JPH06229715A - Three-dimensional coordinate measuring apparatus - Google Patents

Abstract

PURPOSE:To obtain highly accurate measurements by providing a main body, a staff, and a processor, calculating the three-dimensional coordinates at the measuring end of the staff abutted on a measuring point based on a detected horizontal angle, and obtaining a signal having high S/N ratio without receiving the light reflected on a reflecting means. CONSTITUTION:Upon rotation of the rotating section 4 of main body 1, lights 5a, 5b transmitted from a light transmitting means 6a are reflected sequentially on the reflecting means, e.g. corner prisms 151-153, of a staff. Reflected lights, corresponding in number to the prisms 151-153, are received by the light receiving section of a light receiving means for the light 5a. On the contrary, the light 5b is reflected sequentially on the prisms 153, 152, 151 in reverse order to the light 5a and received by the light receiving section of a second light receiving means. Horizontal angle is detected instantaneously upon detection of each reflected light and fed to a processor. The processor calculates the position 14 (three-dimensional coordinates) at the measuring end of the staff based on the detected horizontal angle, position of the main body 1, constants in the arrangement of the transmitted lights 5a, 5b, and constants in the arrangement of the prisms 151-153 of the staff.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional coordinate measuring device for measuring the three-dimensional position of a point.

[0002]

2. Description of the Related Art Conventionally, in order to measure a three-dimensional position of a certain point (target point) P, a distance D from a position 0 serving as a reference with respect to the target point P and a direction angle θh from a reference direction. And a method of calculating by measuring the altitude angle θv from the horizontal plane has been put into practical use. This will be described in more detail with reference to FIG. 9 showing a conceptual diagram. A total station is installed at the reference position 0, and P (x, y, z) on the vertical line of the target point is set.
The corner prism is placed at the point, the distance between the reference position 0 and the corner prism is obtained by the optical distance meter incorporated in the total station, the corner prism is collimated by the collimation telescope of the total station, and it is incorporated in the total station. The three-dimensional coordinate P (x, y, z) of the target point P is calculated by measuring the direction angle θh from the reference direction and the altitude angle θv from the horizontal plane by the rotary encoder.

[0003]

In the conventional method using the total station, it is necessary to raise the staff vertically to the target point and collimate the corner prism with the collimating telescope of the total station, which is troublesome and time-consuming. There was an inconvenience of this. In addition, in order to efficiently obtain the positions of many points, operate the total station, move the corner prism to the next target point with the person who collimates the corner prism of the target point, and direct the corner prism toward the total station. There is a need for at least two workers with the person who installs it, and when you want to know the measurement result at the target point or want to give an instruction from the total station side to the corner prism side, or vice versa. There was a need to communicate between the two using methods such as gesturing and gesturing or using a separate transceiver. Also, measuring the target point in a place such as a wall or ceiling where it is difficult to place the corner prism directly on the vertical line of the target point, which is difficult to collimate directly at the total station, was very troublesome in work. .

The present invention has been made in order to solve the above-mentioned conventional problems, and it is not necessary to collimate a corner prism with a collimating telescope, and it is possible to perform measurement without standing the staff vertically. The purpose is to provide a three-dimensional coordinate measuring device capable of performing the measurement, and the measurement can be performed by only one worker, and the worker can always use the data such as the measurement result on the spot to improve the work efficiency. It is an object of the present invention to provide a three-dimensional coordinate measuring device that can be realized.

Further, when a prism is used as the reflecting means, there is a drawback that in addition to the light reflected by the prism, the light reflected by the glass surface and the light reflected by the wall are received.
Another object of the present invention is to obtain a signal with a high S / N ratio by the light receiving means without receiving light reflected by a glass surface or the like to obtain a measurement value with high measurement accuracy.

[0006]

In order to achieve one of the above-mentioned objects, the invention according to claim 1 comprises an apparatus main body, a staff, and a processing apparatus, and the apparatus main body rotates about a vertical axis. And a divergence angle within a plane in which the first and second emitted light beams are inclined in opposite directions with respect to the vertical axis by appropriate angles with respect to the vertical axis. And first and second light transmitting means for emitting the light, and first and second light emitted from the first and second light transmitting means and reflected by the stuff, respectively, to receive and generate electricity. First and second light receiving means for converting into a signal, and the first
And a second light receiving means, and a horizontal angle detecting means for detecting a horizontal angle at the moment when the first and second emitted lights are received, respectively. And three or more reflecting means arranged at intervals of, the processing device is disposed in either one of the device body and the staff, and is measured from the horizontal angle detected by the horizontal angle detecting device. In order to achieve another one of the above objects, the invention according to claim 2 is characterized in that the device main body is characterized in that the three-dimensional coordinates of the measurement end of the staff pressed against the point are calculated. It is characterized in that it has a communication means for communicating with a staff member, and the staff member has a communication means for communicating with the apparatus body and a display device for displaying the three-dimensional coordinates and the like.

