JP3144710B2 - Position measurement plotter - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position measuring and plotting apparatus for measuring a position coordinate of a predetermined object arranged at a site of a traffic accident and creating a plan view of the site.

[Prior art]

[0002] When a traffic accident occurs, it is necessary to grasp the situation of the site in order to investigate the accident, and a police officer conducts a live inspection to prepare a record, and as a part of this, the distance between related objects A floor plan (plan view) as shown in FIG.

When creating such a floor plan,
Conventionally, an investigator directly measures the distance between related objects using a tape measure, and creates a plan view using the measurement result. However, measuring with a tape measure requires human labor,
For measurement, it may be necessary to block traffic for a long period of time to work.There is a risk that traffic jams may occur at sites with heavy traffic and that workers may be hit by vehicles passing sideways. Accompany. For this reason, it is necessary to reduce the working time on the road as much as possible.

[0004] Therefore, the present applicant has a simple operation.
The measurement work at the traffic accident site can be performed in the shortest possible time, and by creating a site sketch at the accident site, the accident site can be quickly compared with the completed site sketch.
A position measurement plotting device that can be easily performed is proposed (Japanese Patent Laid-Open No. 2-281380). The invention according to the application is based on an image display means for displaying a photographed image while capturing and photographing a target (or marker) previously arranged at a desired position at an accident site or the like by a photographing means such as a television camera. With a pointing means such as a cursor, the measuring head composed of a photographing means and a position detecting means is directed in the direction of the target, and a distance and an angle from the reference position to the target are detected by the position detecting means and the coordinates thereof are obtained. Is calculated, and a site sketch is created based on the calculated coordinates.

[0005]

In many cases, the place where a traffic accident takes place is an intersection with poor visibility, and in such a place, the photographing means and the position detecting means are fixed at one place. In the state of, there is a case where the position cannot be measured for all the related objects related to the traffic accident and the site. In such a case, it is necessary to use a plurality of position measurement plotters or change the set position of one position measurement plotter and measure the position of the related object from an appropriate angle.

When the position of a related object at the same accident site is measured from a plurality of positions, or when a traffic accident has occurred at the same site in the past, it is measured and calculated by one position measurement plotting device. If the data measured by another position measurement plotting device is superimposed on the plan view created by the above, it is possible to quickly create a site sketch of the accident site and simplify the measurement work, which is advantageous. is there.

Accordingly, the present invention is compatible with data relating to a plan view created by measurement and calculation by one position measurement plotting apparatus, and data obtained by measuring and acquiring the same site by another position measurement plotting apparatus. It is an object of the present invention to provide a position measurement plotting device capable of quickly plotting by utilizing data with the property.

[0008]

As a means for solving the above technical problem, a position measuring and plotting apparatus according to the present invention comprises a reflector provided with a reflector and installed at a position of an object to be measured.
Get and light emission projecting toward the reflector of the target
Receiving and capturing the reflected light from the section and the reflector.
Ri and a position detecting means for measuring the distance and its direction until the target detecting the spatial coordinates of the target, creating a plan view of a number of spatial coordinates detected for a number of target positions by the position detecting means in the position measuring plotter for position detection hand from the position measuring plotter
The installation position of the step is defined as a first origin of spatial coordinates, and the first origin position
A relation pair that includes at least two points that are reference points for coordinates from the position
First coordinates calculated by measuring the coordinates of the elephant and the position detection
The means is installed at a position different from the installation position, and the position
Is defined as a second origin of the spatial coordinates, and the second origin is determined from the second origin position.
A relation including at least two points serving as reference points in one coordinate
The second coordinates calculated by measuring the coordinates of the object are
Rotate one of the points in a horizontal plane, and
Synthesize by matching the reference point at the first coordinate and the second coordinate
And a computing means for creating the plan view . Here, it is needless to say that a plurality of position measurement plotters are not necessarily required at the same time, and that the same device can be used at the same time by moving the position appropriately and being used in a plurality of cases. Also, prior to the work of matching the reference points,
Thus, the reference point is separately obtained from the first coordinates and the second coordinates.
It is characterized in that the distance between them is calculated and compared. What
The distance between the reference points calculated from each coordinate is within the tolerance.
Match the reference point when it is determined that
If work is performed and it is not determined that
Measurement of either one of the first coordinate and the second coordinate must be performed again.
And

[0009]

For example, it is assumed that this position measurement plotting apparatus is used for preparing a site sketch of a traffic accident site. A position measurement plotter is set at an appropriate position on the accident site, and the coordinates (first coordinates) of a predetermined related object are measured to acquire data (1).
Second measurement). If it is not possible to acquire coordinate data for all of the related objects while the position measurement plotter is set at the one position, the position measurement plotter is moved to a position where the target that could not be captured can be captured. And set it.

