WO2021240788A1 - 計測システム - Google Patents

計測システム Download PDF

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Publication number
WO2021240788A1
WO2021240788A1 PCT/JP2020/021360 JP2020021360W WO2021240788A1 WO 2021240788 A1 WO2021240788 A1 WO 2021240788A1 JP 2020021360 W JP2020021360 W JP 2020021360W WO 2021240788 A1 WO2021240788 A1 WO 2021240788A1
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WO
WIPO (PCT)
Prior art keywords
reflector
measurement
moving body
orthogonal
measurement area
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.)
Ceased
Application number
PCT/JP2020/021360
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
章志 望月
昌幸 津田
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.)
NTT Inc
Original Assignee
Nippon Telegraph and Telephone 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 Nippon Telegraph and Telephone Corp filed Critical Nippon Telegraph and Telephone Corp
Priority to JP2022527447A priority Critical patent/JP7417162B2/ja
Priority to PCT/JP2020/021360 priority patent/WO2021240788A1/ja
Priority to US17/926,076 priority patent/US20230184937A1/en
Publication of WO2021240788A1 publication Critical patent/WO2021240788A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to a measurement system.
  • a mobile robot is used when working in a disaster site or an intrusion prohibited area.
  • a measuring instrument and a computer are mounted on the mobile robot, and in an unknown measurement area, the measuring instrument performs measurement processing while moving the mobile robot, and at the same time, the computer estimates and calculates its own position to construct a map. This makes it possible to grasp the state of the measurement area in relation to the position on the two dimensions.
  • a general method is to use a moving body of a structure and manually scan the moving body for measurement.
  • the moving body here does not mean a device that autonomously performs work such as a mobile robot, but refers to, for example, a vehicle that can be driven by a motor, a vehicle that can be moved by human power, and the like.
  • the above measuring instrument includes, for example, a ground penetrating radar that explores the ground using electromagnetic waves.
  • a ground penetrating radar that explores the ground using electromagnetic waves.
  • the moving body is provided with an omnidirectional moving mechanism having no limitation on the moving direction. This is because it is convenient to handle and is expected to improve workability.
  • the odometry method is a method of calculating the amount of movement of a moving body by obtaining a movement vector based on the amount of rotation of the wheels of each wheel.
  • a plurality of tubular small rollers mounted at a predetermined angle with respect to the wheel axis rotate freely on the circumference of the wheel, so that the moving body slides in a direction other than the rotation direction of the wheel. It is assumed that it will move in the direction of. However, since the small roller is smaller than the wheel and slips easily on the ground, this slip is accumulated as an error of the moving distance, and when the moving distance becomes long, the movement amount and the accuracy of the position cannot be maintained.
  • Another method is a self-position estimation method using a laser scanner, which is being researched in the field of mobile robots.
  • SLAM Simultaneous Localization and Mapping
  • a LIDER Laser Detection and Ringing
  • the LIDER sensor rotates itself to measure a distance in a 360-degree direction.
  • vibration occurs due to the rotation, and the accuracy of the measurement distance is not high.
  • the rotation speed is not so high, a sufficient sampling speed cannot be obtained when the moving body is manually moved.
  • the present invention has been made in view of the above circumstances, and an object of the present invention is to improve the movement amount and position accuracy of an omnidirectional moving body that can move in any direction. Technology.
  • the measurement system of one aspect of the present invention is a measurement system that measures the movement amount or position of a moving body that moves in a rectangular measurement area, and is a measuring instrument that performs measurement processing for a predetermined purpose and two laser beams that are orthogonal to each other.
  • An omnidirectional moving body that is equipped with an orthogonal laser rangefinder with a gimbal mechanism that measures the distance to each of the two objects and can move in any direction within the measurement area, and the measurement area.
  • a first reflector that is arranged along one side of the measurement area on the outside of the measurement area and reflects the laser light of one of the two laser light output from the orthogonal laser rangefinder, and the outside of the measurement area.
