JPS6250616A - Surveying method using laser - Google Patents
Surveying method using laserInfo
- Publication number
- JPS6250616A JPS6250616A JP18968885A JP18968885A JPS6250616A JP S6250616 A JPS6250616 A JP S6250616A JP 18968885 A JP18968885 A JP 18968885A JP 18968885 A JP18968885 A JP 18968885A JP S6250616 A JPS6250616 A JP S6250616A
- Authority
- JP
- Japan
- Prior art keywords
- time difference
- photodetector
- laser
- point
- reference point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Measurement Of Optical Distance (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
【発明の詳細な説明】 ［産業上の利用分野］ 本発明はレーザーを用いた測量方法に関する。[Detailed description of the invention] [Industrial application field] The present invention relates to a surveying method using a laser.
［従来技術］
現在行われている三角測量は周知のように、人手を要し
、かつ作業時間が長く、また熟練度によって計測結果に
個人差が生じ、また、計測地点を移動して計測を連続的
に行うことが困難で、更に、コンピュータ等に直接入力
できない等の問題があった。[Prior Art] As is well known, the triangulation currently being carried out requires manpower, takes a long time, and the measurement results vary depending on the level of skill, and the measurement requires moving the measurement point. It is difficult to do this continuously, and furthermore, there are problems such as not being able to directly input data into a computer or the like.
［発明の目的１
従って本発明の目的は省力化、高速化が可能で計測結果
に個人差がなく、かつ連続的に計測することができ、更
に、コンピュータ等に直接入力することができるレーザ
ーを用いた測量方法を提供することにある。[Objective of the Invention 1 Therefore, the object of the present invention is to provide a laser that can save labor, increase speed, have no individual differences in measurement results, perform continuous measurement, and furthermore, can be input directly into a computer, etc. The objective is to provide the surveying method used.
［発明の構成］
本発明によるレーザー光を用いた測量方法は、平面的に
計測地点を含む三角形の頂点にそれぞれ基準点を設け、
各基準点に旋回するレーザー光を照射するレーザー燈台
とレーザー受光器とを設け、計測地点にレーザー受光器
を設けるとともに、各レーザー受光器を演算装置に接続
し、演偉装置により一方の基準点のレーザー光が旋回す
る間の他方の基準点の計測地点および計測地点と他方の
基単点におけるレーザー光の到達する時間差をそれぞれ
求め、これら時間差と両基準点間の距離とから計測地点
の座標を算出している。[Structure of the Invention] The surveying method using a laser beam according to the present invention provides a reference point at each vertex of a triangle that includes a measurement point in a plane,
A laser lighthouse and a laser receiver are installed at each reference point to irradiate a rotating laser beam, and a laser receiver is installed at the measurement point. Find the measurement point of the other reference point while the laser beam is rotating, and the time difference between the laser beam arrival between the measurement point and the other reference point, and calculate the coordinates of the measurement point from these time differences and the distance between both reference points. is being calculated.
［発明の作用効果］
従ってレーザー光が各受光器に到達する時間差を衝にし
て演算装置により計測地点の座標を求めて（夫るので、
人手を要しないで、省力化、高速化することができ、計
測結果に個人差がなく、かつ計測地点を移して連続的に
計測することができ、更に演算装置にマイクロコンピュ
ータを用いることができ、データの入力、記録などを容
易化することができる。従って、この測量方法は建築、
土木の側聞や例えば建物のコンクリート床仕上げ用ロボ
ッ］・などの位置制御に好適である。[Operations and Effects of the Invention] Therefore, the coordinates of the measurement point are determined using the arithmetic device using the difference in time when the laser beam reaches each receiver.
It is possible to save labor and speed up the process without requiring manual labor, there are no individual differences in measurement results, and it is possible to move the measurement point and perform continuous measurement, and furthermore, it is possible to use a microcomputer as the calculation device. , data input, recording, etc. can be facilitated. Therefore, this surveying method is suitable for architectural,
It is suitable for controlling the position of civil engineering side panels and, for example, robots for finishing concrete floors of buildings.
