JP3459287B2 - Three-dimensional coordinate measuring method and three-dimensional coordinate measuring device for measuring three-dimensional coordinates by removing unnecessary light - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional coordinate measuring device and a three-dimensional coordinate measuring method, and more particularly, to geometrically obtain a distance from a measuring point by using a plurality of returning means and a plurality of plane lights. The present invention relates to a device for calculating values of three-dimensional coordinates.

[0002]

2. Description of the Related Art Generally, in order to measure the three-dimensional position of a measuring point, a rangefinder and a rangefinder are placed at a reference point, and the horizontal angle between the altitude angle and the reference direction of the measuring point is measured. The distance between the reference point and the measurement point was calculated from the phase difference between the emitted light and the reflected light by using a rangefinder and a reflector.

However, in recent years, instead of measuring the phase difference of light to obtain the distance, a plurality of plane lights are reflected by a plurality of reflecting means, and the direction of the plane light when the light receiving element receives the reflected light is changed. The angle formed with the reference direction is measured, the equations having the angle as a variable are made simultaneous, and the equations are solved to obtain the value of the three-dimensional coordinate of the measurement point. In order to explain this simply, FIG. 4 shows the principle of the measuring method.

Referring to FIG. 4 (a), reference numeral a denotes a measuring device main body, which is provided with an irradiation means c for irradiating two plane lights b1 and b2 intersecting each other. The plurality of plane lights are returned by the two light returning means e1 and e2 included in the stuff d, and enter the light receiving means included in the measuring apparatus main body a.

The measuring apparatus main body a is arranged at a reference position P, and a horizontal component in a reference direction having a known point or the like is taken as an origin with the measurement center O as an origin, and a direction perpendicular to the horizontal component in a horizontal plane. With respect to the Y-axis, the coordinate axis is defined with the direction perpendicular to the XY plane as the Z-axis.

Here, in order to simplify the measurement principle, the stuff d is erected vertically on the measuring point Q, and the two returning means e1 and e2 are on the vertical line of the stuff d. It is supposed to be arranged. Also, the coordinate origin O
Is in the plane defined by the two plane lights b1 and b2 intersecting with each other.

The two plane lights b1 when the irradiating means c faces the X-axis direction which is the reference direction, that is, when the angle formed by the irradiating means c and the reference direction is zero.
The equations of the plane spanned by b2 are respectively defined as k · x + m · y + n · z = 0 (1) p · x + q · y + r · z = 0 (2). Since the two plane lights intersect each other, the plane normal vector (k, m,
n) and the plane normal vector (p, q,
It is different from r).

The two plane lights b1 and b2 are rotationally moved in the counterclockwise direction in FIG. 4 (a) with the Z axis as one axis of rotation by the rotating means provided in the measuring apparatus main body a.

The plane light b1 when the plane light b1 is rotated by an angle θ1 from the reference direction and is incident on the light returning means e1.
When the equation of the plane spanned by is expressed by k ′ · x + m ′ · y + n ′ · z = 0 (4), the normal vector (k ′, m ′, n ′) of the plane is expressed.
Is the normal vector (k,
m, n) has the following relationship.

[0010]

[Equation 1]

The plane light b2 has an angle θ2 from the reference direction.
When the equation of the plane spanned by the plane light b2 when it is rotationally moved and is incident on the light returning means e1 is expressed by p ′ · x + q ′ · y + r ′ · z = 0 (7), the law of the plane is obtained. Line vector (p ', q', r ')
Is the normal vector of the original plane (p,
q, r) has the following relationship.

[0012]

[Equation 2]

By the way, since the returning means e1 is included in both the plane of the equation (4) and the plane of the equation (7), it should be located on the straight line s which is the intersection of the two planes. become. Since the two plane lights b1 and b2 include the origin, the straight line s passes through the origin O, and its equation can be expressed by x / A = y / B = z / C (11) it can. Then, the direction cosine (A, B, C) of the straight line s and the normal vectors (k ', m', n ') of the planes of the equations (4) and (7), (p', q '). , R ′) and the relation of k ′ · A + m ′ · B + n ′ · C = 0 (12) p ′ · A + q ′ · B + r ′ · C = 0 ... (13) Therefore, when the two plane lights b1 and b2 are incident on the light returning means e1, the angles θ1 and θ2 formed with the reference direction are measured, and the equations (1) and (2) of the two original planes are sequentially calculated. (5)
By using the equations (8), (12), and (13),
The value of the direction cosine of the straight line s expressed by the equation (11) can be obtained.

