JPH076547Y2 - Automatic collimation lightwave rangefinder device - Google Patents

Description

[Detailed Description of the Invention] (Industrial field of application) The present invention, when measuring the position of a rocking body such as a sea work platform, automatically collimates with respect to the land origin, and also on both land and sea. The present invention relates to an automatic collimation optical distance meter for automatic collimation.

(Problems to be Solved by Conventional Techniques and Inventions) Conventionally, when determining the position of a rocking body such as a marine work platform, the special situation of the sea, that is, movement of the platform due to the shaking of the platform and the flow of seawater It was difficult to decide the position.

Therefore, the present applicant has proposed that the collimation lightwave rangefinder on a moving body can automatically track a reflecting mirror as a reference origin.
-Proposed No. 8221. Further, Japanese Patent Laid-Open No. 63-73178 describes an automatic collimation optical rangefinder device capable of automatic collimation both on land and at sea. However, in the device using these collimation light sources, there is a problem in that accurate and smooth (smooth) tracking is hindered by disturbances such as shading.

Further, conventionally, when determining the position of a rocking body such as a sea work platform, the distance between the collimating light wave rangefinder on the sea work table and the reference light source device having a corner prism installed on land, that is, the oblique distance is generally used. Along with the measurement, the height difference between the collimation light wave range finder and the reference light source device is measured in advance, and this is input, and the tide level that changes momentarily is also input each time, and the oblique distance is the horizontal distance. I was working on converting to (Act No. Sho 59-8221). This lowers the work efficiency, and there is a limit to the work for measuring the tide level, which hinders the position determination of the offshore workbench.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems of the related art, to provide stable collimation, and to provide an automatic collimation lightwave rangefinder device capable of quickly obtaining a horizontal distance.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides an optical distance meter rotatably supported in a horizontal direction and a vertical direction and an optical axis above or below the optical distance meter. An automatic collimation telescope mounted in parallel with the optical axis of the meter and an automatic tracking means for automatically tracking the optical distance meter and the automatic collimation telescope in the direction of the light emission source, wherein the automatic collimation telescope has its objective lens. A four-division light receiving element fixed near the focal point of the light source to form an image of the light from the light emission source, and the automatic tracking means outputs the pair of division elements facing in the horizontal direction of the four-division light receiving element and the vertical direction. An amplifier for differentially amplifying the outputs of a pair of divided elements facing each other, a horizontal direction integration circuit and a vertical direction integration circuit for averaging the horizontal direction output signal and the vertical direction output signal of the amplifier, and the horizontal direction A motor for driving the lightwave rangefinder and the automatic collimation telescope in the horizontal and vertical directions, the time constant of the vertical integration circuit being the time constant of the horizontal integration circuit; A collimation light wave range finder having a length longer than a constant, a light emitting source and a modulator that uses the luminous flux thereof as modulated light, and a front surface of the objective lens alone or in combination with the objective lens to illuminate the modulated light in a wide horizontal area. A reference light source device composed of a cylindrical lens disposed in a corner prism is attached to the corner prism, and the reference light source device is combined with a corner prism device in which the optical axis of the light emitting source is parallel to the optical axis of the corner prism. To do. Further, the reference light source device is provided in parallel with the optical axis above or below the optical rangefinder, and the automatic collimating telescope is attached to the corner prism in parallel with the optical axis and the automatic tracking means is provided. Alternatively, the collimation lightwave rangefinder may be provided with an inclinometer and a calculation means for calculating a horizontal distance from the output signal of the inclinometer and the distance measurement signal of the lightwave rangefinder.

(Operation) The horizontal output signal and the vertical output signal of the amplifier are respectively averaged by the integrating circuit, so that disturbances such as burrow existing on the sea or the like are removed. Also, by setting the time constant of the vertical direction integration circuit larger than that of the horizontal direction integration circuit and setting the servo time constant in the vertical direction longer than that in the horizontal direction, the collimation servo system in the vertical direction is It responds gently and, therefore, can be tracked without collimation as a whole without being affected by disturbance. Further, by providing the inclinometer device and the calculating means, the horizontal distance between the land and the sea can be quickly calculated from the distance measurement data (oblique distance) of the lightwave rangefinder and the angle measurement data (inclination angle) of the inclinometer device. Further, by providing the reference light source device with a cylindrical lens, the blinking light of the light emitting source illuminates a wide horizontal area and the light utilization rate is increased.

(Embodiment) An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a collimation lightwave rangefinder. In FIG. 1, 1 is a leveling device fixed on a work platform, and 2 is a pedestal supporting a lightwave rangefinder 3. A rotary shaft 4 fixed to a mount 2 is pivotally supported on the leveling device 1, and a gear 5 is fixed to the rotary shaft 4,
The servo motor 6 is fixed to the leveling device 1, and the servo motor 6
The gear 7 fixed to the rotating shaft of is engaged with the gear 5. Further, the shaft 8 is extended to both sides from the optical distance meter 3, and the shaft 8 is supported by a pair of bearings (not shown) provided on the pedestal 2, and the fan gear 9 is fixed to one end of the one shaft 8 so that Attach the worm 11 to the rotating shaft of the fixed servo motor 10
And the sector gear 9 are engaged.

