JPS6250616A - Surveying method using laser - Google Patents

Surveying method using laser

Info

Publication number
JPS6250616A
JPS6250616A JP18968885A JP18968885A JPS6250616A JP S6250616 A JPS6250616 A JP S6250616A JP 18968885 A JP18968885 A JP 18968885A JP 18968885 A JP18968885 A JP 18968885A JP S6250616 A JPS6250616 A JP S6250616A
Authority
JP
Japan
Prior art keywords
time difference
photodetector
laser
point
reference point
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP18968885A
Other languages
Japanese (ja)
Other versions
JPH0358646B2 (en
Inventor
Tatsuyuki Ochi
越智 達之
Shigeru Kikuchi
茂 菊池
Tsutomu Sasaki
勉 佐々木
Nobuo Tanaka
信男 田中
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kajima Corp
Original Assignee
Kajima Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kajima Corp filed Critical Kajima Corp
Priority to JP18968885A priority Critical patent/JPS6250616A/en
Publication of JPS6250616A publication Critical patent/JPS6250616A/en
Publication of JPH0358646B2 publication Critical patent/JPH0358646B2/ja
Granted legal-status Critical Current

Links

Landscapes

  • Measurement Of Optical Distance (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

PURPOSE:To perform labor-saving and high-speed surveying operation by calculating the coordinates of a surveying point by an arithmetic unit based on a difference in time when laser light reaches respective photodetectors. CONSTITUTION:The time difference tbc in which swiveling laser light from a laser lamphouse 1 reaches a photodetector 5 from a photodetector 4 and the time difference tcb in which the laser light further swivels and reaches the photodetector 4 from the photodetector 5 are measured by a time difference measuring function based on signals from the photodetectors 4 and 5, and the time difference tac in which the laser light reaches a photodetector 6 from a photodetector 3 and the time difference tca in which the light reaches the photodetector 3 from the photodetector 6 are measured by the time difference measuring function on the basis of signals from the photodetectors 3 and 6 to calculate the vertical angle theta of a reference point A. Similarly, the vertical angle phi of a reference point B is calculated and the coordinates of a measurement point C are calculated by trigonometry based on reference distance land the vertical angles theta and phi.

Description

【発明の詳細な説明】 [産業上の利用分野] 本発明はレーザーを用いた測量方法に関する。[Detailed description of the invention] [Industrial application field] The present invention relates to a surveying method using a laser.

[従来技術] 現在行われている三角測量は周知のように、人手を要し
、かつ作業時間が長く、また熟練度によって計測結果に
個人差が生じ、また、計測地点を移動して計測を連続的
に行うことが困難で、更に、コンピュータ等に直接入力
できない等の問題があった。
[Prior Art] As is well known, the triangulation currently being carried out requires manpower, takes a long time, and the measurement results vary depending on the level of skill, and the measurement requires moving the measurement point. It is difficult to do this continuously, and furthermore, there are problems such as not being able to directly input data into a computer or the like.

[発明の目的1 従って本発明の目的は省力化、高速化が可能で計測結果
に個人差がなく、かつ連続的に計測することができ、更
に、コンピュータ等に直接入力することができるレーザ
ーを用いた測量方法を提供することにある。
[Objective of the Invention 1 Therefore, the object of the present invention is to provide a laser that can save labor, increase speed, have no individual differences in measurement results, perform continuous measurement, and furthermore, can be input directly into a computer, etc. The objective is to provide the surveying method used.

[発明の構成] 本発明によるレーザー光を用いた測量方法は、平面的に
計測地点を含む三角形の頂点にそれぞれ基準点を設け、
各基準点に旋回するレーザー光を照射するレーザー燈台
とレーザー受光器とを設け、計測地点にレーザー受光器
を設けるとともに、各レーザー受光器を演算装置に接続
し、演偉装置により一方の基準点のレーザー光が旋回す
る間の他方の基準点の計測地点および計測地点と他方の
基単点におけるレーザー光の到達する時間差をそれぞれ
求め、これら時間差と両基準点間の距離とから計測地点
の座標を算出している。
[Structure of the Invention] The surveying method using a laser beam according to the present invention provides a reference point at each vertex of a triangle that includes a measurement point in a plane,
A laser lighthouse and a laser receiver are installed at each reference point to irradiate a rotating laser beam, and a laser receiver is installed at the measurement point. Find the measurement point of the other reference point while the laser beam is rotating, and the time difference between the laser beam arrival between the measurement point and the other reference point, and calculate the coordinates of the measurement point from these time differences and the distance between both reference points. is being calculated.

