JPH112521A - Position-measuring plotting device with inclination sensor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately measure an indicated measuring point without using a level and a correcting measuring rod even if a measuring point indicating part is inclined. SOLUTION: A measuring point indicating part 16 comprises an indicating rod 8 and a reflector part 17, and the reflector part 17 is provided with a reflector 18 for distance measurement, a light emitting part 19 for outputting tracking light and an optical signal for communications, an inclination sensor 22, an offset correcting circuit 24, and the like. A measuring head part 27 is provided with a range finder 28 and a light receiving part 29, and a measurement coordinate computing part 30 and a correcting operation part 31 are arranged on the measuring head part 27. According to the inclination angles α, β of two axes which are detected by the inclination sensor 22, the correcting operation part 31 corrects the position measured under an inclined state, thereby determining the accurate position of a measuring point. The offset correcting circuit 24 corrects the offset value of inclination, which occurs during installation and fixation, relative to the detected inclination angles α, β.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used, for example, to create a floor plan for a traffic accident, and measures the distance and angle between a measuring point indicating unit and a measuring head unit.
For example, the present invention relates to a configuration of a position measurement plotting device for obtaining a position on three-dimensional coordinates.

[0002]

2. Description of the Related Art In a traffic accident handling business, a site plan is created at the time of watching a live broadcast. In recent years, a position measurement plotter has been used in order to create the site plan accurately and quickly. . This position measurement plotting apparatus can simultaneously perform measurement between related points at an accident site and creation of a sketch at the site, which has been conventionally performed using a tape measure (Japanese Patent Application Laid-Open No. H08-208,1992).
No. -12269).

FIG. 6 shows a partial configuration of a conventional position measuring and plotting apparatus. As shown in the drawing, on the measuring machine side, a measuring head section 2 is supported by a mount 1 mounted on a car or the like. Is done. The measurement head unit 2 is rotatable in a rising direction and a turning direction, and a TV camera 3, a lightwave distance meter 4, a light receiving unit 5, an angle detector 6, and the like are arranged in the head unit 2. . Although not shown, a monitor for displaying an image captured by the TV camera 3 and a process for creating a sketch are created based on coordinate data obtained by the lightwave distance meter 4 and the angle detector 6. Drawing operation unit (computer),
An operation unit or the like for performing a measurement operation is provided.

On the other hand, a measuring point indicating section 7 which is set at a measuring point such as a road is provided on the side of the above-mentioned measuring machine, and this measuring point indicating section 7 is, as shown in FIG.
The reflecting rod 9 is provided at a predetermined height of the pointing rod 8.
The reflecting mirror 9 includes a corner cube 10 for reflecting the measuring light from the lightwave distance meter 4 and an automatic tracking light (captured light) which is arranged on the outer periphery of the corner cube 10.
And a light emitting unit (such as an LED) 11 for transmitting an optical signal for communication.

According to the above configuration, first, the measuring point indicating section 7 is vertically arranged at a measuring point remote from the measuring head section 2, and its reflecting mirror section 9 is directed toward the measuring head section 2. At this time, the tracking light is output from the light emitting unit 11 on the measurement point indicating unit 7 side, and the tracking light is received by the light receiving unit 5 so that the measurement head unit 2 can accurately send the measurement light to the measurement point indicating unit 7. Face to face. Thereafter, the lightwave distance meter 4 of the measurement head unit 2
Then, the measuring light is emitted, and the light reflected from the corner cube 10 is received to measure the distance to the measuring point.

Then, position measurement on three-dimensional coordinates is performed based on the measurement distance, the elevation angle and the turning angle of the measurement head unit 2 at the time of measurement, and the height of the reflecting mirror unit 9. The position measurement is performed for a plurality of measurement points, and the drawing processing is executed by inputting road information, accident information, and the like regarding the measurement points and the like.

[0007]

However, in the measurement by the position measuring and plotting apparatus, it is required that the measuring point indicating section 7 is accurately maintained vertically.
There is a problem that the setting operation to the vertical state is complicated. That is, the setting of the vertical state is performed by confirming the horizontal state of the reflecting mirror unit 9 using, for example, a level, and such an operation is complicated. On the other hand, if the measurement is performed visually without using a level or the like, there is a disadvantage that a slight deviation becomes an error, and the error differs depending on the person who performs measurement.

Further, depending on the measurement location, the measurement point indicating section 7 may not be set in a vertical state, and in this case, there is a problem that accurate measurement cannot be performed. For example, as shown in FIG. 8A, when viewed from the measurement head unit 2, the reflecting mirror unit 9 may be hidden by an obstacle such as a telephone pole 12. In this case, as shown in FIG. 8 (B), it is possible to arrange the indicator rod 8 at the target measurement point P2 and tilt the reflecting mirror 9 for measurement, but the measurement is actually performed. Position is distance (error) D1 from P2
The position P1 is located only a distance away.