In order to achieve another one of the above objects, the invention according to claim 11 is that the light emitted from the light transmitting means is linearly polarized light, and the light receiving means has the linearly polarized light. The three-dimensional coordinate measuring device according to any one of claims 1 to 10, further comprising a polarizing plate filter having a polarization axis in the same direction as the plane of polarization of the light, and the invention according to claim 12 is the emission of the light transmitting means. The emitted light is linearly polarized light, and the reflecting means includes a quarter-wave plate whose principal axis is inclined about 45 degrees with respect to the polarization plane of the emitted light on the incident surface and the emitting surface, and the light receiving means is The three-dimensional coordinate measuring device according to any one of claims 1 to 10, further comprising a polarizing plate filter having a polarization axis inclined by 90 degrees with respect to a plane of polarization of the emitted light. The light emitted by the circularly polarized light is circularly polarized light. Includes a quarter wave plate having a principal axis in the same direction on the incident and exit surfaces, the light receiving means comprises a polarization filter and the light receiving quarter-wave plate, the light receiving 1 /
11. The three-dimensional structure according to claim 1, wherein the four-wave plate and the polarizing filter are arranged so as to transmit circularly polarized light having a rotation opposite to that of the emitted circularly polarized light. It is a coordinate measuring device.

[0008]

According to the first aspect of the present invention, when the rotating portion 4 of the apparatus main body 1 rotates in FIG. 1, a pair of plane emission lights 5a emitted from the first and second light transmitting means, 5b
As shown in FIG. 1, the reflection means of the stuff 2, for example, the corner prisms 15 ₁ , 15 ₂ and 15 ₃ are sequentially reflected,
With respect to the first outgoing light 5a, reflected light is received by the light receiving portion of the first light receiving means as many times as the number of corner prisms. Similarly, for the second outgoing light 5b, the first outgoing light 5
Each corner prism 15 ₃ , 15 ₂ , 15 in the reverse order of a
The light is reflected by ₁ and received by the light receiving portion of the second light receiving means, and the horizontal angle at the moment when each reflected light is received is detected by the horizontal angle detecting means and input to the processing device. The processing device calculates the position (three-dimensional coordinates) of the stuff measurement end from the detected horizontal angle, the position of the device body, the constants of the first and second emitted light positions, and the constants of the stuff corner prisms. To do.

Not only when the staffs are arranged vertically as shown in FIG. 1, but also when the staffs are arranged horizontally to measure the three-dimensional coordinates, at that time, the first emitted light 5a is emitted. When reflected by the corner prisms 15 ₁ , 15 ₂ , 15 ₃ , the second emitted light 5b is also reflected in the same order.

According to the second aspect of the present invention, the three-dimensional coordinates of the measurement end of the staff obtained by the calculation are sent to the staff by the communication means and displayed on the display provided in the staff, or the horizontal angle. The horizontal angle detected by the detection means is sent to the staff by the communication means, and the three-dimensional coordinates calculated by the processing device arranged in the staff are displayed on the display.

The calculation of the three-dimensional coordinates of the target point performed by the processing device is performed based on the following theory. The three-dimensional Cartesian coordinate system, which serves as a reference for creating maps and the like, is called the surveying coordinate system, and the coordinates of the target point are determined by these coordinates.

It is assumed that the following matters are known as its premise. a) Three-dimensional coordinates of the reference point of the device body in the survey coordinate system. The reference point of the apparatus body is defined as the intersection of the plane of the pair of emitted light and the rotation axis (vertical axis) of the apparatus body, that is, the origin (0,0,0) of the survey coordinate system. The X axis of the survey coordinate system is a straight line in the east-west direction that passes through the origin, and the east direction is positive,
The Y axis is a straight line in the north-south direction that passes through the origin, the north direction is positive, and the Z axis is a vertical line that passes through the origin, and the upper side is positive.

