KR20190043306A - 3d coordinate measuring equipment - Google Patents

Abstract

The present invention relates to a device for measuring displacement using an electromagnetic wave or an ultrasonic wave and, more specifically, to a 3 dimensional coordinate measuring device wherein various sensors and time of flight (TOF) techniques are applied to derive the distance information between a measuring device and a target object and the rotation angle information of the measuring device, and finally calculating the 3 dimensional coordinate of the object. More specifically, the present invention describes in providing the 3 dimensional coordinate measuring device comprising: a distance sensor for sensing distance information between the measuring device and the target object; a reference coordinate sensor for sensing the rotation angle information on the basis of the position of the measuring device; and a microcontroller for calculating the 3 dimensional coordinate of the target object on the basis of the distance information and the rotation angle information.

Description

3D COORDINATE MEASURING EQUIPMENT [0002]

The present invention relates to a coordinate measuring apparatus using an electromagnetic wave or an ultrasonic wave, and more particularly, it relates to a coordinate measuring apparatus using an electromagnetic wave or an ultrasonic wave, And finally to a three-dimensional coordinate measuring apparatus for calculating three-dimensional coordinates of a target object.

The TOF (Time Of Flight) technology is a technology for detecting the object by using a delay of a phase occurring in the process of returning an electromagnetic wave signal, such as light modulated at a predetermined frequency, And has been widely used in the field of posture control of a field or object.

Currently, it is used in various industries such as construction, robotics, military, medical, sports, AR, VR, and scanning.

To briefly explain the basic principle of the TOF technique or TOF measurement technique, an electrical signal outputted from the TOF output circuit is converted into a signal such as laser, ultrasonic wave or infrared ray by an element such as a diode, The distance to the target object and the distance to the target object are measured using a characteristic that the reflected signal is received by the sensor for detecting the reception and the time required for the characteristic distance or the reference distance is different according to the position where the image is formed according to the reference distance, The displacement is calculated.

The distance to the object can be calculated as: d = c * t _TOF / 2 where d is the distance from the object, c is the velocity of the light, t _TOF is the distance from the object And reaches the reception sensor after the reflection. However, since the speed of light is so fast that it is difficult to measure the time t _TOF , it is common to emit a modulated signal and calculate the distance indirectly using two or more phases.

This conventional TOF technique measures the distance as a scalar value by using a precision optical device, a signal correction mechanism, and the like for accurately calculating the time when a signal moves, instead of calculating coordinates of a target object or a specific point. In addition, the conventional TOF technology essentially requires separate equipment capable of stably supporting the measuring apparatus itself for precise signal measurement.

Therefore, when the TOF technique is used, there is a restriction on the movement of the measuring device. In the case of measuring the length or height of the object, there is a problem that the error range of the measured value becomes large and needs to be compensated.

In addition, in order to solve the above-mentioned problems, when the user uses the measuring device in a portable size, the error due to the hand tremor of the user must be corrected, and the distance error to the target object And there is an additional problem to be solved.

In addition, in the case where the object is an object having a long length or a moving object, it is impossible to measure with a single measuring device. In order to derive stereoscopic information such as the length or area of the object, It is a reality that a measuring device of

As a result, it is possible to obtain stereoscopic information such as the length and area of a target object without using a plurality of measurement devices, and to obtain a desired measurement value by calculating coordinates of a target object or a specific point even when the measurement device is not fixed An improved TOF measurement device is needed.

In addition, there is a need for a technology that can utilize the network so that the result of the measurement by the measuring device such as the distance information or the three-dimensional coordinates can be used by the other devices in cooperation with each other.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a three-dimensional coordinate measuring apparatus for calculating three-dimensional coordinates of a target object or a specific point by applying various sensors and TOF techniques.

Another object of the present invention is to derive the length, height, stereoscopic information of the object, and movement information of the measuring apparatus based on the calculated three-dimensional coordinates.

Another object of the present invention is to improve the reliability of measured values by applying various error correction algorithms in three-dimensional coordinate measurement.

The technical objects to be achieved by the present invention are not limited to the above-mentioned technical problems, and other technical subjects which are not mentioned can be clearly understood by those skilled in the art from the description of the present invention .

According to an aspect of the present invention, there is provided a distance measuring apparatus comprising: a distance sensor for sensing distance information between a measurement apparatus and a target object; A reference coordinate sensor for sensing rotation angle information based on the position of the measuring device; And a microcontroller for calculating three-dimensional coordinates of the object based on the distance information and the rotation angle information; Dimensional coordinate measurement device.

In the present invention, the distance sensor preferably uses either electromagnetic waves or ultrasonic waves.

In the present invention, the reference coordinate sensor may include at least one of a geomagnetic sensor, an angle sensor, and a displacement sensor.

The present invention may include a speed sensor for sensing movement information of the measuring device; As shown in FIG.

In the present invention, the speed sensor may include an acceleration sensor for sensing an acceleration of the measurement device; And a gyroscope sensor for sensing an angular velocity of the measuring device; As shown in FIG.

In the present invention, when three-dimensional coordinates of a target object are calculated in consideration of movement information of the measurement apparatus, the microcontroller preferably calculates the three-dimensional coordinates of the target object by replacing the coordinate system using a rotation matrix.

에 해당한다.In the present invention,

.

( ₂ ¹ R _ZYX is a rotation matrix, R _Z (α) is an information matrix by α rotated by the Z axis, R _Y (β) is an information matrix by β rotated by the Y axis, R _X ) Is an information matrix corresponding to y rotated by the X axis, s is a sine, and c is a cosine)

In the present invention, the microcontroller can calculate the three-dimensional coordinates of an object using an error correction algorithm.

In the present invention, the error correction algorithm includes a position and angle correction algorithm for measuring the attitude angle of a target object; A hand shake correction algorithm for correcting an error due to vibration of the apparatus; Trigonometric Algorithm for Estimating the Distance to the Object by Considering User 's Arm Length; A nonlinearity correction algorithm that corrects nonlinear changes in frequency; Or a sensor fusion algorithm to improve the accuracy of sensor values; It is preferable to include any one or more of them.

The present invention provides a display device comprising: a display unit for externally displaying a sensed value or a calculated value; .

The present invention provides a communication device, comprising: a communication unit capable of interfacing with an external terminal using a sensed value or a calculated value; .

In the present invention, the external terminal may correspond to a device capable of rotating and moving.

In the present invention, it is preferable that the three-dimensional coordinate measuring apparatus is implemented in a portable size.

The present invention has the effect of calculating three-dimensional coordinates of a target object or a specific point by applying various sensors and TOF techniques to a measurement device.