［好ましい実施の態様］
本発明の実施に際し、一方の基準点のレーザー光が他方
の基準点から計測地点に到達する時間差の円周１００分
率から一方の基準点の頂角を求め、同様にして他方の基
準点の頂角を求め、両基準点間の距離とこれら両頂角と
より三角法により計測地点の座標を求めるのが好ましい
。[Preferred Embodiment] When carrying out the present invention, the apex angle of one reference point is determined from the 100 percent of the circumference of the time difference between the laser beam of one reference point reaching the measurement point from the other reference point, and the apex angle of one reference point is determined in the same manner. It is preferable that the apex angle of the other reference point is determined by using the two reference points, and the coordinates of the measurement point are determined by trigonometry using the distance between the two reference points and these two apex angles.
［実施例］ 以下図面を参照して本発明の詳細な説明する。[Example] The present invention will be described in detail below with reference to the drawings.
第１図、第２図および第３図はそれぞれ本発明を実施す
るハードウェア構成図および演算装置のブロック図を示
している。FIG. 1, FIG. 2, and FIG. 3 respectively show a hardware configuration diagram and a block diagram of an arithmetic unit for implementing the present invention.
第１図において、平面的に計測地点Ｃを含む三角形ＣＡ
Ｂの頂点ＡＳ８には、それぞれ基準点Ａ、Ｂが設けられ
ている。In Fig. 1, a triangle CA including the measurement point C in plan view
Reference points A and B are provided at the vertex AS8 of B, respectively.
基準点Ａには、旋回するレーザー光を照射するレーザー
燈台１とレーザー受光器３が設けられ、基準点Ｂには、
レーザー燈台２とレーザー受光器４が設けられ、計測地
点にはレーザー受光器５．６が設けられている。At the reference point A, a laser lighthouse 1 and a laser receiver 3 that emit a rotating laser beam are installed, and at the reference point B,
A laser lighthouse 2 and a laser receiver 4 are provided, and a laser receiver 5.6 is provided at the measurement point.
第２図において、上記レーザー燈台、レーザー受光器は
各点上の３脚上に設けられ、レーザー燈台１、受光器５
．４とレーザー燈台２、レーザー受光器３．６とはそれ
ぞれ同一水平面内に位置決めされている。そして、各受
光器３．４．５および６はそれぞれ演算装置１０に接続
されている。In FIG. 2, the laser lighthouse and laser receiver are installed on three legs at each point, with a laser lighthouse 1 and a laser receiver 5.
．． 4, the laser light stand 2, and the laser receiver 3.6 are each positioned within the same horizontal plane. Each of the light receivers 3, 4, 5 and 6 is connected to the arithmetic unit 10, respectively.
なお、各レーザー燈台は図示の例では時計方向に旋回す
るようになっている・。In addition, each laser lighthouse is designed to rotate clockwise in the illustrated example.
第３図において、演算装置１０はマイクロコンピュータ
で構成され、受光器４．５の信号を入力する時間差測定
機能１１ａと、受光器３．６の信号を入力する時間差測
定機能１１ｂと、時間差測定機能１１ａ、１１ｂの測定
結果から各基準点の頂角を計算する角度計算機能１２ａ
、１２ｂと、基準点間の距離すなわち基準距離を入力す
る基準距離入力機能１３と、角度計算機能１２ａ、１２
ｂと基準距離入力機能１３の信号に基づいて測定地点Ｃ
の座標を計算する座標計算機能１４と、座標計算機能１
４の計算結果を表示するとともに記憶する表示機能１５
とが設けられている。In FIG. 3, the arithmetic unit 10 is composed of a microcomputer, and includes a time difference measurement function 11a that inputs the signal from the light receiver 4.5, a time difference measurement function 11b that inputs the signal from the light receiver 3.6, and a time difference measurement function 11b that inputs the signal from the light receiver 3.6. Angle calculation function 12a that calculates the apex angle of each reference point from the measurement results of 11a and 11b.
