JPH1047959A - Method and device for automatic collimation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automate collimation by a light wave range finder, to release an operator from a troublesome work, and to secure measurement accuracy at always in stableness. SOLUTION: A target mark 11 which is stuck on a sample is imaged with a CCD camera 6 through a collimating lens 5, and the imaged picture is processed with a computer 9 to calculate a center point of the target mark 11, and then a vertical-rotation motor 3 and a horizontal-rotation motor 4 in a light wave range finder 1 are so controlled that a center point of the collimating lens 5 corresponds to the center point of the calculated target mark 11.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic collimating method and an automatic collimating device for automatically collimating a target mark attached to an object to be measured.

[0002]

2. Description of the Related Art Conventionally, when measuring the position of an object to be measured, a target mark is affixed to the object to be measured, and the target mark is measured by a lightwave distance measuring goniometer capable of measuring a distance simultaneously with angle measurement. The survey method is adopted. in this case,
The operator looks into the collimating lens of the optical distance measuring goniometer, visually locates the center position of this collimating lens so as to match the center position of the target mark, and manually operates the swing knob of the optical distance measuring goniometer. Adjustments are made while moving.

[0003]

However, the operation of the operator, as described above, looking through the collimating lens and visually searching for and adjusting the measurement point needs to be performed carefully and carefully with one eye. This is a task that imposes a serious tension, and there is a problem that when the number of measurement points increases, the work becomes considerably troublesome. In addition, collimation adjustment may fail due to fatigue of the eyes of the operator.
In some cases, collimation accuracy cannot be ensured.

The present invention has been made to solve the above-mentioned problems, and aims to automate the collimation by using a light-wave distance measuring goniometer, so that the operator can be released from troublesome work and always stable. An object of the present invention is to provide an automatic collimation method and an automatic collimation device that can ensure measurement accuracy.

[0005]

In order to achieve the above-mentioned object, an automatic collimating method according to the present invention provides a light wave range finder or a camera to a collimating lens of the light wave range finder. Connect, capture the target mark attached to the object to be measured by the camera, determine the center point of the target mark by processing the captured image,
The center point of the collimating lens is moved to the center point of the obtained target mark.

[0006] In the present invention, the target mark affixed to the object to be measured is picked up by an optical distance measuring goniometer or a camera connected to a collimating lens of the optical distance measuring goniometer. Is processed, the center point of the target mark is obtained, and the collimating lens is automatically moved by moving the collimating lens so that the center point of the collimating lens coincides with the obtained center point of the target mark. Is performed. This eliminates the need for the operator to visually look through the collimating lens to search for the measurement point and manually adjust the knob, thereby freeing the operator from troublesome work and ensuring stable measurement accuracy at all times. can do.

In the present invention, it is preferable that the target mark includes a light wave reflection portion having a shape having a point symmetrical edge and a light wave low reflection portion provided so as to surround the light wave reflection portion. According to the target mark having such a configuration, for example, when the captured image is converted into gradient direction information and the center position of the light wave reflecting portion is calculated by counting the point target point pairs, the calculation can be easily performed. This makes automatic collimation easier.

Next, an automatic collimation device according to the present invention for more specifically realizing the above-described automatic collimation method comprises: (a) a target mark attached to an object to be measured; and (b) a collimation lens. An optical wave range finder or a light wave having a camera for imaging the target mark through the lens, and having a vertical rotation mechanism for rotating the collimating lens in the vertical direction and a horizontal rotation mechanism for rotating the collimating lens in the horizontal direction. A distance measuring goniometer, (c) an image processing means for processing an image captured by the light wave distance measuring instrument or the light wave distance measuring goniometer and calculating a center point of the target mark, and (d) an image processing means. The apparatus further comprises control means for controlling the vertical rotation mechanism and / or the left / right rotation mechanism such that the center point of the collimating lens coincides with the center point of the target mark calculated. It is an.