In addition, the present invention has the effect of deriving the distance to the target object, the length and height of the target object, the three-dimensional information, and the movement information of the measurement apparatus based on the calculated three-dimensional coordinates.

Further, in the present invention, even when the measuring apparatus moves, the coordinate system is replaced by using the rotation matrix, so that the three-dimensional coordinates of the object or a specific point can be obtained, and the measuring apparatus can be used more efficiently.

In addition, the present invention improves ease of use and reliability of measured values by applying various error correction algorithms when measuring three-dimensional coordinates, and supports or acquires three-dimensional coordinates in cooperation with an external terminal By utilizing three-dimensional coordinates, the present invention can be used in a wide variety of fields.

1 is a configuration diagram of a three-dimensional coordinate measuring apparatus according to an embodiment of the present invention;
FIG. 2 is an exemplary view illustrating distance measurement by three-dimensional coordinate calculation according to an embodiment of the present invention; FIG.
3 is a diagram illustrating length measurement through three-dimensional coordinate calculation according to an embodiment of the present invention.
FIG. 4 is an exemplary view illustrating height measurement by three-dimensional coordinate calculation according to an embodiment of the present invention; FIG.
5A and 5B are views illustrating measurement of three-dimensional coordinates of a first point, a second point, and a measurement object according to an embodiment of the present invention;
6 illustrates an example of a potential vector for mapping specific points according to an embodiment of the present invention.
7 is an exemplary diagram illustrating calculation of a rotation matrix according to an embodiment of the present invention;
8 is a conceptual diagram illustrating acquisition of three-dimensional coordinates using an accelerometer, an angular velocity meter, and a displacement sensor according to an embodiment of the present invention.
9 is an exemplary view showing an algorithm for three-dimensional coordinate acquisition using an accelerometer, an angular velocity meter, and a displacement sensor according to an embodiment of the present invention.
10A and 10B are exemplary diagrams for explaining application of a position and angle correction algorithm according to an embodiment of the present invention;
11A and 11B are diagrams for explaining application of the hand shake correction algorithm according to an embodiment of the present invention;
12A to 12C are diagrams for explaining application of a trigonometric function algorithm algorithm according to an embodiment of the present invention;
13A and 13B are exemplary diagrams for explaining application of a nonlinearity correction algorithm according to an embodiment of the present invention;
FIG. 14 is an exemplary diagram for explaining application of a sensor fusion algorithm according to an embodiment of the present invention; FIG.
15 is an exemplary view of a program for confirming the application of an error correction algorithm according to an embodiment of the present invention;

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present description and claims should not be construed as limited to ordinary or dictionary meanings, and the inventor should properly interpret the concepts of the terms in order to describe their invention in the best way. It should be interpreted in accordance with the meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined. Therefore, the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It is to be understood that equivalents and modifications are possible.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise.

Unlike a mechanical measuring device, which is capable of measuring a displacement using an electromagnetic wave or an ultrasonic wave, since it is a light medium, it is possible to measure very rapidly and to contact a sensor with a target object to be measured. It has a characteristic that it can be applied to various fields because it is not affected by characteristics and environments of objects such as objects and high temperature objects.

The principle of the distance measurement is that the position and the shape of the image are different according to the reference distance, and the feature that the time required varies depending on the characteristic distance or the reference distance. The principle of length measurement is based on the determination condition of a triangle which can obtain the length of the other side when the length of two sides and the size of the included angle are given.

The present invention for acquiring and applying three-dimensional coordinates of a specific object or a specific point using various sensors and TOF technology using the basic principle of the above-described measurement is characterized by sensing distance information between the measurement device and the object A distance sensor 200, a reference coordinate sensor 300 for sensing rotation angle information based on the position of the measurement device, and a microcontroller 100 for calculating three-dimensional coordinates of the object based on the distance information and the rotation angle information, Dimensional coordinate measuring apparatus 10 according to an embodiment of the present invention.

In order to facilitate understanding of this, FIG. 1 shows a configuration diagram of a three-dimensional coordinate measuring apparatus according to an embodiment of the present invention.

First, the distance sensor 200 of the present invention is configured to sense distance information between a measurement device and a target object. The distance sensor includes a displacement sensor using an electromagnetic wave or an ultrasonic signal (hereinafter referred to as " signal & .

The displacement sensor comprises a light emitting unit that generates a signal to be incident and that receives a signal reflected from the target point. More specifically, the light emitting unit includes a light source that generates a signal, And a cylindrical lens for linearizing the signal passed through the convex lens, wherein the light receiving unit includes an image forming lens for forming a signal reflected by the object, and a light receiving sensor connected to one end of the image forming lens .

It is needless to say that the displacement sensor used as the distance sensor 200 may use signals of various frequencies including laser.

By using the distance sensor 200 as described above, the present invention can sense the linear distance, i.e., the distance information, which is a scalar value between the measuring device and the object, and can use this information as it is, It is preferable that the microcontroller 100 calculates the three-dimensional coordinates of the object.

The reference coordinate sensor 300 of the present invention corresponds to a configuration for sensing the rotation angle information of the measurement apparatus based on the position of the measurement apparatus. With this arrangement, when the measuring apparatus is set as a reference point, the distance information to a specific point and the rotation angle information of the measuring apparatus can be known by using this configuration, so that the three-dimensional coordinates of a specific point can be calculated.

The reference coordinate sensor 300 for sensing rotation angle information may include at least one of a geomagnetic sensor, an angle sensor, and a displacement sensor.

The geomagnetic sensor is used to detect the absolute position using geomagnetism. The simplest is to not only know the direction of the geomagnetism directly but also know the magnitude from the vibration period.

At present, we are using magnetic coils of rotation, magnetic flux saturation magnetomagnetism using magnetic saturation phenomenon of ferromagnets, quantum magnetometer using proton nuclear magnetic resonance, and emitter effect of rubidium and cesium atoms. Optical pumping magnetometers, and SQUIDs using superconducting phenomena have been used in various fields.

The angle sensor is a configuration for acquiring the rotation angle information of the measurement apparatus. When used for measurement of fine angles, a light-induced angle sensor can be used. When the angle sensor is used for measurement of a relatively large angle such as a rotation angle of a shaft A polarized angle sensor may be used, and other known angle sensors may be applied as needed.

The displacement sensor can be roughly classified into a linear displacement sensor and a rotational displacement sensor. In the present invention for sensing rotation angle information, a rotational displacement sensor is preferably used. There are potentiometers, rotary differential transformers, synchronous resolvers, rotary encoders, and pulse generators, among which synchronous resolvers, rotary encoders, and pulse generators are widely used.

The present invention includes a microcontroller 100 for calculating three-dimensional coordinates of a target object by using distance information and rotation angle information sensed by the sensors.