B) The equation of the two planes formed by the pair of emitted lights at the moment when the output of the encoder showing the horizontal angle is 0 is: a ₀ X + b ₀ Y + c ₀ Z = 0 (1) d ₀ X + e ₀ Y + f ₀ Z = 0 (2) (1) is an equation of the plane of the light emitted from the first light transmitting means, and a ₀ , b ₀ , c ₀ are the coefficients thereof. Equation (2) is the second
Is the equation of the plane of the light emitted from the light transmitting means of d ₀ , e ₀ ,
f ₀ is the coefficient.

C) Relative positional relationship between, for example, three corner prisms given as coordinates in the staff-specific coordinate system and the measuring end. The staff-specific coordinate system uses the measurement end at the stuff tip as the origin [coordinate value (0,0,0)], and a straight line connecting this origin and the corner prism farthest from the origin among at least three corner prisms. The z-axis is used, and the direction from the origin toward the corner prism is positive. The straight line in the front-back direction of the stuff that passes through the origin and is perpendicular to the z-axis is the y-axis, and the rear direction is positive. It is assumed that the staff is fixed by pressing the measuring end to the target point. At the moment when the rotating portion of the apparatus body rotates, a pair of light emitted from the first and second light transmitting means is reflected by the corner prism of the staff and received by the light receiving portions of the first and second light receiving means, respectively. Since the horizontal angle is detected by the horizontal angle detecting means, the equation of the plane of each light at that moment indicates the horizontal angle. The equation of the plane obtained by rotating each plane when the output of the encoder is 0 by each horizontal angle. Can be obtained as That is, the equation of the plane at the moment when the planes of the first and second emitted lights are on the j-th corner prism is as follows: ajX + bjY + cjZ = 0 (3) djX + ejY + fjZ = 0 (4) Assuming that the output of the encoder at the moment on the th corner prism is αj, the coefficients aj, bj, cj in the equation (3) are calculated from the coefficients in the equation (1) as follows. aj = a ₀ cos αj + b ₀ sin αj (5) bj = −a ₀ sin αj + b ₀ cos αj (6) cj = c ₀ (7) Similarly, the second output light is on the jth corner prism. If the encoder output at a certain moment is βj, (4)
The coefficients dj, ej, and fj in the equation are calculated from the coefficients in the equation (2) as follows. dj = d ₀ cos βj + e ₀ sin βj (8) ej = −d ₀ sin βj + e ₀ cos βj (9) fj = f ₀ (10) Two light planes expressed by the equations (3) and (4) Intersect in the space of the survey coordinate system, and the line of intersection is the point that serves as the reference of the device body (origin 0 (0,0,0) of the survey coordinate system) and the optical center of the one corner prism. It is a straight line that connects, and its equation can be obtained from the equations of the two planes expressed by equations (3) and (4).

[0015]

[Equation 1]

The above equation of the intersection line is given by
mj and nj are the direction cosines of a straight line, and are calculated as follows by the coefficients represented by the equations (5) to (10).

[0017]

[Equation 2]

By applying the equations (3) to (15) to the three corner prisms, the equations (16), (17) and (18) of the straight line connecting the reference point of the apparatus main body and the three corner prisms To get

[0019]

[Equation 3]

Since (16), (17) and (18) satisfy the three-dimensional coordinates in the survey coordinate system of the first, second and third corner prisms, the following conditional expressions can be established. .

[0021]

[Equation 4]

In the above equation, (X ₁ , Y ₁ , Z ₁ ) (X ₂ , Y ₂ ,
Z ₂ ) (X ₃ , Y ₃ , Z ₃ ) are three-dimensional coordinates in the survey coordinate system of the first, second, and third corner prisms, respectively, and are unknowns. The above three expressions include 6 conditional expressions and 9 unknowns, and cannot be solved as they are. Therefore, by adding the following three conditional expressions that represent the known distances between the three corner prisms with unknowns, the three-dimensional coordinates in the survey coordinate system of the three corner prisms can be obtained with unknowns.

[0023]

[Equation 5]

(22) (23) (24) in the equation (x ₁ , y ₁ , z ₁ )
(X ₂ , y ₂ , z ₂ ) (x ₃ , y ₃ , z ₃ ) are the first,
It is a known three-dimensional coordinate in the staff-specific coordinate system of the second and third corner prisms.