[発明の作用効果] 従ってレーザー光が各受光器に到達する時間差を衝にし
て演算装置により計測地点の座標を求めて(夫るので、
人手を要しないで、省力化、高速化することができ、計
測結果に個人差がなく、かつ計測地点を移して連続的に
計測することができ、更に演算装置にマイクロコンピュ
ータを用いることができ、データの入力、記録などを容
易化することができる。従って、この測量方法は建築、
土木の側聞や例えば建物のコンクリート床仕上げ用ロボ
ッ]・などの位置制御に好適である。
[Operations and Effects of the Invention] Therefore, the coordinates of the measurement point are determined using the arithmetic device using the difference in time when the laser beam reaches each receiver.
It is possible to save labor and speed up the process without requiring manual labor, there are no individual differences in measurement results, and it is possible to move the measurement point and perform continuous measurement, and furthermore, it is possible to use a microcomputer as the calculation device. , data input, recording, etc. can be facilitated. Therefore, this surveying method is suitable for architectural,
It is suitable for controlling the position of civil engineering side panels and, for example, robots for finishing concrete floors of buildings.

[好ましい実施の態様] 本発明の実施に際し、一方の基準点のレーザー光が他方
の基準点から計測地点に到達する時間差の円周100分
率から一方の基準点の頂角を求め、同様にして他方の基
準点の頂角を求め、両基準点間の距離とこれら両頂角と
より三角法により計測地点の座標を求めるのが好ましい
[Preferred Embodiment] When carrying out the present invention, the apex angle of one reference point is determined from the 100 percent of the circumference of the time difference between the laser beam of one reference point reaching the measurement point from the other reference point, and the apex angle of one reference point is determined in the same manner. It is preferable that the apex angle of the other reference point is determined by using the two reference points, and the coordinates of the measurement point are determined by trigonometry using the distance between the two reference points and these two apex angles.

[実施例] 以下図面を参照して本発明の詳細な説明する。[Example] The present invention will be described in detail below with reference to the drawings.

第1図、第2図および第3図はそれぞれ本発明を実施す
るハードウェア構成図および演算装置のブロック図を示
している。
FIG. 1, FIG. 2, and FIG. 3 respectively show a hardware configuration diagram and a block diagram of an arithmetic unit for implementing the present invention.

第1図において、平面的に計測地点Cを含む三角形CA
Bの頂点AS8には、それぞれ基準点A、Bが設けられ
ている。
In Fig. 1, a triangle CA including the measurement point C in plan view
Reference points A and B are provided at the vertex AS8 of B, respectively.

基準点Aには、旋回するレーザー光を照射するレーザー
燈台1とレーザー受光器3が設けられ、基準点Bには、
レーザー燈台2とレーザー受光器4が設けられ、計測地
点にはレーザー受光器5.6が設けられている。
At the reference point A, a laser lighthouse 1 and a laser receiver 3 that emit a rotating laser beam are installed, and at the reference point B,
A laser lighthouse 2 and a laser receiver 4 are provided, and a laser receiver 5.6 is provided at the measurement point.

第2図において、上記レーザー燈台、レーザー受光器は
各点上の3脚上に設けられ、レーザー燈台1、受光器5
.4とレーザー燈台2、レーザー受光器3.6とはそれ
ぞれ同一水平面内に位置決めされている。そして、各受
光器3.4.5および6はそれぞれ演算装置10に接続
されている。
In FIG. 2, the laser lighthouse and laser receiver are installed on three legs at each point, with a laser lighthouse 1 and a laser receiver 5.
.. 4, the laser light stand 2, and the laser receiver 3.6 are each positioned within the same horizontal plane. Each of the light receivers 3, 4, 5 and 6 is connected to the arithmetic unit 10, respectively.

なお、各レーザー燈台は図示の例では時計方向に旋回す
るようになっている・。
In addition, each laser lighthouse is designed to rotate clockwise in the illustrated example.

第3図において、演算装置10はマイクロコンピュータ
で構成され、受光器4.5の信号を入力する時間差測定
機能11aと、受光器3.6の信号を入力する時間差測
定機能11bと、時間差測定機能11a、11bの測定
結果から各基準点の頂角を計算する角度計算機能12a
、12bと、基準点間の距離すなわち基準距離を入力す
る基準距離入力機能13と、角度計算機能12a、12
bと基準距離入力機能13の信号に基づいて測定地点C
の座標を計算する座標計算機能14と、座標計算機能1
4の計算結果を表示するとともに記憶する表示機能15
とが設けられている。
In FIG. 3, the arithmetic unit 10 is composed of a microcomputer, and includes a time difference measurement function 11a that inputs the signal from the light receiver 4.5, a time difference measurement function 11b that inputs the signal from the light receiver 3.6, and a time difference measurement function 11b that inputs the signal from the light receiver 3.6. Angle calculation function 12a that calculates the apex angle of each reference point from the measurement results of 11a and 11b.
, 12b, a reference distance input function 13 for inputting a distance between reference points, that is, a reference distance, and an angle calculation function 12a, 12.
b and the signal from the reference distance input function 13.
Coordinate calculation function 14 that calculates the coordinates of , and coordinate calculation function 1
Display function 15 that displays and stores the calculation results of 4.
and is provided.