, 12b, a reference distance input function 13 for inputting a distance between reference points, that is, a reference distance, and an angle calculation function 12a, 12.
b and the signal from the reference distance input function 13.
Coordinate calculation function 14 that calculates the coordinates of , and coordinate calculation function 1
Display function 15 that displays and stores the calculation results of 4.
and is provided.
次に第４図に示すフローチャートと第１図を参照して本
発明の詳細な説明する。Next, the present invention will be described in detail with reference to the flowchart shown in FIG. 4 and FIG. 1.
先ず、図示されない手段により基準路ｔｊｉＱを測定し
、基準距離入力機能１３から座標計算機能１４に入力す
る（ステップ８１ ）。次いでレーザー燈台１の旋回す
るレーザー光が受光器４に到達してから受光器５に到達
するまでの時間差ｔｂｃ、更に、レーザー光が旋回して
受光器５に到達してから受光器４に到達するまでの時間
差ｔａｂを受光器４．５からの信号に基づいて時間差測
定様能１１ａで測定して角度計算部１２ａに入力し、ま
た、レーザー燈台のレーザー光が受光器３に到達してか
ら受光器６に到達するまでの時間差ｔａｃと受光器６に
到達してから受光器３に到達するまでの時間差ｔＣａを
受光器３．６からの信号に基づいて時間差測定機能１１
ｂで測定して角度計算部１２ｂに入力する（ステップ８
２ ）。次いで、角度計算機能１２ａで時間差測定機能
１１ａの測定結果に基づいて基準点Ａの頂角θを次式６
式％
によりＳ１算し、また角度計算機能１２ｂで時間差測定
機能１１ｂの測定結果に基づいて基準点Ｂの頂角ψを次
式
％式％
により計算する（ステップ８３）。次いで座標計算機能
１４において、基準路１１１１２と頂角θ、ψとに基づ
いて三角法により計測地点Ｃの座標を計弾しくステップ
Ｓ４）、表示機能１５で表示する（ステップ３５）。First, a reference path tjiQ is measured by means not shown and inputted from the reference distance input function 13 to the coordinate calculation function 14 (step 81). Next, the time difference tbc between when the rotating laser beam of the laser lighthouse 1 reaches the light receiver 4 and when it reaches the light receiver 5; The time difference tab from when the laser light from the laser lighthouse reaches the light receiver 3 is measured by the time difference measurement mode 11a based on the signal from the light receiver 4.5 and inputted to the angle calculation section 12a. The time difference measurement function 11 calculates the time difference tac until reaching the light receiver 6 and the time difference tCa between reaching the light receiver 6 and reaching the light receiver 3 based on the signal from the light receiver 3.6.
b and input it to the angle calculation section 12b (step 8
2). Next, the angle calculation function 12a calculates the apex angle θ of the reference point A based on the measurement result of the time difference measurement function 11a using the following formula 6.
The angle calculation function 12b calculates the apex angle ψ of the reference point B based on the measurement result of the time difference measurement function 11b using the following formula (Step 83). Next, the coordinate calculation function 14 calculates the coordinates of the measurement point C by trigonometry based on the reference road 11112 and the apex angles θ and ψ (step S4), and displays the coordinates on the display function 15 (step 35).
［まとめ］
以上説明したように本発明によれば、レーザー光が各受
光器に到達する時間差を衝にして演算装置により計測地
点の座標を算出するようにしているので、人手を要しな
いで、省力化、高速化することができ、計測結果に個人
差がなく、かつ計測地点を移して連続的に計測すること
ができ、更に演算装置にマイクロコンピュータを用いて
入力、記録などを容易にすることができる。[Summary] As explained above, according to the present invention, the coordinates of the measurement point are calculated by the arithmetic unit using the time difference between when the laser beam reaches each receiver as an opposition, so that the coordinates of the measurement point can be calculated without the need for manpower. It saves labor and speeds up, there are no individual differences in measurement results, and continuous measurement can be performed by moving the measurement point.Furthermore, a microcomputer is used as the calculation device to facilitate input and recording. be able to.
