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WO1989003049A1 - Indicateur de position mettant en oeuvre un faisceau laser - Google Patents

Indicateur de position mettant en oeuvre un faisceau laser Download PDF

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Publication number
WO1989003049A1
WO1989003049A1 PCT/JP1988/001008 JP8801008W WO8903049A1 WO 1989003049 A1 WO1989003049 A1 WO 1989003049A1 JP 8801008 W JP8801008 W JP 8801008W WO 8903049 A1 WO8903049 A1 WO 8903049A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser
light
laser light
receiver
measuring device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP1988/001008
Other languages
English (en)
Japanese (ja)
Inventor
Toyoichi Ono
Kenji Tanabe
Yoshio Asayama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP24438687A external-priority patent/JPH07122667B2/ja
Priority claimed from JP362588A external-priority patent/JP2601294B2/ja
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Priority to DE19883890813 priority Critical patent/DE3890813T1/de
Publication of WO1989003049A1 publication Critical patent/WO1989003049A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

Definitions

  • the present invention relates to a position measuring device using laser light, and more particularly to a device suitable for position measurement on highly uneven ground such as an outdoor civil engineering work site.
  • Japanese Patent Published Japanese Patent Application Nos. 62-273408 and 62-273409 both by the same applicant as the present applicant
  • Japanese Patent Application Publication No. 62-50616 the applicant; Kashima Construction Co., Ltd.
  • a laser lighthouse is installed at each of two fixed points, each serving as a laser-emitter.
  • the target moving vehicle such as a work vehicle is equipped with a laser receiver. Then, the laser light is swirled in the horizontal direction from the two laser lighthouses, and the emitted laser light is reflected by the light receiver.
  • Angle (rotation angle) formed by a straight line extending from the other fixed point to the measured point
  • the distance between the two fixed points is calculated by the arithmetic unit, and the position of the measurement point is two-dimensionally determined by triangulation from the obtained angle and the distance between the two fixed points. ) It is calculated.
  • the angle formed by a straight line connecting two fixed points and a straight line extending from the other fixed point to the point to be measured is determined. Then, each laser beam emitted from each lighthouse provided at one and the other two fixed points emits light on a straight line connecting the two fixed points. It is necessary to measure the difference of each light emission time until the measured point is emitted.
  • the first light receiver facing the laser lighthouse provided at one fixed point and the second light receiver facing the laser lighthouse provided at the other fixed point Two receivers are required. Therefore, the laser receiver becomes large and heavy, the installation position is limited, and it is inconvenient to move the measuring point.
  • the vertical position of the light-receiving surface on the receiver side should be taken into consideration in consideration of the height difference between the position where the emitter is installed and the point to be measured. The direction is adjusted.
  • the emitted laser light falls off the light receiving surface of the receiver. In many cases, it is impossible to measure the position of the point to be measured.
  • the present invention has been made in view of the above-mentioned circumstances, and the first purpose is to provide a single laser receiver provided at a point to be measured.
  • the purpose is to provide a position measuring device using laser light.
  • Another object of the present invention is to set the laser projector at two laser lighthouses, such as an outdoor civil engineering work site with severe irregularities, and to set the measurement position at the measurement point. Even in an environment where the height difference from the light receiving surface of the laser receiver is remarkable, the position of the point to be measured can be reliably measured even in a large environment. It is to provide a position measuring device.
  • Still another object of the present invention is to provide a light receiving height position correcting means in a laser receiver installed at a point to be measured. Accordingly, it is possible to provide a position measuring device using laser light, which enables three-dimensional position measurement of a measured point.
  • two vertical fixed points are set apart from each other, and a vertical axis at each of the setting points is defined as a rotation axis.
  • First and second laser emitting means for emitting laser light while rotating, and disposed at the point to be measured, and the first and second lasers being arranged at the measurement point.
  • Laser light receiving means for receiving laser light which is respectively rotationally projected from the laser light emitting means, and by triangulation based on the output of the laser light receiving means.
  • a reference azimuth detector and a reference azimuth signal transmitting means provided on each of the laser light emitting means sides; And a reference azimuth signal receiving means and a calculating means provided on the user light receiving means side.
  • the arithmetic unit detects the direction of the laser beam received, and identifies the laser beam received from the laser unit and the laser beam source.
  • the laser light is characterized in that it is configured to obtain a time difference from each of the reference azimuth detectors to the measurement point by turning.
  • the used position measuring device is provided.
  • each of the first, second and second laser light emitting means in the first aspect is provided. Are emitted from these light emitting means.
  • a position measuring device using laser light which is characterized by having a projection angle changing means capable of changing an elevation angle or a depression angle of the laser light.
  • each of the first and second laser light emitting means in the first aspect has a projection angle changing means for changing an elevation angle or a depression angle of the laser light projected from these light projection means, and further comprises
  • the light receiving means includes a light receiving height position correcting means for correcting a light receiving height position detected by the light receiving means based on an output from the light emitting angle changing means.
  • FIG. 1 is a schematic front view showing the overall configuration of the first embodiment of the present invention.
  • FIG. 2 is a schematic plan view of the first embodiment shown in FIG. 1, and FIGS. 3 and 4 are a laser lighthouse and a laser having a laser projector, respectively.
  • 1 is a schematic perspective view of the receiver. ,
  • FIG. 5 is a block diagram of the calculation means used in the first specific example.
  • Fig. 6A and Fig. 6B are explanatory diagrams of the direction identification operation of the emitted laser light.
  • FIG. 7 is a schematic front view showing a modified example of each of the two laser lighthouses used in the first embodiment.
  • FIG. 8 is a schematic perspective view showing an arrangement state of the device in the second specific example of the present invention.
  • FIG. 9 is a perspective view conceptually showing a configuration of a mirror drive unit used in the second example shown in FIG.
  • Figure 10 is a diagram used to explain the principle of position measurement used in the second example.
  • Fig. 11 shows the received signal of one laser beam output from each reference azimuth detector at two fixed points, and the output signal from the receiver at the point to be measured. Timing chart with the laser light reception signal
  • FIGS. 12A to 12E are diagrams showing the manner of change of the measured point in the second specific example.
  • FIG. 13 is a block diagram conceptually showing the configuration of the arithmetic unit used in the second specific example.
  • FIG. 14 is a flowchart showing a processing procedure in the arithmetic unit shown in FIG. Detailed description of preferred examples
  • the first and second fixed points (reference points) A and B which are two planes apart from each other by a predetermined distance L, and the measuring point C, and the measuring point C Are formed, and vertices A and B of the triangles A, B and C are the first and second reference points.
  • the first reference point A is provided with a first laser lighthouse 10 for irradiating a turning laser beam, a reference azimuth detector 11 and a reference azimuth signal transmitting means 12.
  • the reference point B emits laser light that rotates in a direction opposite to that of the first laser lighthouse 10, the second laser lighthouse 13, the reference direction detector 14, and the reference direction signal transmission means.
  • a laser receiver 16 a reference azimuth signal receiving means 17, and an arithmetic means 18 are provided at the measurement target point C.
  • the first and second laser lighthouses 10 and 13 are provided on a tripod 10a and 13a. Since laser emitters 10c and 13c having 0b and 13b are installed, the laser receiver 16 is installed as shown in Figs. 1 and 4.
  • the light-receiving element 16 b is placed vertically on the surface of a polygonal prism whose cross section on a tripod 16 a is pentagonal or larger.
  • the light receiving processing means 16c is provided together with a plurality of light receiving processing means, and they are positioned in the same horizontal plane.
  • the reference azimuth detectors 11 and 14 are mounted on the laser projectors 10c and 13c so as to face the laser transmissive sections 10b and 13b, respectively. Is a laser receiver, and upon receiving the laser beam, sends a signal to the reference azimuth signal transmitting means 12 and 15, respectively, and outputs the reference azimuth signal transmitting means 12 and 15. In this case, a reference azimuth signal is output. That is, the reference azimuth signal transmitting means 12 and 15 are transmitters.
  • the reference azimuth signal receiving means 17 serves as a receiver, and outputs a signal to the arithmetic means 18 when receiving the transmitted reference azimuth signal.
  • the arithmetic means 18 is means 20 for identifying the laser lighthouse based on the received signal of the laser light receiver 16, and the reference azimuth time is given by the received signal of the reference azimuth signal receiving means 17.
  • the X and ⁇ coordinates of the point C to be measured are calculated using the first and second angle calculating means 22, 23 and the angle and the reference distance L from the reference distance input means 24. It comprises a coordinate calculation means 25, a display means 26 for displaying the position of the measured point C, and a height calculation means 27 for calculating the height of the laser light.
  • the laser lighthouse identification means 2 ⁇ senses the direction of movement of the laser light in the order in which the light receiving elements 16 b of the laser light receiver 16 receive light horizontally, and thereby detects the mutual direction. O The first and second lighthouses 10 and 13 that turn in opposite directions are identified.
  • the first and second angle calculating means 22 and 23 are connected to the laser receiver 16 after receiving the timing signal from the reference azimuth timing detecting means 21. The angle is calculated based on the time difference until the light is received. .
  • the coordinate calculating means 25 and the display means 26 are the same as the conventional one, and as shown in FIG. 7, the laser projectors 10 of the first and second laser lighthouses 10 and 13 are provided.
  • c and 13c are mounted on a tripod 10a1 3a via screw rods 10d and 13d, which are vertically movable, and the laser projector 13 of the second laser lighthouse 13 is mounted. Attach a leveling light receiving element 13e to c and attach an actuator 13f to rotate its screw rod 13d.
  • actuator 13 f When installing the second laser lighthouses 10 and 13 Drive actuator 13 f until laser emissive element 13 e receives laser light from first laser lighthouse 10 and laser emitter 1 3c may be moved up and down.
  • the laser light of the first laser lighthouse 10 and the laser light of the second laser lighthouse 13 can be set at the same height, so that the manual operation can be performed manually. It is not necessary to adjust the height by operation, and the work can be done easily.
  • the above operation control stops when the referencing light receiving element 13 e receives light after the drive switch of the actuator 13 f is turned to 0 N. It is only necessary to use a CP ⁇ .
  • FIG. 8 Next, a second embodiment of the present invention will be described with reference to FIGS. 8 to 14.
  • FIG. 8
  • FIG. 8 is a schematic diagram showing an arrangement of a position measuring device according to a second specific example of the present invention.
  • the laser projectors 10 and 13 shown in the figure are installed at two predetermined fixed points A and B on the outside civil engineering work site, respectively.
  • the projection positions are set so that they are at the same height.
  • These light emitters 10 and 13 emit the laser light in all directions while rotating at a fixed period, and rotate in the same direction and synchronously with each other. . In this embodiment, as shown by the arrows in FIG. It is assumed that it rotates counterclockwise.
  • the reference azimuths of the laser beam emitted from the projector 103 and the laser beam emitted by the rotation, ie, the azimuth indicated by the dashed line in the figure, are the reference azimuth detectors 11 1 and 1, respectively. There are four power stations.
  • the reference azimuth detectors 11 and 14 are connected to the transmitter / receiver 30, and the transmitter / receiver 30 receives light from the reference azimuth detectors 11 and 14.
  • the received light signal of the laser beam and the output of the controller 18a are transmitted to the transmitter and receiver 31 described later, and the transmitter / receiver 31 Receive the data sent by the user.
  • the controller 1 Sa is connected to the transmitter ⁇ receiver 30, and based on the output of the transmitter ⁇ receiver 30, a mirror driver 32, described later. It controls 3 3.
  • a light receiver 16 having a light receiving portion having a predetermined vertical length H is provided at the measured point.
  • the light receiver 16 is composed of a plurality of light receiving elements 16 b... Arranged at predetermined intervals in the vertical direction.
  • the transmitter / receiver 31 is connected to the arithmetic unit 18 b, receives the data transmitted from the transmitter / receiver 30, and obtains the data from the arithmetic unit 18. Sends the obtained data to the transmitter / receiver 30. os The principle of position measurement (triangulation) used in the explanation is explained.
  • FIG. 10 shows the relationship between the two fixed points AB and the point C to be measured.
  • FIG. 4 is a principle diagram showing a geometric relationship.
  • the distance between the two fixed points A and B is L
  • the angle between the X axis and the line segment AC is aa
  • the angle between the x axis and the line segment BC is ab
  • the measured point The xy coordinates of C are expressed by the following equation (1).
  • the two-dimensional position of the measured position point C can be obtained. You can measure.
  • the laser beam emitted from the two projectors 10 and .13 is rotated and projected from the two projectors 10 and .13, and is reliably received by the receiver 16. Is an indispensable factor in performing this position measurement o
  • Fig. 12A shows that one laser beam is projected horizontally from the projectors 10 and 13 installed at the two fixed points A and B, and the laser beam is Measurement point C at the same height as points A and B!
  • the figure shows the case where the light is received by the photodetector 16 installed at the point where the heights of the two fixed points A and B and the measured point Ci are equal.
  • Various dimensions in the length direction of the receiving ⁇ ⁇ 6 are set so that one laser beam is received at the center of the light receiving section of the receiver 16.
  • FIGS 12B and 12C show that the receiver 16 is
  • Receiver 16 has a greater height difference than C
  • the angle of elevation of the light that is rotationally projected from the projectors 10 and 13 is set so that light is received.
  • a means for changing the depression angle is provided. That is, the elevation angle or depression angle of the light is changed by the mirror drive units 32 and 33 provided in each of the projectors 10 and 13 shown in FIG.
  • the mirror drive units 32 and 33 are provided with mirrors 36 and 37 arranged on the optical axis of the laser light sources 34 and 35, and mirrors 36 and 37, respectively.
  • Motors 38, 39 that rotate around the horizontal axis via reduction gears, and a number of pulses corresponding to the amount of rotation of motors 38, 39 are output Pulse encoders 40 and 41, and outputs of encoders 40 and 41. It has counters 42, 43 for counting the screws and drivers 44, 45 for driving the motors 38, 39.
  • the mirrors 36 and 37 rotate in synchronism with the rotation axes of the light emitters 10 and 13 as indicated by an arrow G in FIG. 10a, 13a power, etc. Rotately emits laser light toward the light receiving section of optical device 16.
  • the operation of the above-mentioned mirror driving units 32 and 33 will be described.
  • the tilt angles of 36 and 37 are such that the laser beam is emitted from the laser beam source 10a, 13a toward the receiver 16
  • the optical axis D of the laser beam is set to a reference angle that is parallel to the installation surface of the projectors 10 and 13
  • the tilt angle of 36, 37 is + or 1 in the elevation direction or the depression angle direction from the upper optical axis D by being tilted by a predetermined angle from the reference angle. Obtain a changed optical axis E or F
  • FIG. 2 is a block diagram conceptually showing the configuration of the present invention.
  • FIG. 14 shows the processing procedure of the arithmetic unit 18b.
  • measurement errors such as the installation error of each of the projectors 10 and 13 are measured in preparation for the survey, and the data obtained here is obtained.
  • the data is used to correct the measurement data obtained by the position measurement described below, but the description of the correction operation is omitted since it is not directly related to the present application.
  • the operator is required to set the angle of the mirrors 36 and 37 as necessary so that the laser beam is received by the receiver 16 during such movement and installation. Make adjustments.
  • the tilt angle of the mirrors 36 and 37 should be the same as the one shown in Fig. 12A (as shown in the figure below) in the initial state at the start of the survey.
  • the receiver 16 is set at an angle such that it can be projected in the horizontal direction.
  • the laser beam is moved and installed at the measurement point C 2 C a shown in the figure, the laser light is received by the receiver 16, so the angle adjustment of the mirrors 36 and 37 is performed. Is not done.
  • the mirror angle change command data is transmitted to the transmitter / receiver 30 via the transmitter / receiver 31.
  • the angle change command signal transmitted from the transmission ⁇ receiver 31 is received, and the controller 18 a is based on this reception data.
  • the angle of inclination of each mirror 36, 37 is controlled.
  • the controller 18a the feed having the above-mentioned inclination angle based on the feed hack 1 of the counters 42, 43 is used.
  • the output of the counters 42 and 43 that is, the amount of change in the angle of the mirrors 36 and 37 from the reference angle is expressed by the controller 18 Transmitted from transmitter / receiver 3 via a. ⁇ Transmitted to receiver 3 1.
  • This angle change amount is input from the transmitter / receiver 31 to the coordinate calculator 25.
  • step 102 the laser beams emitted from the projectors 10 and 13 are respectively reflected by the reference azimuth detectors 11 and The light received by the reference azimuth detector 11 and received by the reference azimuth detectors 11 and 14 are transmitted and received by the transmitter and receiver 30 via the transmitter and receiver 30. Is transmitted to the device 31.
  • the transmitter / receiver 31 When the transmitter / receiver 31 receives the laser light reception signal transmitted from the transmitter / receiver 30, the transmitter / receiver 31 sends the light reception signal of the emitter 10 to the time measurement section 21 a and sends the light to the transmitter / receiver 31. Output the light receiving signal of 13 to the time measuring section 21b respectively (Step 103)
  • the emitters 10 and 13 rotate further, and the laser light emitted from these emitters 10 and 13 is received by the receiver of the receiver 16
  • These received light signals are sent to the height calculating section 27 and the time difference measuring sections 21a and 21b, respectively, as signals indicating the light receiving height position and the light receiving time. Is entered.
  • the signal indicating the light receiving height position is a signal indicating which light receiving element of each of the light receiving elements 16 b... Is input to the height calculator 27.
  • ⁇ ⁇ -Rr. Explains how to identify which emitter can receive the above received light signal.
  • the projectors 10 and 13 are rotated almost synchronously.
  • this triangulation is performed in an arrangement such that aa ⁇ 90ab> 90 °.
  • the relationship of each time tatb from the time when the laser beam reaches the reference direction to the time when the laser beam reaches the reference azimuth and the time when the laser beam is received by the light receiving section of the photodetector 16 is ta ⁇ tb. According to such a light receiving sequence, it is possible to identify the light receiving signal from any of the light emitters (step 104).
  • the light receiving signal indicating the reference direction output from the transmitter / receiver 3i and the light receiving signal output from the light receiving unit of the light receiver 16 are used. Based on the above, ta and tb for the projectors 10 and 13 are detected (step 105 in FIG. 11).
  • the height calculation unit 27 calculates the temporary height position of the measured point C in the vertical direction based on the output of the light receiving unit of the light receiver 16.
  • the provisional height position indicates the height position of the measured point C at a stage where the inclination of the mirrors 36 and 37 is not taken into consideration.
  • the installation point A of the emitter 10 (or the installation point B of the emitter 13) is set as the origin in the height direction, and the height of the installation point A and the measurement point C are set as described above.
  • the laser beam is set so that it is received at the center of the light receiving section of the receiver 16 and the above temporary height is set.
  • the position ⁇ is expressed as a displacement from the center of the light receiving section of the light receiver 16.
  • the light receiving position is
  • the provisional height position is set.
  • the light receiving element 16 b of the light receiving section of the light receiver 16 is used. Since the light is received by the same light receiving element, the provisional height position Z1 is the same, but in the case of Fig. 12D, the mirrors 36, 37 are tilted. Since it has been changed, the provisional height position Z 1 in this case does not indicate the true height position.
  • the provisional height position obtained in this way is input to the coordinate calculation unit 25 (step 108).
  • the tilt angle of the mirror 3 6 3 7 changes from the reference angle based on the angle change amount output from the transmitter / receiver 31. It is determined whether or not it has been performed (Step 109) o
  • step 109 above N 0, that is,
  • the temporary height position calculated in step 108 above is taken as the vertical coordinate position Z of the measurement point to be measured. Is performed (step 110).
  • the coordinate position Z is stored in the two-dimensional coordinate values X and X of the measured point calculated in the above step 107, and is displayed on the display unit. It is displayed in 26 (step 11 1).
  • step 109 if the result of the determination in step 109 is YES, that is, if the tilt angles of the mirrors 36 and 37 are tilted and change from the reference angle, And the two-dimensional positions X and y of the measured point calculated in step 107 above and the two-dimensional positions A (XA, X) of the two fixed points A and B y A), B (XB, y B) The process for capturing Z! Is executed.
  • the tilt angles of the mirrors 36 and 37 change so that the laser beam optical axis is horizontal. If the elevation and depression angles change by + ⁇ and 1 ⁇ in order to obtain the coordinate position ⁇ of the measured point, the tentative height position ⁇ , adding a correction value Zeta 2 will that accompanied the change of the optical axis (or subtraction) must be there Ru.
  • the Ru obtains the correction value Zeta 2, the two-dimensional positions of the two fixed points A, two-dimensional position A of B (x A, y A) , B (x B y B) Contact good beauty the measurement point C
  • the distance i? AC between the points A and C from C (X, y) and the distance £ BC between the points B and C are calculated based on the following equation (3).
  • the coordinate position Z is calculated using the two-dimensional coordinates x and x of the measured point calculated in step 107 above. It is stored together with y and displayed on the display unit 26 (step 11 1).
  • the optical axis of one laser beam is changed in the elevation angle or the depression angle direction. Light is received reliably.
  • the light receiving height position of the light receiver is corrected based on the change amount of the optical axis, and the true vertical position coordinates of the measured point are obtained. You can do it. This enables three-dimensional position measurement of the measured point.
  • the angle change command for the mirror drive units 36 and 37 is used as the angle change command. , Which is limited by the power input provided by the operator. There is no.
  • an angle change command generating means for generating an angle change command for appropriately changing the tilt angles of 36 and 37, thereby implementing an automatic control of the mirror angle change.
  • an angle change command to the mirror drive units 32 and 33 is given by radio by means of a two-unit transmitter / receiver.
  • the present invention is not limited to this and can be implemented by wire.
  • the command is not limited to a command by remote control from the measured point, but is sent directly to the controller 18a at the location where the projector is installed. You can give it ⁇
  • the description has been made assuming a case where spot surveying is performed at each point at a work site.However, a receiver is mounted on a moving body, and the position of the moving body is determined. You may try to measure As a matter of course, the position measurement of a moving object is not limited to vehicles, and can be applied to position measurement of any moving object such as positioning of a ship in a port or the like.
  • the reference azimuth signals obtained from the two projectors from the projectors are transmitted and received by one transmitter / receiver. It goes without saying that transmission and reception may be performed by another transmitter / receiver.
  • the rotation directions of the two projectors are set to be the same direction, but needless to say, as in the case of the first embodiment described above, the rotation directions are opposite to each other.
  • the laser light emitted from the two projectors is received by the common receiver of the receiver 16.
  • the receivers at different heights were used. You may set up a part.
  • the reference azimuth detector 11 which identifies and receives the laser light emitted from these two projectors in each reference azimuth of the two projectors
  • each of the 14 is provided separately, the reference azimuth detectors 11 and 14 are not necessarily provided, and each emitter is synchronized to rotate at a constant speed. The position measurement may be performed only at the light receiving timing at the measurement point of the laser beam emitted from each emitter.
  • the configuration of the device itself is arbitrary as long as it is a device that performs triangulation using laser light.
  • the angle of the mirrors 36 and 37 is changed to change the direction of the optical axis of the laser beam.
  • the projector itself may be tilted to change the optical axis direction.
  • a position sensor may be used in the light receiving section of the light receiver 16 to detect the light receiving position in the height direction.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Un indicateur de position peut être utilisé grâce au montage d'un seul récepteur laser et peut mesurer de manière fiable la position d'un point même s'il existe une grande différence de niveau entre la position de montage d'un projecteur laser et celle du récepteur laser sur des sites de construction extérieurs accidentés. L'indicateur de position décrit comporte des projecteurs laser (10, 13) disposés en deux points spécifiés espacés l'un de l'autre, un récepteur laser (16) disposé au point de mesure, des radiogoniomètres de référence (11, 14) et des transmetteurs de signaux (12, 15) de direction de référence disposés du côté des projecteurs laser, ainsi qu'un récepteur (17) de direction de référence et une unité opérationnelle (18) disposés du côté du récepteur laser. En outre, le projecteur laser de l'invention comprend des moyens de variation de l'angle de projection permettant de modifier l'angle d'élévation ou l'angle d'abaissement du faisceau laser, tandis que le récepteur laser comporte des moyens de correction de position permettant de corriger la hauteur de réception du faisceau laser sur la base du signal de sortie émanant des moyens de variation de l'angle de projection.
PCT/JP1988/001008 1987-09-30 1988-09-30 Indicateur de position mettant en oeuvre un faisceau laser Ceased WO1989003049A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19883890813 DE3890813T1 (de) 1987-09-30 1988-09-30 Positionsmessvorrichtung, welche laserstrahlen verwendet

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP24438687A JPH07122667B2 (ja) 1987-09-30 1987-09-30 レーザー光を用いた測量装置
JP62/244386 1987-09-30
JP63/003625 1988-01-11
JP362588A JP2601294B2 (ja) 1988-01-11 1988-01-11 位置計測装置

Publications (1)

Publication Number Publication Date
WO1989003049A1 true WO1989003049A1 (fr) 1989-04-06

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PCT/JP1988/001008 Ceased WO1989003049A1 (fr) 1987-09-30 1988-09-30 Indicateur de position mettant en oeuvre un faisceau laser

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WO (1) WO1989003049A1 (fr)

Cited By (3)

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Publication number Priority date Publication date Assignee Title
DE19536296A1 (de) * 1995-09-29 1997-04-03 Daimler Benz Ag Signalmarken und Verfahren zu deren Identifizierung
DE19536295A1 (de) * 1995-09-29 1997-04-03 Daimler Benz Ag Räumlich gestaltete Signalmarke
CN111527265A (zh) * 2017-12-12 2020-08-11 爱知制钢株式会社 标识器施工方法以及标识器施工系统

Families Citing this family (2)

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Publication number Priority date Publication date Assignee Title
JP2802560B2 (ja) * 1992-02-24 1998-09-24 本田技研工業株式会社 移動体の操向制御装置
US8991062B2 (en) * 2011-12-15 2015-03-31 Atkinson Audio Inc. Locating and relocating device

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JPS59104503A (ja) * 1982-12-07 1984-06-16 Kubota Ltd 移動体の位置検出方法
JPS59126275A (ja) * 1983-01-06 1984-07-20 Toshihiro Tsumura 移動体の位置検出方法
JPS61191976A (ja) * 1985-02-20 1986-08-26 Matsushita Electric Ind Co Ltd 位置検出装置
JPS6250616A (ja) * 1985-08-30 1987-03-05 Kajima Corp レーザーを用いた測量装置
JPS62179675A (ja) * 1986-02-03 1987-08-06 Komatsu Ltd 車両の三次元位置計測方式

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AU591994B2 (en) * 1986-05-21 1989-12-21 Kabushiki Kaisha Komatsu Seisakusho Apparatus for measuring position of moving body
IE59553B1 (en) * 1986-10-30 1994-03-09 Inst For Ind Res & Standards Position sensing apparatus

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JPS59104503A (ja) * 1982-12-07 1984-06-16 Kubota Ltd 移動体の位置検出方法
JPS59126275A (ja) * 1983-01-06 1984-07-20 Toshihiro Tsumura 移動体の位置検出方法
JPS61191976A (ja) * 1985-02-20 1986-08-26 Matsushita Electric Ind Co Ltd 位置検出装置
JPS6250616A (ja) * 1985-08-30 1987-03-05 Kajima Corp レーザーを用いた測量装置
JPS62179675A (ja) * 1986-02-03 1987-08-06 Komatsu Ltd 車両の三次元位置計測方式

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19536296A1 (de) * 1995-09-29 1997-04-03 Daimler Benz Ag Signalmarken und Verfahren zu deren Identifizierung
DE19536295A1 (de) * 1995-09-29 1997-04-03 Daimler Benz Ag Räumlich gestaltete Signalmarke
DE19536295C2 (de) * 1995-09-29 2000-12-14 Daimler Chrysler Ag Räumlich gestaltete Signalmarke
DE19536296B4 (de) * 1995-09-29 2004-10-14 Daimlerchrysler Ag Signalmarken und Verfahren zu deren Identifizierung
CN111527265A (zh) * 2017-12-12 2020-08-11 爱知制钢株式会社 标识器施工方法以及标识器施工系统
CN111527265B (zh) * 2017-12-12 2022-06-28 爱知制钢株式会社 标识器施工方法以及标识器施工系统

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AU2488688A (en) 1989-04-18
AU628301B2 (en) 1992-09-17

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