Further, as shown in FIG. 7, when measuring the position of the wall surface 13 or the utility pole, a correction measuring rod 14 is conventionally used. That is, the tip of the correction measuring rod 14 is brought into a vertical state by touching the wall surface or the like, and the position P3 is measured in this state, and then the length of the correction measuring rod 14 is corrected. Accurate position is required. However, in this case, a set of the correction measurement rod 14 or
A data input operation or the like for performing this correction becomes complicated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to provide a method for measuring a designated measuring point without using a level or a correction measuring rod even when the measuring point indicating section is inclined. It is an object of the present invention to provide a position measurement plotting device provided with a tilt sensor capable of accurately measuring the position.

[0011]

In order to achieve the above object, the invention according to claim 1 comprises a measuring head section in which a range finder and an angle detecting section are arranged, and a reflection section for reflecting measurement light from the range finder. A measuring point indicating unit having a mirror unit, a tilt sensor disposed at the measuring point indicating unit, the tilt sensor detecting the tilt angle of the indicating unit, and a tilt angle obtained by the tilt sensor. And a correction operation means for correcting the position of the measurement point based on the coordinate data measured by the range finder and the angle detection unit. According to a second aspect of the present invention, when the inclination sensor is fixed to the measurement point indicating section with an inclination offset, the detection value is corrected by the offset value by the offset value determining means for determining the inclination offset value. It is characterized by doing.

According to the above configuration, the inclination angle of the measurement point indicating section is detected by the inclination sensor, and the inclination angle is transmitted to the measurement head section. Then, the measurement head unit corrects the distance to the measurement point obtained by the distance meter, the position of the measurement point in three-dimensional coordinates calculated based on the elevation angle and the turning angle of the head unit, in consideration of the inclination angle. An operation is performed.

According to the second aspect, the offset value (shift angle with respect to the horizontal position) of the tilt generated by mounting and fixing the tilt sensor at the measurement point indicating section is determined by the circuit configuration (stored in a memory or the like). This offset value may be added to or subtracted from the detected value of the tilt sensor. Therefore,
It is possible to easily correct the displacement amount at the time of fixing the inclination sensor due to the variation of the mounting surface of the inclination sensor and other various factors. Also,
It is conceivable to provide a mechanical adjustment mechanism or the like in order to obtain this accurate fixed state, but in this case, the structure becomes complicated and the mounting state tends to be unstable. However, according to the second aspect, such an adjusting mechanism becomes unnecessary.

[0014]

1 and 2 show a configuration of a position measurement plotting apparatus provided with an inclination sensor according to an embodiment of the present invention. As shown in (1), it is composed of the pointing rod 8 and the reflecting mirror unit 17. As in the prior art, a corner cube 18 that reflects measurement light from a lightwave distance meter described later is
Are provided, and a plurality of light emitting units (LED
19) are arranged at equal intervals. A lighting circuit 20 is connected to the light emitting section 19, and the lighting circuit 2
By the control of 0, the light emitting unit 19 emits tracking light (captured light) for automatically tracking the measurement head unit, and also generates an optical signal (communication optical signal) for later-described tilt angle data and a measurement command. Output.

A tilt sensor 22 is provided at the bottom of the reflecting mirror section 17, and the tilt sensor 2
2 is before and after (A axis) and right and left (B axis) of the measurement point indicating unit 16
Of the two axes (tilt angles β and α) are detected. An offset correction circuit 24 is connected to the tilt sensor 22 via an A / D converter 23. The offset correction circuit 24 has an offset value determination unit (or memory).
25 are connected.

That is, the offset value determining unit 25 includes:
When the tilt sensor 22 is attached and fixed, the measuring point indicating section 16 is accurately arranged in a vertical state, and when the detected values of the two axes of the tilt sensor 22 do not become 0 degrees, the detected value is set as a tilt offset value. (Or memorize). At the time of actual measurement, the offset correction circuit 24 uses the offset value set in the offset value determination unit 25 to adjust the tilt angles α and β of the two axes input from the A / D converter 23. Addition and subtraction are performed to output accurate values.

On the other hand, a measuring head unit 27 is mounted on an accident handling vehicle or the like at a position away from the measuring point indicating unit 16, and the measuring head unit 27 is configured to be driven in the elevating direction and the turning direction. The elevation angle and the turning angle detected at this time are used as a part of the coordinate data. As in the prior art, a TV camera (not shown) is provided in the measurement head unit 27, and an optical wave distance meter 28 and a light receiving unit 29 are provided, so that the user can view an image captured by the TV camera. The direction of the measurement head 27 can be operated.

The lightwave distance meter 28 outputs the measuring light toward the reflecting mirror unit 17 and receives the reflected light reflected by the internal corner cube 18 to thereby measure the measuring point indicating unit 16. Measure the distance to The light receiving section 29 receives the tracking light from the light emitting section 19 by the light receiving element for each of the divided areas, and a control section (not shown) operates a driving section according to this light receiving state, and the measuring head section 27 Is controlled so as to face the reflecting mirror section 17. Further, the light receiving unit 29 receives a communication optical signal transmitted by being superimposed on the tracking light, and the detection value of the tilt sensor 22 transmitted as the communication optical signal is also detected by the light receiving unit 29. Received.

In such a measuring head unit 27, a measuring coordinate calculating unit 30 for obtaining a measuring point as a position on three-dimensional coordinates.
And the correction operation unit 31 are connected. That is, the measurement coordinate calculator 30 calculates the distance data obtained by the distance meter 28,
The position of the measurement point on three-dimensional coordinates is calculated based on the elevation angle and the turning angle of the head unit 27 and the height of the reflection mirror unit 17.

Next, the correction operation of the correction operation section 31 will be described with reference to FIGS. As shown in FIG. 2, for example, the measurement point indicating unit 16 placed at the measurement point P2 is moved rightward by α.
When the angle is tilted, the position P1 is actually measured, and an operation for correcting the data at the position P1 to the data at the position P2 is performed.

In the embodiment, FIG.
As seen from the direction A, which coincides with the optical axis of the reflecting mirror section 17,
Α in the plane perpendicular to the direction A when the optical axis
In a plane perpendicular to the B direction when viewed from the B direction perpendicular to
Is set to β, and the reflecting mirror 17
L to the center position (corner cube position)
And Then, the state of FIG. 3A is viewed from above.
Considering on the xy coordinates, as shown in FIG.
And the position P2 of the measurement point is (x 2, y
_Two , Z_Two ), And the actual measurement position P1 is (x₁ , Y
₁ , Z₁ ).

FIG. 4 is an enlarged view of a portion surrounded by a circle in FIG. 3 (B). As shown in FIG. P1 to P
2) is decomposed into the direction A in the optical axis direction and the direction B perpendicular to the optical axis, and if the distances are a and b, the inclination angle of the reflecting mirror unit 17 in the direction A is β , B direction is α, the above distances a and b are a = Ls
inβ, b = Lsinα. Further, c and e denote distances obtained by decomposing a in the x direction and y direction, and d and f denote distances decomposed by b in the x direction and y direction, and the angle formed by the A direction and the x axis. Assuming that the angle between the B direction and the y axis is θ, the above c, e, d, and f are as follows. c = acosθ, e = asinθ, d = bsinθ, f
= Bcosθ

Here, as shown in FIG. 3B, the angle θ is defined by the optical axis direction (A direction) and the x axis on the xy plane.
The angle formed by the axis and, as understood from this figure, c
osθ and sinθ can be expressed as follows. _{cosθ = x 1 / (x 1} 2 + y 1 2) 1/2, sinθ = y 1 / (x 1 2 + y 1 2) 1/2 Therefore, the c, e, d, f be expressed as: Can be. _{c = Lsinβ · x 1 / (} x 1 2 + y 1 2) 1/2, e = Lsinβ · y 1 / (x 1 2 + y 1 2) 1/2, d = Lsinα · y 1 / (x 1 2 + y ^{_{1 2) 1/2, f = Lsinα}} · x 1 / (x 1 2 + y 1 2) 1/2. Further, the coordinate movement amount in the z direction is -Lcosα · cosβ
It is.

[0024] Therefore, the measurement point _{P2 (x 2, y 2,} z 2)
_{Is, x 2 = x 1 + (} c-d) = x 1 + L (x 1 sinβ-y 1 sinα) / (x 1 2 + y 1 2) 1/2 y 2 = y 1 + (f + e) = y 1 _{+ L (x 1 sinα-y} 1 sinβ) / (x 1 2 + y 1 2) 1/2 z 2 = z 1 + L (1-cosα · cosβ) next, by this calculation, determining the exact position of the measurement point P2 be able to.

The embodiment has the above configuration, and its operation will be described below. First, as shown in FIG. 5 (A), if the measuring point indicating unit 16 is hidden by the telephone pole 12 when the measuring point indicating unit 16 is made vertical, the reflecting mirror unit 1 is tilted.
7 is set so as to face the measuring head unit 27. At this time, as shown in FIG. 1, tracking light is emitted from the light emitting unit 19 of the reflecting mirror unit 17, and the tracking light is automatically received by receiving the tracking light in the divided light receiving area of the light receiving unit 29 of the measurement head unit 27. The tracking function works, whereby the measuring head unit 27 accurately faces the reflecting mirror unit 17.

In the measuring head section 27, the distance to the reflecting mirror section 17 is measured by the transmission and reception of the measuring light by the above-mentioned optical distance meter 28, and this distance data is supplied to the measuring point coordinate calculating circuit 30. Is done. In the measurement point coordinate calculation circuit 30, data of the current elevation angle and turning angle of the measurement head unit 27 moved at the time of the automatic tracking is input, and these angle data and the distance data and the measurement point designation are input. position on the three-dimensional coordinates based on the height L of the section _{16 P1 (x 1, y 1} , z 1) [ position on the vertical line of the reflection mirror portion 17 is obtained.

On the other hand, the inclination sensor 22 of the measurement point indicating section 16 detects inclination angles β and α (including positive and negative) in a plane perpendicular to the direction A and in a plane perpendicular to the direction B.
The offset correction circuit 24 at the subsequent stage subtracts the offset value set in the offset value determination unit 25 from the angle values of α and β, and outputs the subtracted values as accurate angles α and β. Then, the data of the angles α and β are output as light signals by the lighting control of the light emitting unit 19 by the lighting circuit 20.

This light signal is received by the light receiving section 29 of the measuring head section 27, and data on the inclination angles α and β are supplied to the correction operation section 31. In the correction calculation unit 31, the data x ₁ of P1 obtained in the measuring point coordinate calculating circuit 30, y
X ₂ , y ₂ , and z ₂ are calculated from ₁ , z ₁ , the inclination angles α and β, and the height L by the above-described calculation formulas, whereby the position P 2 is finally obtained.

FIG. 5B shows a state when measuring the position of the wall surface 13 or the utility pole. in this case,
For example, as shown in the figure, if the reflecting mirror section 8 is slightly inclined toward the measuring head section 27, the provisional position P1 is measured, and then the correction calculation is performed using the inclination angles α and β in the same manner as described above. Thus, the position P2 of the wall surface 13 or the like can be easily measured without using a conventional correction measuring rod.

[0030]

As described above, according to the present invention,
Provide a tilt sensor that detects the tilt angle of the measurement point indicating unit,
Based on this inclination angle, the position measured obliquely is corrected, so that the indicated measurement point can be accurately measured without using a level or a correction measurement rod, and Measurement points that are hidden by obstacles such as telephone poles can also be easily measured.

According to the second aspect of the present invention, the offset value generated when the inclination sensor is attached to the measurement point indicating section can be stored and corrected, so that the variation in the attachment surface of the inclination sensor and other various factors can be achieved. There is an advantage that the amount of displacement at the time of mounting due to factors can be easily corrected, and a complicated and unstable mechanical adjustment mechanism or the like is not required.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a main part of a position measurement plotting apparatus according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram illustrating a state when a measurement point indicating unit according to the embodiment is arranged at an angle.

3A and 3B show a positional relationship between a measurement point indicating unit and xy coordinates, and FIG. 3A shows a relationship between A and B axes and an inclination angle;
FIG. 4 is a diagram showing a positional relationship of an inclined measuring point indicating unit in x and y coordinates when viewed from above.

FIG. 4 is an enlarged view of a portion surrounded by a chain line circle in FIG. 3;

5A and 5B show a measurement state in the embodiment, in which FIG. 5A is a diagram for measuring a position hidden by a telephone pole, and FIG. 5B is a diagram for measuring a position of a wall surface.

FIG. 6 is a block diagram showing a configuration of a conventional position measurement drawing device.

FIG. 7 is a diagram showing a state in which the position of a wall surface is measured by the conventional device.

FIG. 8 shows an example of a conventional position measurement state, and FIG.
Is a diagram when the measuring point indicating unit is hidden by a telephone pole, and FIG. 2B is a state diagram when the measuring point indicating unit is inclined.

[Explanation of symbols]

 2,27 ... Measurement head unit, 4,28 ... Lightwave rangefinder, 5,29 ... Light receiving unit, 7,16 ... Measurement point indicating unit, 8 ... Indicator rod, 9,17 ... Reflecting mirror unit, 11,19 ... Unit, 22 ... tilt sensor, 24 ... offset correction circuit, 30 ... measurement coordinate calculation unit, 31 ... correction calculation unit.

Claims (2)

[Claims] 1. A position measuring and plotting device comprising: a measuring head section in which a range finder and an angle detecting section are arranged; and a measuring point indicating section provided with a reflecting mirror section for reflecting measurement light from the range finder. A tilt sensor that is disposed on the measurement point indicating unit and detects the tilt angle of the indicating unit; and a measuring point based on the coordinate data measured by the distance meter and the angle detecting unit with the tilt angle obtained by the tilt sensor. And a correction calculating means for correcting the position of the position measurement plotting apparatus. 2. When the tilt sensor is attached and fixed to the measurement point indicating section with a tilt offset, the detected value is corrected using an offset value by an offset value determining means for determining the tilt offset value. A position measurement plotter comprising the inclination sensor according to claim 1.