The servomotor 6 rotates the lightwave distance meter 3 in the horizontal direction by its rotation, and the servomotor 10 rotates the lightwave distance meter 3 in the vertical direction by its rotation to change the tilt angle.

The collimation telescope 12 is fixed to the upper portion of the lightwave rangefinder 3 with its optical axis parallel to the optical axis of the lightwave rangefinder 3. In this collimating telescope 12, a four-division light receiving element 14 known in Japanese Patent Publication No. 52-18588 is fixed near the focal position of the objective lens 13 as shown in FIG. 2 (in FIG. 1). An inclinometer (not shown) is also provided.

This inclinometer device may be, for example, a pendulum type inclinometer device as described in Japanese Utility Model Laid-Open No. 58-177811, or light emission from a light emitting element as described in Japanese Utility Model Laid-Open No. 63-23608. It may be an inclinometer device using a luminous flux. Further, the inclinometer device may be provided in the lightwave distance meter 3. This is because the optical rangefinder 3 and the collimation telescope 12 have their optical axes parallel to each other. In FIG. 1, 29 and 30 are clamps that fix the positions of the leveling device 1 and the gantry 2 and the positions of the optical distance meter 3 and the gantry 2, respectively.

The four light-receiving element 14, as in the second illustration, the differential output of the amplifier 15 ₁ and opposed pair of divided elements in the vertical direction for differentially amplifying the outputs of the opposed pair of divided elements horizontally amplification connected to an amplifier 15 _2, amplifiers 15 ₁ and 15 ₂ and the servo motor 6 via a horizontal integration circuit 16 ₁ and the vertical integration circuit 16 ₂ to respectively averaging the horizontal output signal and the vertical output signal Servo motor 1
Connected to 0.

Servo time constant of the vertical integration circuit 16 _second time constant or the servo motor 10 is promptly respond to the optical axis of the collimating telescope 12 seen relative horizontal movement of such offshore work gridiron of installing the light wave rangefinder , A horizontal integration circuit that allows a gentle response to vertical movements and enables tracking without collimation deviation as a whole without being affected by disturbance.
Set it longer than the time constant of 16 ₁ , that is, the servo time constant of the servo motor 6.

The horizontal direction integration circuit 16 ₁ and the vertical direction integration circuit 16 ₂ use low pass filters, and the cut frequency of the low pass filters in the vertical direction may be set lower than that in the horizontal direction.

As shown in FIG. 3, the oblique distance measurement signal output from the lightwave distance meter 3 and the inclination angle signal output from the inclinometer 17 through the A / D converter 18 are input to the microcomputer 19, and the microcomputer 19 Calculates the desired horizontal distance by calculation.

FIG. 4 shows a corner prism device in which a reference light source device 21 is attached to a corner prism 20 for distance measurement installed as a reference position on land, which is used in combination with that shown in FIG. A corner prism 20 for distance measurement is rotatably mounted on a leveling device 22 so as to be substantially horizontal, and its optical axis is set in the direction of the pedestal and fixed by a clamp 23. The reference light source device 21 is fixed on the housing of the corner prism 20 with its optical axis parallel to the optical axis of the corner prism 20.

The reference light source device 21 is provided with a light emitting source 25 on the focal plane of a condenser objective lens 24, and a modulator, for example, a mechanical chopper 26 (this mechanical chopper) that interrupts the light beam is provided on the front surface of the light emitting source 25.
Instead of 26, the modulation circuit may be interveningly connected to the connection circuit of the light source 25 and the power supply. ) Is provided, and a cylindrical lens 27 is provided in front of the objective lens 24 (or provided in combination with the objective lens 24) to spread the light beam in the horizontal direction. According to the reference light source device 21, the luminous flux can be distinguished from natural light.

According to the above embodiment, the intermittent light from the reference light source device 21 is imaged on the surface of the four-division light receiving element 14 provided in the collimation telescope 12, and when the collimation is deviated, the image is formed. A differential output is generated in an amplifier 15 ₁ connected to a pair of split elements which are offset from the center and which face each other in the horizontal direction, and to an amplifier 15 ₂ which is connected to a pair of split elements which face each other in the vertical direction. The horizontal signal and the vertical signal, which are the differential outputs, are averaged by integrating circuits 16 ₁ and 16 ₂ via a bandpass filter (not shown) that passes the signals of the modulation frequency components of the modulated light flux, and are averaged by the servo motor. Fill in 6 and 10. Thus, the servomotors 6 and 10 cause the collimation telescope 12, that is, the lightwave rangefinder 3, to have the optical axis of the reference light source device 21, that is, the corner prism 20.
Drive until it is parallel to the optical axis of.

Therefore, even if there is sway of the table with the optical rangefinder 3 installed and movement due to the flow of seawater, the optical rangefinder 3 always tracks in the direction of the corner prism 20 and measures the position of the table and the deviation from the standard position of the table. Can be calculated.