  • the second reflector which is arranged orthogonally to the first reflector and reflects the other laser beam of the two laser beams output from the orthogonal laser rangefinder, the measuring instrument and the orthogonal laser rangefinder.
  • the computer comprises a first communication unit that receives the measurement data of the predetermined purpose measured by the measuring instrument, the moving body measured by the orthogonal laser rangefinder, and the computer.
  • a second communication unit that receives the first distance data between the first reflector and the second distance data between the moving body and the second reflector, the first distance data, and the second distance.
  • a calculation unit that calculates the movement amount or position of the moving body in the measurement area based on the data and stores the measurement data of the predetermined purpose in the storage unit in association with the movement amount or position of the moving body. Be prepared.
  • the present invention it is possible to provide a technique capable of improving the accuracy of the movement amount and the position of the moving body in an omnidirectional moving body that can move in an arbitrary direction.
  • FIG. 1 is a top view showing the configuration of the measurement system.
  • FIG. 2 is a perspective view showing the configuration of an orthogonal laser rangefinder with a gimbal mechanism.
  • FIG. 3 is a configuration diagram showing a functional block configuration of a computer.
  • FIG. 4 is a flow chart showing the operation of the measurement system.
  • FIG. 5 is a perspective view showing the overall configuration of the belt partition.
  • FIG. 6 is a diagram showing an example of forming a reflector by a belt partition.
  • FIG. 7 is a configuration diagram showing a hardware configuration of a computer.
  • an orthogonal laser rangefinder with a gimbal mechanism is attached to the moving body.
  • a technique for reflecting the orthogonal laser light output from the orthogonal laser rangefinder by two reflectors arranged orthogonally By using the orthogonal laser rangefinder with a gimbal function, the posture of the orthogonal laser rangefinder can be maintained at the initial basic posture even when the moving body makes a turning motion. Further, since the orthogonal laser beam is reflected by the two reflectors arranged orthogonally, the distance between the moving body and the reflector can be measured accurately. As a result, the movement amount and position of the moving body can be accurately measured.
  • the present invention discloses a technique in which the above two reflectors are formed by connecting a plurality of belts in series, and the belts are hooked on the head portion of a U-shaped arm attached to the upper part of the belt accommodating reel.
  • two adjacent belts can be brought close to each other and the gap between the two belts can be made zero, so that the distance to the reflector can be reliably measured regardless of the position of the moving object in the measurement area.
  • the movement amount and position of the moving body can be reliably measured.
  • FIG. 1 is a top view showing the configuration of the measurement system according to the present embodiment.
  • the measurement system is a measurement system that performs measurement processing for a predetermined purpose in a rectangular measurement area and at the same time measures the movement amount and position of the moving body 1 in the measurement area with high accuracy.
  • the measurement system includes, for example, a mobile body 1, a first reflector 2, a second reflector 3, and a computer 4.
  • the moving body 1 is an omnidirectional moving body that can move in any direction.
  • the moving body 1 includes three wheels 11a to 11c, a measuring instrument 12, and an orthogonal laser rangefinder 13.
  • the three wheels 11a to 11c are rotatably fixed to the three wheel shafts arranged at intervals of 120 degrees, and the moving body 1 can be moved in any direction by changing the rotation direction and rotation speed (rotation amount) of each wheel.
  • It is an omnidirectional moving type wheel that can move to.
  • the wheel 11a includes a disk-shaped wheel that rotates about a wheel shaft, and a plurality of tubular small rollers mounted on the circumference of the wheel at an angle of about 45 degrees with respect to the wheel shaft. Be prepared.
  • the angle of the small roller with respect to the wheel axis may be 30 degrees, 60 degrees, 90 degrees, or any other angle.
  • the wheels 11a may be configured by stacking a plurality of wheels apart from each other.
  • the moving body 1 can be moved in any direction.
  • the three wheels 11a to 11c can be realized by using an omni wheel, a mecanum wheel, or the like.
  • the measuring instrument 12 has a function of performing measurement processing for a predetermined purpose.
