JPS62127682A - Method and device for plane position detection using laser - Google Patents

Abstract

PURPOSE:To eliminate the need for a radio device at a measurement position and to evade an error in measurement due to the malfunction of radio by using laser lighthouses which irradiate two light beams. CONSTITUTION:The laser lighthouses 1A and 1B are swiveled at a uniform swivel speed to irradiate laser light beams comega and ccomega, which are detected by photodiodes 31 of sensors 3A and 3B at measurement points. Then, the detection output is supplied to a direction decision circuit 33 through an amplifying and shaping circuit 32 to judge the sign of angle conversion and photodetection interval measuring circuits 4A and 4B measure the time interval until the two light beams comega and ccomega. A time and angle converting function 51 finds a reference line (axis of linear symmetry about the laser light beams comega and ccomega) the angle between the measurement points A and B from the photodetection time interval. Then, a coordinate calculation function 53 calculates the coordinates of the measurement point C by a coordinate calculating function 53 from said value and a reference point distance inputted to a reference point distance input function 52 and also displays them on a display function 54.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a planar position detection method and apparatus that use a laser when determining the coordinates of 51 survey points based on the principle of triangulation.

[Prior Art] The conventional method of determining a planar position by triangulation is to use a transit, and in the case of 1 to 21 transits, at least one surveyor operating the transit and a worker holding a ball are required. This required two people and was time consuming.

Therefore, the present applicant previously filed a patent application for a method of measuring using a laser (Japanese Patent Application No. 189688-1988).
issue). This method is an excellent surveying method, as it allows for rapid surveying without requiring special skill, and allows for automatic recording of data and input into a monitor. Communication (in practical terms, wireless) was required between side points, and there was a risk of survey errors due to wireless malfunctions.

[Problems to be solved by the invention] The present invention makes full use of the advantages of the surveying method using lasers, and eliminates surveying errors caused by malfunctions of wireless devices used for communication between reference points and measurement points. In order to provide a surveying method and apparatus using a laser, i>and Δ=.

[Solve the problem.] 1st means]
When determining the coordinates of a survey point, a laser lighthouse is installed at two reference points that irradiates two line-symmetrical beams with an even rotation speed, and each axis of interest is 61 degrees in the direction of the other reference point. ! , - A sensor that detects laser light and an accurate time measurement device are installed at the H1 training station - to control the time gap between detecting two symmetrical beams emitted by a single laser lighthouse. , enter this into the enzutsu installation and read the song as 1
A plane using 1-no-IF- which converts the symmetrical axis of the ray into an angle, and calculates the coordinates of the training point from the angle of A and the distance between one point to the base measured in advance. A 4i1 position detection method is provided.

Further, in order to implement the above method, according to the present invention, there are provided two sets of one lighthouse and one lighthouse, each of which rotates and irradiates a laser beam in a horizontal plane at a reference point to illuminate the line target and the two light beams, and the reference point. Object axis detection sensor 1-2 for detecting the direction of the object axis of the other laser lighthouse, and 4 for detecting the 17-ray light at the side point.
Measurement point sensor 2, time measuring device 2 to measure the time gap for receiving the laser beam, calculate the angle between the t line and the h1 measurement point from the laser beam reception time gap, and calculate the value. Calculate the distance between the reference points or the coordinates of the old system point and display 1
A W-plane position detection device using a laser is provided, which includes a coordinate calculation display device and a coordinate calculation display device.

1 Embodiment] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

First, to explain the equipment used when carrying out the surveying method of the present invention, there are two types of laser lighthouses that emit a laser beam at a reference point on a horizontal plane at an even rotational speed and emit two rays that are symmetrical. Two sets of paired 9-axis detection sensors detect the target axis direction of the other laser lighthouse at the reference point, and a sensor for the light measurement point υ-? which detects the light at the light measurement point. Equation, two time measuring devices (receiving gap measuring circuits) that measure the time gap for receiving laser light, and the J angle between the reference line (axis of symmetry of the laser beam) and the measurement point from the time gap for laser beam reception. A coordinate calculation display device (microphone 1) is used to calculate and display the coordinates of the instrument side point from that value and the distance between the reference points.

