JPH0820254B2 - Object movement detector - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (1) Object of the Invention [Industrial field of use] The present invention relates to an object movement detection device, and more particularly, to a remote reflector installed at an arbitrary position of a target object whose movement is to be detected. The present invention relates to an object movement detection device that facilitates movement detection of an object by automatically aiming after initial aiming with an optical distance measuring device arranged on the ground.

[Prior Art] Conventionally, as an object movement detecting device of this type, as shown in FIG. 14, the other end of the invar wire 2 having one end fixed to the pile body 1 fixed to the ground 4 as the target object is connected to the pile. About 20 from body 1
It is fixed to the extensometer 3 installed at a distance of about m, and the ground 4, which is the target object, moves between the two points of the pile body 1 and the extensometer 3 so that, for example, a crack 5 occurs. It has been proposed that the retractable type 3 detects that the invar wire 2 is pulled.

[Problems to be Solved] However, the conventional object movement detection device can only measure whether or not the distance between the two points of the pile body 1 and the extensometer 3 is displaced, and the length of the invar line 2 is also measured. Since it could only be about 20 m, it was necessary to rapidly increase the number of installations as the size of the target object whose movement was to be detected increased, which in turn had the drawback of increasing the installation man-hours and installation costs.

Therefore, in order to eliminate this defect, the present invention installs reflectors scattered on the target object whose movement is to be detected, and installs the detection device main body at a location where the reflectors can be visually recognized, and further detects. The object of the present invention is to provide a novel object movement detection device which detects the movement of a target object by measuring the distance from the reflector and the like at a desired time interval by the device body.

(2) Configuration of the Invention [Means for Solving Problems] A first solution provided by the present invention is “(a) at least one reflector installed at an arbitrary position of a target object whose movement is to be detected. (B) a fixed base installed in a place where the reflector of the reflection device can be visually recognized, and (c) a first mounted on the fixed base and rotatable in a plane.
(D) a second swivel base mounted on the first swivel base and swivelable in another plane orthogonal to the plane; and (e) the second swivel base. An optical distance measuring device mounted on a table and measuring a distance to a reflector of the reflecting device; and (f) orientation of the optical distance measuring device by rotating the first and second turning bases, respectively. After aiming the direction approximately at the reflector, the nth unit (n: natural number) is used for each of the first n-th units in the viewing angle corresponding to a length smaller than the diameter of the reflector at the position of the reflector. By alternately turning the second turning base, the pointing direction of the optical distance measuring device is gradually separated from the general aiming direction, and when the optical distance measuring device receives the light reflected by the reflector, the optical A control device that allows a range finder to measure the distance to the reflector. With the door, it is an object movement detection apparatus "which is characterized by comprising detecting the movement of the target object.

A second solution provided by the present invention is "(a) a reflecting device including at least one reflector installed at an arbitrary position of a target object whose movement is to be detected, and (b) the reflecting device. Fixed base installed in a place where the reflector of (1) can be visually recognized, and (c) a first mounted on the fixed base and rotatable in a plane
(D) a second swivel base mounted on the first swivel base and swivelable in another plane orthogonal to the plane; and (e) the second swivel base. An optical distance measuring device mounted on a table and measuring a distance to a reflector of the reflecting device; and (f) orientation of the optical distance measuring device by rotating the first and second turning bases, respectively. After aiming the direction approximately at the reflector, the nth unit (n: natural number) is used for each of the first n-th units in the viewing angle corresponding to a length smaller than the diameter of the reflector at the position of the reflector. By alternately turning the second turning base, the pointing direction of the optical distance measuring device is gradually separated from the general aiming direction, and when the optical distance measuring device receives the light reflected by the reflector, the optical Let the distance measuring device measure the distance to the reflector, and When the optical distance measuring device receives the reflected light from the reflector, the first and second swivel bases continue to swivel by a predetermined unit of swivel angle coordinates, and the swivel angle coordinates when the reflected light disappears Aiming the pointing direction of the optical range finder to the center direction of the reflector by calculating the center direction of the reflector, and when the center direction is aimed, the turning of the first and second turning bases. An object movement detecting device including a control device for measuring angular coordinates and detecting movement of the target object.

In addition, a third solution provided by the present invention is: (a) a reflection device including at least one reflector installed at an arbitrary position of a target object whose movement is to be detected, and (b) A fixed base installed in a place where the reflector of the reflector is visible, and (c) a first mounted on the fixed base and rotatable in a plane.
(D) a second swivel base mounted on the first swivel base and swivelable in another plane orthogonal to the plane; and (e) the second swivel base. An optical distance measuring device mounted on a table and measuring a distance to a reflector of the reflecting device; and (f) orientation of the optical distance measuring device by rotating the first and second turning bases, respectively. After aiming the direction approximately at the reflector, the nth unit (n: natural number) is used for each of the first n-th units in the viewing angle corresponding to a length smaller than the diameter of the reflector at the position of the reflector. By alternately turning the second turning base, the pointing direction of the optical distance measuring device is gradually separated from the general aiming direction, and when the optical distance measuring device receives the light reflected by the reflector, the optical Let the distance measuring device measure the distance to the reflector, and When the optical distance measuring device receives the reflected light from the reflector, the first and second swivel bases continue to swivel by a predetermined unit of swivel angle coordinates, and the swivel angle coordinates when the reflected light disappears Aiming the pointing direction of the optical range finder to the center direction of the reflector by calculating the center direction of the reflector, and when the center direction is aimed, the turning of the first and second turning bases. An object comprising: a controller that measures angular coordinates and that calculates a displacement amount of the reflector using the measured distance and turning angle coordinates, and detects movement of the target object. Movement detection device ”.

Further, a fourth solution provided by the present invention is: (a) a reflection device including at least one reflector installed at an arbitrary position of a target object whose movement is to be detected, and (b) the reflection. A fixed base installed at a location where the reflector of the device can be visually recognized, and (c) a first mounted on the fixed base and rotatable in a plane
(D) a second swivel base mounted on the first swivel base and swivelable in another plane orthogonal to the plane; and (e) the second swivel base. An optical distance measuring device mounted on a table and measuring a distance to a reflector of the reflecting device; and (f) orientation of the optical distance measuring device by rotating the first and second turning bases, respectively. After aiming the direction approximately at the reflector, the nth unit (n: natural number) is used for each of the first n-th units in the viewing angle corresponding to a length smaller than the diameter of the reflector at the position of the reflector. By alternately turning the second turning base, the pointing direction of the optical distance measuring device is gradually separated from the general aiming direction, and when the optical distance measuring device receives the light reflected by the reflector, the optical Let the distance measuring device measure the distance to the reflector, and When the optical distance measuring device receives the reflected light from the reflector, the first and second swivel bases continue to swivel by a predetermined unit of swivel angle coordinates, and the swivel angle coordinates when the reflected light disappears Aiming the pointing direction of the optical range finder to the center direction of the reflector by calculating the center direction of the reflector, and when the center direction is aimed, the turning of the first and second turning bases. A control device that measures angular coordinates, calculates the displacement amount of the reflector using the measured distance and the turning angle coordinate, and issues a warning when the displacement amount exceeds a predetermined set value. And an object movement detecting device characterized by detecting the movement of the target object.

[Operation] The first solution according to the present invention and the reflector of the reflector installed at an arbitrary position of the target object are sequentially mounted on a fixed base installed at a location where the reflector can be visually recognized, and are orthogonal to each other. The nth unit (n: natural number) for the nth time with the viewing angle corresponding to a length smaller than the diameter of the reflector as a unit by the control device
The optical distance measuring device mounted on the second turning base receives the light reflected by the reflector and measures the distance between the reflector and the optical distance measuring device. To act.

A second solving means according to the present invention is a plane which is sequentially placed on a fixed base installed at a place where a reflector of a reflecting device installed at an arbitrary position of a target object can be visually recognized and which is orthogonal to each other. The first and second swiveling bases swiveled in the chamber are alternately swung by n units (n: natural number) at the n-th time in units of the viewing angle corresponding to a length smaller than the diameter of the reflector by the control device. When the optical distance measuring device mounted on the second turning base receives the light reflected by the reflector, the distance between the optical measuring device and the reflector is measured by the optical distance measuring device, and When the optical distance measuring device receives the reflected light from the reflector, the first and second swivel bases continue to swivel by a predetermined unit of swivel angle coordinates, and the swivel angle coordinates when the reflected light disappears Calculating the center direction of the reflector An action to measure more the directivity direction of the optical distance measuring apparatus allowed sighting in the direction of the center of the reflector, and the first when sighting the center direction, the second pivot base of the pivot angle coordinates.