  • the measuring instrument 12 is a ground penetrating radar for exploring the ground using electromagnetic waves, and is composed of an antenna and a transmitter / receiver that transmit electromagnetic waves toward the ground and receive the reflected electromagnetic waves in the ground.
  • the measuring instrument 12 is not limited to the ground penetrating radar, and may be another measuring instrument or measuring device.
  • the orthogonal laser rangefinder 13 has a function of measuring the distance to two objects with two laser beams orthogonal to each other.
  • the orthogonal laser rangefinder 13 may be realized by a single laser rangefinder or a combination of a plurality of laser rangefinders as long as each distance can be measured by using two orthogonal laser beams. May be good.
  • the orthogonal laser rangefinder 13 can be realized by using two commercially available laser rangefinders.
  • the orthogonal laser rangefinder 13 includes a first laser rangefinder 13a and a second laser rangefinder 13b stacked vertically.
  • the first laser range finder 13a and the second laser range finder 13b are arranged orthogonally with the direction of the output end of the laser beam being 90 degrees different so that the optical axes of the first laser range finder are orthogonal to each other.
  • the first laser distance meter 13a outputs the first laser light to the first reflector 2, inputs the first reflected light reflected by the first reflector 2, and inputs the first laser light and the first reflection.
  • the distance to the first reflector 2 is measured using light.
  • the second laser distance meter 13b outputs the second laser light to the second reflector 3, inputs the second reflected light reflected by the second reflector 3, and inputs the second laser light and the second reflection.
  • the distance to the second reflector 3 is measured using light.
  • the orthogonal laser rangefinder 13 includes a gimbal mechanism 14 as shown in FIG.
  • the gimbal mechanism 14 is a mechanism for maintaining and controlling the posture of the orthogonal laser rangefinder 13 by performing roll rotation, pitch rotation, and yaw rotation on the X-axis, Y-axis, and Z-axis, respectively. Since all three axes rotate, the posture of the orthogonal laser rangefinder 13 is always horizontal to the ground even when the moving body 1 makes a turning motion, and the outputs of the above two laser beams are always initially output. It can be maintained in the "basic posture" that outputs in the same direction as.
  • the gimbal mechanism 14 may be configured by combining different parts so as to be rotatable on all three axes, or may be configured by an integrated member that is rotatable on all three axes.
  • the first reflector 2 is arranged outside the measurement area along one side of the measurement area, and receives one of the two laser beams (the first laser beam) output from the orthogonal laser rangefinder 13. It has a function to reflect.
  • the first reflector 2 can be realized by using a tape having a glossy or reflective surface, a metal rod, a metal pipe, or a reflective wall.
  • the surface of the flat wood may be coated with a fluorescent paint.
  • the second reflector 3 is arranged outside the measurement area at right angles to the first reflector 2, is output from the orthogonal laser rangefinder 13, and is the other laser beam of the above two laser beams (the second laser beam). ) Is provided.
  • the second reflector 3 can also be realized by using a tape having a glossy or reflective surface, a metal rod, a metal pipe, or a reflective wall. Similar to the first reflector 2, the surface of the flat wood may be coated with a fluorescent paint.
  • the computer 4 can communicate with the measuring instrument 12 and the orthogonal laser rangefinder 13, and as shown in FIG. 3, for example, the first communication unit 41, the second communication unit 42, the calculation unit 43, and the storage unit 44. And.
  • the first communication unit 41 has a function of receiving measurement data of a predetermined purpose measured by the measuring instrument 12.
  • the second communication unit 42 includes the first distance data between the moving body 1 and the first reflector 2 measured by the orthogonal laser rangefinder 13, and the second communication unit 42 between the moving body 1 and the second reflector 3. It has a function to receive distance data.
  • the calculation unit 43 calculates the movement amount and the two-dimensional position of the moving body 1 in the measurement area based on the first distance data and the second distance data, and the calculated moving body obtains the measured data for the predetermined purpose. It has a function of storing in the storage unit 44 in association with the movement amount of 1 and the two-dimensional position data.