Figures 1 and 2 show the arrangement of each of the above devices.
No., A and 13 are reference points, and C is a geodetic stone. At reference point A, there is an object axis detection sensor 28 that detects the direction of the object axis of the aforementioned laser lighthouse 1△ and the other laser lighthouse 113. A radar was installed at reference point 13.
A 46 target axis detection sensor 2B is installed to detect the target axis direction of the lighthouse 1 (3) and the other laser lighthouse 1A.
A measuring point sensor 3 for detecting the laser beam is installed, and the above-mentioned time measuring device (light receiving gap measuring circuit) 4 and coordinate calculating and displaying device (micrometer printer) 5 are installed at the measuring point C. It will be done. a is the distance between reference point A and reference point 8, and h1 is measured in advance.

At the measurement point C (explaining the relationship between the J61 norther light reception time interval and angle with reference to Figures 3 and 4, the value observable at the measurement point O is the time interval t11.12, ↑3.
・Hiaru, base i1 + one direction and one angle θ of the measurement point
is θ-(tl-t2)/(+1:1-t21)x
It can be expressed as L1/(ti + t2) x 180°.

However, 11 is a time gap of C60 (laser beam rotating counterclockwise with respect to the reference direction) → Cω (laser beam rotating counterclockwise with respect to the reference direction), and 1-2 is a time gap C' of Cω-C60. .

Fig. d3 and Fig. 6 show the details of the single laser lighthouse 1, and as mentioned above, the laser lighthouse 1 rotates and irradiates a laser beam in a horizontal plane to irradiate two line-symmetrical beams. A racer/oscillator 11, a fixed mirror 12 for irradiating the laser beam from the laser oscillator 11 as two symmetrical beams Cω and C60, and a laser oscillator and a fixed mirror are provided so that it can rotate at an even rotation speed. It consists of a rotating body 13.

The reference direction detection sensor 2 is shown in FIGS. 7 and 8.
, as shown in FIG. 7, the group 111; in the h direction, Cω, C60
Since these laser beams are received at the same time, this is detected and the installation angle of the laser beam J'-1 is finely adjusted. FIG. 8 shows the circuit of the reference plane direction detection pin, which is composed of a Δ-dead 21 to the fuse A1, an amplification shaping circuit 22, a pulse gap discriminating circuit 23, and a display circuit 2/I.
If the time interval for receiving the SE1A light of C60 is within the rf time, it will be displayed.

Fig. 9 shows the sensor 3 for body side point, which includes a body side point sensor 31, 34 for time measurement and direction discrimination, separate amplification shaping circuits 32, 32, and direction discrimination circuit 33. In order to distinguish between Cω and CCωC-laser beams, a frame 7 is used.
II ~ Diodes 31 and 34 have a small distance 1111 in plan view
1! The direction is determined based on the order in which the light is received. In addition, the sensor for ray+f-ffi stand 1Δ and the sensor for 213 can be distinguished by changing their heights.

FIG. 10 shows the light reception time measuring circuit 4, and the crystal oscillation circuit 4
1. It consists of a circuit 42 and a counter circuit 43.

As the coordinate calculation/display device 5, a microphone []] converter is used to convert the coordinates into rectangular coordinates, polar coordinates, etc. 2, and display the coordinates or display the direction of movement by inputting the desired coordinates in advance.

Figure 11 shows the body function diagram, and the laser lighthouse 1△, 1B
The installation angles of the laser lighthouses 1Δ and 1B are finely adjusted by the symmetrical axis detection sensors 2A and 2B provided in the laser lighthouses 1Δ and 1B so that the symmetrical axes of the two light beams Cω and C60 align with the directions of the other reference points A and B, respectively. The laser beams 1Δ and 1B are rotated at an even rotation speed to irradiate the laser beams Cθ) and C60. The laser beams Cω and C60 are detected by the photodiodes 3L 31 of the measurement point sensors 3A and 3B, and are manually inputted to the direction determination circuit 33 through the amplification and shaping circuits 32 and 32 to determine the sign of the angle conversion. Light receiving gap measurement circuit 4△,
4B, the time interval for detecting the two light beams Cω and C60 is measured. Then, by using the time/angle conversion function 51.51 of the coordinate calculation display device 5, the angle formed between the reference line (line symmetry axis of the laser beams Cω and C60) and R11 measurements A and B is determined from the reception time interval of the laser beams Cω and C60. , that value and the distance Q between the reference points input to the distance between reference points input function 52
From there, the coordinates of the measurement point C are measured by the coordinate t1 calculation function 53 and displayed by the display function 57'l.

[Operations and Effects of the Invention 1-〇 In the case of the present invention, one lighthouse in Sea 1A requires one laser lighthouse that can emit two symmetrical beams, so the one laser lighthouse is somewhat complicated, but it is possible to The three advantages of the present invention are as follows: it does not require a wireless device, does not require much storage space overall, and avoids J1 measurement errors due to wireless malfunctions.

■Surveying can be done by one person. ■Can be measured at any position on a plane. ■R1 measurement of several points can be performed at the same time. ■Can be measured instantly. ■G1 measurement while moving is also iiJ ability. ■
It is easy to handle and does not require skill. ■Can be measured with considerable accuracy. ■The device is small, weighs, and can be provided at low cost. ■The surveying range can be up to about 300m. ■Data can be automatically recorded and input into a computer.

Fields of use include general surveying, position measurement and control of mobile robots, etc.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, FIGS. 1 and 2 are plan and front views showing the arrangement of equipment, and FIGS. 3 and 4 show the laser beam reception time interval at the measurement point. Figures 5 and 6 are front and plan views of the laser lighthouse, Figures 7 and 8 are layout diagrams of the target axis detection sensor and target axis detection sensor 4). −
FIG. 9 is a circuit diagram of the measurement point sensor, FIG. 10 is a light receiving gap measurement circuit diagram, and FIG. 11 is an overall functional diagram. IA, 1B...Laser lighthouse 2A, 2B...Reference direction detection sensor 3Δ, 3B...Subside point sensor 4A, 4B...Time measuring device 5...Coordinate calculation display device procedure correction form December 3, 1986, Commissioner of the Patent Office Kuro 1) Mr. Akio], Case indication Patent application No. 1983 (,)-26748
1-Li 2. Name of the invention Angle detection method and device using a laser 3. Relationship with the famous case to be corrected Applicant address 1-Y Motoakasaka, Minato-ku, Tokyo, 2nd July Name
(137) Kajima Construction Co., Ltd. Representative Kashima
Sho-4, Agent Address: 1113-3-5, Nishi-Shinbashi 2T, Minato-ku, Tokyo 105
H-1 of the amendment order Voluntary amendment 6, Subject of amendment Restated full text of specification 7, Contents of amendment (1) First, amend the entire text of Form A as per the attached full text corrected specification. 86 Attached kJ document record (1) Full text correction specification 1 full text correction specification 1, title of invention Angle detection method and device using laser 2, claims (1) Line symmetry at reference point A lighthouse is installed that rotates and irradiates two beams of light at an even rotational speed, and its target axis is aligned with the direction of the reference line.Meanwhile, a sensor that detects the laser beam and an accurate time measurement are installed at the measurement point. Set up a device,
It is characterized by measuring the time gap between detecting two symmetrical beams irradiated by a Rayleigh lighthouse, inputting this to a calculation device and converting it into an angle between the measurement point and the symmetrical axis of the laser beam. Angle detection method using laser. (2) A laser lighthouse that rotates a laser beam in a horizontal plane at a reference point and emits two symmetrical beams, a measurement point sensor that detects the laser beam at the measurement point, and measures the time gap between when the laser beam is received. Angle detection using a racer characterized by comprising: a time measuring device for detecting laser beams; and a set of angle calculation and display devices for determining the angle between the line symmetry axis and the measurement point from the reception time gap of the laser beam and displaying the value. Device. 3. Detailed Description of the Invention [Field of Industrial Application] The present invention relates to an angle detection method and apparatus using a laser. [Prior Art] The conventional method of determining an angle or plane position by triangulation is usually carried out using a transit, and in the case of l-rangit, it is a survey that operates from 1 to 1.
It required at least two people, one person and a worker holding the ball, and the work took a long time. Therefore, the present applicant previously filed a patent application for a method of surveying using a laser (Japanese Patent Application No. 1,8968-1983).
No. 8). This method allows for rapid surveying without requiring special skill, and also enables automatic recording of data and input into a computer, making it an excellent surveying method. Communication (in practical terms, wireless) was required between the two, and there was a risk of survey errors due to radio malfunctions. [Problems to be Solved by the Invention] The present invention makes full use of the advantages of the surveying method using a laser, and solves the problem of X measurement errors caused by malfunctions of wireless devices used for communication between reference points and measurement points. The purpose of this work was to provide a surveying method and device using a laser that does not require a conventional method. Means for Solving Problem 1] Therefore, according to the present invention, when determining the coordinates of a measurement point by the principle of triangulation, two light beams that are symmetrical to two reference points are rotated at an even rotation speed. A laser lighthouse for irradiation is provided, and each target axis is aligned with the direction of the other reference point.Meanwhile, a sensor for detecting the laser light and an accurate time measuring device are provided at the measurement point, and the laser lighthouse is used to irradiate the laser beam. The time gap between detecting two line-symmetrical beams is measured, and this is input into a calculation device and converted into an angle between the measurement point and the line-symmetrical axis of the laser beam. An angle detection method using a laser that calculates the coordinates of a measurement point from the distance is provided. If two angle detection devices according to the present invention are used to carry out the method described above, one laser lighthouse that rotates and irradiates a laser beam in a horizontal plane at a reference point and irradiates two symmetrical beams;
A measurement point sensor that detects the laser beam at the measurement point, a time measurement device that measures the time gap in which the laser beam is received, and a time measurement device that measures the angle between the reference line and the measurement point from the laser beam reception time gap and calculates its value. An angle detection device using a laser is provided, which includes a set of coordinate calculation and display devices that calculate and display the coordinates of a measurement point from the distance between reference points. [Example] Hereinafter, an example using two sets of angle detection devices of the present invention will be described with reference to the drawings. First, we will explain the equipment used to carry out the surveying method of the present invention: a single laser lighthouse that rotates and irradiates a racer beam on a horizontal plane at a uniform turning speed at a reference point, and irradiates two symmetrical beams; A measurement point sensor that detects the laser beam, a time measurement device (light reception gap measurement circuit) that measures the time gap in which the laser beam is received, and a reference line from the light time gap (laser beam line target). A coordinate calculation and display device (microcomputer) is used to calculate and display the coordinates of the measurement point from that value and the distance between the reference points. Figures 1 and 2 show the arrangement of each of the above-mentioned devices, and A
, B is a reference point, and C is a measurement point. At the reference point A, an object axis detection sensor 2A is installed to detect the direction of the object axis of one laser lighthouse and the other laser lighthouse IB, and the reference point A is also a reference point. At point B, there is a target axis detection sensor 2 that detects the target axis direction of one laser lighthouse IB and the other laser lighthouse IA.
A measurement point sensor 3 is installed at measurement point C to detect the laser beams from laser lighthouse IA and laser lighthouse 1B, and measurement point C is equipped with the above-mentioned time measurement device (light receiving gap measurement device). A circuit) 4 and a coordinate calculation/display device/microcomputer 5 are provided. g is the distance between the reference point A and the reference point 3, and the IF is measured in advance. The relationship between the laser beam reception time gap and the angle at measurement point C will be explained with reference to FIGS. 3 and 4. The values that can be observed at measurement point C are the time gaps t11, t2, t3.
...is... The angle θ between the reference direction and the measurement point is θ−(
tl −t2 )/(l tl −t2 1 )Xtl
/ (tl + t2) x 180°. However, tl is the time interval of ccω (laser beam counterclockwise with respect to the reference direction)→C(J) (laser beam clockwise with respect to the reference direction), and t2 is the time interval of Cω−ccω. FIGS. 5 and 6 show details of the laser lighthouse 1, which, as described above, rotates a laser beam in a horizontal plane and emits two symmetrical beams, and includes a laser oscillator 11, It consists of a fixed mirror 12 for irradiating the laser beam from a laser oscillator 11 as two symmetrical beams Cω and COO, and a rotating body 13 which is provided with a laser oscillator and a fixed mirror and rotates at an even rotation speed. There is. The reference direction detection sensor 2 is shown in FIGS. 7 and 8.
As shown in FIG. 7, the Cω and COO racer beams are simultaneously received in the reference direction, so this is detected and the installation angle of the laser lighthouse 1 is finely adjusted. FIG. 8 shows the circuit of the reference direction detection sensor, which includes a photodiode 21, an amplification shaping circuit 22, a pulse gap discrimination circuit 23, and a display circuit 24.
The laser beam is detected by a photodiode,
If the laser beam reception time gap of Cω and COO is within the allowable time, it is displayed. FIG. 9 shows the measurement point sensor 3, which includes photodiodes 31 and 34 for time measurement and direction determination, and separate amplification and shaping ports Fl? It consists of T32.32 and a direction discrimination circuit 33, and in order to distinguish between Cω and ccω laser beams,