In addition, a third solution means according to the present invention is sequentially mounted on a fixed base installed at a place where a reflector of a reflector installed at an arbitrary position of a target object can be visually recognized, and is orthogonal to each other. The first and second swiveling bases that swivel in a plane are alternately swung by n units (n: natural number) at the n-th time in units of a viewing angle corresponding to a length smaller than the diameter of the reflector by the control device. When the optical distance measuring device mounted on the second turning base receives the light reflected by the reflector, the distance between the optical measuring device and the reflector is measured by the optical distance measuring device, and When the optical distance measuring device receives the reflected light from the reflector, the first and second swivel bases continue to swivel by a predetermined unit of swivel angle coordinates, and the swivel angle coordinates when the reflected light disappears Calculating the center direction of the reflector The pointing direction of the optical distance measuring device is aimed at the center direction of the reflector by, and the turning angle coordinates of the first and second turning bases are measured when aiming the center direction, and the measurement is performed. It serves to calculate the displacement amount of the reflector using the distance and the turning angle coordinate.

Further, a fourth solution means according to the present invention is a plane which is sequentially mounted on a fixed base installed at a place where a reflector of a reflector installed at an arbitrary position of a target object can be visually recognized and which is orthogonal to each other. The first and second swiveling bases swiveled in the chamber are alternately swung by n units (n: natural number) at the n-th time in units of the viewing angle corresponding to a length smaller than the diameter of the reflector by the control device. When the optical distance measuring device mounted on the second turning base receives the light reflected by the reflector, the distance between the optical measuring device and the reflector is measured by the optical distance measuring device, and When the optical distance measuring device receives the reflected light from the reflector, the first and second swivel bases continue to swivel by a predetermined unit of swivel angle coordinates, and the swivel angle coordinates when the reflected light disappears Calculating the center direction of the reflector The pointing direction of the optical distance measuring device is aimed toward the center direction of the reflector, and when the center direction is aimed, the turning angle coordinates of the first and second turning bases are measured, and the measurement is performed. The distance and the turning angle coordinate are used to calculate the amount of displacement of the reflector, and to generate a warning when the amount of displacement exceeds a predetermined set value.

[Examples] Next, the present invention will be specifically described with reference to Examples.

FIG. 1 is an explanatory view showing an embodiment of the object movement detection device of the present invention.

FIG. 2 is an explanatory diagram showing the electric circuit portion of the embodiment shown in FIG. 1 in more detail.

FIG. 3 is an overall flow chart diagram for schematically explaining the overall operation of the embodiment in FIG.

FIG. 4 is a partial detailed flowchart for explaining a part of the entire flowchart of FIG. 3 in detail,
Especially, the initial setting mode is shown.

FIG. 5 is a partial detailed flowchart for explaining a part of the entire flowchart of FIG. 3 in detail,
In particular, the manual aiming mode is shown.

FIG. 6 is a partial detailed flowchart for explaining a part of the entire flowchart of FIG. 3 in detail,
In particular, the automatic aiming mode is shown.

FIG. 7 is a partial detailed flowchart for explaining a part of the partial detailed flowchart of FIG. 6 in detail, and particularly shows a search operation.

FIG. 8 is a diagram for facilitating the understanding of the partial detailed flowchart of FIG.

9 (a) and 9 (b) are explanatory views for facilitating the understanding of the partial detailed flowchart of FIG.

FIG. 10 is a partial detailed flowchart for explaining a part of the partial detailed flowchart of FIG. 6 in detail, and particularly shows the center aiming operation.

FIG. 11 is a diagram for facilitating understanding of the partial detailed flowchart of FIG.

FIG. 12 is a partial detailed flowchart for explaining a part of the entire flowchart of FIG. 3 in detail,
Especially, the displacement measurement mode is shown.

FIG. 13 is an explanatory diagram for facilitating the understanding of the partial detailed flowchart of FIG. 7, and is a procedure for calculating the displacement amount D _A1 (t _i ) of the reflector 21A from the reference position at time t _i . Is explained.

<< Configuration of Object Movement Detection Device >> First, the configuration of the object movement detection device of the present invention will be described in detail.

Reference numeral 10 denotes an object movement detection device of the present invention, which is a reflection device 20 installed at a desired location of an object, that is, an object whose movement is to be detected (for example, a hill or a wall surface of a building), and a desired distance with respect to the reflection device 20. And a detection device main body 30 arranged so as to face each other.

The reflecting device 20 is composed of at least one reflector 21A, 21B, ..., 21N scattered at a desired location of the target object. The reflectors 21A, 21B, ..., 21N are the supports 21A ₁ , 21B ₁ ,
, 21N ₁ and reflectors 21A ₂ , 21B ₂ , ..., 21N ₂ respectively disposed on the supports 21A ₁ , 21B ₁ , ..., 21N ₁ . The lower portions of the supports 21A ₁ , 21B ₁ , ..., 21N ₁ are fixed by, for example, being buried in the soil. Reflector 21A,
When installing 21B, ..., 21N on the wall of a building, etc., the supports 21A ₁ , 21, B ₁ ,,, 21N ₁ are removed and the reflectors 21A ₂ , 21, B ₂ ,,, 21 are removed.
The N ₂ may be directly fixed to the wall surface of the building. The reflectors 21A ₂ , 21B ₂ , ..., 21N ₂ send out the reflected light in the same direction as before the change of the incident angle even if the incident angle of the incident light changes due to the movement of the target object such as the ground. Such a recursive structure is preferable for selecting the installation position of the detection device body 30.

The detection device body 30 includes the reflectors 21A, 21B, ..., 2 of the reflection device 20.
A tripod device 31 installed at a place where 1N can be visually recognized, and a stepping motor 32 fixedly arranged on the tripod device 31,
A gear 34a pivotally supported on a fixed base 33 fixedly arranged on the tripod device 31 and partially formed on, for example, the peripheral surface is driven by an output gear 32a arranged on the output shaft of the stepping motor 32. By doing so, a swivel base 34 swiveled over a predetermined angle range (for example, 360 degrees) in a plane, for example, a horizontal plane, another stepping motor 35 fixedly arranged on the swivel base 34, and a swivel base 34. A gear 36a pivotally supported on a part of the lower surface of the stepping motor 35 is meshed with an output gear 35a provided on the output shaft of another stepping motor 35, thereby driving the gear 36a at a predetermined angle in a plane orthogonal to the plane, for example, a vertical plane. Another swivel base 36 that swivels over a range (for example, an angle range of 45 degrees depression and 45 degrees elevation)
And fixedly mounted on another swivel base 36 and reflector 21
, 21N reflectors 21A ₂ , 21B ₂ , ..., 21N ₂ and an optical distance measuring device 37 facing each other. On the optical distance measuring device 37, the operator mounts the optical distance measuring device 37 on the reflectors 21A ₂ , 21B ₂ , ..., 21N.
Telescope used for aiming roughly at ₂ 3
8 may be mounted if desired. The optical distance measuring apparatus 37, the reflector 21A _2, 21B _2, ..., transmits a light signal to 21N _2, or reflectors 21A _2, 21B _2, ..., Do you the light signal reflected by 21N ₂ By receiving the reflected light, the reflectors 21A ₂ and 21B
₂ , ..., 21N ₂ and the distance L (specifically L _A , L _B ,
…, L _N ).

Further, the detection device main body 30 is connected to the stepping motors 32 and 35 and the optical distance measuring device 37 and controls them, and is connected to the control device 40 so that the operator can input necessary information. _A warning is generated when the displacement amount D (specifically, D _A , D _B , ..., D _N ) of a target object such as the ground that is connected to the operating device 50 and the control device 40 exceeds a predetermined value. An appropriate warning device (eg siren,
Buzzer, speaker or revolving light etc.) 60. The control device 40 may be provided with an appropriate recording device 70 (for example, a small computer) for recording or collecting the detection results, if desired.