Next, the equation of the plane spanned by the plane light b1 when the plane light b1 moves by an angle φ1 from the reference direction and enters the light returning means e2 is k ".x + m" .y + n ".z. = 0 (21), the normal vector (k ″, m ″, n ″) of the plane
Is the normal vector (k, m,
n) has the following relationship.

[0015]

[Equation 3]

Further, the plane light b2 has an angle φ2 from the reference direction.
When the equation of the plane spanned by the plane light b2 when it is rotationally moved and is incident on the light returning means e2 is represented by p ″ · x + q ″ · y + r ″ · z = 0 (23), the law of the plane is obtained. Line vector (p ", q", r ")
Is the normal vector (p, q,
It has the following relationship with r).

[0017]

[Equation 4]

Therefore, similarly to the case where the formula (11) is derived, the light returning means e2 is on the straight line t which can be expressed by the following formula which is the intersection of the plane of the formula (21) and the plane of the formula (23). To position.

X / D = y / E = z / F (25) Further, the direction cosine (C, E, F) of the straight line t and the equation (21)
The plane normal vector (k ″, m ″, n ″) of the equation (22),
(P ", q", r ") is k" .D + m ".E + n" .F = 0 ... (26) p ".D + q" .E + r ".F = 0 ... Therefore, there is a relation of (27), so that the equations (1) and (2) of the original two planes are sequentially calculated in the same manner as in obtaining each element of the normal vector of the straight line s expressed by the equation (11). Expression (22), Expression (24), (2
By modifying using equations (6) and (27), the value of the direction cosine of the straight line t represented by equation (25) can be obtained.

Here, the light returning means e1 and the light returning means e2
Since the line segment connecting to and is perpendicular to the XY plane, if a scalar quantity v of D = v · A (28) is introduced between the x-axis element of the direction cosine of the line s and the line t. , Y-axis elements and z-axis elements have the following relationship.

E = vB, F ≠ vC (29) It should be noted that the plane light b1 and the plane light b2 are V-shaped so that the two plane lights always enter the stuff in a fixed order. When the light is emitted, the light is returned in order from the light returning means located above the staff, so that it is possible to specify which equation the incident light belongs to. Then, by measuring the angles θ1, θ2, φ1 and φ2 formed by the respective plane lights at that time, the equation (11) of the straight line s and the equation (25) of the straight line t can be obtained.

The positional relationship between the two straight lines s and t and the two light returning means e1 and e2 is shown in FIG. 4 (b). Referring to FIG. 4 (b), Q'is a leg of a perpendicular line drawn from the measurement point Q to the XY plane, and the light returning means e1 and e2 are separated by a predetermined length h1. Both are located on this perpendicular.

When the line segment connecting the origin O and the perpendicular foot Q'is u and its length is L, the lengths L and h1 and the angle α formed by the line s and the line segment u and the line t are defined. The following relation holds with the angle β formed by the line segment u.

L · tan (α) −L · tan (β) = h1 (31) Therefore, the length L of the line segment u is L = h1 / (tan (α) −tan (β)) ... It can be expressed as (32). Where the vector (x, y, z)
If the magnitude of is represented by ‖ (x, y, z) ‖,
Tan (α) and tan (β) in the equation (32) are respectively tan (α) = ‖ (A, B, C) ‖ / ‖ (A, B, 0) ‖ …… (33) tan (β ) = ‖ (D, E, F) ‖ / ‖ (E, F, 0) ‖ ... (34) Therefore, the direction cosine of the two straight lines s and t, (1
From equations (1) and (25), the values can be obtained without measuring the angle α and the angle β. (32), (33), (34)
From the formula, the length L of the line segment u can be obtained.

On the other hand, if the horizontal angle formed by the measurement point Q with the X axis that is the reference direction, that is, the angle formed by the line segment u with the X axis is γ, the tangent is the direction cosine (A) of the line segment u. , B, 0), tan (γ) = A / B (35)

Assuming that the length h2 of the measuring point Q located at the lower end of the stuff d and the returning means e2 on the stuff d is predetermined, the altitude angle ζ of the measuring point Q is The tangent is immediately obtained by tan (ζ) = (L · tan (β) −h2) / L (41).