The microcontroller 100 refers to a computer that functions as a single chip of a microprocessor and an input / output module, and is also called a microcontroller unit (MCU).

Accordingly, the present invention can easily measure the distance to the target object, the length and the height of the target object by calculating the three-dimensional coordinates of the target object. For example, FIG. 2 shows the three- FIG. 3 is an exemplary view illustrating distance measurement through calculation, FIG. 3 is an exemplary view illustrating length measurement by three-dimensional coordinate calculation according to an exemplary embodiment of the present invention, FIG. 4 is a three- An example of height measurement through calculation is shown.

Although the apparatus for measuring three-dimensional coordinates 10 is shown in the form of a rectangular parallelepiped formed on the upper surface of the display unit 500, the apparatus may be embodied in various forms such as a cylinder or a cube.

2, the three-dimensional coordinate measuring apparatus 10 of the present invention calculates coordinates (x, y, z) of a target object to calculate a distance D between the measuring device and the target object.

In this case, the three-dimensional coordinate measuring apparatus 10 may include a button for inputting a signal to a target object. The button may be a button that is pressed by a user using a finger to input a signal, Is terminated.

In some cases, it may be necessary to continuously input a signal. Therefore, when the button is pressed once, a method may be employed in which signal input is continuously performed until the button is pressed again.

FIG. 3 is a diagram illustrating the coordinates (x, y, z) of the first point by using the apparatus for measuring three-dimensional coordinates 10 of the present invention and then calculating the coordinates (x ', y' Finally, their length L is derived.

4, the coordinate (x, y, z) of the first point is calculated using the three-dimensional coordinate measuring apparatus 10 and the coordinate (x ', y', z ') of the second point is calculated And the height H between them is derived.

The above examples assume that the measuring apparatus does not move. If the position of the measuring apparatus is changed due to the rotation or movement of the user, the three-dimensional coordinate calculation of the first point and the three-dimensional coordinate calculation of the second point The simple linear distance can be derived because the coordinate system serving as the time reference is different, but it is impossible to calculate the length or height as shown in FIG. 3 or FIG.

Therefore, in the case of calculating the three-dimensional coordinates of the object in consideration of the movement information of the measurement apparatus, the microcontroller 100 controls the rotation matrix Dimensional coordinates of the object are calculated by substituting the coordinate system by using the rotation matrix (Rotation Matrix).

First, the speed sensor 400 preferably includes an acceleration sensor for sensing the acceleration of the measurement device and a gyroscope sensor for sensing the angular velocity of the measurement device.

An acceleration sensor is a device for detecting a change in velocity per unit time, and is characterized by detecting dynamic forces such as acceleration, vibration, and shock using inertia force, electric strain, and gyro principle.

When this acceleration sensor is used, the acceleration is generated as an output. By integrating this output value, the speed can be obtained, and when it is integrated one more time, the movement distance can be obtained

The moving distance thus obtained calculates the moving coordinates of the measuring apparatus together with the angle value obtained through the gyroscope sensor, so that it is possible to perform more precise and efficient calculation of the three-dimensional coordinates when the measuring apparatus is moved.

The gyroscope sensor is a configuration used for measuring and maintaining the direction, and outputs the angular acceleration. A gyroscope is a rotating wheel on which an axis can be placed in either direction, and is a mechanism consisting of a rotor and a gimbal, which are based on the Angular momentum conservation law.

When the gyroscope rotates rapidly, when the torque is given from the outside, the direction changes much less than when it is not rotated due to the angular momentum due to the rotation, and the gyroscope is placed on the gym And the direction is almost fixed even if the mounted support moves.

By integrating the angular velocity output from the gyroscope sensor, the angular velocity can be known. If the angular velocity is further integrated, the angle is obtained. The obtained angle is used to calculate the moving coordinates of the measuring apparatus together with the moving distance obtained from the acceleration sensor.

에 해당한다.After the movement information including the movement coordinates of the measurement apparatus is derived, the final three-dimensional coordinates are calculated by replacing the coordinate system using the rotation matrix,

.

In the above equation, ₂ ¹ R _ZYX is a rotation matrix, R _Z (α) is an information matrix corresponding to α rotated by the measuring device in the Z axis, R _Y (β) The matrix, R _X (γ), corresponds to each information matrix as γ rotated by the measuring device about the X axis, s to sine, and c to cosine.

The principle of measuring the three-dimensional coordinates using the three-dimensional coordinate measuring apparatus 10 of the present invention having the above-described configuration will be described. First, a TOF (Time) between a measuring device for transmitting and receiving a signal, Of Flight) to obtain three-dimensional coordinates and vectors in the first coordinate system. Thereafter, motion information and a motion vector according to motion, such as movement and / or rotation of the measurement apparatus, are calculated, and a three-dimensional coordinate and a vector in the second coordinate system are calculated according to transmission and reception of a subsequent signal.

According to this method, a step of vectorizing distance information which is a scalar value is performed. At this time, three coordinate information and three angle information, i.e., a total of six data, are required.

In other words, an object existing on a three-dimensional coordinate system has coordinate values (x, y, z) centered on the zero point of the reference coordinate system and its orientation is determined by the rotation values (?,?,?) Of the respective axes, In the present invention, when the coordinate system in which the object is initially pointed by the signal is set as the reference coordinate system, the pointed three-dimensional coordinates can be accurately known only when the movement distances of the x, y, and z axes and the rotation angles of?,?,?

Figures 5A and 5B show an exemplary view of a first point, a second point, and a three-dimensional coordinate measurement of a measurement device in accordance with an embodiment of the present invention.

More specifically, FIG. 5A shows measurement of the three-dimensional coordinates of the first point and the second point when the measuring apparatus has fixed three-dimensional coordinates, FIG. 5B shows a case where the measuring apparatus moves, that is, Dimensional coordinate of the measurement apparatus when measuring the three-dimensional coordinates of the point is different from the three-dimensional coordinates of the measuring apparatus when the three-dimensional coordinate of the second point is measured.

5A, the measuring apparatus has three-dimensional coordinates of (0, 0, 0) in a fixed state, a first point has three-dimensional coordinates of (x1, y1, z1) , z2).

In this case, the distance between the first point and the second point can be obtained by measuring the distance L1 to the first point, the distance L2 to the second point, and the included angle? As described above.

Therefore, it is possible to obtain the length between the first point and the second point without obtaining the three-dimensional coordinate of the first point and the three-dimensional coordinate of the second point, but for the other application, the three- If necessary, three-dimensional coordinates may be obtained using a method described later.

On the other hand, FIG. 5B shows a case in which the measuring apparatus moves, and has a condition in which the position of the measuring apparatus when measuring the first point P1 and the position of the measuring apparatus when measuring the second point P2 are different .