  • the storage unit 44 has a function of associating and storing the measurement data of the predetermined purpose with the movement amount of the moving body 1 and the two-dimensional position data.
  • FIG. 4 is a flow chart showing the operation of the measurement system. It is assumed that the moving body 1 performs ground penetrating radar in the measurement area.
  • the measurement area has a rectangular shape as shown in FIG. 1, and the longitudinal direction is the X-axis direction and the lateral direction is the Y-axis direction.
  • Step S1 First, the first reflector 2 is installed outside the measurement area and parallel to the side in the lateral direction (Y-axis direction) of the measurement area. Further, at the same time as installing the first reflector 2, the second reflector 3 is installed outside the measurement area and parallel to the side in the longitudinal direction (X-axis direction) of the measurement area. As a result, the first reflector 2 and the second reflector 3 are installed orthogonally to each other on the outside of the measurement area.
  • an orthogonal marking laser device 5 (see FIG. 1) is provided at one of the four corners of the measurement area, and the orthogonal marking laser device is provided. It is preferable to perform alignment along the laser beam having high orthogonal accuracy output from 5. Further, each position of the first reflector 2 and the second reflector 3 is based on the position of a landmark or the like near the measurement area, or the latitude / longitude position of the satellite positioning information of GNSS (Global Navigation Satellite System). Determine the absolute coordinate position within the measurement area as a reference.
  • GNSS Global Navigation Satellite System
  • the reflector that realizes the first reflector 2 and the second reflector 3 can reflect laser light such as a reflective tape, a metal rod, and a reflective wall, and the vertically input laser light and the reflected light are linear light. It suffices if the surface is flat so as to be. Further, since the diameter of the laser beam is very small, the width (thickness) of the reflector in the Z-axis direction is provided to some extent, and the center position in the Z-axis direction is matched with the height of the laser beam. As a result, the laser beam can be reliably reflected even when the moving body 1 is tilted. As described above, the installation of the reflector is relatively easy.
  • Step S2 Next, the moving body 1 equipped with the measuring instrument 12 and the orthogonal laser rangefinder 13 with the gimbal mechanism is placed at the measurement start position in the measurement area. At this time, the XY coordinate axes of the orthogonal laser rangefinder 13 are aligned with the XY coordinate axes of the measurement area. As a result, the first laser beam and the second laser beam orthogonal to each other of the orthogonal laser rangefinder 13 are vertically incident on the first reflector 2 and the second reflector 3, respectively. This state is the basic posture of the moving body 1.
  • the orthogonal laser rangefinder 13 continues to maintain the basic posture by the gimbal mechanism 14, the orthogonal laser is used even when the moving body 1 is tilted or the moving body 1 is swiveled while the measuring instrument 12 is used for underground exploration.
  • the XY coordinate axes of the rangefinder 13 and the XY coordinate axes of the measurement area are always maintained in the same state, and the first laser beam and the second laser beam can always be output in the same direction as the initial one. After that, it is assumed that the user is performing the ground penetrating radar while moving the moving body 1 forward and backward by human power.
  • Step S3 Next, the measuring instrument 12 of the moving body 1 transmits an electromagnetic wave toward the ground in the measurement area, receives the electromagnetic wave reflected in the ground, and obtains the measurement data of the underground exploration based on the received electromagnetic wave. Continuously output to computer 4. Further, the orthogonal laser rangefinder 13 of the moving body 1 measures the distance to the first reflector 2 using the first laser beam, and measures the distance to the second reflector 3 using the second laser beam. Then, the two first distance data and the second distance data are continuously output to the computer 4.
  • Step S4 the calculation unit 43 of the computer 4 receives the measurement data of the underground exploration from the measuring instrument 12 of the moving body 1 in conjunction with the movement of the moving body 1 by human power, and the first distance from the orthogonal laser rangefinder 13. Receive data and second distance data. Then, the calculation unit 43 calculates the amount of movement of the moving body 1 in the measurement area and the two-dimensional position of the moving body 1 based on the first distance data and the second distance data.