In the present invention, the target mark attached to the object to be measured is imaged by a camera connected to an optical distance meter or a collimating lens of the optical distance meter, and the captured image is an image. The central point of the target mark is obtained by being processed by the processing means,
The control means controls the vertical rotation mechanism and / or the vertical position of the light wave distance measuring angle meter so that the center point of the collimating lens coincides with the center point of the obtained target mark.
Alternatively, collimation is automatically performed by controlling the left-right rotation mechanism and rotating the collimation lens vertically or horizontally. Thus, similarly to the automatic collimation method described above, manual collimation work by the operator is not required, and the operator can be released from troublesome work, and stable measurement accuracy can always be ensured.

[0010] In the automatic collimating device of the present invention, it is preferable that a display means for displaying an image captured by the optical distance meter or the optical distance meter is further provided. By doing so, it is possible to perform a preparation operation such as a rough collimation and a collimation start command by the operator prior to the automatic collimation while looking at the display contents of the display means, and the convenience is further improved.

It is preferable that the target mark is constituted by a light wave reflection portion having a shape having a point symmetrical edge and a light wave low reflection portion provided so as to surround the light wave reflection portion. According to the target mark having such a configuration, for example, when the captured image is converted into the gradient direction information and the center position of the light wave reflection portion is calculated by counting the number of point target points, the calculation can be easily performed. Automatic collimation becomes easier.

Here, it is preferable that a point indicating the center position of the light wave reflecting portion or two straight lines intersecting with each other be provided in the light wave reflecting portion. This makes it easy to adjust the center position of the light-wave reflecting portion to the center of the collimating lens when manually adjusting or checking the collimating lens position.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, specific embodiments of the automatic collimation method and the automatic collimation device according to the present invention will be described with reference to the drawings.

(First Embodiment) In FIG. 1 showing an automatic collimation system according to a first embodiment of the present invention, a lightwave distance and angle measuring instrument (a surveying instrument) 1 is supported and fixed by a tripod 2. In addition, a collimating lens 5 is provided which is rotatable in a vertical direction by a vertical rotation motor 3 as a vertical rotation mechanism, and is rotatable in a horizontal direction by a left and right rotation motor 4 as a left and right rotation mechanism.

The collimating lens 5 is connected to a CCD camera 6 for picking up an image captured by the collimating lens 5, and the CCD camera 6 is connected to an image input cable (BN).
It is connected to a computer (personal computer) 9 via a C cable 7 and an image input board 8. In this way, the image (shade image) of the target mark 11 attached to the surface of the device under test 10 captured by the CCD camera 6 is input to the computer 9 via the image input cable 7 and the image input board 8. Although not shown, the computer 9 includes a central processing unit (CPU) for executing a predetermined program, a read-only memory (ROM) for storing the program, various registers necessary for executing the program, and Comprises a read / write memory (RAM) in which a working area and the like are set. Then, the computer 9 executes the predetermined program, and in this embodiment, the image information of the target mark 11 to be imaged is displayed on the monitor 13 via the image output cable (BNC cable) 12.

The computer 9 executes a predetermined program to calculate the center point of the target mark 11 based on the image captured by the CCD camera 6, and the center point of the collimating lens 5 matches this center point. Command to the vertical rotation motor 3 and the left / right rotation motor 4 via a communication cable (RS232C communication cable in this embodiment) 14 so that the vertical rotation motor 3
And the rotation of the left / right rotation motor 4 is controlled. By operating an attached keyboard (not shown), the computer 9 can also control the vertical rotation motor 3 and the left / right rotation motor 4 manually by an operator. Note that the computer 9 in this embodiment is
It corresponds to the image processing means and the control means in the present invention.

As shown in FIG. 2A, the target mark 11 has a shape having a point-symmetrical edge at the center.
In the present embodiment, the light-wave reflecting portion 11a has a circular shape, and a matte black light-wave low-reflecting portion 11b surrounds the light wave reflecting portion 11a. The light wave reflecting portion 11a has a point (small black spot) 11c indicating the center position of the light wave reflecting portion 11a.
Is attached. This point 11c is provided to facilitate the operation and confirmation of aligning the center position of the light wave reflecting portion 11a with the center of the collimation lens 5 when manually adjusting or confirming the collimation lens position.