Next, the coordinates of the related object including the coordinates (reference points) of the object such as telephone poles, road signs, and street lamps measured in the first measurement are measured (second measurement). If this reference point is superimposed on the position of the coordinates (first coordinates) measured in the first measurement, the object coordinates measured in the second measurement will be the coordinates in the coordinate system measured in the first measurement. Is calculated.

Therefore, the coordinates of each related object obtained in the second measurement can be converted to the coordinate system of the first measurement. If there is an object that cannot be measured even in the first and second measurements, the position measurement plotter is moved to another new position, measured, and coordinate-transformed, thereby being acquired by a plurality of position measurement plotters. The coordinates of the object can be converted to a common coordinate system, and can be created as one floor plan. Moreover, the standard obtained in the first and second measurements
If the coordinates are converted when the distance between the points is equal,
An almost accurate floor plan can be created.

[0012]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a position measuring and plotting apparatus according to the present invention.

FIG. 8 is a perspective view showing a state in which a target 2 which is a target of the position measuring and drawing apparatus according to the present invention is fixed to a pole 1. The target 2 is fixed to the pole 1. Both ends of the pole 1 are sharply formed as stone projections 3a and 3b, and when indicating a position to be measured, one of the stone projections 3a and 3b is used to determine the position of the ground or road surface. The pole 1 is put upright against the part to be measured. Then, light for distance measurement (ranging light) emitted from a position detecting means described later is reflected by these targets 2 in a predetermined direction.

FIG. 9 shows a schematic configuration of the position detecting means 4 and the target 2. The target 2 is an LED
And a reflector 22 such as a corner cube. Light incident on the target 2 is reflected by the reflector 22 in a predetermined direction. Also,
As shown in FIG. 10 (a), the light source 21 is disposed in a circular shape surrounding the reflector 22, and the light source 21 is also disposed at the center of the reflector 22. In this arrangement the light source 21 to the central portion as the image of the circular light source 21 becomes relatively large at the time of short-distance measurement, the image of the light source 21 to the four light-receiving elements to be described later are arranged in a circular shape Light source 21
It is possible to prevent the trapped light from entering the light receiving element from being stopped, thereby improving controllability.

As shown in FIG. 9, the position detecting means 4 includes a distance measuring light emitting element 4a as a distance measuring light emitting section and a distance measuring light receiving element 4b as a light receiving section. The ranging light emitted from the light emitting element 4a toward the target 2 is reflected by the reflector 22 and captured by the light receiving element 4b. The light emitted from the light emitting element for distance measurement 4a passes through the beam splitter 4c, is reflected by the beam splitter 4d in a substantially right angle direction, and is projected on the target 2. And
The reflected light from the target 2 is reflected by the beam splitter 4d, further reflected by the beam splitter 4c, and incident on the light receiving element for distance measurement 4b. A capture light receiving unit 5 for capturing the target 2 is disposed behind the beam splitter 4d. Light emitted from the light source 21 of the target 2 passes through the beam splitter 4d and is transmitted to the capture light receiving unit 5. It is designed to be incident. Note that the beam splitter
An objective lens 4e is provided in front of 4d.

[0016] As shown in FIG.
It is composed of a multi-segment light receiving element such as a four-segment light receiving element.
The output signals of 5c and 5d are input to the position calculating means. Now, assuming that the output voltage values of these light receiving elements 5a, 5b, 5c, 5d are Ea, Eb, Ec, Ed, respectively, in the above position calculating means, for example,

(Ea + Eb)-(Ec + Ed) = K

(Ea + Ec)-(Eb + Ed) = L is calculated. These output voltage values Ea, Eb, Ec, Ed
Changes in incident position on the capturing light receiving unit 5, four equation (1) output voltage is not both "0" and the number two formulas value K, when L both become "0", 5 As shown by the symbol P, the light from the light source 21 is incident on the central portion of the capture light receiving section 5, and the capture light from the light source 21 is uniformly incident on the light receiving elements 5a, 5b, 5c, 5d.

Next, the configuration of a position measurement plotting apparatus according to the present invention will be described with reference to FIGS.

FIG. 12 shows a site such as a traffic accident where a site sketch is to be created. A photographing means 6 such as a television camera (see FIG. 14) and a position detecting means 4 are combined at an appropriate position on the scene. A measuring head 11 is installed to photograph the situation at the site. The optical axis of the position detecting means 4 incorporated in the measuring head 11 and the optical axis of the photographing means 6 are parallel to each other. The photographing means 6 captures the target 2 near the center of the screen, and as described above. When the direction of the measuring head 11 is controlled such that the output voltages of the four-divided light receiving elements are not all “0” but both the values K and L of Expressions 1 and 2 are “0”, the target The optical axis of the position detecting means 4 penetrates the center of 2. The measuring head 11 is supported by a vertical rotating means 11a for appropriately tilting the direction of the measuring head 11 in a vertical plane and a horizontal rotating means 11b for appropriately tilting the direction in a horizontal plane. Rotating means 11
The measuring head 11, that is, the position detecting means 4
The optical axis S (see FIG. 9) can be changed in an appropriate direction.

A control unit 13 shown in FIG. 13 is connected to the measuring head 11 by a cable 12, and the control unit 13 includes the position calculating means. The control unit 13 includes an image display means 14 such as a CRT for displaying an image photographed by the photographing means 6 incorporated in the measuring head 11, and a computer 15 for performing input / output processing and calculations. . Further, a mouse 16 which is an input means for inputting predetermined information relating to a site sketch to be drawn and an XY plotter 17 for printing the sketch are connected to the computer 15. The control unit 13 is supplied with power from a backup power supply 18, and the backup power supply 18
18a can be connected to commercial power
It can be connected to the vehicle battery via b.

FIGS. 14 and 15 are block diagrams showing the configuration of the position measurement plotting apparatus and a part of signals. The light source 21 such as an LED is driven by an LED lighting circuit 21a, and the LE
The D lighting circuit 21a drives the light source 21 according to an output signal of a state detection sending circuit 23 for detecting states of various switches provided on the pole 1.

The captured light emitted from the light source 21 is captured by the captured light receiving unit 5 of the measuring head 11, and the output signal of the captured light receiving unit 5 is included in the captured light from the light source 21 of the control unit 13. State detecting means 13a for detecting the state of the pole 1 from the signal
And the optical axis shift amount detecting means 13b for detecting that the captured light from the light source 21 is incident on an appropriate position of the captured light receiving section 5. The distance measuring light emitted from the distance measuring light emitting element 4a of the measuring head 11 and reflected by the reflector 22 of the target 2 is incident on the lightwave distance meter 13c to enter the target 2
The distance to is measured. This lightwave distance meter 13c is operated by a distance meter control command signal 13e from the computer 15e.
The reflection mirror ranging data 13d is output to the computer 15a. The measuring head 11 is supported by the vertical rotation means (elevation motor) 11a and the horizontal rotation means (slewing motor) 11b, and these motors 11a and 11b are driven by an angle command motor control signal 13f from a computer 15a. . An elevation encoder 11c and a rotation encoder 11d are connected to the motors 11a and 11b, respectively.The rotation angle position of each of the motors 11a and 11b is an angle reading counter connected to the encoders 11c and 11d. Detected at 13g.

On the other hand, the photographing means 6 is controlled by a camera control signal 13h sent from the computer 15e of the control section 13. Also, a TV image 13i output from the photographing means 6
Is a computer having an image switching function as shown in FIG.
15d and the still image holding means 13m.

When the output of the state detecting means 13a is a measurable signal, the reflecting mirror position data 13j is calculated by the computer 15a from the reflecting mirror distance measurement data 13d and the angle data of the output of the angle reading counter 13g. The reflector position data 13j obtained, the computer 15c has I rows sketch drawing process, is used as data for creating a sketch data 13n. Further, the optical axis shift amount detecting means 13
b and the output of the angle reading counter 13g are the angle movement command signal 13
It is calculated by the computer 15b together with k and output as the angle command motor control signal 13f. Also, the above T
The V image 13i is sent to the computer 15d and the still image holding means 13m, and the output of the still image holding means 13m is
Sent to 15d. Furthermore, the above sketch data 13n
Are also input to the computer 15d, and are sent to the image display means 14 in a switchable manner through the computer 15f for synthesizing the image.
, The still image held by the still image holding means 13m, and the sketch data 13n being created or completed can be selected and displayed.

The computer 15c creates sketch data 13n according to the drawing command signal 13o, and generates the sketch data 13n.
13n is stored in the disk 13s from the disk drive 13r. In addition, characters and symbols, sketch frames 13t or symbols and drawing patterns 13u stored in the disk 13s in advance.
For example, data relating to plotting is provided from the disk drive 13r to the computer 15c.

The output signal of the mouse 16 is sent to a mouse driver 16a, and the mouse / cursor display signal 16b output from the mouse driver 16a is sent to the computer 15f.
To the image display means 14
And various control signals 13x are issued to predetermined parts by the computer 15e. The computer 15e also receives predetermined screen data 13y for various commands from the disk drive 13r, compares the screen data 13y with the mouse / cursor display signal 16b, and generates various control signals 13x to be issued to predetermined portions. Screen data for various instructions 13
y is sent to the computer 15f and displayed on the image display means 14, and is used as a display when instructing various commands with the mouse 16. The sketch drawing command signal 17a among the various control signals 13x is sent to the plotter controller 17b, and the XY plotter 17 is driven by the plotter controller 17b.

The operation of the position measurement plotting apparatus according to the present invention configured as described above will be described together with the situation where a floor plan is prepared.

As shown in FIG. 12, a measuring head 11 is installed at an appropriate position on the site where a sketch is to be created. Since the measuring head 11 is provided with the position detecting means 4, the position detecting means 4 is also arranged at the site. On the other hand, the pole 1 on which the target 2 is attached is held at a position where coordinates are to be measured, and the light source 21 and the reflector 22 of the target 2 are held.
To the measurement head 11. The image photographed by the photographing means 6 provided in the measuring head 11 is displayed on an image display means.
The mouse 16 is operated to give an instruction so that the target 2 is photographed on the target 14, and the vertical angle and the horizontal angle of the measuring head 11 are adjusted by the angle movement command signal 16k.

When the photographing means 6 of the measuring head 11 captures the target 2 near the center of the screen, the captured light emitted from the light source 21 of the target 2 enters the captured light receiving section 5 of the position detecting means 4. The light source 21 of the target 2
The captured light emitted from the device is captured by
Incident on the light receiving element 5 of the trapped light receiving section 5
The light is incident on at least one of a, 5b, 5c, and 5d. The computer 15a, which is a position calculating means, performs the calculations shown in the above-described equations (1) and (2) from the output signal of the optical axis shift amount detecting means 13b, and calculates these equations (1) and (2).
An angle command motor control signal 13f, which is an operation signal, is sent to the vertical rotation means 11a and the horizontal rotation means 11b so that the values K and L in the equation become equal to or less than predetermined values. That is, when the vertical rotation unit 11a and the horizontal rotation unit 11b operate based on this operation signal, the direction of the optical axis of the position detection unit 4 changes, and the incident position on the capture light receiving unit 5 also changes. . While the change is monitored by the position calculation means, the position detection means 4 is appropriately rotated by the vertical rotation means 11a and the horizontal rotation means 11b, so that the captured light from the light source 21 is received by the light receiving elements 5a, 5b, 5c. , 5d
So that the distance measuring light from the distance measuring light emitting element 4a of the position detecting means 4 is reflected by the reflector 22 of the target 2 and enters the distance measuring light receiving element 4b at that position. In this case, the distance measuring light projected toward the target 2 from the distance measuring light emitting element 4a is reliably transmitted to the distance measuring light receiving element 4a.
4b can be captured.

That is, if the distance measuring light emitted from the distance measuring light emitting element 4a is captured by the distance measuring light receiving element 4b, a straight line from the position detecting means 4 to the target 2 is obtained by the well-known principle of a light wave distance meter. The distance can be measured. The angle rotated by the vertical rotation means 11a is the elevation angle or depression angle from the position detection means 4 to the target 2 in the vertical plane, and the angle rotated by the horizontal rotation means 11b is the swing angle in the horizontal plane ( Therefore, the spatial coordinates (three-dimensional coordinates) of the target 2 can be calculated from the linear distance and the elevation angle, the depression angle, and the deflection angle.

The means for calculating the spatial coordinates of the target 2 will be described with reference to FIG. The position to be measured is indicated by the symbol Q, and the stone projection 3 of the pole 1 is protruded at the position Q. The XYZ coordinates of the measurement reference point of the measurement head 11 are (0,
0, 0) and the coordinates of the measurement position Q are (DX, DY, D
Z). The origin optical axis of the measuring head 11 is defined as T ₀ , the direction is defined as the X-axis direction, the direction of the rotating axis (elevation axis) of the vertical rotating means 11 a of the measuring head 11 is defined as the Y-axis direction, and The direction of the turning axis (turning axis) of the turning means 11b is defined as the Z-axis direction. Then, the position detecting means 4 of the measuring head 11
The distance to the target 2 obtained by measuring the aiming of the target 2 with the target 2 is DS, and the rotation angle of the turning axis is AZ.
す る と If the rotation angle of the elevation axis is EL ゜, target 2
Since the distance DD from the to the stone protrusion 3 is known,

[Expression 3] DX = DS × COS (EL) × COS (AZ)

DY = DS × COS (EL) × SIN (AZ)

## EQU5 ## The spatial coordinates of the measurement position Q can be calculated by DZ = DS × SIN (EL) -DD. When the target 2 is on the origin optical axis T ₀ , AZ = 0 °, E
Since L = 0 °, DX = DS, DY = 0, DZ = −
DD.

As shown in FIG. 12, electric poles 51 and 52, street lamps 53, road signs 54, pedestrian crossings 55, etc., which are related objects to be measured, are indicated by the pole 1 and their spatial coordinates are measured. When the spatial coordinates regarding these related objects are obtained, the coordinates are projected on a horizontal plane. Then, a site sketch as shown in FIG. 17 is created from these projected coordinates. It should be noted that the creation of the site sketch is performed while the image is displayed on the image display means 14 described above, and may be printed by the XY plotter 17.

Next, based on FIGS. 1 to 7, in the case where the number of reference points is two, the traffic accident data obtained by superimposing the data of the accident site already acquired and the data of the accident site newly acquired are superimposed. A procedure for creating a floor plan for the site will be described. That is, depending on the traffic accident site,
When the measuring head 11 is fixed at one position, it may not be possible to measure the entirety of the site. In this case, the measuring head 11 may be moved to another position, or a plurality of measuring heads 11 may be moved. Is fixed at a predetermined position, data is acquired at each position, and data acquired at one position and another position must be superimposed. For example first, as shown in FIG. 1 performs measurement at a measuring head 11 to P ₁ (1-th measurement), then if must perform measurements at a measuring head 11 in the P ₂ occurs (second measurement ). In such a case, a single floor plan must be created by superimposing the data acquired at the respective positions of P ₁ and P ₂ .

First, two appropriate components as reference points are determined. The reference point is the street lamp 53 and the utility pole 51 of Figure 1, the two places as the first measurement result, the P ₁ (0,0,
0), the streetlight 53 (X1, Y1, Z1), the telephone pole 51 (X2,
(Y2, Z2). P ₂ coordinates of the first measurement as shown in FIG. 1 (XX, YY, ZZ) case of performing the second measurement at the origin optical axis T ₂ from the position of, the (X
X, YY, synthetic by obtaining the angle S0 value and T ₁ and T ₂ of the ZZ) performed. As shown in FIG. 2, the second measurement
In the P ₂ and (0,0,0) T ₂ direction reference by the measurement of FIG. 16, streetlights 51 coordinates (XA (1), YA ( 1), ZA (1)), utility pole 53
The coordinates (XB (1), YB (1), ZB (1)) are obtained. FIG.
Step 601 shown in the flow chart of this step is to calculate the distances L1 and L2 between the two points of the streetlight 53 and the telephone pole 51 of the first and second measurements of the step 602 in the equations (6) and (7). Step 603 A judgment is made.

[6] L1 = {(X2-X1) 2 + (Y2-Y1) 2 + (Z2
−Z1) ² ｝ ^1/2

L2 = ｛(XB (1) −XA (1)) ² + (YB (1) −
YA (1)) ² + (ZB (1) −ZA (1)) ² ｝ ^1/2 Steps 601 to 603 confirm that the same point has been measured in the first and second measurements. The determination is made based on whether or not the difference between the lengths of L2 and L2 is within the range of the allowable value. If not within the allowable range, there is a possibility that the same point has not been measured, so the flow returns to step 601 and the measurement is performed again.

If it is confirmed in step 603 that the same point has been measured in the first and second measurements, in step 604 the angle S0 formed by the origin optical axes T ₁ and T ₂ of the _first and second measurements. Is calculated by Expression 8, Expression 9, and Expression 10. 1
The straight angle S1, drawn utility pole 51 than street lamp 53 for T ₁ of the times th measurement, obtained from equation (8).

S 1 = TAN ⁻¹ {(Y 2 −Y 1) / (X 2 −X 1)} The angle S 2 formed by the straight line drawn from the streetlight 53 to the telephone pole 51 with respect to T _{2 in the} second measurement is obtained from Expression 9.

S2 = TAN ^-1 {(YB (1) -YA (1)) / (XB
(1) -XA (1)) } S1, S2 origin optical axis T _1, T ₂ of the angle S0 than the number 10
Obtain from the formula.

S0 = (S1-S2)

[0035] than the angle S0 calculated at step 604, the coordinates of _{P 2 (XX, YY, ZZ} ) is calculated to obtain the a step 605 and 606. As shown in FIG. 3 (a), the street lamp 53 a second measurement as the center of rotation P ₂ To meet the first measurement, to rotate the utility pole 51. The coordinates after rotation are represented by (XA (2), YA (2), ZA (2)), (XB
(2), YB (2), ZB (2))

XA (2) = XA (1) × COS (S0) −YA (1) × SIN (S0)

YA (2) = XA (1) × SIN (S0) + YA (1) × COS (S0)

## EQU13 ## ZA (2) = ZA (1)

XB (2) = XB (1) × COS (S0) −YB (1) × SIN (S0)

YB (2) = XB (1) × SIN (S0) + YB (1) × COS (S0)

(16) ZB (2) = ZB (1)

[0036] The coordinates of the rotation corrected street lamp 53 at step 605 to translate to conform with the measured street lamp 53 of coordinates from P ₁ (step 606). The amount of movement i.e. first coordinate of _{P 2 (XX, YY, ZZ} ) will indicate a position on. FIG. 3B shows this translation.

XX = X1-XA (1)

## EQU18 ## YY = Y1-YA (1)

[Equation 19] ZZ = Z1−ZA (1) The coordinates after moving the telephone pole 51 are (XB (3), YB (3), ZB (3)).
Then

XB (3) = XB (2) −XA (2) + X1 = XB (2) + XX

YB (3) = YB (2) −YA (2) + Y1 = YB (2) + YY

ZB (3) = ZB (2) −ZA (2) + Z1 = ZB (2) + ZZ

The coordinates of the utility pole 51 calculated in step 606 should match the coordinates (X2, Y2, Z2) of the utility pole 51 in the first measurement (they do not completely match because of measurement errors). Often). This check is performed in step 607.

XB (3) −X2 <allowable range

[Equation 24] YB (3) −Y2 <allowable range

## EQU25 ## ZB (3) -Z3 <allowable range

The conversion formula If with XYZ directions is a value within the allowable range is completed at step 606, the coordinates of the object measured at the origin optical axis T ₂ reference at P ₂ point (XN (1), YN
(1), ZN (1)) are converted on the first measurement coordinates as follows.座標 Coordinates after conversion: (XN (3), YN (3), ZN
(3))｝ Angle rotation correction

XN (2) = XN (1) × COS (S0) −YN (1) × SIN (S0)

XN (2) = XN (1) × SIN (S0) + YN (1) × COS (S0)

[Expression 28] ZN (2) = ZN (1) translation correction

XN (3) = XN (2) + XX

[Equation 30] YN (3) = YN (2) + YY

[Formula 31] ZN (3) = ZN (2) + ZZ

If the horizontal adjustment of the measuring head 11 with respect to the ground at the time of the first and second measurements is sufficiently adjusted so as not to affect the required measurement accuracy, step
The error in the Z direction in checking 606 is kept within an allowable range. However, such a horizontal adjustment is practically difficult in practice, so that a method of correcting by calculation when an error occurs is more practical. 4 and 5 (a),
FIG. 5B and FIG. 7 show an embodiment of this calculation correction.
In FIG. 4, as a result of performing the coordinate conversion in steps 601 to 606, the coordinates of the electric pole 51 become (XB (3), YB (3), ZB (3)) and the first measurement data (X2, Y2, Z2). ).

As shown in FIG. 4, at step 701, the streetlight 5
The third coordinate performing parallel movement so that P _1. After this movement, the coordinates of the first measurement data of the telephone pole 51 are changed to (X3, Y3, Z3
) The second measurement coordinates are (XB (4), YB (4), ZB
(4)), the first measurement data coordinates

X3 = X2-X1

[Equation 33] Y3 = Y2-Y1

[Equation 34] Z3 = Z2-Z1 Second measurement coordinate

XB (4) = XB (3) -X1

(36) YB (4) = YB (3) -Y1

ZB (4) = ZB (3) -Z1

As shown in FIG. 5A, in step 702, the coordinates of the electric pole 51 are rotated by S3 so that the Y-direction component is eliminated. The coordinates of the first measurement data after this movement are (X
4, Y4, Z4) The second measurement coordinates are (XB (5), YB
(5), ZB (5))

S3 = TAN ^-1 (YB (4) / XB (4)) First measurement data coordinates

X4 = X3 × COS (S3) −Y3 × SIN (S3)

[Equation 40] Y4 = X3 × SIN (S3) + Y3 × COS (S3)

[Formula 41] Z4 = Z3 Second measurement coordinates

XB (5) = XB (4) × COS (S3) −YB (4) × SIN (S3)

[Expression 43] YB (5) = XB (4) × SIN (S3) + YB (4) × COS (S3)

[Formula 44] ZB (5) = ZB (4)

FIG. 5B is a view of FIG. 5A viewed from the AA direction (the Z-axis direction is the vertical direction of the paper).
The shift amount S4 of the first and second measurements is exaggerated. If the second measurement value is rotated by the angle S4, which is the amount of deviation, the directions of the first and second measurement values match. (Step 703) The second measurement coordinates after this movement are set to (XB
(6), YB (6), ZB (6))

S4 = TAN ^-1 (Z4 / X4) -TAN ^-1 (ZB (5) / XB (5)) Second measurement coordinate

XB (6) = XB (5) × COS (S4) −ZB (5) × SIN (S4)

[Equation 47] YB (6) = YB (5)

[Expression 48] ZB (6) = XB (5) × SIN (S4) + ZB (5) × COS (S4)

The matched first and second coordinates are converted to the original (X
2, Y2, Z2), FIG. 4, FIG. 5 (a),
The angle S rotated to calculate the angle of the shift amount in (b)
3, and the coordinates of the final utility pole 51 returns the amount of moving parallel to the P ₁ becomes (XB (8), YB ( 8), ZB (8)). this is,
It matches the first measurement data (X2, Y2, Z2). (Steps 704, 705)

XB (7) = XB (6) × COS (−S3) −YB (6) × SIN (−S3)

YB (7) = XB (6) × SIN (−S3) + YB (6) × COS (−S3)

[Formula 51] ZB (7) = ZB (6)

XB (8) = XB (7) + X1

[Equation 53] YB (8) = YB (7) + Y1

[Expression 54] ZB (8) = ZB (7) + Z1

[0044]

As described above, according to the position measurement plotting apparatus according to the present invention, the first position of the object acquired by the position measurement plotting apparatus set at the position of the first measurement is obtained.
The coordinates and the second coordinates acquired by the position measurement plotter set at the position of the second measurement are superimposed, and the first position acquired at the position of the first measurement set by the position measurement plotter is set. The coordinates in the coordinate system were calculated, and the coordinates acquired in the second measurement were converted to the coordinate system of the first coordinates. Therefore, for the related object, the coordinates were acquired in each of the first measurement and the second measurement. By combining the coordinates, one plan view can be created.

Therefore, even in a traffic accident or the like, even if it is not possible to measure the positions of all the related objects only at one position, the position measuring / drawing device is moved to another position to change the positions of the related objects. It can be measured and almost accurate site sketches can be created.

Further, since it is possible to compose even if the position for setting the position measurement plotting device is different, for example, the position of the related object relating to the newly-occurred traffic accident is added to the site sketch created in the past traffic accident. Can be synthesized. Therefore, the on-site verification work can be performed in a short time, and traffic congestion and the like can be prevented as much as possible.

[Brief description of the drawings]

FIG. 1 is a schematic plan view of an accident site showing a case where two sketch positions are measured by a position measurement plotting apparatus according to the present invention when creating a sketch of the traffic accident site.

FIG. 2 is a diagram for explaining the contents of processing in a flowchart shown in FIG. 6;

FIG. 3 is a diagram for explaining the contents of processing in the flowchart shown in FIG. 6;

FIG. 4 is a diagram for explaining the contents of the processing of the flowchart shown in FIG. 7;

5A and 5B are views for explaining the contents of the processing of the flowchart shown in FIG. 7, and FIG. 5B is a view taken along the line AA in FIG.

FIG. 6 is a flowchart illustrating a procedure for combining results measured from two measurement positions.

FIG. 7 is a flowchart illustrating a procedure for combining results measured from two measurement positions.

FIG. 8 is a perspective view of a pole on which a target used in the position measurement plotting apparatus according to the present invention is fixed.

FIG. 9 is a schematic diagram illustrating the structure of a device for aiming at a target of a position detection unit.

FIG. 10 is a diagram showing a schematic configuration of a target;
Is a front view, and (b) is a side view.

FIG. 11 is a schematic perspective view illustrating the structure of a capture light receiving unit.

FIG. 12 is an explanatory diagram of a site provided for creating a site sketch.

FIG. 13 is a schematic configuration diagram of a control unit relation of the position measurement plotting device.

FIG. 14 is a block diagram showing a part of the configuration of a target and a position measurement plotting apparatus, a part of which is shown overlapping with FIG. 15;

FIG. 15 is a block diagram showing a part of the configuration of the target and the position measurement plotting apparatus, and a part thereof is shown overlapping with FIG. 14;

FIG. 16 is a schematic perspective view for explaining calculation of a specified designated measurement position.

FIG. 17 is a site sketch drawing of a site created by the position measurement plotting apparatus according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Pole 2 Target 3a, 3b Stone protrusion 4 Position detecting means 4a Distance measuring light emitting element 4b Distance measuring light receiving element 5 Capture light receiving section 11 Measurement head 11a Vertical rotating means 11b Horizontal rotating means 13 Control section 14 Image display means 15 Computer 16 Mouse 17 XY plotter 18 Backup power supply 21 Light source (capturing light emitting unit) 22 Reflector

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G01C 15/00-15/14

Claims (2)

(57) [Claims] A reflector provided at a position of an object to be measured;
And projecting light toward the target reflector
To receive and capture the reflected light from the light emitting section and the reflector.
A plan view from the distance and its direction are measured and a position detecting means for detecting the spatial coordinates of the target, a number of spatial coordinates detected for a number of target positions by the position detecting means to the target by the In the position measurement plotting device to be created, the installation position of the position detecting means of the position measurement plotting device
The first origin of coordinates, and a reference point of coordinates from the first origin position
Measuring the coordinates of the related object including at least two points
Calculating the calculated first coordinates and the position detection means to the installation position;
Installed in a different location from the
A point and a reference in the first coordinates from the second origin position
Measures coordinates of related objects including at least two points
And the calculated second coordinate is used to calculate one of the origins.
Rotated in a horizontal plane, and the first coordinates and the second coordinates
The reference points are matched and combined to create the plan view.
A position measuring and plotting apparatus, comprising a calculating means for performing the operation . And a reflector provided at a position of an object to be measured.
And projecting light toward the target reflector
To receive and capture the reflected light from the light emitting section and the reflector.
To measure the distance to the target and its direction
Position detecting means for detecting the spatial coordinates of the target.
In addition, the position detecting means relates to many target positions.
To create a floor plan from a large number of spatial coordinates
In the position measurement plotter, The installation position of the position detection means of the position measurement plotter is
The first origin of coordinates, and a reference point of coordinates from the first origin position
Measuring the coordinates of the related object including at least two points
To calculate the first coordinates, and the position detecting means
Installed in a different location from the
A point and a reference in the first coordinates from the second origin position
Measures coordinates of related objects including at least two points
To calculate the second coordinates, The distance between the reference points is separately calculated from the first coordinates and the second coordinates.
The distance between the reference points calculated from the coordinates by comparing and calculating the separation
Is approximately equal, one of the origins Horizontal
Rotated in a plane and at the first and second coordinates
Create the plan view by matching the reference points
Position measuring and plotting device, characterized by comprising arithmetic means
Place.