  • a method of using the value of the distance data as it is as the position coordinates of the moving body 1 can be considered.
  • the value of the first distance data measured at time t1 is the X1 coordinate
  • the value of the second distance data is the Y1 coordinate.
  • the moving body 1 moves, and the value of the first distance data measured at the next time t2 is set to the X2 coordinate, and the value of the second distance data is set to the Y2 coordinate.
  • the moving distance of the moving body 1 is calculated by the formula of "
  • this relative coordinate position may be converted into absolute position coordinates based on the absolute coordinate system of the measurement area based on the latitude / longitude position or the like.
  • Step S5 Finally, the calculation unit 43 stores the measurement data of the underground exploration received from the measuring instrument 12 in the storage unit 44 in association with the calculated movement amount and the two-dimensional position data of the moving body 1.
  • the posture of the orthogonal laser rangefinder 13 can be maintained at the initial basic posture even when the moving body 1 makes a turning motion. Further, since the orthogonal laser light is reflected by the first reflector 2 and the second reflector 3 arranged orthogonally, each distance between the moving body 1 and each reflector can be accurately measured. As a result, the movement amount and position of the moving body 1 can be accurately measured. Further, even if the moving body 1 freely moves in the measurement area two-dimensionally, the orthogonal laser rangefinder 13 constantly measures the distance from the two reflectors, so that the moving body 1 loses its own position. You can identify your position with high accuracy. The distance accuracy of the laser rangefinder in only one direction is very high, and it can reach far. In addition, the sampling speed for acquiring the distance can be set relatively quickly, and the speed of manual scanning can be followed.
  • a flat plate-shaped iron plate fence can be used.
  • a belt such as a belt partition or a variaryl as a reflector.
  • FIG. 5 is a perspective view showing the overall configuration of the belt partition 6.
  • the belt partition 6 has a pole 62 that can be expanded and contracted in the Z-axis direction mounted on the base 61, and a cylindrical reel 63 is provided at the upper end of the pole 62.
  • the reel 63 is the main body of the belt partition 6, and the belt 64 is housed inside by rotating the internal take-up shaft member to wind the belt 64. Since such a belt partition 6 is small and lightweight, can store the belt compactly, and can be installed at any place, it can be used regardless of the place of the measurement area.
  • the belt length of the belt 64 since there is an upper limit to the belt length of the belt 64, a connection is required to install it in a measurement area with a large vertical and horizontal width.
  • a method using a belt partition with a long belt length can be considered, but the belt may loosen due to its own weight and may not be able to reliably reflect the laser beam.
  • a plurality of belts are connected in series by using a plurality of belt partitions to make them continuous.
  • the width of the base 61 in the Y-axis direction is usually larger than the width of the reel 63 in order to maintain the upright state of the belt partition 6. Therefore, even if two belt partitions are simply adjacent to each other, a gap is generated between the two belts and the two belt partitions are discontinuous.
  • a support shaft 65 that rotates about the Z axis and can fix (lock) the rotation position is provided on the reel 63, and X is provided on the support shaft 65.
  • -A U-shaped arm 66 that expands and contracts in the two-dimensional direction of the Y coordinate is attached. Then, the belt 64 is hooked on the head portion 66a of the U-shaped arm 66, and the two U-shaped arms 66 are rotated and expanded / contracted so that the gap (separation distance) between the two adjacent belts 64 becomes zero.
  • FIG. 6 is a diagram showing an example of forming a reflector by a plurality of belt partitions 6.
  • reference numeral 7 is a belt partition on the receiving side to which the tip end portion of the belt 64 of the belt partition 6 is attached.
  • the surface of the belt 64 on the measurement area side may be white, and a warning pattern such as trajima or no-entry may be drawn on the outer surface.
  • a warning pattern such as trajima or no-entry
  • the inner surface of the belt 64 white
  • the reflection intensity of the laser beam can be increased, and the accuracy of distance measurement can be improved.