From the above, the three-dimensional coordinates (x,
y, z) can be obtained by x = L · cos (γ) …… (45) y = L · sin (γ) …… (46) z = L · tan (ζ) …… (47) .

As outlined above, two plane lights b1 and b2
Angles θ1 and θ when the light is returned by the two light returning means
If 2, φ1 and φ2 are measured, the horizontal distance from the measuring point can be directly measured by phase difference measurement, etc., and even if the horizontal angle γ and altitude angle ζ are not directly measured by a gyroscope, etc. It is possible to calculate the horizontal distance and the tangent of the horizontal angle and the altitude angle, and the values of the three-dimensional coordinates of the measurement point Q can be obtained from these values.

[0029]

However, there may be a building having an optical reflection surface such as a window glass around the measuring point Q, and each plane light emitted from the measuring apparatus main body is Not only the reflected light returned by the light returning means but also the generated reflected light reflected by the window glass or the like is received, and in such a case, three-dimensional coordinate measurement cannot be performed.

[0030]

In order to solve the above-mentioned problems, the invention according to claim 1 irradiates a plurality of plane lights intersecting with each other with a plane light and a plurality of light receiving means for receiving the reflected light and outputting a signal. A three-dimensional coordinate measuring method using a three-dimensional coordinate measuring system comprising a measuring device main body having a light receiving means and a staff having a plurality of light returning means, wherein the staff is arranged on a measuring point, wherein the plurality of planar light by rotational movement around a first rotation axis by irradiating a plurality of Kaehikari means provided in the said staff were Kaehikari by each Kaehikari means
Three-dimensional calculation of the three-dimensional coordinates of the measurement point by receiving the reflected light by the light receiving means and the rotation angle of each plane light when the light receiving means receives the light and the position where each light returning means is arranged on the staff In the coordinate measuring method, a corner prism is used for the plurality of light returning means, and the reflected light received by the light receiving means moves along with the rotational movement of the plurality of plane lights .
Direction of the plane light is detected.
Depending on whether it is the same direction as the moving direction or the opposite direction,
The reflected light returned by the corner prism.
The anti-reflection reflected by a reflecting surface other than a corner prism
It is characterized in that the value of the three-dimensional coordinate of the measurement point is calculated based on only the rotation angle when the reflected light returned by the corner prism is incident on the light receiving means by determining whether it is incident light or not. According to a second aspect of the present invention, in the three-dimensional coordinate measuring method according to the first aspect, the light receiving means has a first light receiving portion and a second light receiving portion, each of which surrounds the one rotation axis. And detecting the order in which the first light receiving portion and the second light receiving portion receive reflected light, and based on the order,
The invention according to claim 3 is characterized in that the direction in which the reflected light received by the step moves is detected.
A three-dimensional coordinate measuring device used in the three-dimensional coordinate measuring method described above, wherein the light receiving means receives the reflected light and receives the first light.
A first light receiving unit for outputting a detection signal, comprises a second light receiving section for outputting a second light receiving signal by receiving the reflected light, the first light receiving portion and the second light receiving portion is centered on the axis rotation of the one Is arranged in the same direction as the rotating direction of the rotating means, and the measuring device main body outputs subtraction means for subtracting the second light receiving signal from the first light receiving signal, the first light receiving signal and the subtracting means. The adding means for outputting a sum signal to which the second light receiving signal is added, and the first threshold value as a reference, the difference signal is binarized by setting it to a high state when larger than the first threshold value and a low state when smaller than the first threshold value. Based on a difference signal comparator that outputs a binarized difference signal and a second threshold value that is larger than the first threshold value, the sum signal is defined as a high state when it is larger than the second threshold value and a low state when it is smaller than the second threshold value. Sum signal ratio that outputs the binarized sum signal And a binarized difference signal and the binarized sum signal, and the binarized sum signal is in a high state and the binarized difference signal changes from a low state to a high state. A pulse circuit for outputting a pulse signal, and an angle storage means for storing a rotation angle of the rotation means when the pulse signal is received, and a three-dimensional measurement point based on the angle stored in the angle storage means. It is characterized by comprising an arithmetic device for calculating coordinates.

[0031]

Since each of the light returning means provided in the staff is a corner prism, the direction of movement of the plane light that is irradiated by the measuring apparatus main body and is rotationally moved, and the reflected light obtained by returning the plane light by the corner prism. The directions of movement are opposite to each other. On the other hand, when the planar light is reflected by the reflecting surface such as window glass, since in the same direction as the moving direction of the moving direction and the plane light reflected light, the movement direction of the reflected light receiving means has received It is possible to distinguish which reflected light is received by comparing with the moving direction of the plane light emitted by the measuring device body. This makes it possible to remove a signal generated by receiving reflected light unnecessary for measurement.

In particular, if the light receiving means is provided with the first light receiving portion and the second light receiving portion and arranged in the same direction as the rotation direction about one rotation axis of the plane light, the corner prism can The reflected light first enters the second light receiving portion,
Next, the light is incident on the first light receiving portion, and the light reflected by the reflecting surface such as the window glass first enters the first light receiving portion and then enters the second light receiving portion. Therefore, the difference signal obtained by subtracting the second light receiving signal output by receiving the incident light by the second light receiving unit from the first light receiving signal output by receiving the incident light by the first light receiving unit is
In the case of reflected light returned from the corner prism, it becomes concave-convex like 41, and in the case of reflected light reflected by a reflecting surface such as a window glass, it becomes convex-concave like 41 '.

On the other hand, the sum signal obtained by adding the first received light signal and the second received light signal is the same as when the reflected light returned by the corner prism is incident and when the reflected light reflected by the reflecting surface is incident. Although it has a waveform, when the difference signal and the sum signal are binarized into a binarized difference signal and a binarized sum signal, the sum signal is binarized rather than a threshold value for binarizing the difference signal. If the threshold value is increased, the rising order of the binarized sum signal and the binarized difference signal will be faster for the binarized sum signal and reflected by the reflecting surface when the reflected light returned by the corner prism is used. Anti
I found the following binary difference signal becomes faster in the case of morphism light.

Therefore, if the binarization sum signal is first in the high state and the binarization difference signal outputs a pulse only when the binarization difference signal changes from the low state to the high state, the corner prism is Since the pulse output is obtained only when the returned reflected light is incident, the signal generated by the reflected light reflected by the reflecting surface such as the window glass can be removed.

[0035]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a flow chart showing one procedure of the present three-dimensional coordinate measuring method. After the processing is started, the irradiation means side routine 1 and the light receiving means side routine 2 proceed in parallel.

The irradiation means side routine 1 performs initialization such as starting power supply to the rotating means and the irradiation means in step S1 and shifts the processing to S2.

S2 is a rotary irradiation step, in which a plurality of plane lights intersecting with each other from the irradiation means provided in the measuring apparatus main body are rotated about one rotation axis by the rotating means provided in the measuring apparatus main body, In step S2, the plane light is rotated by 360 °, and the process proceeds to step S3.

On the other hand, a staff is arranged on the measurement point, and a plurality of light returning means 3 are arranged at predetermined positions on the staff. When the staff is irradiated with the plurality of plane lights, the plurality of light returning means 3 returns the plane light and makes it incident on the light receiving means provided in the measuring apparatus main body.

S3 is a judgment step for judging whether or not the number of rotations has reached a prescribed number. If the number of rotations is less than the prescribed number, the process is returned to the rotary irradiation step S2, and if the prescribed number is reached, Terminates the process.

The light receiving means side routine 2 is initialized at the same time as the start of the processing of the irradiation means side routine 1 at the initialization step T1.
To start the process. In the initialization step T1, in addition to the initialization of various variables in the storage device, the direction in which the plane light is rotationally moved is stored in the rotation direction variable R, and the processing is performed in T2.
Move to.

T2 is a light receiving step, which waits until the light receiving means provided in the measuring apparatus main body receives any reflected light. When any reflected light is received, the angle at which the plane light is rotationally moved from the reference direction is temporarily stored in the storage buffer M, and the process proceeds to T3.

[0042] T3 is a reflective light movement direction detection step, detecting a moving direction of the reflected light, the reflected light traveling direction variable G
The detected direction is stored in and the processing is shifted to T4.

T4 is a reflected light discrimination step. Anti
The morphism light to that plane light is Kaehikari by the corner prism 3, since there is to that reflected by the reflecting surface such as a window glass, a direction planar light stored in the rotation direction variable R is rotated and moved When the comparing the moving direction of the reflected light travel direction variable G to the stored reflected <br/> light, it determines whether to store the angular stored in the storage buffer M to the angle variable.

Here, when the plane light irradiated in the rotating irradiation step S2 is reflected by a reflection surface such as a window glass, the moving direction of the reflected light entering the light receiving means and the corner prism which is the light returning means. FIG. 2 shows the difference from the moving direction of the reflected light which is incident on the light receiving means when it is returned by.

Referring to FIG. 2, (a) is a diagram showing a case where the plane light emitted from the irradiation means provided in the main body of the measuring apparatus is returned by the corner prism 3 which is the light returning means. If the plane light 11a is incident on the corner prism 3 and the light 11b is returned, and the plane light 11a is moved to a position 12a in the right direction of the drawing shown by an arrow 16, the corner prism 3 will be described. The light returned by moves from the position 11b to the position 12b in the left direction of the drawing indicated by the arrow 17. Thus, the light incident on the corner prism 3 moves to the right in the drawing, but the reflected light returned by the corner prism 3 moves to the left in the drawing. Become.

On the other hand, FIG. 2B shows the case where the plane light is reflected by the reflecting surface of the window glass or the like. If the plane light 13a is incident on the reflector 5 such as a window glass and the light 13b is reflected, and the plane light 13a moves to a position 14a in the right direction of the drawing shown by an arrow 18, the reflection The light reflected by the body 5 is indicated by arrow 19 in the right direction 14b in the drawing.
Move to position. In this way, the moving direction of the light incident on the reflector 5 and the moving direction of the reflected light reflected by the reflector 5 are equal.

[0047] Thus, the in the rotation direction variable R is stored in the direction in which the planar optical rotation movement, the moving direction of the reflected light is stored in the reflected beam moving direction variables G, stored in both variables the comparison is contents, the reflected light can be detected whether there are those Kaehikari by those or corner prisms reflected by the reflecting surface such as window glass. And
If the reflected light is the light returned by the corner prism, the process proceeds to T5 to store the angle stored in the storage buffer M in the storage variable. On the other hand, if the reflected light is reflected by a corner prism or the like,
The process is returned to T2, and the process waits until the reflected light is received again.

By the way, if the functions of steps T2 to T5 can be realized by an electric circuit, the processing speed is high, which is preferable from the viewpoint of shortening the measurement time. As such an electric circuit, an example of a trigger circuit that outputs a pulse only when the reflected light returned from the corner prism is received and stores the angle at which the plane light is rotationally moved from the reference direction is shown in FIG. Shown in.

Referring to FIG. 3 (a), reference numeral 21 denotes a light receiving means provided in the main body of the measuring apparatus, which receives a reflected light and outputs a first detection signal, and a second detection signal. It is composed of a second light receiving portion 22b for outputting, and the first light receiving portion 22a and the second light receiving portion 22b are arranged as shown in the figure with one rotation axis as a center, and together with a plurality of plane lights irradiated by the irradiation means. Rotate in direction 23.

The first detection signal output from the first light receiving section is input to the adding means 26 and the subtracting means 27 via the amplifier 24a and the detector 25a. On the other hand, the second detection signal is input to the adding means 26 and the subtracting means 27 via the amplifier 24b and the detector 25b.

The adding means 26 adds the first detection signal input via the amplifier 24a and the detector 25a and the second detection signal input via the amplifier 24b and the detector 25b. And outputs the sum signal to the sum signal comparator 28, and the subtracting means 27 outputs the sum signal to the amplifier 24a.
And a difference signal obtained by subtracting the second detection signal input via the amplifier 24b and the detector 25b from the first detection signal input via the detector 25a.
Output to 9.

FIG. 3B shows the light returned by the corner prism.
FIG. 7 is a diagram showing waveforms of the difference signal and the sum signal when reflected light enters the light receiving means 21. Since the reflected light returned by the corner prism moves in a direction 31 opposite to the direction 23 in which the plurality of plane lights emitted by the irradiating means rotate, the second light receiving portion is more than the first light receiving portion 22a. 22b receives the reflected light first. Therefore, when the time is plotted on the horizontal axis and the signal strength is plotted on the vertical axis, the difference signal has the characteristic shown by the curve 41. The difference signal comparator 29 uses the first threshold value 42 as a reference, sets the high state when the value is larger than the first threshold value, and sets the low state when the value is smaller than the first threshold value 42.
The difference signal having the characteristic of is binarized, and the broken line 4 in FIG.
The binary difference signal having the characteristic indicated by 3 is output to the pulse circuit 30.

On the other hand, the addition signal output from the addition means 26 has the characteristic shown by the curve 45 in FIG. 3 (b). Then, the sum signal comparator 28 outputs a second signal larger than the first threshold 42.
With reference to the threshold value 46, when the value is larger than the second threshold value 46, the high state is set, and when the value is smaller than the second threshold value 46, the low state is set, and the sum signal having the characteristic of the curve 45 is binarized.
The binarized sum signal having the characteristic indicated by the broken line 47 in FIG.
Output to.

Then, the pulse circuit 30 outputs the pulse signal when the inputted binarization sum signal is in the high state and the inputted binarization difference signal changes from the low state to the high state. The arithmetic unit 32 outputs the rotation angle of the plane light when the pulse is input to the storage means 3.
If stored in 3, it is possible to detect the angle formed by the plane light with the reference direction when the light receiving means receives the reflected light returned by the corner prism.

On the other hand, when the plane light emitted by the irradiation means provided in the main body of the measuring apparatus is reflected by the reflection surface such as the window glass, the moving direction of the reflected light becomes the same as the rotating direction of the plane light. The first light receiving portion 22a receives the reflected light before the second light receiving portion 22b. In this case, the difference signal generated by the subtraction means 27 has the characteristic shown by the curve 41 ′ in FIG. 3 (d), and the difference signal comparator 29 uses the first threshold 42 as a reference and outputs the difference from the first threshold. The difference signal having the characteristic indicated by the curve 41 ′ is binarized by setting the high state when it is large and the low state when it is small, so that the broken line 4 in FIG.
The binarized difference signal having the characteristic 3'is output to the pulse circuit 30. Further, the adding means 26 adds the input signals and outputs a sum signal having a characteristic indicated by a curve 45 ′ to a sum signal comparator 28, which sum signal comparator 28 is larger than the first threshold 42. When the threshold value is larger than the second threshold value 46, the sum signal of the characteristic of the curve 45 ′ is binarized by setting the high state when it is larger than the second threshold value 46 and the low state when it is smaller than the second threshold value 46, and the broken line 47 in FIG. The binarized sum signal having the characteristic indicated by 'is output to the pulse circuit 30.

In this case, the binarized difference signal 4
When 3'changes from the low state to the high state, the binarized sum signal 47 'is in the low state and the pulse circuit 30 does not output a pulse. Therefore, the arithmetic means 32 stores the rotation angle of the plane light in the storage means 33. There is nothing to remember.

In this case, the waveforms shown in FIGS. 3 (b) and 3 (d) change depending on the arrangement order of the first and second light receiving portions and the polarities of the amplifier, detector, subtracting means, signal comparator and the like. However, it goes without saying that the operation can be selectively performed in either case.

[0058] Thus, the direction in which the plane light irradiation of the irradiation means is rotationally moved, the light receiving means is compared with the moving direction of the reflected light received, reflected <br/> light Kaehikari corner prisms detecting whether also store an angle planar light is rotated and moved from the reference direction, counterclockwise, which is Kaehikari corner prisms
By the action of the trigger circuit that operates when receiving a morphism light may store an angle planar light by detecting the reflected light Kaehikari corner prism is rotated and moved from the reference direction.

Then, after storing the rotation angle of the plane light, the processing shifts to T6.

At T6, it is determined whether or not the angle measurement is completed. If the angle is not stored in all the angle variables, the measurement has not been completed, so the process returns to T2. If the angle is stored in all the angle variables, the process proceeds to T7.

T7 is a three-dimensional coordinate calculation step, in which the value of the three-dimensional coordinate of the measurement point is calculated from the positions of the plurality of light returning means on the staff and the rotation angle of the moving means stored in the angle variable. .

By the way, in order to briefly explain the measurement principle, in FIG. 4A, two light returning means are used, and the two light returning means are arranged vertically on the measurement point. If the staff is provided and the three light-returning means are arranged so as to form a plane on the staff, it is not necessary to stand the staff vertically on the measurement point. It goes without saying that a three-dimensional coordinate measuring device can be used.

In step T7, the calculation result of the three-dimensional coordinates is displayed on the display device 33, and the process proceeds to T8.

At T8, it is determined whether or not a predetermined number of measurements have been performed, and if not, the process proceeds to T2.
If it is done, the process is terminated.