The controller 40 is an arithmetic and control unit 41 such as a microprocessor, and a driver 42 which is inserted between the arithmetic and control unit 41 and the stepping motor 34 and drives the stepping motor 32 according to the output of the arithmetic and control unit 41. And the stepping motor 35, which is inserted between the arithmetic and control unit 41 and the stepping motor 35, according to the output of the arithmetic and control unit 41.
Other driver 43 for driving, interface device 44 inserted between the arithmetic and control unit 41 and the optical distance measuring device 37,
Another driver 45 that is inserted between the arithmetic and control unit 41 and the warning unit 60 and drives the warning unit 60 according to the output of the arithmetic and control unit 41, and is inserted between the arithmetic and control unit 41 and the recording unit 70. Random access memory (hereinafter referred to as “RA”) connected to the appropriate interface device 46 and the arithmetic and control unit 41.
M ") 47, read-only memory (hereinafter referred to as" ROM ") 48 connected to the arithmetic and control unit 41, and arithmetic and control unit 41
And a clock device connected to the arithmetic and control unit 41 and capable of executing time reading or writing operation as desired by the arithmetic and control unit 41.
It contains 49 and.

The RAM 47 is a general-purpose random access memory area (hereinafter referred to as “general-purpose RAM”) such as a stack area or a temporary buffer used by the arithmetic and control unit 41 in its arithmetic operation.
Area 47), a reference data buffer 47b for storing reference data, and a ring buffer type measurement data buffer 47c for storing measurement data.

The reference data buffer 47b includes the numbers of the reflectors 21A, 21B, ..., 21N (hereinafter also referred to as “reflector number”) and the reflectors 21A, 21B,
…, Reference distance L (t ₀ ) to 21N (specifically L _A (t ₀ ), L
_B (t ₀ ), ..., L _N (t ₀ )) data and reflectors 21A,
21B, ..., 21N horizontal reference turning angle coordinate θ
_H (t ₀ ) (Specifically, θ _AH (t ₀ ), θ
Data concerning _BH (t ₀ ), ..., θ _NH (t ₀ )) and the reference turning angle coordinate θ in the vertical direction (that is, the elevation direction)
_V (t ₀ ) (specifically θ _AV (t ₀ ), θ
_BV (t ₀ ), ..., θ _NV (t ₀ )) data and reflector
21A, 21B, ..., 21N, and data regarding the reference measurement time t _o for measuring the distance can be stored. Measurement data buffer 47c
Is the number of reflectors 21A, 21B, ..., 21N (reflector number) and the distance measurement value L (t) to the reflectors 21A, 21B, ..., 21N (specifically L _A (t), L _B (t), ..., L _N (t)) data, and horizontal turning angle coordinate measurement values θ _H (t) (specifically θ respectively) for the reflectors 21A, 21B, ..., 21N.
Data regarding _AH (t), θ _BH (t), ..., θ _NH (t) and the measured turning angle coordinate θ _V (t) in the vertical direction (that is, the elevation direction) (specifically, θ _AV (t), respectively) ), Θ
_BV (t), ..., θ _NV (t)) data and reflector
21A, 21B, ..., 21N Measurement time t (≠
Data regarding t ₀ ) and data can be stored for each measurement and can be retained for at least a predetermined time (for example, 24 hours).

The ROM 48 includes a control program area 48a for storing a control program for the arithmetic and control unit 41 and the reflector 21.
, 21N are located at a distance L (specifically L _A , L _B , ..., L _N , respectively) from the detection device main body 30 and the reflectors 21A ₂ , 21B from the detection device main body 30 respectively. _2, ..., for example 70% of the length of the diameter l of 21N ₂ (i.e. 0.7l) (each specifically L _a, L _B, ..., L _N) the viewing angle θ when the viewing distance L to The search distance table area 48b for storing as a table (see Table 1) with the calculated search distance index (index used as search distance data) and the optical distance measuring device 37 of the detection device body 30 are , 21N, the pointing direction of the optical distance measuring device 37 in the detection device main body 30, that is, the optical distance measuring device 37 is reflected by the reflector 21A, 21B, ..., 21N.
21A, 21B, ..., 21N Search direction (ie swiveling of swivel bases 34, 36) Table with numerically converted angle coordinates and attached exploration direction index (index used as exploration direction data) (see Table 2)
Exploration direction table area 48c for storing as
Error setting value area 48d for storing "error setting value" used to prevent malfunctions due to reflection from other reflectors when searching and centering the reflectors 21A, 21B, ..., 21N And has a package.

The operation device 50 controls the arithmetic and control unit 41 of the control device 40 to set various kinds of data, that is, the maximum displacement amount of the reflectors 21A, 21B, ..., 21N from the reference distance L (t ₀ ), that is, the “first The numeric keypad 51 consisting of ten keys corresponding to the numbers "0" to "9" for inputting the set displacement amount D ₁ ") of ₁ and the optical distance measuring device 37 are manually swivel-moved and the reflector Arrow keys 52 _U , 21U, 21B, ..., 21N for indicating the turning direction (that is, "upward", "downward", "rightward" and "leftward") when roughly aiming
The arrow keys 52 consisting of 52 _D , 52 _R and 52 _L and various setting data entered with the numeric keypad 51 are registered and the arrow keys
Optical distance measuring device for reflectors 21A, 21B, ..., 21N by 52 _A registration key 53 to be pressed when registering the distances L (specifically L _A , L _B , ..., L _N ) to the reflectors 21A, 21B, ..., 21N when the 37 is roughly aimed. And the numeric keypad 51,
With the arrow keys 52 and the registration key 53, the reflectors 21A, 21B,
,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, starting point indicated by a 4 key for starting the displacement measuring mode after roughly aiming 21N, a message given by the arithmetic and control unit 41, and various setting data or measurement data input by the ten key 51 , For displaying using numbers or alphabetic characters
It includes a display 55 made of an LCD or the like.

<< Operation of Object Movement Detection Device >> Further, the operation of the object movement detection device of the present invention will be described in detail. In the following description, the operation of the clock device 49 is not explicitly described for the sake of convenience, but this is the same as that of an ordinary computer or the like.

Installation of Object Movement Detection Device The reflectors 21A, 21B, ..., 21N of the reflection device 20 are installed scattered at desired locations (for example, on a hill or a wall surface of a building) of a target object whose movement is to be detected. That is, the lower portions of the supports 21A ₁ , 21B ₁ , ..., 21N ₁ are embedded and fixed in soil, for example, and the reflectors 21A, 21B, ..., 21N are installed at desired locations (see FIG. 1).

A detector main body 30 is installed so that all of the reflectors 21A, 21B, ..., 21N can be visually recognized at a place that is separated from the reflector 20 by a desired distance and is geologically stable. That is, the tripod device 31 is installed in a place where all the reflectors 21A, 21B, ..., 21N can be visually recognized and which is geologically stable. On the tripod device 31, the stepping motor 32, the turning base 34, another stepping motor 35, another turning base 36, the optical distance measuring device 37, and the telescope 38 are arranged as described above (first). (See Figures and 2).

Initial setting mode After the power switch (not shown) of the detection device body 30 is turned on, necessary initial data for measurement is input from the operation device 50 to execute the initial setting mode (see FIGS. 3 and 4). That is, when the operator turns on the power switch, the arithmetic and control unit 41 of the control unit 40 is started, and the control program stored in the control program area 48a of the ROM 48 is read. The arithmetic and control unit 41 sends a required message to the display unit 55 of the operating unit 50 in the initial setting mode and displays it in accordance with this control program. The operator operates the ten keys 51, the arrow keys 52, and the registration key 53 according to the message displayed on the display 55, and inputs required initial data in the following manner.

A message prompting you to enter the “date” is displayed on the display 55, so the operator operates the numeric keypad 51 to enter the date of the day, confirms the display on the display 55, and then confirms the registration key. Press 53. As a result, the date data is stored in the general-purpose RAM area 47a of the RAM 47 via the arithmetic and control unit 41.

A message prompting you to enter the “time” is then displayed on the display 55, so the operator can also operate the numeric keypad 51 to enter the time and check the display on the display 55. Press the registration key 53. As a result, the time data is transferred to the general-purpose RAM area 47 of the RAM 47 via the arithmetic and control unit 41.
Stored in a. "Date" and "time" are described simply as "time" below.