Next, the three-dimensional coordinates of the staff at the measurement end in the survey coordinate system are obtained. For that purpose, it is necessary to obtain the conversion coefficient of the coordinate conversion from the staff-specific coordinate system to the survey coordinate system. The conversion coefficient is composed of three rotation elements and three shift amounts, and is calculated using the coordinates in the survey coordinate system of the three corner prisms that have already been calculated and the corresponding coordinates in the staff-specific coordinate system. .

The relationship between the surveying coordinates and the staff coordinates can be expressed as follows using a determinant.

[0027]

[Equation 6]

In the equation (25), (X, Y, Z) and (x, y, z) are coordinates of the surveying coordinate system and the staff-specific coordinate system of the same point, respectively, and X ₀ , Y ₀ , Z _0. Is the shift amount, and κ, ψ, and ω are the rotation angles. Since the coordinates of the coordinate system peculiar to the staff of the corner prism are known, and the coordinates of the surveying coordinate system are also obtained in the previous stage, the unknowns are six parameters of the shift amount and the rotation angle.

By constructing the equation (25) for the first, second and third three corner prisms, 6
Since nine conditional expressions including unknowns can be made, six unknowns (X ₀ , Y ₀ , Z ₀ , κ,
Find the optimal value of ψ, ω).

The coordinates in the coordinate system peculiar to the staff at the measurement end at the stuff tip are known, and the unknowns (X ₀ , Y ₀ , Z ₀ , κ, ψ, ω) in the coordinate conversion equation expressed by the equation (25) are Since it has already been obtained, by substituting this into Eq. (25), the coordinates of the measuring coordinate system of the measuring end of the staff tip are calculated. The coordinates of the staff-specific coordinate system at the measuring end of the staff are defined as (0, 0, 0) as described above, and as a result, the coordinates of the surveying coordinate system at the measuring end of the staff are the shift amount (X ₀ , Y ₀ , Z ₀ ).

According to the eleventh aspect of the invention, since the polarizing plate filter provided in the light receiving means has a polarization axis in the same direction as the polarization plane of the linearly polarized light emitted from the light transmitting means, It acts to prevent the transmission of light having a polarization plane different from that of light.

According to the twelfth aspect of the present invention, the main axis of the reflecting means is inclined about 45 degrees with respect to the plane of polarization of the emitted light.
The / 4 wave plate acts to tilt the direction of the plane of polarization of the reflected light by 90 degrees from the direction of the plane of polarization of the emitted light, and the polarizing plate filter whose polarization axis is tilted 90 degrees with respect to the plane of polarization of the emitted light is It acts to prevent the transmission of light having a polarization plane different from the reflected light having a polarization plane inclined by 90 degrees.

According to the thirteenth aspect of the present invention, the light emitted from the light transmitting means is circularly polarized light which is emitted circularly polarized light, and the reflecting means has the principal axes of the same direction on the incident surface and the exit surface. Since the four-wavelength plate is provided, the emitted circularly polarized light emitted from the emission unit is transmitted through the quarter-wave plate and reflected by the reflection unit, and then enters the back surface of the quarter-wave plate. After passing through this, for example, the right-handed circularly polarized outgoing light becomes the left-handed circularly polarized light, and becomes circularly polarized light in the opposite direction to the outgoing circularly polarized light. The light receiving means includes a light receiving quarter-wave plate and a polarization filter, and the light receiving quarter-wave plate and the polarization filter transmit circularly polarized light having a rotation opposite to that of the emitted circularly polarized light. The circularly polarized light having the same direction as the emitted circularly polarized light reflected by the window or the like does not reach the light receiving means.

[0034]

Embodiments of the present invention will be described below with reference to the drawings. In FIGS. 1 and 2, 1 is an apparatus main body and 2 is a staff. As shown in FIG. 2, the apparatus body 1 is provided with a rotating portion 4 which is rotatable around a vertically arranged rotating shaft 3, and the rotating portion 4 has first and second emitted lights 5a and 5b. Encoder for detecting the rotation angle of the first and second light transmitting means 6a, 6b for emitting light, the first and second light receiving means 7a, 7b (FIG. 6) and the rotation axis 3, a horizontal angle detection circuit, and a processing device Also, when using radio waves as a communication means with the communication device (FIGS. 7 and 8), the antenna 8 is mounted, and the rotating unit 4 rotates in one direction at an appropriate speed.

As shown in FIG. 3, the first and second light transmitting means 6a and 6b respectively include light sources 9a and 9b, collimator lenses 10a and 10b, and a cylindrical rinse 11 respectively.
a and 11b, and the light intensity-modulated from the light sources 9a and 9b at an appropriate frequency is collimator lenses 10 and 1
0b makes parallel light, and the cylindrical lens 11
The first and second outgoing lights 5a and 5b are respectively diverged by about 90 degrees in a plane by a and 11b. The optical axis 12 of the collimator lens 10a of the first light transmitting means 6a
a is arranged substantially horizontally, and the axis of the cylindrical surface of the cylindrical lens 11a is orthogonal to the optical axis 12a of the collimator lens 10a and is inclined by about 45 ° with respect to the horizontal.
The plane formed by the emitted light 5a is inclined by about 45 ° with respect to the horizontal, and the direction of the center of divergence is substantially horizontal. The optical axis 12a of the collimator lens 10b of the second light transmitting means 6b is separated from the optical axis 12a of the collimator lens 10a by about 90 ° in the horizontal plane, and the axis of the cylindrical lens 11b is horizontal in the direction opposite to the cylindrical lens 11a. The plane formed by the first emitted light 5a and the second emitted light 5b is inclined by about 45 ° with respect to the two collimator lenses 1
It has a symmetrical positional relationship with respect to the central direction of the optical axes 12a and 12b of 0a and 10b, and has an inverted C-shape. The angles of divergence and alignment of the first and second emitted lights 5a and 5b do not need to be limited to 45 ° and 90 °, and the angles are determined so that these lights do not intersect. First and second
The light receiving portions 13a and 13b of the light receiving means 7a and 7b of FIG.
As shown in, corner prisms (described later) from the centers of the first and second cylindrical lenses 11a and 11b, respectively.
At a distance L within the effective diameter of the first and second emitted lights 5a,
It is arranged in the plane formed by 5b. Thus, when the surfaces formed by the first and second emitted lights 5a and 5b pass through the optical center of the corner prism, the first light sending means 6a, the corner prism and the light receiving portion 13a of the first light receiving means 7a The two light sending means 6b, the corner prism, and the light receiving portion 13b of the second light receiving means 7b are located in the same plane, and the desired horizontal angle at that time can be detected.

The staff 2 has an appropriate length as shown in FIG. 5, and has a sharp shape so that a target point can be indicated at one end (measurement end) 14. For example, three corner prisms 15 ₁ , 15 ₂ , 15 ₃ are fixedly provided on the staff 2, and the corner prism 15 ₂ is slightly deviated from the straight line connecting the corner prisms 15 ₁ and 15 ₂ . By slightly displacing the corner prism 15 ₂ in this way, the measurement error caused by the rotation of the stuff 2 around the straight line can be eliminated, and the end of the stuff having a bent end (measurement end) can be eliminated. This is convenient when measuring coordinates. Also,
The distance between the corner prisms 15 ₁ and 15 ₂ and the distance between the corner prisms 15 ₂ and 15 ₃ are different.
By arranging the corner prisms 15 ₁ , 15 ₂ and 15 ₃ at unequal intervals, it is possible to determine from the detected horizontal angle whether one end of the stuff 2 is above or below. The length from the measurement end 14 to the corner prism 15 ₃ is set to an appropriate length that is easy to use. An antenna 16 is attached to the upper part of the staff 2 when, for example, a radio wave is used as a communication means, and an indicator (Fig. 7) is provided on the surface opposite to the installation surface of the corner prisms 15 ₁ , 15 ₂ and 15 ₃ of the staff 2. , FIG. 8), and a case 18 having a built-in communication device (FIGS. 7, 8) is attached.

The first and second light receiving means 7a, 7b
Is, as shown in FIG.
a and 13b are connected to a comparator 22 via an amplifier 19, a detection circuit 20 and a high pass filter 21. According to this structure, an electric signal pulse can be obtained from the received light. The cut-off frequency of the high-pass filter 21 is the corner prisms 15 ₁ , 15 ₂ , 15
Of the reflected light from ₃ , the reflected light at the shortest use distance with the largest pulse width is set to pass the frequency band of the received signal or higher, and the signal of unnecessary light due to reflection on a wall lower than that frequency Therefore, only the received signal due to the reflected light from the corner prism is obtained from the comparator 22.