[0065]

Effects of the Invention corner prisms have been either reflected light Kaehikari, since it is possible to detect whether the reflected light reflected by the reflecting surface, without error even in urban reflection body such as a window glass there are numerous three-dimensional Coordinate measurements can be made.

[Brief description of drawings]

FIG. 1 is a processing procedure of an embodiment of the present three-dimensional coordinate measuring method.

FIG. 2 is a diagram showing a difference in moving directions of light returned by a corner prism and light reflected by a reflecting surface.

3A is a diagram showing an example of a trigger circuit used in the present three-dimensional coordinate measuring apparatus, and FIG. 3B is a diagram showing a signal waveform produced by each block in the trigger circuit.

FIG. 4 is a diagram showing the principle of three-dimensional coordinate measurement.

[Explanation of symbols]

a Measuring device body b1, b2 plane light
c Irradiating means d Stuff e1, e2 Light returning means Q Measuring point 3 Corner prism 5 Reflector 21 Light receiving means 22a First light receiving section
22b Second light receiving section 26 Addition means 27 Subtraction means 28 Sum signal comparator 29 Difference signal comparator 30 Pulse circuit 33 Angle storage means

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Claims (3)

(57) [Claims] 1. A measuring device main body comprising: an irradiation means for irradiating a plurality of plane lights intersecting with each other; and a plurality of light receiving means for receiving reflected light and outputting a signal, and a plurality of light returning means. A three-dimensional coordinate measuring method using a three-dimensional coordinate measuring system comprising a staff, wherein the staff is arranged on a measurement point, and the plurality of plane lights are rotatably moved around one rotation axis. a plurality of irradiating the Kaehikari means, the reflected light Kaehikari by each Kaehikari means received by said receiving means, each planar light rotation angle and each of Kaehikari means when said light receiving means has received with In the three-dimensional coordinate measuring method for obtaining the three-dimensional coordinates of the measurement point by the position arranged on the staff, a corner prism is used for the plurality of light returning means, and the light reception is accompanied by the rotational movement of the plurality of plane lights. hand Received in
The direction in which the reflected light that is emitted moves is detected, and the detected direction
Depending on whether the direction of rotation of the plane light is the same or opposite.
The corner prism to reflect the reflected light received by the light receiving means.
Is it reflected light that is reflected back? Reflection other than corner prism
It is determined whether it is the reflected light reflected by the surface and the three-dimensional coordinate value of the measurement point is calculated based only on the rotation angle when the reflected light returned by the corner prism enters the light receiving means. A three-dimensional coordinate measurement method that removes light and measures three-dimensional coordinates. 2. The plurality of light receiving means are each formed by arranging a first light receiving portion and a second light receiving portion around the one rotation axis as a center, and the first light receiving portion and the second light receiving portion are formed. The order in which the reflected light is received is detected, and the light is received by the light receiving means based on that order.
The three-dimensional coordinate measuring method according to claim 1, wherein the direction in which the reflected light moves is detected. 3. The light receiving means receives reflected light to receive the first light.
A first light receiving unit for outputting a detection signal, comprises a second light receiving section for outputting a second light receiving signal by receiving the reflected light, the first light receiving portion and the second light receiving portion is centered on the axis rotation of the one Is arranged in the same direction as the rotation direction of the plane light, and the measuring device body outputs subtraction means for subtracting the second light reception signal from the first light reception signal, the first light reception signal and the subtraction means. The adding means for outputting a sum signal to which the second received light signal is added, and the difference signal is binarized with the first threshold value as a reference, the case of being larger than the first threshold value as a high state, and the case of being smaller than the first threshold value as a low state. A difference signal comparator that outputs a binarized difference signal and a second threshold value that is larger than the first threshold value as a reference is set to a high state when it is larger than the second threshold value, and a low state when it is smaller than the second threshold value. A sum signal that outputs a binarized sum signal A comparator, and receiving the binarized difference signal and the binarized sum signal, the binarized sum signal is in a high state and the binarized difference signal is changed from a low state to a high state. When a pulse circuit that outputs a pulse signal and an angle storage unit that stores the rotation angle of the plane light when the pulse signal is received are provided, and a cubic of a measurement point based on the angle stored in the angle storage unit. A three-dimensional coordinate measuring device used for the three-dimensional coordinate measuring method according to claim 1 or 2, characterized in that the three-dimensional coordinate measuring device measures unnecessary three-dimensional coordinates by removing unnecessary light. .