  • a caution pattern on the outer surface of the belt 56, the effect of preventing intrusion into the measurement area can be further enhanced.
  • the moving body 1 may be provided with a gyro sensor. By providing the gyro sensor, the orientation of the moving body 1 can always be grasped.
  • the moving body 1 is equipped with an orthogonal laser distance meter 13 with a gimbal mechanism that measures the distances to two objects with two laser beams orthogonal to each other, and the two laser beams of the two laser beams.
  • the first reflector 2 that reflects one of the laser beams is arranged along one side of the rectangular measurement area, and the second reflector 3 that reflects the other laser beam is arranged orthogonal to the first reflector 2. Therefore, the posture of the orthogonal laser distance meter 13 can be maintained at the initial basic posture, and each distance between the moving body 1 and the first reflector 2 and the second reflector 3 can be measured accurately. As a result, the movement amount and position of the moving body 1 can be accurately measured.
  • the first reflector 2 and the second reflector 3 are formed by connecting a plurality of belts in series, and the belts are attached to the upper part of the belt accommodating reel 63. Since it is hooked on the head portion 66a of the above, two adjacent belts can be brought close to each other, and the gap between the two belts can be made zero. As a result, no matter where the moving body 1 moves in the measurement area, the distance to each reflector can be reliably measured, and the moving amount and position of the moving body 1 can be reliably measured.
  • the orthogonal laser rangefinder 13 with a gimbal function since the orthogonal laser rangefinder 13 with a gimbal function is used, the basic posture of the orthogonal laser rangefinder 13 can be maintained following the turning motion of the moving body 1, and the orthogonal arrangement is performed even when the measurement area is scanned two-dimensionally.
  • the distance to each reflector can be measured accurately, and the self-position can be obtained accurately.
  • the reflector since there is no accumulation of errors due to the cruising distance, it is possible to handle long cruising distances while maintaining accuracy.
  • the reflector is also effective as an intrusion prevention and safety measure, leading to a reduction in the materials required for measurement. Furthermore, by combining it with satellite positioning that can acquire absolute coordinates, there is also the effect of expanding to highly accurate absolute coordinate acquisition.
  • the present invention is not limited to the above embodiment.
  • the present invention can be modified in a number of ways within the scope of the gist of the present invention.
  • the computer 4 of the present embodiment described above has, for example, as shown in FIG. 7, a CPU (Central Processing Unit, processor) 901, a memory 902, and a storage (HDD: Hard Disk Drive, SSD: Solid State Drive) 903.
  • a CPU Central Processing Unit, processor
  • a memory 902 and a storage (HDD: Hard Disk Drive, SSD: Solid State Drive) 903.
  • the memory 902 and the storage 903 are storage devices.
  • each function of the computer 4 is realized by the CPU 901 executing a predetermined program loaded on the memory 902.
  • Computer 4 may be implemented on one computer.
  • the computer 4 may be implemented by a plurality of computers.
  • the computer 4 may be a virtual machine mounted on the computer.
  • the program for the computer 4 can be stored in a computer-readable recording medium such as an HDD, SSD, USB (Universal Serial Bus) memory, CD (Compact Disc), or DVD (Digital Versatile Disc).
  • the program for computer 4 can also be distributed via a communication network.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Length Measuring Devices By Optical Means (AREA)
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JPH09184720A (ja) * 1995-12-29 1997-07-15 Nec Corp 測地測量方法及び測地測量装置
JP2002214343A (ja) * 2001-01-22 2002-07-31 Max Co Ltd レーザ距離計
JP2005127992A (ja) * 2003-09-30 2005-05-19 Tokyo Univ Of Agriculture レーザー距離計による移動体位置計測装置及び計測方法
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JP2024070614A (ja) * 2022-11-11 2024-05-23 鹿島建設株式会社 自動墨出しシステム及び自動墨出し方法
JP7836045B2 (ja) 2022-11-11 2026-03-26 鹿島建設株式会社 自動墨出しシステム及び自動墨出し方法

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