5B, when measuring the first point P1, the first point direction in which the signal is radiated in the first coordinate system is set as the y-axis and then the three-dimensional coordinate is obtained, and the second point P2 ), The second point at which the signal is emitted in the second coordinate system is set as the y-axis, and then the three-dimensional coordinate is obtained. In this case, the direction of the point at which the signal is radiated in each coordinate system is set as the y-axis, the gravity direction is set as the z-axis, and the other direction is set as the x-axis.

In this case, the vector from the measuring point to the second point on the measuring point at the second point, i.e., the measuring point in the first coordinate system, is ¹ P _{2Tar around} the first coordinate system, and ¹ P _2Tar = ¹ P _2Org + ² P _2Tar ¹ P _2Org is the motion vector of the measuring device in the first coordinate system and ² P _2Tar is the vector from the measuring device to the second point in the second coordinate system.

In other words, in order to obtain ¹ P _2Tar as a vector in the first coordinate system, the vector sum can not be calculated without replacing ² P _2Tar , which is a vector in the second coordinate system, with the first coordinate system.

Therefore, the rotation matrix is used to substitute corresponding coordinates in the same coordinate system as in the right figure, and the vector ² P (or ² P ² _Tar ) from the measuring device to the second point in the second coordinate system is _transformed through the rotation matrix Can be replaced with a vector ¹ P (or ¹ P 2 _Tar ) from the measuring device in the first coordinate system to the second point.

Conversely, in some cases, the vector ¹ P _1Tar from the measuring device to the first point in the first coordinate system is replaced with the vector ² P _1Tar from the measuring device to the first point in the second coordinate system for the vector sum in the second coordinate system . In this case, instead of the motion vector ¹ P _2Org indicating the movement information of the measurement apparatus in the first coordinate system, a motion vector ² P _1Org representing the movement information of the measurement apparatus in the second coordinate system should be obtained.

That is, the distance information, which is a scalar value measured through transmission and reception of a signal, is calculated as a vector value, and the coordinates of the measurement apparatus, which is the zero point of the first coordinate system, are set to (x1, y1, z1) The coordinates (x1, y1 ', z1) of the first point can be obtained because the first point direction is set as the y-axis.

The coordinate information of the first coordinate system can be obtained through the distance sensor 200, the reference coordinate sensor 300, and the microcontroller 100 capable of coordinate calculation. In addition to the above method, It is also possible to calculate the coordinates of the initial measuring device such as measurement at the position and obtain the coordinates of the object to which the signal comes. As a result, the order of designating the initial reference coordinate system varies and is not limited to the above description.

If, in contrast to the above example, the three-dimensional coordinates of the first point and the second point are obtained in the first coordinate system and the three-dimensional coordinates of the third point and the fourth point are acquired in the second coordinate system, or ) When obtaining the three-dimensional coordinates of the first point in the first coordinate system, obtaining the three-dimensional coordinates of the second point in the second coordinate system, and then obtaining the three-dimensional coordinates of the third point in the third coordinate system, Similarly, since desired information is obtained through a process of obtaining a vector sum in different coordinate systems, a desired result value can be obtained by replacing the three-dimensional coordinates (or vectors using the same) obtained by repeatedly applying the rotation matrix to the same coordinate system .

Therefore, the present invention is characterized by obtaining more information by using the three-dimensional coordinates of more points and the rotation matrix in order to derive the corresponding vector.

6 is a diagram illustrating an example of a potential vector for mapping specific points according to an embodiment of the present invention.

In this procedure, the length, height, stereoscopic information and the like of the object are measured using the measurement apparatus before the movement obtained in the first coordinate system, the three-dimensional coordinates of the first point and the three-dimensional coordinates of the second point, And the movement information of the measuring apparatus, and corresponds to a procedure for calculating coordinate information obtained from different coordinate systems.

More specifically, the coordinate axes of the first coordinate system are set as the y-axis, the gravity direction as the z-axis, and the remaining directions as the x-axis, so that the vector from the reference point to the first point of the measuring device or the first coordinate system ¹ P _1Tar .

Herein, the upper left subscript of ¹ P _1Tar represents a first coordinate system, P is a position vector in the first coordinate system, the lower right subscript is a target point in the first coordinate system, 1Tar is a first target point ), 2Tar means the second target point (second point).

Then, after the measurement apparatus moves or rotates, the second coordinate system sets the coordinate axis to the second point direction as the y axis, the gravity direction as the z axis, and the remaining direction to the x axis, And the vector ² P _2Tar from the reference point to the second point is derived.

Although the first point and the second point are indicated by the same point in FIG. 6, even when the first point and the second point are at different positions, it is possible to use the present method in which the vector sum can be calculated using the rotation matrix It is the same.

Then, a motion vector ¹ P _2Org from the reference point of the first coordinate system (position before movement of the measuring apparatus) to the reference point of the second coordinate system (position after movement of the measuring apparatus) is derived and a vector sum is obtained by applying a rotation matrix shall.

For example, when it is desired to acquire the three-dimensional coordinate ¹ P 2 _Tar of the second point in the first coordinate system using the second point three-dimensional coordinates acquired in the second coordinate system, the rotation matrix ₂ ¹ R _ZYX The moving vector ¹ P _2Org of the measuring device in the first coordinate system is added to the value _obtained by multiplying the vector ² P _2Tar from the measuring device to the second point in the coordinate system.

This expression is expressed as ' ¹ P _2Tar = ₂ ¹ R _ZYX ² P _2Tar + ¹ P _2Org '.

By applying such a rotation matrix, the vector sum in different coordinate systems can be calculated, and as a result, there is an effect that restrictions on the movement of the measuring device are lost in acquiring three-dimensional coordinates.

The above description will be described in more detail. When the coordinate axis (reference coordinate axis) of the first target first is the first coordinate system, then the target point is the second point, the first point Axis coordinate value of the first coordinate system as much as the obtained distance information, and its value is (0, L ₁ , 0).

Thereafter, the measuring apparatus moves or rotates to point to the second target, and the coordinate system after the movement becomes the second coordinate system. Likewise, the second point to be pointed in the second direction is also the y axis coordinate of the second coordinate system Value, so the value is (0, L ₂ , 0).

If a desired measurement value such as the length of the object is obtained by using the above three-dimensional coordinates, the previously acquired three-dimensional coordinate values can not be calculated because the first and second coordinate systems have mutually different coordinate systems .

Therefore, a rotation matrix is required as proposed in the present invention, and a desired result value can be derived from the formula ' ¹ P _2Tar = ₂ ¹ R _ZYX ² P _2Tar + ¹ P _2Org '.

6 and 7, P is a position vector, and subscripts at the lower right of the figure represent target points, where 1Tar denotes a first target point and 2Tar denotes a second target point.