The shape of the light-wave reflecting portion in the target mark is not limited to a circular shape, but may be a rhombus shape 15 as shown in FIG. 2B or a square shape 16 as shown in FIG. Other shapes may be adopted as long as the shape has an edge symmetrical with respect to the point. The center position of the light wave reflection portion may be indicated by two straight lines crossing each other, that is, a cross line, instead of being indicated by a small black dot as described above.

Next, the procedure of automatic collimation based on the above-mentioned program will be described with reference to the flowchart shown in FIG.

S1 to S3: First, as a preparatory operation prior to the automatic collimation operation by the computer 9 and the optical distance measuring goniometer 1, the monitor 13 is operated by an operator so that the target mark 11 appears on the collimation lens 5. By operating the keyboard of the computer 9 while watching, a swing command of the collimating lens 5 in the up-down direction and / or the left-right direction is performed.
Then, when the entire target mark 11 is roughly displayed on the monitor 13 by the swing of the collimating lens 5, the operator presses an automatic collimation start button to issue an automatic collimation start command.

S4 to S5: The computer 9 waits until receiving the automatic collimation start command. When the computer 9 receives the automatic collimation start command, the computer 9 receives the target mark 11 from the CCD camera 6 of the lightwave distance measuring goniometer (surveying instrument) 1. Of the image (shade image) A including the light wave reflection portion 11a is started.

S6: The computer 9 processes the captured image A to process the target mark 1
The center position of one light wave reflection portion 11a is obtained by calculation. In this calculation, the strongest gradient vector direction (differential direction) of each pixel captured by the CCD camera 6 is checked, and it is detected whether or not this gradient vector direction information is symmetrical with respect to the virtual center point of the light wave reflection portion 11a. Based on this detection, an algorithm for recognizing the center position of the light wave reflecting portion 11a is performed. The details of this algorithm are disclosed in Japanese Patent Application Laid-Open No. 7-229717.

S7-S8: The amount of deviation between the center position of the target mark 11 and the center position of the collimating lens 5 is calculated.
That is, consider the XY plane on the screen of the monitor 13,
It is determined by calculation that there is a shift of α pixels in the X direction and β pixels in the Y direction. Thereafter, the motor 3 for vertical rotation and the motor 4 for left and right rotation are controlled so that the obtained amount of deviation becomes zero, and the lightwave distance measuring goniometer 1 is moved up and down by H ° and horizontally by V °. Move.

S9 to S12: The above-described steps S6 and S7 are performed again to use the displacement amount α 'pixel in the X direction and the displacement amount β' pixel in the Y direction to obtain the horizontal movement amount h1 ° and the vertical direction in pixel units. The moving amount v1 ° is obtained. Then
From the movement amounts h1 ° and v1 ° thus obtained and the numerical values of the α ′ pixel and β ′ pixel as the shift amounts, the horizontal movement amount h1 × α ′ and the vertical movement amount v1 × β ′.
From the computer 9 to the lightwave distance measuring goniometer 1. Thereafter, when the computer 9 receives a movement completion command from the lightwave distance and angle measuring instrument 1, collimation is completed.

S13 to S15: When the collimation is completed in this way, the computer 9 instructs the lightwave distance measuring goniometer 1 to perform measurement. Thereafter, the computer 9 receives the measured value from the lightwave distance measuring goniometer 1 and stores it in the storage device simultaneously with the display to indicate that the measurement is completed.

(Second Embodiment) In the second embodiment, in the case of a fixed focus camera, in view of the fact that a distant object is small on the screen, the size of the subject is determined and the image is enlarged when it is small. And performs image processing. In this embodiment, as shown in FIG. 4A, a target mark 21 provided with a light wave reflecting portion 20 so as to surround a target mark (true target mark) 11 in the first embodiment is used. You.

Next, the procedure of automatic collimation in this embodiment will be described with reference to the flowchart shown in FIG. Note that in this flowchart, steps S1 to S4 and steps S5 to S15 are the same as the flow shown in FIG. 3 of the first embodiment.
Detailed description is omitted. In this embodiment, FIG.
Steps S4a to S4e are inserted between step S4 and step S5 in.