次に第4図に示すフローチャートと第1図を参照して本
発明の詳細な説明する。
Next, the present invention will be described in detail with reference to the flowchart shown in FIG. 4 and FIG. 1.

先ず、図示されない手段により基準路tjiQを測定し
、基準距離入力機能13から座標計算機能14に入力す
る(ステップ81 )。次いでレーザー燈台1の旋回す
るレーザー光が受光器4に到達してから受光器5に到達
するまでの時間差tbc、更に、レーザー光が旋回して
受光器5に到達してから受光器4に到達するまでの時間
差tabを受光器4.5からの信号に基づいて時間差測
定様能11aで測定して角度計算部12aに入力し、ま
た、レーザー燈台のレーザー光が受光器3に到達してか
ら受光器6に到達するまでの時間差tacと受光器6に
到達してから受光器3に到達するまでの時間差tCaを
受光器3.6からの信号に基づいて時間差測定機能11
bで測定して角度計算部12bに入力する(ステップ8
2 )。次いで、角度計算機能12aで時間差測定機能
11aの測定結果に基づいて基準点Aの頂角θを次式6
式% によりS1算し、また角度計算機能12bで時間差測定
機能11bの測定結果に基づいて基準点Bの頂角ψを次
式 %式% により計算する(ステップ83)。次いで座標計算機能
14において、基準路11112と頂角θ、ψとに基づ
いて三角法により計測地点Cの座標を計弾しくステップ
S4)、表示機能15で表示する(ステップ35)。
First, a reference path tjiQ is measured by means not shown and inputted from the reference distance input function 13 to the coordinate calculation function 14 (step 81). Next, the time difference tbc between when the rotating laser beam of the laser lighthouse 1 reaches the light receiver 4 and when it reaches the light receiver 5; The time difference tab from when the laser light from the laser lighthouse reaches the light receiver 3 is measured by the time difference measurement mode 11a based on the signal from the light receiver 4.5 and inputted to the angle calculation section 12a. The time difference measurement function 11 calculates the time difference tac until reaching the light receiver 6 and the time difference tCa between reaching the light receiver 6 and reaching the light receiver 3 based on the signal from the light receiver 3.6.
b and input it to the angle calculation section 12b (step 8
2). Next, the angle calculation function 12a calculates the apex angle θ of the reference point A based on the measurement result of the time difference measurement function 11a using the following formula 6.
The angle calculation function 12b calculates the apex angle ψ of the reference point B based on the measurement result of the time difference measurement function 11b using the following formula (Step 83). Next, the coordinate calculation function 14 calculates the coordinates of the measurement point C by trigonometry based on the reference road 11112 and the apex angles θ and ψ (step S4), and displays the coordinates on the display function 15 (step 35).

[まとめ] 以上説明したように本発明によれば、レーザー光が各受
光器に到達する時間差を衝にして演算装置により計測地
点の座標を算出するようにしているので、人手を要しな
いで、省力化、高速化することができ、計測結果に個人
差がなく、かつ計測地点を移して連続的に計測すること
ができ、更に演算装置にマイクロコンピュータを用いて
入力、記録などを容易にすることができる。
[Summary] As explained above, according to the present invention, the coordinates of the measurement point are calculated by the arithmetic unit using the time difference between when the laser beam reaches each receiver as an opposition, so that the coordinates of the measurement point can be calculated without the need for manpower. It saves labor and speeds up, there are no individual differences in measurement results, and continuous measurement can be performed by moving the measurement point.Furthermore, a microcomputer is used as the calculation device to facilitate input and recording. be able to.

【図面の簡単な説明】[Brief explanation of drawings]

第1図および第2図は本発明を実施するハードウェア構
成図、第3図は演算装置の機能ブロック図、第4図は本
発明の一実施例を示すフローチャート図である。 △、B・・・基準点  C・・・計測地点0−−−基準
距離  tbc、tab、tac。 tca・・・時間差  θ、ψ・・・基準点の頂角  
1.2・・・レーザー燈台  3.4.5.6・・・レ
ーザー受光器  10・・・演鋒装置第1図
1 and 2 are hardware configuration diagrams for implementing the present invention, FIG. 3 is a functional block diagram of an arithmetic unit, and FIG. 4 is a flowchart showing an embodiment of the present invention. △, B... Reference point C... Measurement point 0 --- Reference distance tbc, tab, tac. tca...Time difference θ, ψ...Vertex angle of reference point
1.2... Laser lighthouse 3.4.5.6... Laser receiver 10... Fengoku device Figure 1

Claims (1)

