the positions of the two targets in this manner, the spatial coordinates of the position to be measured can be reliably acquired even when the pole for indicating the position is tilted. ..

Further, since the predetermined position can be measured even when the pole is tilted, it is possible to measure even when the position to be measured is located at the place blocked by the shield.

Moreover, since the position of the object can be measured in a shorter time than in the case of directly measuring with a tape measure or the like, the traffic can be cut off in a short time.

In addition, since the site sketch can be immediately created at the accident site, the completed site sketch can be compared with the site, and a more accurate record can be created.

[Brief description of drawings]

FIG. 1 is a perspective view of a position pointing device according to the present invention.

FIG. 2 is a diagram for explaining a state in which a position pointing device is being used, showing an accident scene.

FIG. 3 is a schematic diagram illustrating the structure of an apparatus for aiming at a target of the position detecting means.

FIG. 4 is a diagram showing a schematic configuration of a target, (a) is a front view and (b) is a side view.

FIG. 5 is a schematic perspective view illustrating the structure of a capture light receiving unit.

FIG. 6 is an explanatory diagram of a site used for creating a site sketch.

FIG. 7 is a schematic configuration diagram related to a control unit of the position measurement drawing device.

FIG. 8 is a block diagram showing a configuration of a position measurement drawing device.

9 is a site sketch of the site shown in FIG.

[Explanation of symbols]

 1 pole (support rod) 2a 1st target 2b 2nd target 3a, 3b Stone projection 4 Position detection means 4a Distance measuring light emitting element (light emitting section) 4b Distance measuring light receiving element (light receiving section) 5 Capture light receiving section 11 Measurement Head 11a Vertical rotation means 11b Horizontal rotation means 13 Control unit 14 Image display means 15 Computer 16 Mouse 17 XY plotter 18 Backup power supply 21 Light source 22 Reflector

Claims (1)

[Claims] 1. A spatial coordinate of the target is detected by measuring the distance to the target and its direction by projecting light from a light emitting unit to a target arranged at an appropriate position and capturing the reflected light by a light receiving unit. The target for reflecting the light from the light emitting section in a predetermined direction of a position measurement drawing device, which is provided with position detecting means and creates a plan view from a large number of spatial coordinates detected for a large number of target positions by the position detecting means. In a position pointing device including: a support rod body having its tip portion erected at a position to be measured, such as a road surface, and a plurality of targets fixed to the support rod body at appropriate intervals. A position pointing device of a position measurement plotting device characterized by the above.