第１図および第２図は本発明を実施するハードウェア構
成図、第３図は演算装置の機能ブロック図、第４図は本
発明の一実施例を示すフローチャート図である。
△、Ｂ・・・基準点 Ｃ・・・計測地点０−−−基準
距離 ｔｂｃ、ｔａｂ、ｔａｃ。
ｔｃａ・・・時間差 θ、ψ・・・基準点の頂角
１．２・・・レーザー燈台 ３．４．５．６・・・レ
ーザー受光器 １０・・・演鋒装置第１図1 and 2 are hardware configuration diagrams for implementing the present invention, FIG. 3 is a functional block diagram of an arithmetic unit, and FIG. 4 is a flowchart showing an embodiment of the present invention. △, B... Reference point C... Measurement point 0 --- Reference distance tbc, tab, tac. tca...Time difference θ, ψ...Vertex angle of reference point
1.2... Laser lighthouse 3.4.5.6... Laser receiver 10... Fengoku device Figure 1
Claims (1)
を設け、各基準点に旋回するレーザー光を照射するレー
ザー燈台とレーザー受光器とを設け、計測地点にレーザ
ー受光器を設けるとともに、各レーザー受光器を演算装
置に接続し、演算装置により一方の基準点のレーザー光
が旋回する間の他方の基準点と計測地点および計測地点
と他方の基準点におけるレーザー光の到達する時間差を
それぞれ求め、これら時間差と両基準点間の距離とから
計測地点の座標を算出することを特徴とするレーザーを
用いた測量方法。A reference point is provided at each vertex of a triangle that includes the measurement point in plan, a laser lighthouse and a laser receiver are provided at each reference point to irradiate a rotating laser beam, a laser receiver is provided at the measurement point, and each laser Connect the light receiver to a calculation device, and use the calculation device to determine the time difference between the laser beam at one reference point and the measurement point while the laser beam from one reference point reaches the other reference point, and the time difference between the laser beam at the measurement point and the other reference point, respectively. A surveying method using a laser characterized by calculating the coordinates of a measurement point from these time differences and the distance between both reference points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18968885A JPS6250616A (en) | 1985-08-30 | 1985-08-30 | Surveying method using laser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18968885A JPS6250616A (en) | 1985-08-30 | 1985-08-30 | Surveying method using laser |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6250616A true JPS6250616A (en) | 1987-03-05 |
| JPH0358646B2 JPH0358646B2 (en) | 1991-09-06 |
Family
ID=16245515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18968885A Granted JPS6250616A (en) | 1985-08-30 | 1985-08-30 | Surveying method using laser |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6250616A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1989003049A1 (en) * | 1987-09-30 | 1989-04-06 | Kabushiki Kaisha Komatsu Seisakusho | Position meter using laser beam |
| JPH01115689U (en) * | 1988-01-29 | 1989-08-03 | ||
| JP2008292163A (en) * | 2007-05-22 | 2008-12-04 | Asahi Kasei Homes Kk | Positioning device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5825206A (en) * | 1981-08-07 | 1983-02-15 | Toshiba Corp | Electromagnetic unit |
| JPS59162473A (en) * | 1983-03-07 | 1984-09-13 | Taisei Corp | Measurement of distance |
-
1985
- 1985-08-30 JP JP18968885A patent/JPS6250616A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5825206A (en) * | 1981-08-07 | 1983-02-15 | Toshiba Corp | Electromagnetic unit |
| JPS59162473A (en) * | 1983-03-07 | 1984-09-13 | Taisei Corp | Measurement of distance |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1989003049A1 (en) * | 1987-09-30 | 1989-04-06 | Kabushiki Kaisha Komatsu Seisakusho | Position meter using laser beam |
| JPH01115689U (en) * | 1988-01-29 | 1989-08-03 | ||
| JP2008292163A (en) * | 2007-05-22 | 2008-12-04 | Asahi Kasei Homes Kk | Positioning device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0358646B2 (en) | 1991-09-06 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |