JPH03125926A - Surface level measuring apparatus, volume measuring apparatus and measurement of volume - Google Patents

Abstract

PURPOSE:To analyze the spatial position of a surface to be measured over a wide range by providing an image sensing apparatus with an image sensing center which approximately agrees with the object point to be measured of a light wave range finder and sequentially setting points to be measured by a remote control while viewing a monitor. CONSTITUTION:A measuring unit 1, integrated with a light wave range finder 2 and an image sensing apparatus 3, is mounted to a measuring mast via a rotating device with two orthogonal axes as directed to the surface 4a of an object 4 to be measured. A point P to be measured by the range finder 2 and the image sensing center of the image sensing apparatus approximately agree with each other. The two-axle motor of the rotating device is driven on the basis of a remote control signal (c) transmitted from the controller 63 of a ground apparatus 6 via a cable 5. An operator operates a joy stick 64 while viewing the image of the object 4 to be measured on a monitor 62, scans the point P to be measured by the surface 4a in biaxial directions and collects distance data (a) on numerous sampling points. Thus, even when the unit 1 is positioned on a high place or on an inconveniently located place, the point P to be measured can be easily set to a desired position on the target surface 4a.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for measuring the surface level of the earth's surface or deposited substances, and a volume measuring device and volume measuring method using this level measuring device.

[Conventional technology]

Light wave distance meters are used in civil engineering surveying and other applications, and measure the distance to an object by emitting measurement light from a light source and measuring the phase shift between the reflected light from the object and the emitted light. In general, this type of light wave distance meter can measure distances of several hundred to several meters with high precision by placing a reflective prism at the measurement point, but
For distances of about 0.00 m, there are some that can be measured using direct reflected light without using a reflective prism.

Direct reflection types allow measurement of target surfaces where it is not possible to place a reflector at the measurement point.

For example, it can be applied to devices that monitor landslides, lava flows, lahar flows, etc., and snow gauges.

[Problem to be solved by the invention]

In applications such as those described above, it is necessary to efficiently measure data at a large number of sampling points on a relatively wide surface using a rangefinder. For this reason, the pedestal of the rangefinder is designed to be latitude and latitude type so that the measurement direction can be changed freely.However, if the rangefinder is installed at a high place with poor footing or in a poor biological environment, it is difficult to set the rangefinder at a large number of desired measurement points. It becomes difficult to do the work. Furthermore, even if standard work is possible, it requires a large amount of time for measurement, which is impractical.

Also, depending on the shape of the target surface, place the rangefinder at a high place.
It becomes necessary to be able to efficiently receive the reflected light from the target surface.

In view of this problem, it is an object of the present invention to make it possible to efficiently measure distance data to a large number of sampling points on a measurement surface, and to facilitate analysis of the spatial position of a surface over a relatively wide range.

Another object of the present invention is to provide a method for determining the volume of deposits forming a surface based on spatial location data of the surface.

[Means to solve the problem]

The surface level measuring device of the present invention includes a light wave distance meter that measures the distance to a target surface using a phase difference between irradiated light and reflected light;
an imaging device having an imaging center that substantially coincides with the measurement target point of the lightwave distance needle; and receiving a remote control signal to move the measurement target point and image center of the lightwave distance meter and the imaging device along the target plane. A remote control device includes an orthogonal biaxial swing device, a monitor device that displays an image transmitted from the imaging device, and a controller that transmits the remote control signal to the swing device, and It is characterized by obtaining a large amount of surface level data on the target surface based on the distance data transmitted from the range finder.

The surface level data is obtained as spatial coordinate data based on the spatial coordinate position of the distance meter and the distance data to the surface. At this time, it is necessary to correct the distance data using the rangefinder swing angle data.

A large number of curves on the surface are determined from the surface level data, and by integrating these curves, the volume of the material forming the surface is determined.

[For production]

When measuring distances at a large number of sample points over a wide area of the target surface, the measurement points are set one after another by remote control while looking at the monitor, which frees up the installation position of the rangefinder and makes it possible to measure distances based on direct reflected light. You can choose the installation location for efficient operation.

〔Example〕

FIG. 1 shows the main parts of a surface level measuring device to which the present invention is applied. This surface level measuring device is used, for example, to measure the volume of piles of iron ore.

The measurement unit 1 integrates a light wave distance meter 2 and an imaging device 3, and measures the surface 4 of an ore 4 on a measurement mast several tens of meters long.
It is installed facing a. The measurement point P of the range finder 2 and the imaging center of the imaging device 3 almost match.

The optical rangefinder 2 emits pulsed light 21 from a light emitting element 20 onto the ore surface 4 via an objective lens 22, focuses a portion 21a of the reflected light from the ore surface 4a with the objective lens 22, and converts it into a half mirror 23. The optical system is configured so that the light is incident on the light receiving element 24 from above. In addition to this, a known optical system such as a parallel biaxial type may be used. A measuring circuit built into the optical distance system 2 measures the distance to the ore surface 4a based on the phase difference between the emitted pulse and the received light pulse.

Measurement data a of the optical distance meter 2 is transmitted to the computer 61 of the ground equipment 6 via the cable 5. In the computer 61, a surface level value is calculated by subtracting the measured distance to the ore surface 4a from the known distance from the measuring unit 1 to the horizontal reference plane.

In reality, a large number of measurement data are obtained while scanning the measurement point P on the ore surface 4a, so it is necessary to correct the data by multiplying it by the sine and cosine of the angle that the optical axis of the rangefinder 2 forms with the vertical line. There is.

The imaging device 3 integrated with the measurement unit 1 includes an objective lens 30
and an image sensor 31 such as a CCD, and image light 32 from a relatively wide range of the ore surface 4a centered on the measurement point P.
Outputs a video signal compatible with

The objective lens system is equipped with a focus control means so that a clear image of the surroundings of the measurement point can be obtained by autofocus or remote control.

The video signal is sent to the monitor 6 of the ground equipment 6 through the cable 5.
2, and the image on the surface 4a is displayed. In addition, corresponding to the measurement point P of the rangefinder 2, “
A standard mark such as “+” will be displayed.

The measuring unit 1 is attached to a measuring mast via a swinging device 10 having two orthogonal axes as shown in FIG. The swinging device 10 includes a Y-axis 11aSY-axis motor llb,
The measurement point can be displaced in the Y-axis direction. Measuring unit 1, Y
The shaft 11a and the Y-axis motor 11b are provided on the arm 12, and the whole is angularly displaced in the X-axis direction by the X-axis 14a and the X-axis motor 14b provided on the base 13.

The Y-axis motor flb and the X-axis motor 14b are each provided with a rotary encoder 1IC114c that measures the angular displacement of each axis.

The Y axis 11a and the X axis 14a are parallel to the horizontal plane,
With this arrangement, measurement directly below is also possible.

If measurement directly below is not required, an arrangement in which the Y-axis 14a coincides with the vertical axis (Z-axis) is also possible.

Y-axis motor llb and X-axis motor 14 of the swinging device 10
b is driven based on a remote control signal C transmitted from the controller 63 of the ground equipment 6 through the cable 5.

The remote control signal C is generated based on the operation of the attached joystick 64.

The operator operates the joystick 64 while viewing the image on the monitor 62, and sets the measurement point P of the distance meter 2 at a necessary and sufficient number of sampling points on the ore surface 4a. At this time, the scanning range of the measurement point is controlled while watching the monitor 62 so that objects other than the target object (ore 4) are not measured. Note that the remote control signal C can also be automatically generated based on program control by the computer 61.

FIGS. 3A and 3B show a diagram of the principle of volume measurement of a pile of ore 4. A measuring unit 1 is installed at the upper end of a measuring mast 16 with a length of several tens of meters via a swinging device 10. As described above, operate the joystick 64 while viewing the image of the ore 4 on the monitor 62, and scan the measurement point P of the rangefinder 4a on the surface 4a of the ore 4 in each direction of the coordinate axes X and Y on the reference plane R. Then, distance data a is collected at a large number of sampling points.

Let α and β be the inclinations of the optical axis of the distance meter 2 in the Y-axis direction and the X-axis direction with respect to the vertical line, and let H be the height from the reference plane R to the distance meter 2, then the surface level of the ore 4 at the measurement point P h
is determined by h=H−a cosa sinβ. Also, the XY coordinates of the measurement point P are y-asinβ
It is determined by cosα x−asinαcosβ.

Note that when the Y-axis 14a of the swinging device shown in FIG. 2 is disposed in the vertical direction, the coordinate values are as follows: h=H-acosα y=asinα sinβ x=a 5ircr cosβ.

These calculations are performed by the computer 61 based on distance data a from the distance meter 2 and angle data α and β from the rotary encoders 11c and 114C for the Y and X axes. In this way, three-dimensional coordinates (X% y, h) are obtained for each measurement point of each intersection of the ore surface 4a divided into a grid. In addition, the remote control signal given to the swinging device 10, the X axis, the Y axis
If the oscillation angles of the shafts correspond correctly, the angle data α and β can be obtained from the remote control signal instead of providing the low-resolution encoders llc and 14c.

Next, for example, a large number of three-dimensional free curves such as spline curves passing through the series of measurement points arranged in the Y direction are calculated from the coordinate values of the series of points, and their definite integral values on the reference plane R are determined. By multiplying the sum of the integral values by the interval (constant value) of each spline curve in the X-axis direction, the approximate volume of the ore 4 can be determined.

The results are printed on a printer 65 connected to the computer 61.

In order to improve accuracy, a three-dimensional spline curve is generated in a lattice pattern on the ore surface 4a, and then the curved surface is divided into quadrilateral patches using the spline curve as a boundary, and is expressed by a parameter uSv along each month of the batch. A bicubic parametric surface such as a Coons surface may be generated.