Since the message for simply inputting the “first set displacement amount (that is, absolute displacement amount) D ₁ ” is displayed on the display 55, the operator operates the ten-key pad 51 in the same manner as described above to obtain the desired displacement. After inputting the amount (for example, 20 mm) and checking the display on the display 55, the registration key 53 is pressed. As a result, the "first set displacement amount D ₁ " is transferred to the RAM 47 via the arithmetic and control unit 41.
Stored in the general-purpose RAM area 47a. Here, the “first set displacement amount D ₁ ” is the position M (t) of the reflectors 21A, 21B, ..., 21N at time t (specifically M _A (t), M, respectively).
_B (t), ..., M _N (t)) is its initial position, that is, time t ₀
At position M (t ₀ ) (specifically M _A (t ₀ ), M
_It shows the maximum allowable value that can be displaced from _B (t ₀ ), ..., _MN (t ₀ ). Therefore, the positions M (t) of the reflectors 21A, 21B, ..., 21N at the time t (specifically M _A (t), M _B respectively)
(T), ..., M _N (t)) is its initial position M (t ₀ ) (Specifically, M _A (t ₀ ), M _B (t ₀ ), ..., M _N (t ₀ )) When the displacement exceeds the “first set displacement amount D ₁ ”, the arithmetic and control unit 41 causes the warning device 60 to operate via the driver 45.

A message to the effect that the "second set displacement amount (that is, relative displacement amount) D ₂ " is finally displayed on the display 55, so that the operator operates the ten-key pad 51 to obtain a desired displacement amount (for example, 10 mm), check the display on the display 55, and then press the registration key 53. As a result, the “second set displacement amount D ₂ ” is stored in the general-purpose RAM area 47a of the RAM 47 via the arithmetic and control unit 41. Here, "the second set displacement D ₂ "
Is the position M of the reflectors 21A, 21B, ..., 21N at time t.
(T) (specifically M _A (t), M _B (t), ..., M _N
(T) is the position M (t-Δt) (specifically, M _A (t-Δt) before the predetermined time Δt (for example, 24 hours)).
t), M _B (t−Δt), ..., M _N (t−Δt)). Therefore, the reflectors 21A, 21
The position M (t) of B, ..., 21N at time t (specifically, M _A (t), M _B (t), ..., M _N (t)) is the predetermined time Δt (for example, 24 hours). Previous position M (t−Δt) (specifically, M _A (t−Δt), M _B (t−Δt), ...,
When M _N (t−Δt)) changes to “the second set displacement amount D ₂ ” or more, the arithmetic and control unit 41 causes the warning device 60 to operate via the driver 45.

Manual Aiming Mode When the above-described initial setting mode ends, the operator executes the manual aiming mode while pressing the arrow key 52 of the operating device 50 (see FIGS. 3 and 5).

That is, the operator turns the optical distance measuring device 37 horizontally or vertically by pressing the arrow key 52,
If the reflectors 21A, 21B, ..., 21N can be visually recognized by the telescope 38 and sighted, the registration key 53 is pressed. As a result, the detector body 30
The “approximate distance” L ′ (specifically L _A ′, L _B ′, ..., L _N ′) between the reflectors 21A, 21B, ...
The numbers assigned to B, ..., 21N (reflector numbers) and the horizontal turning angle coordinates that determine the "general direction", that is, "general turning angle coordinates" θ _H ′, (specifically θ _AH ′, respectively)
θ _BH ′, ..., θ _NH ′) and the vertical (vertical) turning angle coordinates, that is, “general turning angle coordinates” θ _V ′ (specifically θ _AV ′, θ _BV ′, ..., θ _NV ′, respectively). ), And is stored in the reference data buffer 47b via the arithmetic and control unit 41 as "temporary reference data".

More specifically, if the reflector 21A can be seen through the telescope 38, the registration key 53 is immediately pressed.

Also to be able to visually recognize the reflector 21A, which instructs the allowed to pivot to the "right" of the optical distance measuring apparatus 37 by pressing the arrow keys 52 for example arrow keys 52 _R. In response to this, the arithmetic and control unit 41 rotates the output gear 32a arranged on the output shaft of the stepping motor 32 via the driver 42 in the "left direction", and the gear 34a of the turning base 34 in the "right direction".
Rotate to. As a result, the optical distance measuring device 37
Rotate "to the right". As long as the arrow key 52 _R of the arrow keys 52 is continuously pressed, the optical distance measuring device 37 is continuously rotated in the “right direction”. When the optical distance measuring device 37 is rotated to a desired position, the pressing of the arrow key 52 _R is stopped. After that, if the reflector 21A can be visually recognized through the telescope 38, the registration key 53 is immediately pressed.

If visible reflector 21A instructs to the effect that allowed to pivot to the "upward" optical distance measuring apparatus 37 by pressing the arrow keys 52 for example arrow keys 52 _U. In accordance with this, the arithmetic and control unit
41 causes the stepping motor 35 and, by extension, the output gear 36a provided on its output shaft to rotate appropriately through the driver 43, and the gear 36a of the swivel base 36 to rotate "upward". As a result, the optical distance measuring device 37 is "upward".
Rotate to. As long as one of the arrow keys 52 _U is continuously pressed on the arrow key 52, the optical distance measuring device 37 is continuously rotated in the “upward direction”. When the optical distance measuring device 37 is rotated to a desired position, the pressing of the arrow key 52 _U is stopped.

After that, if the reflector 21A can be visually recognized through the telescope 38, the registration key 53 is immediately pressed.

If the reflector 21A is still invisible, the above operation is repeated until it is visible.

After the above "manual aiming operation" for the reflector 21A is completed, the same "manual aiming operation" is sequentially repeated for the other reflectors 21B, ..., 21N.

By this "manual aiming operation", the reflectors 21A ₂ , 21B ₂ , ..., 2
The “temporary reference data” stored in the reference data buffer 47b when 1N ₂ is aimed is, as is clear from the above, “approximate distance” L ′ (specifically, L _A ′, L _B ′, respectively). …,
L _N ′) and the horizontal “approximate turning angle coordinate” θ _H ′ (specifically θ _AH ′, respectively) that determines the “approximate direction”
θ _BH ′, ..., θ _NH ′) and “vertical turning angle coordinates” θ _V ′ (specifically θ _AV ′, θ _BV ′, ..., θ _NV ′) in the vertical direction (depression direction). .

Automatic aiming mode When the above-mentioned manual aiming mode ends, the operator presses the start key 54 of the operating device 50, and the arithmetic and control unit 41 becomes
A required control program is read from the control program area 48a of the ROM 48, and the automatic aiming mode is started in accordance with this control program (see FIGS. 3 and 6).

The arithmetic and control unit 41 sets the count value of the general-purpose RAM area 47a of the RAM 47 to "1". The arithmetic and control unit 41 has a general-purpose RAM area 47a.
Of the temporary reference data corresponding to the assigned reflector (for example, the reflector 21A) having the same number as the count value "1" of "horizontal direction angle" θ _AH ′ And the “approximate turning angle coordinate” θ _AV ′ in the vertical direction (the elevation direction) are read from the reference data buffer 47b. The arithmetic and control unit 41 operates the stepping motor 32 via the driver 42 until the horizontal turning angle coordinate in the pointing direction of the optical distance measuring device 37 coincides with the horizontal “approximate turning angle coordinate” θ _AH ′. At least, the swivel base 34 is swung with respect to the fixed base 33, and the vertical swivel angle coordinate in the directivity direction of the optical distance measuring device 37 is the "general swivel angle coordinate" θ _AV By operating the stepping motor 35 through the driver 43 until the rotation base 36 is rotated with respect to the rotation base 34, the rotation base 36 is rotated with respect to the rotation base 34.
The pointing direction of the optical distance measuring device 37 is directed in the "rough direction".