That is, the vector ¹ P _1Tar for the first target has the y-axis coordinate value of the first coordinate system measured by the distance sensor 200 as selected by the reference coordinate system, and the three-dimensional coordinates of the measuring apparatus are (0, 0, 0), the value is (0, L ₁ , 0). Where L ₁ is the distance from the measuring device to the first point.

Then, in order to point to the second target after the first target is measured, the subscripts at the upper left of the shifted 3-axis coordinate ¹ P _2Org indicate the same first coordinate system, and the center of the second target (Org) As shown in FIG.

² P _2Tar denotes a vector up to the second target around the second coordinate system, and the measurement point of the second coordinate system around the first coordinate system is ¹ P _1Tar = ¹ P is calculated by _2Org + ² P _2Tar, it is not possible when the vector sum of the first coordinate system and the second coordinate system is using a rotation matrix as described above.

FIG. 8 is a conceptual diagram illustrating acquisition of three-dimensional coordinates using an accelerometer, an angular velocity meter, and a displacement sensor according to an embodiment of the present invention.

Referring to the drawings, the present invention obtains posture shape information of a measurement apparatus using a reference coordinate sensor 300 including a speedometer (gyroscope sensor) and an accelerometer (acceleration sensor) Or by acquiring linear distance information up to a certain point and analyzing the measured values using a least squares method using a Kalman filter to acquire integrated position information that can be finally embodied as three-dimensional coordinates .

FIG. 9 is a diagram illustrating an algorithm for acquiring three-dimensional coordinates using an accelerometer, an accelerometer, and a displacement sensor according to an embodiment of the present invention.

In the figure, w ^b is the angular acceleration measured by the gyroscope sensor, f ^b is the acceleration measured by the acceleration sensor, R ⁿ _b is the rotation matrix corresponding to the Euler angles, g ⁿ is the unit in the navigation coordinate system (reference coordinate system) V ⁿ is the velocity of the measuring device in the navigation coordinate system (reference coordinate system), and r ⁿ is the position of the measuring device in the navigation coordinate system (reference coordinate system).

Similarly to the above-described concept, an angular velocity obtained through a gyroscope sensor (IMU) is applied to a Kalman filter for attitude after applying an HDR (Heuristic Drift Reduction) algorithm, and a rotation matrix corresponding to the Euler angle is applied The resultant value is passed through the Kalman filter for the velocity and position to be described later.

Then, the acceleration obtained from the acceleration sensor is applied to the acceleration by applying the HSR (Heuristic Scale Regulation) algorithm, and the velocity is calculated.

As a result, it is possible to calculate values such as the speed and position of the measuring apparatus in the navigation coordinate system (or reference coordinate system).

Here, the HDR is an algorithm for minimizing the drift of the gyro sensor. The gyro sensor outputs an angular velocity and integrates the angular velocity to calculate a rotation angle. At this time, even if a small bias drift occurs, The HDR corresponds to an algorithm for minimizing the bias drift.

The HSR is a scale factor adjustment algorithm of an acceleration sensor. The acceleration sensor outputs acceleration, and the gravity is included in the acceleration. Therefore, the gravity is eliminated and then integrated to calculate a speed and a position. At this time, a small scale factor Factor), a large error is generated when the gravity component is not removed properly but is accumulated through integration. Therefore, the HSR is an algorithm for adjusting the scale factor.

Meanwhile, the present invention further includes a communication unit 600 capable of interfacing with the external terminal 610 so that the user can use the sensed value or the calculated value as it is in the field, Is linked with an external terminal capable of rotating and moving through a communication network, thereby supporting a more difficult surveying task or applying a result value.

At this time, the communication network may correspond to a short-range wireless communication network or a long-distance wireless communication network such as Wi-Fi, Bluetooth, Zigbee, Z- ) May also be a computer device such as a desktop PC, a notebook PC, a smart phone, or other interlocking measuring device.

Meanwhile, in calculating the three-dimensional coordinates of a target object or a specific point in the above-described configuration, the present invention uses various error correction algorithms to correct errors that may occur due to various situations.

The error correction algorithm includes a position and angle correction algorithm for measuring an attitude angle of a target object, a hand tremble correcting algorithm for correcting an error due to vibration of the apparatus, a trigonometric function algorithm for obtaining a distance to an object in consideration of a user's arm length, A nonlinearity correction algorithm for correcting nonlinear changes in frequency, or a sensor fusion algorithm for improving the accuracy of sensor values. The description of each algorithm is as follows.

Location and Angle Correction Algorithm

The attitude angle of the object can be measured by integrating the output value of the gyroscope sensor, but it has many problems such as accumulation of error according to the passage of time or error due to drift phenomenon of the sensor.

On the other hand, the acceleration sensor does not cause error accumulation or drift in the attitude angle measurement. However, when measuring the instantaneous angle, the acceleration sensor has a larger error than the gyroscope sensor and has a weak point in disturbances such as vibration and noise.

This is because the posture angle measurement using the acceleration sensor assumes that only the gravitational acceleration acts on the object, and therefore, the error of the posture angle measurement occurs due to the acceleration acting on the object.

In order to complement the disadvantages of these two sensors, a method of improving the performance of the attitude measuring device by applying the mixed algorithm of the gyro and the accelerometer and improving the measurement algorithm is being studied, and in most studies, the gyro and the accelerometer In order to compensate the disadvantages, we propose a method of measuring the attitude angle by using the mixture algorithm of the gyroscope sensor and the acceleration sensor using the Kalman filter.

In the mixing algorithm using the Kalman filter, it is possible to compensate for instantaneous noise due to disturbances such as vibration and noise generated by the acceleration sensor, but it is difficult to compensate for the noise due to the continuous acceleration acting on the object .

However, most of the attitude measuring devices are used to measure the attitude of a moving object.

Figs. 10A and 10B show an exemplary diagram for explaining the application of the position and angle correction algorithm according to an embodiment of the present invention.

10A shows a process of measuring an attitude angle of a fixed object using an acceleration sensor.

If an external force such as a velocity component or a vibration is not applied to the axial direction of the acceleration sensor, only the gravitational acceleration is applied. Thus, the output of the three-axis acceleration sensor is used to obtain the tilt (roll angle and pitch angle) .

When the x-axis direction of the acceleration sensor coincides with the pitch direction, when the pitch angle is inclined by?, The accelerations A _x and A _z in the respective axial directions are output by the acceleration sensor by the gravitational acceleration g as shown in the figure. At this time, if only the gravitational acceleration is applied to the acceleration sensor, the gravitational acceleration g is equal to the composite vector of the acceleration sensor 3-axis output as follows.