The staff 2 may be in contact with the target point at any inclination as long as the corner prisms 15 ₁ , 15 ₂ and 15 ₃ are oriented in the direction of the apparatus main body 1 at the time of measurement. A case will be described in which the measurement end 14 is placed vertically with the measurement end 14 facing downward. Rotating the rotation part 4 of the apparatus main body 1, a first outgoing light 5a is first incident on the corner prisms 15 ₁ and returns the reflected light to the first light receiving portion 13a. Similarly, the first emitted light 5a sequentially enters the corner prisms 15 ₂ and 15 ₃ and returns reflected light to the first light receiving portion 13a. Next, the second outgoing light 5b enters the corner prisms 15 ₃ , 15 ₂ and 15 ₁ in this order, and the second light receiving portion 13
Return the reflected light to b. First and second light receiving portions 13a, 13
Reflected light is input three times to each of b, and three electric signal pulses are output from the comparator 23, six electric signal pulses in total, and the electric signal pulses are detected as shown in FIG. Input to the circuit 23. The horizontal angle detection circuit 23 to which the encoder 24 is connected reads the output of the encoder 24 at the moment when each electric signal pulse is input and inputs the output to the processing device 25. The processing device 25 is the device body 1 in advance.
, The arrangement constant of the emitted light and the arrangement constants of the corner prisms 15 ₁ , 15 ₂ and 15 ₃ with respect to the measurement end 14 of the stuff 2 are input, and these values of the six horizontal angles input Then, the three-dimensional coordinates of the measuring end 14 of the staff 2 are calculated. The measured value is sent to the staff 2 from the antenna 8 of the communication device 26 connected to the processing device 25,
It is displayed on the display 29 via the antenna 27 of the staff 2 and the communication device 28.

Although the communication devices 26 and 28 use radio waves to break the carrier, they may use light. In the above embodiment, the processing device 25 is provided in the device body 1, but it may be provided in the staff 2 side as shown in FIG. 8. In this case, the horizontal angle detection circuit 23 provided in the device body 1 detects The six horizontal angles are transferred from the device main body 1 to the staff 2 side and input to the processing device 25.
The three-dimensional coordinate of is calculated and displayed on the display unit 29.

In this embodiment, the processing device 25 is built in the case 18 of the staff 2, but the processing device 25 is integrated with the communication device 28 for communicating with the main body and the display device 29.
It may be portable.

Further, in this embodiment, as shown in FIG. 10, the first emitted light 50a and the second emitted light 50b pass through the polarizing plate 42 to become linearly polarized light, and the light receiving means 7a is the polarizing plate. It may receive incident light that has passed through the filter 43. The polarization axis of the polarization element 43 is set to the polarization plate 42.
By arranging in the same direction as the direction of the plane of polarization of the emitted light linearly polarized by, even if light having a random plane of polarization reflected by a wall or the like enters, the amount of such light is A signal having a good S / N ratio can be obtained by being attenuated by about half by the polarization element 43. The polarization means 42 may be placed at any position between the light source 9a and the collimator lens 41, between the collimator lens 41 and the cylindrical lens 11a, or between the cylindrical lens 11a and the corner prism 15 _1. The highest efficiency is obtained when it is placed between the collimator lens 41 and the cylindrical lens 11a. In addition to the polarizing plate, various polarizing prisms such as a polarizing beam splitter using an optical thin film, a Glan-Tiller prism, and a Glan-Thompson prism can be used as the polarizing means 42. In any case, the polarizing means is used. 42 determines the direction of the polarization axis of the emitted light.

Further, if a corner prism is used as the reflecting means and a quarter wave plate 52 whose main axis is inclined by about 45 degrees with respect to the plane of polarization of the emitted light is arranged on the incident surface and the exit surface, As shown in FIG. 10, the light emitted from the light source 9a passes through the collimator lens 41, is converted into linearly polarized light by the polarization means 42, and is converted into plane-emitted linearly polarized light 51 by the cylindrical lens 11a. The emitted linearly polarized light 51 has a main axis tilted by about 45 degrees with respect to the polarization axis thereof.
Circularly polarized light 53 is transmitted through the four-wave plate 52, and the circularly polarized light 53 is reflected by the corner prism 15 ₁ and again becomes 1 /
After passing through the four-wave plate 52, the emitted linearly polarized light 51 becomes incident linearly polarized light 54 having a polarization axis inclined by 90 degrees. The polarization axis of the polarizing plate filter 43 is tilted by 90 degrees with respect to the polarization plane of the emitted linearly polarized light 51. The incident linearly polarized light 54 passes through the polarizing plate filter 43 and enters the light receiving means 7a. Since the polarizing plate filter 43 transmits only the light whose polarization axis is inclined by 90 degrees with respect to the emitted linearly polarized light 51, the light having a random polarization plane like the reflected light reflected by the wall passes through the polarizing element 43. The amount of light decreases. Further, the reflected light from the glass surface or the prism does not pass through the polarizing element 43, and the S / N ratio of the signal received by the light receiving element 7a can be further improved.