Search operation of reflector After that, the arithmetic and control unit 41 operates the optical distance measuring device 37 via the interface device 44 to execute the following search operation (see FIGS. 6 to 8). That is, the arithmetic and control unit 41 sets the count value R (hereinafter referred to as “pointer”) of the general-purpose RAM area 47a to “0”, and the direction corresponding to the above “temporary reference data” via the optical distance measuring device 37. That is, the light is emitted in the "general direction". Optical rangefinder 37 is a reflector
When the reflected light reflected by the reflector 21A ₂ of 21A can be received, the arithmetic and control unit 41 causes the optical distance measuring device 37 via the interface unit 44 to measure the distance L _A (t _{0 to} the reflector 21A ₂ of the reflector 21A. ) Is measured. The measured value L _A (t ₀ ) at this time is
It is compared to the "approximate distance" L _A 'by the arithmetic and control unit 41. If the difference is within the allowable value, that is, the “error setting value” stored in advance in the error setting value area 48d of the ROM 48, it is determined as “no error”, and the setting value L _A (t ₀ ) is the “approximate distance” L _A Instead of ', it is stored as a reference distance in the reference data buffer 47b of the RAM 47 by the arithmetic and control unit 41. On the other hand, as shown in FIGS. 9 (a) and 9 (b), the difference is caused by the fact that the reflector 21A ₂ is overlapped with the reflector 21B ₂ or the tail light (not shown) of the vehicle. , If it is outside the allowable value, that is, the “error setting value”, it is considered as “with error”,
Similar to the case where the reflected light reflected by the reflector 21A ₂ of the reflector 21A cannot be received, the arithmetic and control unit 41 sets the pointer R of the general-purpose RAM area 47a to “1”. Arithmetic control device 41
Reads out the exploration direction index (0,0,0,1) from the exploration direction table area 48c of the ROM 48 in response to the pointer R = 1, rotates the stepping motor 32 in accordance with this and causes the turning base 34 to move to the right. Turn in the "direction". The unit of the rotation angle of the swivel base 34 is the viewing angle for a length that is a fraction of the diameter 1 of the reflector 21A ₂ of the reflector 21A, for example, 70% (that is, 0.7l). After that, again the reflector 21A ₂ of the reflector 21A ₂
It is determined whether or not the reflected light reflected by can be received, and the same operation as described above is performed. The arithmetic and control unit 41 determines that the difference between the measured value L _A (t ₀ ) of the distance to the reflector 21A when the reflected light from the reflector 21A ₂ is received and the “approximate distance” L _A ′ is an allowable value or “error”. Set pointer R to 1 until it is within the set value
The above-mentioned operation is repeated while increasing the number of times.

The pointer R of the general-purpose RAM area 47a when the reflectors 21A ₂ , 21B ₂ , ..., 21N ₂ are aimed by this search operation is set to R (specifically, R (A), R (B), ..., R, respectively. (N)).

Center Aiming Operation of Reflector Next, the arithmetic and control unit 41 operates the optical distance measuring device 37 via the interface unit 44 to execute the following “center aiming operation” (FIG. 6, FIG. 10 and FIG. (See Figure 11).

The arithmetic and control unit 41 has a distance L _A (t between the reflector 21A ₂ and the reflector 21A ₂ via the optical distance measuring device 37 which is aimed in correspondence with the pointer R of the general-purpose RAM area 47a being R (A). ₀₁ ) is measured. The difference between this measured value L _A (T ₀₁ ) and the distance measured value as the “reference data” measured and stored in the “search operation”, that is, the reference distance L _A (t ₀ ) is the allowable value, that is, the “error setting value”. If it is within "," there is no error. The arithmetic and control unit 41 operates the stepping motor 32 via the driver 42 to direct the swivel base 34 to "right", and a predetermined unit of the swivel angle coordinate, for example, one unit. Rotate only for a minute,
The pointing direction of the optical distance measuring device 37 is moved to the "right direction". This is repeated thereafter, and the difference between the measured value L _A (t ₀₁ ) described above and the distance measured value as the “reference data” measured and stored in the “search operation”, that is, the reference distance L _A (t ₀ ) is calculated. It is outside the allowable value, that is, the "error setting value", or the reflector 21A
When it becomes impossible to receive the light reflected by the reflector 21A ₂ of the above (the position at that time is set to “P ₁ ”), it is determined that there is an error, and the arithmetic and control unit 41 causes the horizontal turning angle coordinate θ _{AHR at} that time.
Store (t ₀₁ ) in the general-purpose RAM area 47a of RAM 47.

After that, the arithmetic and control unit 41 drives the stepping motor 32 to return the turning base 34 to the turning angle coordinates corresponding to the pointer R (A). The arithmetic and control unit 41 measures the distance from the reflector 21A ₂ via the optical range finder 37 which is aimed at the pointer R (A). This measurement
L _A (t ₀₁ ′) and the distance measurement value as the “reference data” measured and stored in the “search operation”, that is, the reference distance L
_If the difference from _A (t ₀ ) is within the allowable value, that is, the “error setting value”, it is determined as “no error”, and the arithmetic and control unit 41 operates the stepping motor 32 via the driver 42 to turn the rotation base. An optical distance measuring device is provided by rotating the table 34 in the "left direction" and rotating it by a predetermined unit of turning angle coordinates, for example, one unit.
Move the pointing direction of 37 to the "left". This is repeated thereafter, and the difference between the measured value L _A (t ₀₁ ′) described above and the distance measured value as the “reference data” measured and stored in the “search operation”, that is, the reference distance L _A (t ₀ ). Is outside the allowable value, that is, the “error setting value”, or the reflector 21A ₂ of the reflector 21A ₂
When the reflected light due to is unable to be received (the position at that time is “P ₂ ”), it is judged as “error”, and the arithmetic and control unit 41
Is the horizontal turning angle coordinate θ _AHL (t ₀₁ ′) at that time.
It is stored in the general-purpose RAM area 47a of RAM47.

Further, the arithmetic and control unit 41 reads the horizontal turning angle coordinates θ _AHR (t ₀₁ ′) and θ _AHL (t ₀₁ ′) from the general-purpose RAM area 47a, and then the horizontal turning angle coordinate {θ _AHR (t ₀₁ )
+ Θ _AHL (t ₀₁ ′)} / 2 == θ _AH (t ₀ ) and determines “general direction” Horizontal “general turning angle coordinate”
Instead of θ _AH ′, it is stored in the reference data buffer 47b of the RAM 47 as horizontal “reference turning angle coordinates”. The arithmetic and control unit 41 rotates the stepping motor 32 to rotate the swing base 34 to the coordinate position corresponding to the reference swing angle coordinate θ _AH (t ₀ ) (the position at that time is designated as “P”).

The arithmetic and control unit 41 uses the optical distance measuring device 37 to provide the reflector 21.
Measuring the distance L _A (t ₀₁ ") between A _2. The measured value L _A
If the difference between (t ₀₁ ″) and the distance measurement value as the reference data measured and stored in the “search operation”, that is, the reference distance L _A (t ₀ ) is within the allowable value, that is, the “error setting value”, the “error “None”, the arithmetic and control unit 41 operates the stepping motor 35 via the driver 43 to turn the swivel base 36 in the “upward direction” and rotate the swivel angle coordinate by a predetermined unit, for example, one unit. The pointing direction of the distance device 37 is moved to “up.” This is repeated thereafter, and the distance measurement value, that is, the reference value, which is the reference data measured and stored in the above-mentioned measurement value L _A (t ₀₁ ″) and “exploration operation” is repeated. Distance L
_{The difference from A} (t ₀ ) is outside the allowable value, that is, the “error setting value”, or the reflected light from the reflector 21A ₂ of the reflector 21A cannot be received (the position at that time is referred to as “Q ₁ ”). Do)
Then, the arithmetic and control unit 41 determines the vertical turning angle coordinate θ _AVU (t ₀₁ ″) at that time as the general-purpose RAM of the RAM 47.
Store in area 47a.

After that, the arithmetic and control unit 41 drives the stepping motor 35 to return the turning base 36 to the coordinate position corresponding to the reference turning angle coordinate θ _AH (t ₀ ). The arithmetic and control unit 41 is
The distance L _A (t ₀₁ ) from the reflector 21A ₂ is measured via the optical distance measuring device 37 which is oriented at the coordinate position corresponding to the reference turning angle coordinate θ _AH (t ₀ ). If the difference between the measured value L _A (t ₀₁ ) and the distance measured value as the reference data measured and stored in the “search operation”, that is, the reference distance L _A (t ₀ ) is within the allowable value, that is, the “error setting value”. If there is no error,
The arithmetic and control unit 41 operates the stepping motor 35 via the driver 43 to move the turning base 36 "downward".
Then, the rotation angle coordinate is rotated by a predetermined unit, for example, one unit, and the pointing direction of the optical distance measuring device 37 is moved "downward". This is repeated thereafter, and the above measured value L _A (t ₀₁ )
Between the distance measurement value L _A (t ₀ ) as the reference data measured and stored in the “exploration operation” is outside the allowable value, that is, the “error setting value”, or the reflector 21A ₂ of the reflector 21A ₂
When it becomes impossible to receive the reflected light due to (the position at that time is set to “Q ₂ ”), there is an error, and the arithmetic and control unit 41
Is the vertical turning angle coordinate θ _AVD (t ₀₁ ) at that time.
It is stored in the general-purpose RAM area 47a of RAM47.