When the acceleration sensor has a pitch angle slope of? As shown in Fig. 10A, the pitch angle? Can be calculated by the x- and y-axis outputs of the acceleration sensor by the following equation.

Here, since the unit of? Is radian, the relation between the output of the three-axis acceleration sensor and the roll angle (?) And the pitch angle (?) Is as follows.

The range of the attitude angle that can be measured by the above equation is ± 90 °. In other angular ranges, different calculation is required depending on the sign of each axis sensor.

And FIG. 10B shows an error angle occurring in the process of measuring the attitude angle of the moving object using the acceleration sensor.

The attitude angle measurement of an immovable object using an acceleration sensor is possible by the above equation, but when an object moves with acceleration, an attitude angle is measured and an error is caused by the acceleration acting on the object. Therefore, in order to measure the attitude angle of the moving object, the error due to the acceleration acting on the object should be considered.

Considering the movement of the object in the x-axis direction, referring to Fig. 10B, a synthetic vector of the acceleration (A _x , A _z ) acting on the x and z axes and a synthetic vector of the acceleration a _x acting on the _x- Since the vector is the same as A _xz , it can be expressed as follows.

Therefore, the magnitude of the acceleration a _x acting on the x axis of the object is as follows.

)은 중력 가속도(g)에 의해 생기는 각 θ와 물체에 가해지는 가속도 a에 의해 생기는 각 ψ의 합으로 나타낼 수 있다. 결국 구하고자 하는 중력 방향에 대한 물체의 자세각(θ)은 다음과 같다.Acceleration a _x is due to x, z axis respectively, a _x1, a _x2 on the acceleration sensor output because in addition, the output (A _x, A _z) are each axis acceleration (g _x, g _z) of the gravitational acceleration for each axis sensor , And the acceleration (a _x1 , a _x2 ) of each axis by the acceleration (a _x ) applied to the object. The attitude angle obtained by the output of the acceleration sensor

Can be expressed by the sum of the angles? Caused by the gravitational acceleration g and the angles? Caused by the acceleration a applied to the object. The attitude angle (θ) of the object with respect to the direction of gravity to be obtained is as follows.

Hand shake correction algorithm

Conventional displacement measuring apparatuses measure by utilizing a support such as a pedestal, and can receive accurate data because there is no cause of error due to micro-vibrations.

However, as in the present invention, a device that can be directly measured by a user in a state of being held in a hand makes the error of the gyroscope sensor due to the micro-tremble difficult to receive accurate position data.

Accordingly, the present invention applies the following shake correction algorithm to compensate for errors in position data caused by hand tremor or external factors.

In the hand shake correction algorithm, four hinge points are created and rotated.

11A is an exemplary diagram for explaining the application of the hand shake correction algorithm according to an embodiment of the present invention, wherein coil1 and coil3 are used for pitching drive (coil1 + coil3 = pitching drive) It is used for yawing drive (coil2 + coil4 = Yawing drive).

In other words, a mechanism that can maximize the effect of hand tremor correction is used by rotating and reciprocating the entire gyroscope sensor module at a pitch and yaw angle, and the actuator's momentum and sensitivity are as follows.

The characteristic curve to which this is applied is shown in more detail in FIG. 11B.

Trigonometric Algorithm Algorithm

12A to 12C show an exemplary diagram for explaining the application of the trigonometric function algorithm according to an embodiment of the present invention.

First, FIG. 12A shows an example of a distance sensor measurement used for actual distance measurement. This distance sensor measures the distance from the measuring device to the measurement object. It is difficult to measure the distance between both ends by using the trigonometric function only at the distance between the start point and the end point. In other words, the distance from the measuring device to the shoulder is required to obtain the central angle.

12B shows the center point and distance of the shoulder. In order to calculate the distance at the first measurement distance and the second measurement distance, the center point of the two sides should be found, and the distance from the shoulder to the device should be checked to find the center point.

When the distance from the center point, the shoulder, to the end point of the measurement object is obtained, the center angle can be known through both sides and the center point, and thus the distance between both end points that the device can measure is calculated.

12C shows that the difference in distance measured by the device at a distance measured in advance is the distance from the shoulder to the device.

In order to use the device more efficiently, it is desirable to store the different shoulder lengths of each user so that the previously stored shoulder length values are available for use.

Accordingly, the present invention effectively stores the three-dimensional coordinate measurement device 10 as described above by storing the arm length per user in the microcontroller 100 and selectively applying the arm length to the microcontroller 100 or by including the memory part as a separate storage device. Can be used.

On the other hand, in the method of measuring the distance using a signal, the accuracy of the apparatus is determined according to the accuracy of the light receiving unit of the distance sensor 200. Therefore, it is possible to use an expensive light receiving unit or a light receiving sensor with high accuracy, but in some cases, by using a low-cost component and correcting the accuracy of the sensor by software using HSR, HDR filter and Kalman filter, Of course.

Nonlinearity Correction Algorithm

The FMCW (Frequency Modulation Continuous Wave) displacement measuring device transmits a sinusoidal signal whose frequency gradually changes and receives a signal reflected from the object. Then, the reflected signal is mixed with the transmission signal and transmitted as a bit frequency signal having distance information, and the distance is calculated by the frequency measurement value through the Fourier transform.

In this case, when the frequency change is linear, only one frequency component is extracted and the accurate distance can be calculated. However, when the frequency change is nonlinear, it is difficult to accurately calculate the distance because there are several frequency components.

In order to overcome such a problem, the present invention proposes a method of compensating for non-linearity by additionally using an auxiliary delay unit. Since the signal generated through the auxiliary delay unit has the same rate of change as the frequency of the bit signal, it is used as a trigger signal of an ADC (Analog to Digital Converter) to generate a bit signal The non-linearity can be corrected.

13A shows a nonlinear output characteristic. In FIG. 13A, the reference signal indicates a signal transmitted as a reference signal, and the reflected signal indicates a signal reflected from a target object. And fB represents the frequency difference between the two signals as a bit frequency, τRTT represents the round trip time of the signal, Δf represents the width of the frequency change, and tRAMP represents the cycle of the ramp signal, ie, the time of the frequency change.

Since the distance information of the object is included in the bit frequency in the FMCW displacement measuring device, the bit frequency is obtained through the Fourier transform after obtaining the bit frequency signal using the reference signal and the reflected signal as the input signal of the mixer. Can be expressed as follows.

In the above equation, c means the speed of light, and if you know the bit frequency, you can get the distance from the object by simple formula.

If the frequency change is linear, it can be seen that the same bit frequency is generated in a certain time range, thereby obtaining an accurate distance. However, in general, it is difficult to obtain a perfectly linearly varying frequency signal, so that it has mostly nonlinear frequency change characteristics.