S4a to S4c: Instruct measurement to the lightwave distance measuring goniometer 1 and receive the measured values from the lightwave distance measuring goniometer 1. As a result, the target mark 21 and the lightwave distance measuring goniometer 1
M (see FIG. 4B).

S4d: Based on the obtained distance m, the size of the true target mark 11 in the image A is calculated. That is, when the width of the CCD element 6a in the CCD camera 6 is d, the angle of view is θ °, and the target width is k, d is regarded as substantially 0 and the number of pixels γ of the target width k on the screen is calculated. It is approximately calculated by the following equation. γ = 480 × k / 2m · tan (θ / 2)

S4e: From the obtained target mark size γ (pixel), a magnification to be enlarged is calculated and enlarged. However, since the target mark is not always located completely in the center, a window frame of 1.2 γ × 1.2 γ (pixel) having the center on the screen as a center point is set to the full size of the image A with a margin. Expanding. That is, the enlargement magnification is 480 /
It should be 1.2γ times. In addition, as a method of enlargement, for example, a method of copying the pixel value on the left of each pixel and expanding it is adopted.

According to this embodiment, the size of the subject shown on the screen is known by measuring the distance to the subject.
When the image is small, the image is enlarged and image-processed, so that it is possible to prevent a reduction in collimation error.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram of an automatic collimation system according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating a target mark.

FIG. 3 is a flowchart illustrating a procedure of automatic collimation.

FIG. 4 is an explanatory diagram of a collimating method in a second embodiment.

FIG. 5 is a flowchart illustrating a procedure (main part) of automatic collimation in a second embodiment.

[Explanation of symbols]

 DESCRIPTION OF REFERENCE NUMERALS 1 light wave distance measuring goniometer (measuring instrument) 3 vertical rotation motor 4 left and right rotation motor 5 collimating lens 6 CCD camera 9 computer (personal computer) 10 object to be measured 11 target mark 11a light reflection part 11b light reflection part 11c Point indicating the center position 13 Monitor (display means) 20 Light wave reflection part 21 Target mark

 ──────────────────────────────────────────────────の Continuation of front page (72) Inventor Masayuki Midai 3-1-1 Ueno, Hirakata-shi, Osaka Komatsu Manufacturing Co., Ltd.

Claims (6)

[Claims] 1. A camera is connected to a collimating lens of an optical distance measuring instrument or an optical distance measuring instrument, and a target mark attached to an object to be measured is imaged by the camera, and the image is processed. Thereby obtaining a center point of the target mark, and moving the center point of the collimating lens to the obtained center point of the target mark. 2. The target mark according to claim 1, wherein the target mark includes a light wave reflection portion having a shape having a point symmetrical edge and a light wave low reflection portion provided so as to surround the light wave reflection portion. Automatic collimation method. 3. A (a) target mark attached to an object to be measured, (b) a camera for imaging the target mark through a collimating lens, and a vertical rotation for rotating the collimating lens in a vertical direction. A light wave range finder or a light wave range finder having a mechanism and a left-right rotation mechanism for rotating the collimating lens in the left-right direction; (c) an image captured by the light wave range finder or the light wave range finder And (d) the vertical rotation so that the center point of the collimating lens coincides with the center point of the target mark calculated by the image processing unit. An automatic collimation device comprising a control unit for controlling a mechanism and / or a left-right rotation mechanism. 4. The automatic collimating device according to claim 3, further comprising display means for displaying an image captured by the lightwave distance measuring device or the lightwave distance measuring angle meter. 5. The target mark comprises a light wave reflection portion having a shape having a point symmetrical edge and a light wave low reflection portion provided to surround the light wave reflection portion. 6. The automatic collimating device according to 5. 6. The automatic collimation device according to claim 5, wherein the light wave reflecting portion is provided with a point indicating a center position of the light wave reflecting portion or two straight lines crossing each other.