In addition, the arithmetic and control unit 41 controls the turning angle coordinates θ _AVU (t ₀₁ ″), θ in the vertical direction (the elevation direction) from the general-purpose RAM area 47a.
After reading _AVD (t ₀₁ ″), vertical turning angle coordinate {θ _AVU (t ₀₁ ″) + θ _AVD (t ₀₁ ″)} / 2 = θ _AV (t ₀ ).
Is calculated and stored in the measurement data buffer 47b of the RAM 47 as the “reference turning angle coordinate” in the vertical direction, instead of the “general turning angle coordinate” θ _AV ′ in the vertical direction for determining the “approximate direction”. The arithmetic and control unit 41 rotates the stepping motor 35 to move the turning base 36 to the reference turning angle coordinate θ _AV (t ₀ ).
Rotate to the coordinate position corresponding to (the position at that time is designated as "Q").

Thus oriented direction of the optical distance measuring device 37 is aimed toward the center of the reflector 21A _2, to end the "center aiming operation" for the reflector 21A _2. At this time, the reference distance L _A (t ₀ ) and the reference turning angle coordinate θ in the horizontal direction are stored in the reference data buffer 47b.
_{The AH} (t ₀ ) and the reference turning angle coordinate θ _AV (t ₀ ) in the vertical direction are stored.

The arithmetic and control unit 41 is general-purpose according to the control program.
If the count value of the RAM area 47a is set to "2" and there is a corresponding reflector (for example, the reflector 21B), the operation is returned to the "search operation" and the above operation is repeated.

Thereafter, the count value of the general-purpose RAM area 47a is incremented by one, the above-described operation is repeated for all the reflectors 21A, 21B, ..., 21N, and aiming is automatically performed.

By this "center aiming movement", the reflectors 21A ₂ , 21B ₂ , ..., 2
The reference data stored in the reference data buffer 47b when 1N ₂ is aimed is the “reference distance” L (t ₀ ) (specifically L _A (t ₀ ), L _B (t ₀ ), ... , L _N (t ₀ ) and horizontal “reference turning angle coordinates” θ _H (t ₀ ) (specifically θ _AH (t ₀ ), θ _BH (t ₀ ), ..., θ _BH (t ₀ )) and “reference turning angle coordinates” in the vertical direction (downward and downward direction) θ _V (t ₀ ) (specifically θ _AV (t ₀ ), θ _BV (t ₀ ), ..., θ
_BV (t ₀ )).

Displacement measurement mode When the above-mentioned automatic aiming mode ends, the arithmetic and control unit
The 41 reads out a required control program from the control program area 48a of the ROM 45, and starts the "displacement measurement mode" in accordance with this control program (see FIG. 3 and FIG.
(See Figure 12).

The arithmetic and control unit 41 sets the count value of the general-purpose RAM area 47a of the RAM 47 to "1", and sets the latest measurement data of the corresponding reflector (for example, the reflector 21A), that is, the distance measurement value L _{A at} time t _i-1 . (T _i-1 ) and measured horizontal turning angle coordinate θ _AH (t _i-1 ) and measured vertical turning angle coordinate θ
_AV (t _i-1 ) and are read from the measurement data buffer 47c.
If the measurement data read from the measurement data buffer 47c is “absent” (that is, in the first displacement measurement, the reference data stored in the reference data buffer 47b, that is, the reference distance L _A (t ₀ ), the reference turning angle coordinate θ _AH (t ₀ ) in the horizontal direction, and the reference turning angle coordinate θ _AV (t ₀ ) in the vertical direction (downward and downward direction).

Next, the control device 41 uses the measurement data read from the measurement data buffer 47c or the reference data buffer 47b.
Corresponding to the reference data read from, the turning bases 34, 36 are appropriately turned via the stepping motors 32, 35,
Orient the optical distance measuring device 37.

After that, the arithmetic and control unit 41 performs the “searching operation” (see FIG. 7) and the “center aiming operation” (see FIG. 10) in the same manner as the above-mentioned “auto aiming mode”, and the reflector of the reflector 21A. After it allowed aiming the optical distance measurement device 37 in the center of 21A _2, to measure the distance between the reflector 21A _2. The arithmetic and control unit 41 is
The measurement data i.e. reflector number and time t _i and t turning angular coordinate measurements of the horizontal direction in the _i theta _AH (t _i) and the vertical direction (elevation direction) of the turning angle measured coordinates theta _AV and (t _i) The distance measurement value L _A (t _i ) and are stored in the measurement data buffer 47c. The measurement data buffer 47c stores measurement data for each "displacement measurement operation" and holds it for at least a predetermined time Δt (for example, 24 hours) or more. Since the measurement data buffer 47c has a ring buffer format, the previous measurement data is updated with the latest measurement data every time the measurement data is stored.

The arithmetic and control unit 41 receives the reference data from the reference data buffer 47b, that is, the reference distance L _A (T ₀ ), the reference turning angle coordinate θ _AH (t ₀ ) in the horizontal direction, and the reference turning angle coordinate θ _{AV in the} vertical direction (down and up direction). After reading (t ₀ ), compare with the measured data this time, that is, the distance measurement value L _A (t _i ) and the horizontal turning angle coordinate measurement value θ _AH (t _i ) and the vertical direction (down and up direction). The turning angle coordinate measurement value of θ _AV (t _i ) compared with the reflector
Calculate the “first displacement amount ΔD _A1 (t _i )” of 21A. More specifically, as shown in FIG. 13, the displacement amount of the horizontal turning angle coordinate Δθ _AH (t _i ) = θ _AH (t _i ) −θ _AH (t ₀ ) and the vertical turning angle coordinate displacement amount Δθ _AV (t _i ) = θ _AV (t _i ) −θ _AV
By using (t ₀ ) and the reference distance L _A (t ₀ ) and the measured distance value L _A (t _i ), the “first displacement ΔD _A1 (t _i )” is approximately [{L _A (t _i ). ₀ ) tan Δθ _AH (t _i )} ² + {L _A (t ₀ ) tan Δθ _AV (t _i )} ² + {L _A (t _i ) −L _A (t ₀ )} ² ] ^1/2 It The arithmetic and control unit 41 uses the “first displacement amount ΔD
_“A1 (t _i )” is compared with the “ _first set displacement amount D ₁ ” set in the “initial setting mode”, and if larger than this, the alarm device 60 is immediately operated via the driver 45.
When 60 is operated, the displacement measuring operation is ended.

On the other hand, if the “first displacement amount ΔD _A1 (t _i )” is smaller than the “ _first set displacement amount D ₁ ”, the arithmetic and control unit 41 determines that
Measurement data stored in the measurement data buffer 47c for the reflector 21A before a predetermined time Δt (for example, 24 hours), that is, the distance measurement value L _A (t _i −Δt) and the horizontal turning angle coordinate measurement value θ _AH (t _i -.DELTA.t) and reads the vertical direction (elevation direction) of the turning angle measured coordinates θ _AV (t _i -Δt). Here, the predetermined time Δt read from the measurement data buffer 47c
If the previous measurement data (for example, 24 hours) is “none” (that is, in the first displacement measurement), the reference data, that is, the reference distance L from the reference data buffer 47b.
_A (t ₀ ) and the reference turning angle coordinate θ _AH (t ₀ ) in the horizontal direction and the reference turning angle coordinate θ _AV (t ₀ ) in the vertical direction (down and up direction) are read.

Next, the arithmetic and control unit 41 compares the measurement data of this time with the measurement data read from the measurement data buffer 47c before a predetermined time Δt (for example, 24 hours) or the reference data read from the reference data buffer 47b. Reflector
The “second displacement amount ΔD _A2 (t _i )” of 21A is calculated. More specifically, as in the case shown in FIG. 13, the displacement amount of the turning angle coordinate in the horizontal direction Δθ _AH (t _i ) ^* = θ _AH (t _i ) −θ _AH (t _i −Δ
t) and the amount of displacement of the turning angle coordinate in the vertical direction Δθ _AV (t _i ) ^*
= Θ _AV (t _i ) −θ _AV (t _i −Δt) and the measured distance L _A (t _i ).
And L _A (t _i −Δt), the “second displacement ΔD _A2
(T _i ) ”is approximately [{L _A (t _i ) tan Δθ _AH (t _i ) ^* } ² + {L _A (t _i ) tan Δθ _AV (t _i ) ^* } ² + {L _A (t _i ) −L _A (t _i −Δt))} ² ] ^{1/2 The} arithmetic and control unit 41 calculates “second displacement ΔD.
_A2 (t _i ) ”is compared with the“ _second set displacement amount D ₂ ”set in the“ initial setting mode ”, and if it is larger than this, the alarm device 60 is immediately activated to perform the displacement measurement operation as described above. finish.