Therefore, the present invention solves the error problem due to nonlinearity by additionally using the auxiliary delay part, and an example of a conceptual diagram for nonlinearity frequency variation correction is shown in FIG. 13B.

As shown in the figure, the auxiliary delay unit is added to the nonlinearity correction algorithm in the basic FMCW displacement measuring apparatus. It includes a delay circuit and a low pass filter (LPF) And generates a trigger signal.

As a result, a nonlinear characteristic is corrected by sampling a signal having a rate of change equal to a change in bit frequency due to nonlinearity of the frequency as a trigger signal in a signal processor.

Sensor fusion algorithm

- Calibration of IMU (Inertial Measurement Unit) sensor

,

일 때, HDR(Heuristic Drift Reduction) 알고리즘과 HSR(Heuristic Scale Regulation) 알고리즘을 사용하여 드리프트와 스케일이 보정된

,

를 계산한다.The output of the IMU sensor is the angular velocity and the acceleration

,

(Heuristic Drift Reduction) algorithm and HSR (Heuristic Scale Regulation) algorithm, the drift and scale corrected

,

.

Here, the HDR algorithm is used to calculate the bias value b _g .

Here, the HSR algorithm is used to calculate the scale factor S _a .

- Attitude Kalman Filter

1) Initialize

The state variables used in the Kalman filter are denoted by the rotation matrix and the Euler angles, and the covariance matrix is denoted by the covariance of the Euler angles.

State variables:

Covariance matrix for Euler angles:

The state variables and covariance matrix are initialized as follows.

- Attitude Predict

1) System model

The angular velocity measured by the sensor has the following relationship with the derivative of the rotation matrix.

Where Ω _b is the skew symmetric matrix of w ^b and is defined as:

The derivative of Euler angles has the following relation with angular velocity.

Here, C ₁ ^-1 is a matrix for converting the angular velocity measured by the gyroscope sensor into the conversion ratio of the Euler angle.

In the case of θ ≈ ± π / 2 in the matrix, cos θ≈0, so that the denominator of the matrix element may become close to zero. In this case, however, this means that the sensor is standing vertically, so this case does not occur when the position and orientation of the sensor are considered.

- Predict

The covariance for the Euler angles is updated as follows.

는 다음과 같이 계산한다.here

Is calculated as follows.

- Attitude Update by Gravity

1) Model of attitude measurement of sensor by gravity

,

를 이용하여 센서의 자세를 나타내는 행렬은 다음과 같이 보정된다.

,

The matrix representing the attitude of the sensor is corrected as follows.

And the Euler angles are corrected as follows.

Here, C ₀ ^-1 is as follows.

The attitude measurement model function h () of the sensor uses the Euler angles without conversion as follows.

,

를 사용하여 다음과 같이 계산된다.The posture measurement Z _k

,

Is calculated as follows.

2) Attitude update

Where K _ø is the first heat element row of the K _{k, θ} K is the second row and second column of the elements K _k.

을 다음과 같이 계산한다. 왜냐하면, 가속도의 크기가 1g 근처일 때 이득이 커야 하고 1g에서 멀어질수록 이득이 작아야 한다.here

Is calculated as follows. Because the gain should be large when the magnitude of the acceleration is near 1 g, and the gain should be small when moving away from 1 g.

- Attitude measurement by gravity

인지 확인해보는 것이 가장 간단한 방법이다.G = (0, 0, -9.81) is measured when there is no other force acting on the acceleration sensor since gravitational acceleration is always directed toward the center of the earth. The posture of the sensor can be corrected by comparing the acceleration measured by the acceleration sensor and the gravity acceleration. This condition, however, is only possible when the force acting on the accelerometer is only gravity. Since gravity acceleration can not be measured by separating these forces, the conditions under which forces other than gravitational acceleration act

It is the simplest way to check if it is.

Acceleration measured by the acceleration sensor a = [a _x a _y a _z ] ^T contains various types of accelerations due to gravitational acceleration and sensor acceleration. This can be expressed as follows.

- Quaternion

The three-axis acceleration and the angular velocity output are integrated from the initial position of the sensor to calculate the posture, velocity, and acceleration of the current object, and the quaternion is used for the calculation.

Quaternion is used to overcome various problems such as gimbal lock which occurs in Euler angle operation, especially in the rotation or direction setting of an object. In addition, it can be represented by four elements, which is advantageous in that it can be expressed concisely as compared with a rotation matrix using nine elements.

1) Quaternion

A quaternion consists of three vector elements and one scalar element.

는 쿼터니언의 스칼라 성분이고,

는 쿼터니언의 벡터 성분이다.here

Is a scalar component of quaternion,

Is a vector component of a quaternion.

로부터 다음과 같이 쿼터니언을 계산한다.A quaternion coordinate system is shown in Fig. 14. As shown in the drawing, a vector r and a rotation angle

The quaternion is calculated as follows.

2) Unit Quaternion

When the size of the quaternion is 1, it is called the unit quaternion. The unit quaternion divides the quaternion.

** Product

The product of the quaternion is calculated as follows.

The product of the quaternion is the same as the product R ₁ R ₂ of the two rotation matrices R ₁ and R ₂ , and the inverse of the quaternion product is not established as follows.

** Conjugate

The conjugate q ^* of a quaternion is defined as:

** norm

The norm of quaternion is defined as follows.

And the quaternion's product satisfies the following characteristics.

** Inverse

The inverse q ^-1 of the quaternion is equivalent to the inverse R ^-1 = R ^T of the rotation matrix R, and is calculated as follows.

3) Euler Angles to Quaternion

로 쿼터니언을 다음과 같이 계산한다.Euler angle

Calculate the quaternion as:

** ZYX (Roll-Pitch-Yaw) Angles

Here, the quaternion transformation function for each axis is as follows.

** XYZ Angles

4) Calculation of Rotation Matrix using Quaternion

5) Calculation of Euler Angles using Quaternion

A method of calculating the Euler angles from the rotation matrix R is used, and r _ij used in the following equation is an element of the i-th row and the j-th column of the matrix R.

** ZYX (Roll-Pitch-Yaw) Angles

When θ is (-π / 2, π / 2), it is as follows.

When θ is (π / 2, 3π / 2), the following is obtained.

6) Calculate Quaternion using Rotation Matrix

The quaternion from the rotation matrix is calculated as follows.

7) Quaternion Normalization

). 만일 쿼터니언

이 있을 때, 다음과 같이 정규화될 수 있다.If the quaternion is continually updated, the fine errors of the numerical calculations accumulate and the properties of the unit quaternion are not satisfied (

). If quaternions

, It can be normalized as follows.