The first diodes 31 and 34 are spaced apart by a slight pressure # in plane, and the direction is determined based on the order of light reception. Also, the sensor for the single-person laser lighthouse and the sensor for 2B will be differentiated by changing their heights. FIG. 10 shows the light reception time measuring circuit 4, and the crystal oscillation circuit 4
1. Gate time! It consists of an I/12 and a counter circuit 43. As the coordinate calculation display bag W5, a microcomputer is used to convert the coordinates into orthogonal coordinates, polar coordinates, etc., and display the coordinates or display the movement direction by inputting the coordinate values to be obtained in advance. Figure 11 shows the overall functional diagram, one laser lighthouse, one person, IB
Finely adjust the installation angles of the laser lighthouses 1A and 1B so that the line symmetry axes of the two light beams Cω and ccω align with the directions of the other reference points A and B, respectively, using the symmetrical axis detection sensors 2B installed at the . Laser lighthouses IA and 1B are rotated at an even rotation speed to irradiate laser beams Cω and ccω. The laser beams Cω and ccω are respectively detected by the frame 1 head diode 31.31 of the measurement point sensors 3A and 3B, and are inputted to the direction determination port #133 via the amplification and shaping circuit 32.32 to determine the sign of the angle conversion. In addition, the light receiving gap measurement circuit 4A,
4B measures the time interval for detecting the two light beams C(II) and ccω. Then, by using the time/angle conversion function 51.51 of the coordinate calculation display device 5, the angle formed between the reference line (line symmetry axis of the laser beams Cω and ccω) and measurement points A and H is determined from the reception time gap of the laser beams Cω and ccω. , the coordinates of the measurement point C are calculated by the coordinate calculation function 53 from this value and the distance Q between the reference points inputted to the distance between reference points input function 52, and are displayed on the display function 54. [Operations and Effects of the Invention] In the case of the present invention, the single laser lighthouse requires a single laser lighthouse that can emit two symmetrical beams, making it somewhat complicated, but the wireless equipment at the 11 survey points is This is unnecessary and does not result in an increase in loss as a whole, and measurement errors due to wireless malfunction can be avoided. The advantages of the present invention are as follows. ■Surveying can be done by one person. ■Can be measured at any position on plane -1-. ■11 positions can be measured at the same time. ■Can be measured instantly. ■It is also possible to measure while moving. ■Easy to handle, no skill required. ■Can be measured with considerable accuracy. ■The device is small, weighs, and can be provided at low cost. ■The surveying range can be up to about 300m. ■It is possible to automatically record data and input it to combination data. -9= Fields of use include inverse surveying, position measurement and control of mobile robots 1 and the like. 4. Brief description of the drawings The drawings show embodiments of the present invention. Figs. 1 and 2 are plan and front views showing the arrangement of equipment, and Figs. 3 and 4 show the laser beam at the measurement point. An explanatory diagram showing the relationship between the light reception time interval and the angle, Figures 5 and 6 are the top view and top view of the laser lighthouse, and Figures 7 and 8 are the arrangement of the target axis detection sensor and the target axis detection. FIG. 9 is a sensor circuit diagram for measuring points, FIG. 10 is a light receiving gap measurement circuit diagram, and FIG. 11 is an overall functional diagram.

Claims (2)

[Claims] (1) When determining the coordinates of a measurement point using the principle of triangulation, a laser lighthouse is installed at two reference points that irradiates two line-symmetrical beams at an even rotational speed, and the target axis is set at two points. Align it appropriately from the direction of the reference line connecting the reference points of the location, and on the other hand, install a sensor that detects laser light and an accurate time measurement device at the measurement point to detect the two symmetrical beams emitted by the laser lighthouse. The time gap is measured, and this is input into a calculation device to convert it into an angle between the measurement point and the symmetrical axis of the laser beam. A planar position detection method using a laser, characterized by calculating the coordinates of a measurement point from the distance between reference points. (2) Two types of laser lighthouses that rotate a laser beam in a horizontal plane at a reference point and emit two line-symmetrical beams, and the angle between the direction of the reference line connecting the two reference points and the line-symmetrical axis of the other laser lighthouse. 2 sets of reference direction detection sensors that detect
Two sets of time measurement devices that measure the time gap between receiving laser beams, and the angle between the line target axis and the measurement point are calculated from the laser beam reception time gap, and the angle between the reference line and the target axis and the reference value are calculated. 1. A planar position detection device using a laser, comprising a set of coordinate calculation and display devices that calculate and display coordinates of measurement points from distances between points.