On the other hand, if the “second displacement amount ΔD _A2 (t _i )” is smaller than the “ _second set displacement amount D ₂ ”, the arithmetic and control unit 41 updates the write address of the measurement data buffer 47c and updates the previous address. The next measurement data is stored at the address where the measurement data is stored.

After that, the arithmetic and control unit 41 changes the general-purpose RAM area 47 of the RAM 47.
The counted value of a is set to "2" and it is judged whether or not there is a reflector corresponding to it, and the reflector (for example, reflector 21B)
For the above, the displacement measurement operation described above is repeated.

As long as there is a corresponding reflector, the arithmetic and control unit 41 repeats the displacement measuring operation described above for that reflector.

Here, for the reflectors 21B, ..., 21N, the "reference distance" is L _B (t ₀ ), ..., L _N (t ₀ ), respectively, and the horizontal "reference turning angle coordinate" is θ _BH (T ₀ ), ..., θ
_NH (t ₀ ), the vertical “reference turning angle coordinates” are θ _BV (t ₀ ), ..., θ _NV (t ₀ )), and the distance measurement values at time t _i are L respectively. _B (t _i ), ..., L _N (t
_i ) and the measured values of the turning angle coordinate in the horizontal direction are θ _BH (t _i ), ..., θ _NH (t _i ), respectively, and the measured values of the turning angle coordinate in the vertical direction θ _BV (t _i ) ..., θ _NV (t _i )). Also, the “first displacement amount” at time t _i is ΔD
_H1 (t _i ), ..., ΔD _N1 (t _i ), which is the “second displacement”
Is ΔD _B2 (t _i ), ..., ΔD _N2 (t _i ), and the displacement amount of the turning angle coordinate in the horizontal direction is Δθ _BH (t _i ),
…, Δθ _NH (t _i ) and Δθ _BH (t _i ) ^* ,…, Δθ
_NH (t _i ) ^*, and the amount of displacement of the vertical turning angle coordinate is Δθ _BV (t _i ), ..., θ _NV (t _i ) and Δθ, respectively.
_BV (t _i ) ^* , ..., θ _NV (t _i ) ^* .

When the corresponding reflector is gone, the arithmetic and control unit 41
The displacement measurement operation described above is repeated again with the count value of the general-purpose RAM area 47a of M47 set to "1".

Record collection mode In the object movement detection device 10 of the present invention that is executing the displacement measurement mode, when a predetermined code is input by the ten key 51 of the operation device 50, the arithmetic and control unit 41 performs the required control from the control program area 48a of the ROM 48. The program is read, and the measurement data stored in the measurement data buffer 47c of the RAM 47, that is, the detection result, is read according to the control program, and the recording device is read through the interface device 46.
Output to 70.

As a result, the detection result is recorded or collected in the recording device 70.

After that, the mode is returned to the displacement measurement mode again, and the above displacement measurement mode is maintained until the end of the measurement operation is instructed or the recording and collection mode is newly instructed.

(3) Effects of the Invention As is clear from the above, the first object movement detection device according to the present invention includes (a) at least one reflector installed at an arbitrary position of the target object whose movement is to be detected. A reflection device having; (b) a fixed base installed in a place where the reflector of the reflection device can be visually recognized; (c) a first mounted on the fixed base and rotatable in a plane
(D) a second swivel base mounted on the first swivel base and swivelable in another plane orthogonal to the plane; and (e) the second swivel base. An optical distance measuring device mounted on a table and measuring a distance to a reflector of the reflecting device; and (f) orientation of the optical distance measuring device by rotating the first and second turning bases, respectively. After aiming the direction approximately at the reflector, the nth unit (n: natural number) is used for each of the first n-th units in the viewing angle corresponding to a length smaller than the diameter of the reflector at the position of the reflector. By alternately turning the second turning base, the pointing direction of the optical distance measuring device is gradually separated from the general aiming direction, and when the optical distance measuring device receives the light reflected by the reflector, the optical A control device that allows a range finder to measure the distance to the reflector. And the movement of the target object is detected, (i) Even if the target object whose movement is to be detected is enlarged, it can be dealt with by simply increasing the number of reflectors. And the effect of significantly reducing the installation cost, and (ii) the effect of requiring almost no specialized knowledge to select the installation location and (iii) the labor required for aiming the target object can be significantly reduced. As a result, it also has the effect of facilitating long-term movement detection, and further has the effect of (iv) aiming the target object reliably and efficiently.

A second object movement detection device according to the present invention includes (a) a reflection device including at least one reflector installed at an arbitrary position of a target object whose movement is to be detected, and (b) the reflection device. Fixed base installed in a place where the reflector of (1) can be visually recognized, and (c) a first mounted on the fixed base and rotatable in a plane
(D) a second swivel base mounted on the first swivel base and swivelable in another plane orthogonal to the plane; and (e) the second swivel base. An optical distance measuring device mounted on a table and measuring a distance to a reflector of the reflecting device; and (f) orientation of the optical distance measuring device by rotating the first and second turning bases, respectively. After aiming the direction approximately at the reflector, the nth unit (n: natural number) is used for each of the first n-th units in the viewing angle corresponding to a length smaller than the diameter of the reflector at the position of the reflector. By alternately turning the second turning base, the pointing direction of the optical distance measuring device is gradually separated from the general aiming direction, and when the optical distance measuring device receives the light reflected by the reflector, the optical Let the distance measuring device measure the distance to the reflector, and When the optical measuring device receives the reflected light from the reflector, the first and second swivel bases continue to swivel by a predetermined unit of swivel angle coordinates, and the swivel angle coordinates when the reflected light disappears Aiming the pointing direction of the optical range finder to the center direction of the reflector by calculating the center direction of the reflector, and when aiming the center direction, the turning angles of the first and second turning bases. Since the movement of the target object is detected by including a control device for measuring coordinates, in addition to the effects of (i) to (iv), (v) in the direction connecting the optical distance measuring device and the reflector Even if the reflector slightly moves in the direction in which it crosses, it has the effect of accurately tracking the reflector.

In addition, a third object movement detection device according to the present invention includes: (a) a reflection device including at least one reflector installed at an arbitrary position of a target object whose movement is to be detected, and (b) the reflection A fixed base installed at a location where the reflector of the device can be visually recognized, and (c) a first mounted on the fixed base and rotatable in a plane
(D) a second swivel base mounted on the first swivel base and swivelable in another plane orthogonal to the plane; and (e) the second swivel base. An optical distance measuring device mounted on a table and measuring a distance to a reflector of the reflecting device; and (f) orientation of the optical distance measuring device by rotating the first and second turning bases, respectively. After aiming the direction approximately at the reflector, the nth unit (n: natural number) is used for each of the first n-th units in the viewing angle corresponding to a length smaller than the diameter of the reflector at the position of the reflector. By alternately turning the second turning base, the pointing direction of the optical distance measuring device is gradually separated from the general aiming direction, and when the optical distance measuring device receives the light reflected by the reflector, the optical Let the distance measuring device measure the distance to the reflector, and When the optical measuring device receives the reflected light from the reflector, the first and second swivel bases continue to swivel by a predetermined unit of swivel angle coordinates, and the swivel angle coordinates when the reflected light disappears Aiming the pointing direction of the optical range finder to the center direction of the reflector by calculating the center direction of the reflector, and when aiming the center direction, the turning angles of the first and second turning bases. A controller for measuring the coordinates and calculating the displacement amount of the reflector using the measured distance and the turning angle coordinate, and detecting the movement of the target object. In addition to the effect of (v), it has the effect of (vi) being able to immediately grasp the displacement amount of the target object.