【特許請求の範囲】[Claims] 平面的に計測地点を含む三角形の頂点にそれぞれ基準点
を設け、各基準点に旋回するレーザー光を照射するレー
ザー燈台とレーザー受光器とを設け、計測地点にレーザ
ー受光器を設けるとともに、各レーザー受光器を演算装
置に接続し、演算装置により一方の基準点のレーザー光
が旋回する間の他方の基準点と計測地点および計測地点
と他方の基準点におけるレーザー光の到達する時間差を
それぞれ求め、これら時間差と両基準点間の距離とから
計測地点の座標を算出することを特徴とするレーザーを
用いた測量方法。
A reference point is provided at each vertex of a triangle that includes the measurement point in plan, a laser lighthouse and a laser receiver are provided at each reference point to irradiate a rotating laser beam, a laser receiver is provided at the measurement point, and each laser Connect the light receiver to a calculation device, and use the calculation device to determine the time difference between the laser beam at one reference point and the measurement point while the laser beam from one reference point reaches the other reference point, and the time difference between the laser beam at the measurement point and the other reference point, respectively. A surveying method using a laser characterized by calculating the coordinates of a measurement point from these time differences and the distance between both reference points.
JP18968885A 1985-08-30 1985-08-30 Surveying method using laser Granted JPS6250616A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP18968885A JPS6250616A (en) 1985-08-30 1985-08-30 Surveying method using laser

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP18968885A JPS6250616A (en) 1985-08-30 1985-08-30 Surveying method using laser

Publications (2)

Publication Number Publication Date
JPS6250616A true JPS6250616A (en) 1987-03-05
JPH0358646B2 JPH0358646B2 (en) 1991-09-06

Family

ID=16245515

Family Applications (1)

Application Number Title Priority Date Filing Date
JP18968885A Granted JPS6250616A (en) 1985-08-30 1985-08-30 Surveying method using laser

Country Status (1)

Country Link
JP (1) JPS6250616A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1989003049A1 (en) * 1987-09-30 1989-04-06 Kabushiki Kaisha Komatsu Seisakusho Position meter using laser beam
JPH01115689U (en) * 1988-01-29 1989-08-03
JP2008292163A (en) * 2007-05-22 2008-12-04 Asahi Kasei Homes Kk Positioning device

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5825206A (en) * 1981-08-07 1983-02-15 Toshiba Corp Electromagnetic unit
JPS59162473A (en) * 1983-03-07 1984-09-13 Taisei Corp Measurement of distance

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5825206A (en) * 1981-08-07 1983-02-15 Toshiba Corp Electromagnetic unit
JPS59162473A (en) * 1983-03-07 1984-09-13 Taisei Corp Measurement of distance

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1989003049A1 (en) * 1987-09-30 1989-04-06 Kabushiki Kaisha Komatsu Seisakusho Position meter using laser beam
JPH01115689U (en) * 1988-01-29 1989-08-03
JP2008292163A (en) * 2007-05-22 2008-12-04 Asahi Kasei Homes Kk Positioning device

Also Published As

Publication number Publication date
JPH0358646B2 (en) 1991-09-06

Similar Documents

Publication Publication Date Title
Tsuruta et al. Mobile robot for marking free access floors at construction sites
JPH0989560A (en) Structure measuring system
CN210014783U (en) Laser target for measuring shield posture
JPS6250616A (en) Surveying method using laser
CN108692667A (en) The measurement method of concrete masonry arc-shaped surface radius and inclination angle of inclined plane
JP3045458B2 (en) Automatic surveying method of shield machine
RU2068091C1 (en) Method for control of displacement of movable object relative to reference direction
JPH07122667B2 (en) Surveyor using laser light
JPH03175314A (en) Method and apparatus for coordinate measurement
JPH0259922B2 (en)
JPH0953937A (en) Coordinate measuring apparatus
JPH032414A (en) Automatic operation device of construction machinery
JPS62251922A (en) Set value operating device
JPS628007A (en) Method for automatically measure cross-sectional shape by non-contact sensor
JP2688955B2 (en) Survey method using laser
JPH0644348A (en) Quadrature drawing preparing device
JPH10339633A (en) Method for measuring reflection body position by using traveling body with laser sensor
JP2931770B2 (en) Three-dimensional position detection method using laser displacement sensor
JPH0563598B2 (en)
JPH0933250A (en) Method and apparatus for measuring discontinuous plane of geology
JPS62132111A (en) Apparatus for measureing horizontal displacement of underground excavator
JPH045333B2 (en)
JPS62282219A (en) Method for measuring dimension of three-dimensional structure
JPH087259B2 (en) Position detection device for moving body
JPS6180080A (en) Target tracking apparatus

Legal Events

Date Code Title Description
LAPS Cancellation because of no payment of annual fees