The volume is obtained by multiplying the sum of definite integral values of many three-dimensional curves set on this curved surface by a constant.

If necessary, the distance measurement may be repeated several times and the average of the obtained volume values may be calculated. Or add measuring unit 1 and attach it to the measuring mast in another position,
Volume values may be obtained from different angular positions and averaged.

If the surface of a pile of ore, coal, sand, etc. to be measured follows a Gaussian curved surface, an approximated curve such as a Gaussian curve may be calculated instead of a three-dimensional free curve.

Although the above-described embodiment determines the volume of a pile of ore, etc. based on surface level measurements, surface level measurements can be applied to various other applications. For example, it can be used in a landslide monitoring system as shown in FIG. In this monitoring system, a measuring unit l is placed on a measuring mast 16 opposite a steep slope where landslides may occur. A plurality of stone markers 50 are placed on the slope as observation points, each point is referenced while viewing the image on the monitor 62, and the three-dimensional coordinates (horizontal position and height) of each observation point are determined based on the measured distance data. seek. By performing this work regularly and plotting the data using Profthalo 5, it is possible to observe the progress of landslides on slopes.

If data for standardizing the measurement unit 1 at each observation point is programmed into the computer 61, regular measurement work can be automated.

Furthermore, if the marker 50 moves and the measurement light deviates from the marker 50, the distance measurement value will change suddenly, so by detecting this, it is possible to generate a warning signal, etc. that foretells a large-scale landslide. .

〔Effect of the invention〕

According to the first aspect of the invention, the rangefinder can be referenced to a desired position on the target surface by the function of monitoring the target surface and the function of remotely controlling the reference point of the distance meter.

Therefore, even if the rangefinder is placed at a high place or in a place with poor footing, the measurement point can be easily and efficiently set at a desired position on the target surface.

In particular, when measuring distances based on direct reflected light from the target surface using a light wave distance meter, the angle between the surface and the measurement light should be set at 60".
Accurate measurement is difficult unless the angle of incidence is 30" or less, but even if the rangefinder is installed at a high place to ensure this angle, standard work is easy and it can be used over a relatively wide surface. Efficient measurement can be performed when a large number of sample points are set on the top.

According to the second aspect of the invention, since the distance data is corrected using the swing angle of the rangefinder, it is possible to accurately determine the surface level with respect to a reference plane such as a horizontal plane.

According to the third and fourth aspects of the invention, the volume of a pile of ore, etc. can be easily measured using the surface level measurement data without performing weight measurement or the like.

[Brief explanation of the drawing]

Fig. 1 is a system diagram of a surface level measuring device showing an embodiment of the present invention, Fig. 2 is a front view of the measurement unit shown in Fig. 1, and Fig.
The figure shows the principle of volume measurement, and Figure 4 is a conceptual diagram of the landslide monitoring system. In addition, in the symbols used in the drawings, ■・−・・・−・−・・−・−・・Measuring unit 2・
−−−−〜−−−−・〜・−・−Lightwave distance meter 3−・・−
−−−−・−・・−Imaging device 4・−−−−−−・−−
−−−−1−−・Ore 5−・−−−−1・−−−−−
-1.Cable 6...---------111 Ground equipment 10...-------- It is a swinging device.

Claims (1)

[Scope of Claims] 1. A light wave distance meter that measures the distance to a target surface using a phase difference between irradiated light and reflected light; and an imaging device having an imaging center that substantially coincides with a measurement target point of the light wave distance meter; an orthogonal biaxial swing device that receives a remote control signal and moves the measurement target point and imaging center of the optical range finder and imaging device along the object plane; and a monitor that displays images transmitted from the imaging device. and a controller that transmits the remote control signal to the oscillation device, the remote control device having a controller that transmits the remote control signal to the oscillation device, and calculates a large amount of surface level data on the target surface based on the distance data transmitted from the light wave distance meter. A surface level measuring device characterized in that: 2. Correction means for correcting the distance data based on angle data indicating swing angles in two axial directions of the swing device to obtain three-dimensional surface level data consisting of coordinate positions and heights on a reference plane. A surface level measuring device according to claim 1. 3. means for generating a group of three-dimensional curves extending in substantially the same direction on the target surface based on the three-dimensional surface level data of claim 2; and a means for generating a group of three-dimensional curves extending in substantially the same direction on the target surface; 1. A volume measuring device comprising means for determining the volume of a substance comprising a volume. 4. Measure each distance to a large number of sample points on the target surface while deflecting the optical axis of the optical distance meter, and use each distance measurement value and the corresponding deflection angle of the optical axis to A volume measuring method characterized in that dimensional coordinate values are determined, and based on the three-dimensional coordinate values, the volume of a substance forming the target surface on a reference plane is determined.