Further, a third object movement detection device according to the present invention includes: (a) a reflection device including at least one reflector installed at an arbitrary position of a target object whose movement is to be detected, and (b) the reflection device. Fixed base installed in a place where the reflector of (1) can be visually recognized, and (c) a first mounted on the fixed base and rotatable in a plane
(D) a second swivel base mounted on the first swivel base and swivelable in another plane orthogonal to the plane; and (e) the second swivel base. An optical distance measuring device mounted on a table and measuring a distance to a reflector of the reflecting device; and (f) orientation of the optical distance measuring device by rotating the first and second turning bases, respectively. After aiming the direction approximately at the reflector, the nth unit (n: natural number) is used for each of the first n-th units in the viewing angle corresponding to a length smaller than the diameter of the reflector at the position of the reflector. By alternately turning the second turning base, the pointing direction of the optical distance measuring device is gradually separated from the general aiming direction, and when the optical distance measuring device receives the light reflected by the reflector, the optical Let the distance measuring device measure the distance to the reflector, and When the optical measuring device receives the reflected light from the reflector, the first and second swivel bases continue to swivel by a predetermined unit of swivel angle coordinates, and the swivel angle coordinates when the reflected light disappears Aiming the pointing direction of the optical range finder to the center direction of the reflector by calculating the center direction of the reflector, and when aiming the center direction, the turning angles of the first and second turning bases. A controller that measures coordinates, calculates the displacement of the reflector using the measured distance and the turning angle coordinate, and issues a warning when the displacement exceeds a predetermined set value. Since the movement of the target object is detected, in addition to the effects (i) to (vi), (vii) when the displacement amount of the target object exceeds a predetermined set value, it can be immediately recognized by a warning. Has the effect of avoiding accidents That.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing an embodiment of the present invention, FIG. 2 is a detailed explanatory diagram of the same portion, FIGS. 3 to 13 are explanatory diagrams of the same operation, and FIG. 14 is an explanatory diagram showing a conventional example. is there. 10 …… Object movement detection device 20 …… Reflector 21A, 21B,…, 21N …… Reflector 21A ₁ , 21B ₁ ,…, 21N ₁ …… Support 21A ₂ , 21B ₂ ,…, 21N ₂ …… Reflector Body 30 …… Detector body 31 …… Tripod device 32 …… Stepping motor 32a …… Output gear 33 …… Fixed base 34 …… Swivel base 34a …… Gear 35 …… Stepping motor 35a …… Output gear 36… … Swivel base 36a …… Gear 37 …… Optical distance measuring device 38 …… Telescope 40 …… Control device 41 …… Computer control device 42 …… Driver 43 …… Driver 44 …… Interface device 45 …… Driver 46 …… Interface device 47 …… Random access memory 47a …… General purpose random access memory area 47b …… Reference data buffer 47c …… Measurement data buffer 48 …… Read-only memory 48a …… Control program area 48b …… Searching distance table area 48c …… Exploration direction table area 48d …… Set value area 49 ...... Clock unit 50 ...... Operation unit 51 ...... numeric keypad 52 ...... arrows 53 ...... registration key 54 ...... start key 55 ...... Display

Claims (4)

[Claims] 1. A reflecting device having at least one reflector installed at an arbitrary position of a target object whose movement is to be detected, and (b) a reflector of the reflecting device being visible. A fixed base installed and (c) a first mounted on the fixed base and rotatable in a plane
(D) a second swivel base mounted on the first swivel base and swivelable in another plane orthogonal to the plane; and (e) the second swivel base. An optical distance measuring device mounted on a table and measuring a distance to a reflector of the reflecting device; and (f) orientation of the optical distance measuring device by rotating the first and second turning bases, respectively. After aiming the direction approximately at the reflector, the nth unit (n: natural number) is used for each of the first n-th units in the viewing angle corresponding to a length smaller than the diameter of the reflector at the position of the reflector. By alternately turning the second turning base, the pointing direction of the optical distance measuring device is gradually separated from the general aiming direction, and when the optical distance measuring device receives the light reflected by the reflector, the optical A control device that allows a range finder to measure the distance to the reflector. Preparative includes object movement detection apparatus as Mezzanine by comprising detecting the movement of the target object. 2. (a) A reflection device having at least one reflector installed at an arbitrary position of a target object whose movement is to be detected, and (b) a reflector of the reflection device in a visible position. A fixed base installed and (c) a first mounted on the fixed base and rotatable in a plane
(D) a second swivel base mounted on the first swivel base and swivelable in another plane orthogonal to the plane; and (e) the second swivel base. An optical distance measuring device mounted on a table and measuring a distance to a reflector of the reflecting device; and (f) orientation of the optical distance measuring device by rotating the first and second turning bases, respectively. After aiming the direction approximately at the reflector, the nth unit (n: natural number) is used for each of the first n-th units in the viewing angle corresponding to a length smaller than the diameter of the reflector at the position of the reflector. By alternately turning the second turning base, the pointing direction of the optical distance measuring device is gradually separated from the general aiming direction, and when the optical distance measuring device receives the light reflected by the reflector, the optical Let the distance measuring device measure the distance to the reflector, and When the optical distance measuring device receives the reflected light from the reflector, the first and second swivel bases continue to swivel by a predetermined unit of swivel angle coordinates, and the swivel angle coordinates when the reflected light disappears Aiming the pointing direction of the optical range finder to the center direction of the reflector by calculating the center direction of the reflector, and when the center direction is aimed, the turning of the first and second turning bases. An object movement detection device comprising: a control device that measures angular coordinates, and detects movement of the target object. 3. (a) A reflection device having at least one reflector installed at an arbitrary position of a target object whose movement is to be detected, and (b) a reflector of the reflection device in a visually recognizable place. A fixed base installed and (c) a first mounted on the fixed base and rotatable in a plane
(D) a second swivel base mounted on the first swivel base and swivelable in another plane orthogonal to the plane; and (e) the second swivel base. An optical distance measuring device mounted on a table and measuring a distance to a reflector of the reflecting device; and (f) orientation of the optical distance measuring device by rotating the first and second turning bases, respectively. After aiming the direction approximately at the reflector, the nth unit (n: natural number) is used for each of the first n-th units in the viewing angle corresponding to a length smaller than the diameter of the reflector at the position of the reflector. By alternately turning the second turning base, the pointing direction of the optical distance measuring device is gradually separated from the general aiming direction, and when the optical distance measuring device receives the light reflected by the reflector, the optical Let the distance measuring device measure the distance to the reflector, and When the optical distance measuring device receives the reflected light from the reflector, the first and second swivel bases continue to swivel by a predetermined unit of swivel angle coordinates, and the swivel angle coordinates when the reflected light disappears Aiming the pointing direction of the optical range finder to the center direction of the reflector by calculating the center direction of the reflector, and when the center direction is aimed, the turning of the first and second turning bases. An object comprising: a controller that measures angular coordinates and that calculates a displacement amount of the reflector using the measured distance and turning angle coordinates, and detects movement of the target object. Movement detection device. 4. (a) A reflection device having at least one reflector installed at an arbitrary position of a target object whose movement is to be detected, and (b) a reflector of the reflection device in a visible position. A fixed base installed and (c) a first mounted on the fixed base and rotatable in a plane
(D) a second swivel base mounted on the first swivel base and swivelable in another plane orthogonal to the plane; and (e) the second swivel base. An optical distance measuring device mounted on a table and measuring a distance to a reflector of the reflecting device; and (f) orientation of the optical distance measuring device by rotating the first and second turning bases, respectively. After aiming the direction approximately at the reflector, the nth unit (n: natural number) is used for each of the first n-th units in the viewing angle corresponding to a length smaller than the diameter of the reflector at the position of the reflector. By alternately turning the second turning base, the pointing direction of the optical distance measuring device is gradually separated from the general aiming direction, and when the optical distance measuring device receives the light reflected by the reflector, the optical Let the distance measuring device measure the distance to the reflector, and When the optical distance measuring device receives the reflected light from the reflector, the first and second swivel bases continue to swivel by a predetermined unit of swivel angle coordinates, and the swivel angle coordinates when the reflected light disappears Aiming the pointing direction of the optical range finder to the center direction of the reflector by calculating the center direction of the reflector, and when the center direction is aimed, the turning of the first and second turning bases. A control device that measures angular coordinates, calculates the displacement amount of the reflector using the measured distance and the turning angle coordinate, and issues a warning when the displacement amount exceeds a predetermined set value. An object movement detection device, comprising: a movement of the target object.