8) Vector rotation with Quaternion

The quaternion that rotates the unit vector u by the rotation axis a is q = {cos (a / 2), usin (a / 2)}. In a three-dimensional space, a general vector v is rotated by a quaternion q as follows.

Where p = {0, v} and p '= {0, v'} are pure quaternions with only vector components. In a physical sense, the vector v 'is a vector whose original vector v is rotated by the vector u by the rotation axis a.

9) Derivative of Quaternion

The differential equation of quaternion is as follows.

here,

to be.

As a result of the above algorithms, an example of a program for confirming the application of the error correction algorithm according to an embodiment of the present invention is shown in Fig.

The upper part of the drawing corresponds to the result before the program is driven, and the lower part corresponds to the result after driving the program.

As shown in the lower drawing, when the error correction algorithm is applied, it is confirmed that the result of the operation of the algorithms is calculated by the graph according to the position of the sensor combined with the IMU, and it is confirmed whether the algorithm performs the calculation as intended .

Finally, the three-dimensional coordinates calculated by the microcontroller are provided to the user through the display unit 500 described above.

The display unit 500 corresponds to a video display unit that can transmit information including a specific value to a user and the display unit is preferably formed in a direction other than the direction in which the signal is irradiated .

The output unit may be a liquid crystal display (LCD) panel, a light emitting diode (LED) display panel, an AMOLED ) Panel, a flexible amorphous panel, or a TFT-LCD panel.

If it is necessary to transmit the result calculated by the microcontroller 100 to the external terminal 610, the communication unit 600 transmits the resultant value to the external terminal through the communication network. At this time, it is preferable that the user can arbitrarily set whether to display the result value on the display unit 500 or to omit the result value.

In addition, in order to stably operate the above-described configurations, the present invention further includes a power supply unit (not shown) for supplying power to various configurations. In case of a battery-integrated system, In order to solve this problem, the power supply unit may be a rechargeable battery, but it is preferable that the power supply unit is composed of a replaceable battery.

The power supply unit is installed in the measurement device and electrically connected to the configurations of the present invention to supply power. In the case of a rechargeable battery, the power supply unit may be a USB rechargeable battery or a general lithium ion rechargeable battery, The user simply can replace the battery mounted on the power supply unit when the power of the three-dimensional coordinate measuring apparatus is consumed.

The three-dimensional coordinate measuring apparatus 10 having the above characteristics is desirably an appropriate size so that the user can carry it easily. It is not limited to a specific size, but it is possible to use the three- It is good for size.

In addition, when it is necessary to use the three-dimensional coordinate measuring apparatus 10 in a state where the user can not use the coordinate measuring apparatus 10 after grasping the coordinate measuring apparatus 10 in a hand or fixed to a specific point, a support such as a tripod In order to accomplish this, a structure that can be connected to a support is provided below the three-dimensional coordinate measuring device.

For example, a space capable of inserting a screw or a shaft having a specific size is provided in the lower portion of the three-dimensional coordinate measuring apparatus 10, and a screw or a shaft is inserted into or engaged with the corresponding space So that the user can use the apparatus of the present invention in a fixed state.

As a result, the present invention is advantageous in that the three-dimensional coordinates of a target object or a specific point can be accurately calculated by applying various sensors and TOF techniques to the measurement device.

Further, the present invention has an advantage in that the distance to the target object, the length of the target object, the height, the stereoscopic information, and the movement information of the measurement device can be derived based on the calculated three-dimensional coordinates.

In addition, the present invention can acquire three-dimensional coordinates of a target object or a specific point even in a moving state of the measurement apparatus, thereby solving motion constraints of the apparatus, thereby improving the measurement method and the degree of freedom for the environment.

In addition, the present invention improves convenience in use and reliability of measured values by applying various error correction algorithms when measuring three-dimensional coordinates, and also supports or acquires three-dimensional coordinates in cooperation with an external terminal There is an advantage that the present invention can be utilized in a wide variety of fields by utilizing a three-dimensional coordinate.

While the present invention has been described with reference to the specific embodiments, it is to be understood that the invention is not limited thereto. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents. Various modifications and variations are possible.

10: 3D coordinate measuring device
100: Microcontroller
200: Distance sensor
300: reference coordinate sensor
400: Speed sensor
500:
600:
610: External terminal

Claims (13)

A distance sensor for sensing distance information between the measurement device and the object;
A reference coordinate sensor for sensing rotation angle information based on the position of the measuring device; And
A microcontroller for calculating three-dimensional coordinates of the object based on the distance information and the rotation angle information; Dimensional coordinate measuring device.
The method according to claim 1,
Wherein the distance sensor uses either electromagnetic waves or ultrasonic waves.
The method according to claim 1,
Wherein the reference coordinate sensor includes at least one of a geomagnetic sensor, an angle sensor, and a displacement sensor.
The method according to claim 1,
A speed sensor for sensing movement information of the measuring device; Dimensional coordinate measuring device.
5. The speed sensor according to claim 4,
An acceleration sensor for sensing the acceleration of the measuring device; And
A gyroscope sensor for sensing an angular velocity of the measuring device; Dimensional coordinate measuring device.
5. The method of claim 4,
Dimensional coordinate of a target object is calculated by considering the movement information of the measurement apparatus, the microcontroller calculates three-dimensional coordinates of the target object by replacing the coordinate system using a rotation matrix. Measuring device.
7. The apparatus of claim 6,

Of the three-dimensional coordinate measuring device.
( ₂ ¹ R _ZYX is a rotation matrix, R _Z (α) is an information matrix by α rotated by the Z axis, R _Y (β) is an information matrix by β rotated by the Y axis, R _X ) Is an information matrix corresponding to y rotated by the X axis, s is a sine, and c is a cosine)
The method according to claim 1,
Wherein the microcontroller calculates three-dimensional coordinates of a target object using an error correction algorithm.
9. The method of claim 8,
Position and angle correction algorithm for attitude angle measurement of object;
A hand shake correction algorithm for correcting an error due to vibration of the apparatus;
Trigonometric Algorithm for Estimating the Distance to the Object by Considering User 's Arm Length;
A nonlinearity correction algorithm that corrects nonlinear changes in frequency; or
Sensor fusion algorithm to improve sensor value accuracy; Dimensional coordinate measuring apparatus according to the present invention.
The method according to claim 1,
A display unit for externally displaying the sensed value or the calculated value; Dimensional coordinate measuring device.
The method according to claim 1,
A communication unit capable of interfacing with an external terminal using a sensed value or a calculated value; Dimensional coordinate measuring device.
12. The method of claim 11,
Wherein the external terminal is a device capable of rotating and moving.
The method according to claim 1,
Wherein the three-dimensional coordinate measuring device is implemented in a portable size.

Images