FIG. 5 shows the collimated lightwave rangefinder shown in FIG.
FIG. 6 is a perspective view of the collimating telescope 12 shown in FIG. 1 and the collimation telescope 12 shown in FIG. 2 for use in combination with the collimating optical rangefinder shown in FIG. The thing which attached the automatic tracking means (not shown) is shown. According to this embodiment, automatic collimation can be performed from both the optical distance meter and the corner prism. In FIG. 5, the reference light source device 21 is arranged above the collimation telescope 12, and its optical axis is parallel to the optical axis of the collimation telescope 12.

In FIG. 6, the collimation telescope 12 is arranged above the reference light source device 21 so as to be parallel to the optical axis of the reference light source device 21,
The reference light source device 21 is fixed on the corner prism 20 so as to be parallel to the optical axis thereof, and the shaft 8 projecting from the housing of the corner prism 20 is supported by a bearing provided on the mount 2.
The fan-shaped gear 9 is fixed to the worm 11, and the worm 11 fixed to the rotary shaft of the servomotor 10 is meshed with the fan-shaped gear 9. A rotary shaft 4 fixed to the gantry 2 is pivotally supported by the leveling device 1, a gear 5 is fixed to the rotary shaft 4, and the gear 5 is meshed with a gear 7 fixed to the rotary shaft of the servomotor 6.

The collimation telescope 12 and the automatic tracking means are the same as those shown in FIGS. 1 and 2.

(Effects of the Invention) Since the present invention has the above-described configuration, it is accurate, smooth and stable when measuring the position of a rocking body such as a work table on a sea, without being affected by disturbances such as a shadow. Automatic collimation can be performed, and the horizontal distance between the collimation light wave range finder and the corner prism can be measured quickly with good working efficiency. Since collimation is not performed and a cylindrical lens is used, it is possible to increase the utilization factor of the luminous flux of the light emitting source and to illuminate a wide horizontal area.

[Brief description of drawings]

FIG. 1 is a front view showing a collimating telescope according to an embodiment of the present invention in a partial cross section, FIG. 2 is a diagram of its automatic tracking means, FIG. 3 is a block diagram of its horizontal distance measuring circuit, and FIG. FIG. 6 is a front view showing in partial cross section a corner prism device used in combination with that shown in FIG. 1, and FIG. 5 is a front view showing in partial cross section a collimating telescope according to another embodiment of the present invention. The drawing is a front view showing a partial cross section of a corner prism device used in combination with that shown in FIG. 3 …… Lightwave range finder, 6,10 …… Servomotor 12 …… Collimation telescope, 14 …… 4-division light receiving element 16 ₁ …… Horizontal integration circuit 16 ₂ …… Vertical integration circuit, 17 …… Inclinometer 19 …… Microcomputer, 20 …… Corner prism 21 …… Reference light source device, 25 …… Light emitting source 26 …… Mechanical chopper 27 …… Cylindrical lens

Claims (3)

[Scope of utility model registration request] 1. A lightwave rangefinder rotatably supported in a horizontal direction and a vertical direction, and an automatic collimating telescope mounted on an upper part or a lower part of the rangefinder with its optical axis parallel to the optical axis of the optical rangefinder. The optical rangefinder and the automatic tracking means for automatically tracking the automatic collimating telescope in the direction of the light emitting source, wherein the automatic collimating telescope is fixed near the focal point of its objective lens, and the light from the light emitting source is imaged. A four-division light-receiving element, wherein the automatic tracking means differentially amplifies the outputs of the pair of division elements facing each other in the horizontal direction and the outputs of the pair of division elements facing each other in the vertical direction, respectively. A horizontal direction integration circuit and a vertical direction integration circuit for averaging the horizontal direction output signal and the vertical direction output signal of the amplifier, and the lightwave distance connected to the horizontal direction integration circuit and the vertical direction integration circuit. And a motor for driving the automatic collimation telescope in the horizontal and vertical directions, the time constant of the vertical direction integration circuit is longer than the time constant of the horizontal direction integration circuit, the collimation lightwave rangefinder, and the light emitting source. A corner prism is a reference light source device that includes a modulator that uses the light flux as modulated light and a cylindrical lens that is provided alone or in combination with the objective lens in front of the objective lens to illuminate the modulated light in a wide horizontal area. An automatic collimating lightwave rangefinder device, which is mounted on a corner prism device in which the optical axis of the light source is parallel to the optical axis of the corner prism. 2. The reference light source device is provided above or below the optical rangefinder in parallel with the optical axis thereof, and the corner prism is provided with the automatic collimating telescope in parallel with the optical axis thereof and the automatic tracking. The automatic collimating lightwave rangefinder device according to claim 1, further comprising means. 3. The collimation lightwave distance meter is provided with an inclinometer and a calculating means, and the calculating means calculates a horizontal distance from an output signal of the inclinometer and a distance measuring signal of the lightwave distance meter. The automatic collimation lightwave rangefinder device according to claim 1 or 2.