FIG. 11 shows another embodiment of the present invention.
The outgoing light 50a and the second outgoing light 50b are transmitted through the collimator lens, and then, the polarizing plate 42 and the polarization axis of the polarizing plate 42 have a principal axis inclined by 45 degrees or -45 degrees.
Cylindrical lens 1
1a or 11b allows exit circularly polarized light 62 that is plane light.
Becomes The emitted circularly polarized light 62 passes through the reflection quarter-wave plate 52 to become linearly polarized light 63, and the corner prism 15 ₁
The reflected circularly polarized light 64 is again transmitted through the reflected quarter-wave plate 52 from the surface opposite to the surface on which the emitted circularly polarized light 62 is incident, and becomes reflected circularly polarized light 64. In this way, the emitted circularly polarized light 62 is
As a result of being transmitted through the / 4 wavelength plate twice from the front and back, the rotation of the reflected circularly polarized light 64 is opposite to the rotation of the outgoing circularly polarized light 62.

The reflected circularly polarized light 64 receives the 1/4 wavelength plate 65.
To be incident linearly polarized light 66. The polarization axis of the polarizing plate filter 43 is arranged in the same direction as the plane of polarization of the incident linearly polarized light 66, and the incident linearly polarized light 66 is transmitted through the polarizing plate filter 43 and the light receiving means 7a or 7b.
Incident on.

Also in this case, as in the case where the emitted light is linearly polarized light, even if light having a random plane of polarization reflected by a wall or the like enters, the amount of such light is It is attenuated to about half by the polarizing element 43. Also, the rotation of the plane of polarization of the light reflected from the glass surface, the mirror, etc. is determined by the incident circularly polarized light 6
As a result of the preservation of the rotation of 2, the light transmitted through the received quarter-wave plate 65 is inclined by 90 degrees with respect to the polarization plane of the incident linearly polarized light 66 because the rotation is opposite to that of the reflected circularly polarized light 64. Since the light is linearly polarized light having a polarization plane, it cannot pass through the polarizing plate filter 43. Therefore, a signal with a good S / N ratio can be obtained.

[0046]

According to the configuration of the invention described in claim 1, it is not necessary to collimate the target point with the telescope in the operation of measuring the coordinate of the measuring point unlike the conventional method, and the measuring end is set to the target point. Since the staff can lean to either side just by pressing it, it is easy to handle, and even when the target point is behind the object, it is easy to measure even if the conventional method such as the ceiling or wall is very troublesome to measure. It is possible to perform the measurement work, and particularly the measurement work at a large number of points has an effect that the measurement work can be efficiently performed. According to the configuration of the second aspect of the invention, there is an effect that one worker can perform measurement and the worker can use the measurement result in real time.

According to the eleventh, twelfth, or thirteenth aspect of the present invention, a signal with a good S / N ratio can be obtained, and a highly accurate measured value can be obtained.

[Brief description of drawings]

FIG. 1 is a perspective view of an embodiment of the present invention showing an arrangement state.

FIG. 2 is a perspective view illustrating a configuration of a main part of the apparatus body of the above-described embodiment.

3A and 3B are a plan view and a side view of the light transmitting means of the above embodiment.

FIG. 4 is an explanatory view showing the relationship between the light receiving portion and the cylindrical lens of the above-mentioned embodiment.

FIG. 5 is a perspective view of the staff of the above embodiment.

FIG. 6 is a block diagram of the light receiving means of the above embodiment.

FIG. 7 is a block diagram of the above embodiment.

FIG. 8 is a block diagram of another embodiment.

FIG. 9 is an explanatory diagram of a conventional three-dimensional coordinate surveying method.

FIG. 10 is a block diagram of another embodiment.

FIG. 11 is a block diagram of another embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Device main body 2 Staff 3 Rotating shaft 4 Rotating part 5a, 5b 1st and 2nd emitted light 6a, 6b 1st and 2nd light transmission means 7a, 7b 1st and 2nd light receiving means 9a, 9b
Light source 11a, 11b Cylindrical lens 13a, 13
b Light-receiving part 14 One end (measurement end) 15 ₁ , 15 ₂ , 15 ₃ Corner prism 17 Display 18 Communication device 21 High-pass filter 23 Horizontal angle detection circuit 24 Encoder 25 Processing device 26, 28 Communication device 29
Indicator 52 1/4 wave plate 43 Polarizing plate filter 62 Emitted circularly polarized light 65 Light receiving 1
/ 4 wave plate

Front page continued (72) Inventor Kenji Taniura 260-63 Yanagimachi, Hase, Atsugi, Kanagawa Prefecture, Sokia Atsugi Plant, Inc. (72) Inventor Yuichi Ohashi 260-63 Yanagicho, Hase, Atsugi, Kanagawa Prefecture Sokia Atsugi Plant Co., Ltd. (72) Inventor Hiroyuki Dokin 260-63, Hase, Atsugi, Atsugi City, Kanagawa Prefecture

Claims (13)

[Claims] 1. A main body of an apparatus, a staff, and a processing unit, the main body of the apparatus being disposed on a rotating portion that rotates about a vertical axis and spaced apart from each other by an appropriate angle around the vertical axis. First and second light transmitting means for emitting the emitted light in planes inclined respectively in opposite directions with respect to the vertical axis and with an appropriate divergence angle, and the first and second light transmitting means. The first and second light receiving means for respectively receiving the first and second emitted light emitted from the light transmitting means and reflected by the stuff and converting it into an electric signal, and the first and second light receiving means A horizontal angle detecting means for detecting a horizontal angle at the moment when each of the first and second emitted lights is received, and the staff is arranged at a predetermined distance from the measuring end to be pressed against the measuring point. And three or more reflecting means, wherein the processing device is It is arranged on either one of the main body and the staff, and calculates the three-dimensional coordinates of the measuring end of the staff pressed against the measuring point from the horizontal angle detected by the horizontal angle detecting means. Original coordinate measuring device. 2. The apparatus main body has communication means for communicating with the staff, and the staff communicates with the apparatus main body, and a display device for displaying the three-dimensional coordinates and the like. 2. The method according to claim 1, further comprising:
The three-dimensional coordinate measuring device described. 3. The three or more reflecting means are arranged on a straight line, and at least one corner prism among them is arranged so as to be deviated from the straight line.
Alternatively, the three-dimensional coordinate measuring device according to claim 2. 4. The three-dimensional coordinate measurement according to claim 1, wherein at least one of the three or more reflecting means is arranged at unequal intervals. apparatus. 5. The three-dimensional coordinate measuring device according to claim 1, wherein the reflecting means is a corner prism. 6. The three-dimensional coordinate measuring device according to claim 1, wherein the light receiving portion of the light receiving means is arranged in a plane formed by the emitted light and near the light sending means. 7. The three-dimensional coordinate measuring device according to claim 2, wherein a radio wave is used for the communication means. 8. The three-dimensional coordinate measuring device according to claim 2, wherein a light wave is used for the communication means. 9. The three-dimensional coordinate measuring device according to claim 2, wherein the processing means, the communication means for communicating with the apparatus main body, and the display device are integrally portable. 10. The three-dimensional coordinate measuring device according to claim 1, wherein the electric circuit of the light receiving means has a high-pass filter for removing an unnecessary reflected light signal. 11. The emitted light emitted from the light transmitting means is linearly polarized light, and the light receiving means is provided with a polarizing plate filter having a polarization axis in the same direction as the plane of polarization of the linearly polarized light. The three-dimensional coordinate measuring device according to any one of claims 1 to 10. 12. The outgoing light emitted from the light sending means is linearly polarized light, and the reflecting means uses a quarter wave plate whose principal axis is inclined about 45 degrees with respect to the polarization plane of the outgoing light. 11. The three-dimensional coordinate measurement according to claim 1, wherein the light receiving means includes a polarizing plate filter having a polarization axis inclined by 90 degrees with respect to a polarization plane of the emitted light. apparatus. 13. The light emitted from the light sending means is circularly polarized outgoing circularly polarized light, and the reflecting means is provided with a ¼ wavelength plate having a principal axis in the same direction on the entrance surface and the exit surface, and the received light is received. The means comprises a light receiving quarter wave plate and a polarizing filter,
11. The light receiving quarter-wave plate and the polarizing filter are arranged to transmit circularly polarized light having a rotation opposite to that of the emitted circularly polarized light, respectively. The three-dimensional coordinate measuring device described.