Patent Application
20210270602
The present invention relates to an angle detection system and an angle detection method, more specifically, to an angle detection system and an angle detection method to be used for a survey.
Conventionally, an absolute encoder has been known as an angle detecting device for measuring an absolute angle (refer to, for example, Patent Literature 1). The absolute encoder incorporates a disc with graduated patterns such as slits according to the gray code rule or an M-sequence code, that is, a so-called absolute encoder pattern. An image of light irradiated on the slits is received by an image sensor, etc., and from the image obtained by the image sensor, an angular position is calculated.
Such an angle detecting device as above measures an angular position corresponding to a rotational displacement of an input shaft connected coaxially to the disc. Therefore, it is necessary to directly attach an angle detecting device main body including the disc, a light emitting element, a light receiving element, and a control unit to a measuring object and make a measurement.
Patent Literature 1 Japanese Published Unexamined Patent Application No. H05-172588
However, at a survey site, there is a case in which measurement of an angle of a remote measuring object is desired. For example, at a construction site, etc., there is a case where a member such as a steel frame is desired to be remotely manipulated and installed in a designated direction. Therefore, a proposal for an angle detecting device capable of measuring an angle of a remote measuring object has been demanded.
The present invention was made in view of these circumstances, and an object thereof is to provide a technique capable of making a measurement of an angle of a remote measuring object.
In order to achieve the object described above, an angle detection system according to an aspect of the present invention is an angle detection system including an encoder pattern portion to be attached to a measuring object, and a surveying instrument, wherein the encoder pattern portion includes a columnar base and an encoder pattern provided on an outer circumferential surface of the base and representing an angle in a circumferential direction with respect to a predetermined reference direction, the encoder pattern includes a reflective material layer retroreflecting incident light and an encoder pattern layer disposed on a front surface of the reflective material layer, the encoder pattern layer includes a combination of a first polarization filter configured to transmit a polarization component in a first direction, and a second polarization filter configured to transmit a polarization component in a second direction different from the first direction, and the surveying instrument includes a reading light transmission unit configured to output reading light toward the encoder pattern, an information acquiring unit configured to optically acquire information represented by the encoder pattern, an arithmetic control unit configured to calculate an angle (OT) of the surveying instrument with respect to the reference direction based on the information, and a first or second polarization filter disposed on an optical path of light to be output from the reading light transmission unit, reflected by the encoder pattern, and enter a light receiving surface of the information acquiring unit.
In the aspect described above, it is also preferable that the angle information portion represents a bit pattern by disposing the first and second polarization filters in the circumferential direction on the outer circumferential side surface of the encoder pattern portion, and the arithmetic control unit reads the optically acquired information in the circumferential direction of the encoder pattern, converts the reading result into a bit pattern, identifies a center position of the encoder pattern from the reading result, and calculates an angle by comparing the bit pattern included in a predetermined region centered at the center position with the correlation between bit pattern and angle set in advance.
In the aspect described above, it is also preferable that the angle information portion is a barcode-like pattern formed by disposing the first polarization filter as vertical lines with two wide and narrow widths in the circumferential direction so as to represent a bit pattern generated by an M-sequence, and disposing the second polarization filter between the vertical lines.
In the aspect described above, it is also preferable that the reflective material layer is configured by disposing first and second reflective materials with different reflectances in the circumferential direction, and a bit pattern is represented by combinations of the first and second polarization filters and the first and second reflective materials.
In the aspect described above, it is also preferable that the information acquiring unit is a camera configured to acquire information represented by the encoder pattern as an image.
In the aspect described above, it is also preferable that the information acquiring unit is a scanner configured to acquire information represented by the encoder pattern as a received light amount distribution by transmitting scanning light to the encoder pattern and receiving reflected light from the encoder pattern.
In the aspect described above, it is also preferable that the measuring object is attached at a predetermined angle (θB) in the circumferential direction with respect to the reference direction, and the arithmetic control unit calculates an angle of the measuring object with respect to the surveying instrument based on the predetermined angle (θB) and a read angle (θT) of the encoder pattern.
An angle detection method according to another aspect of the present invention is a method for detecting an angle by using an encoder pattern portion including a columnar base and an encoder pattern disposed on an outer circumferential surface of the base and representing an angle in a circumferential direction with respect to a predetermined reference direction, and a surveying instrument including an information acquiring unit, and includes (a) a step of attaching the encoder pattern portion to the measuring object at a predetermined angle in the circumferential direction of the encoder pattern portion, (b) a step of outputting reading light toward the encoder pattern, (c) a step of optically acquiring information represented by the encoder pattern by the information acquiring unit, and (d) a step of operating a direction angle of the surveying instrument with respect to the reference direction based on information acquired through the step (c), wherein the encoder pattern includes a reflective material layer retroreflecting incident light and an encoder pattern layer disposed on a front surface of the reflective material layer, the encoder pattern layer includes a combination of a first polarization filter configured to transmit a polarization component in a first direction, and a second polarization filter configured to transmit a polarization component in a second direction different from the first direction, and the surveying instrument includes a first or second polarization filter disposed on an optical path of light to be output from the reading light transmission unit, reflected by the encoder pattern, and enter the information acquiring unit.
In this description, the term “encoder pattern” includes a pattern having angle information with a reference angle set to 0°, and detectable by polarization.
In this present description, the term “reference direction of the encoder pattern” means a direction of a reference point (0°) of the encoder pattern.
In this description, the term “angle of the surveying instrument in the circumferential direction with respect to the reference direction of the encoder pattern” means “an angle of a straight line connecting the center of the encoder pattern portion and the surveying instrument with respect to the direction of 0° of the encoder pattern,” and this angle is the “read angle of the encoder pattern” obtained by reading the encoder pattern.
According to the configuration described above, an angle of a remote measuring object can be measured.
Preferred embodiments of the present invention are described with reference to the drawings. In the following description of the embodiments, the same components are provided with the same reference signs, and overlapping description is omitted. In each drawing, components are enlarged and schematically illustrated as appropriate for convenience of description, and which may not reflect actual ratios.
A configuration of an angle detection system 90 according to a first embodiment is described with reference to
The survey system 100 is a system for surveying a measurement point P not in sight from the surveying instrument 50. As illustrated in
As illustrated in
The reflection target 11 is a so-called 360-degree prism configured by, for example, radially combining a plurality of triangular pyramid prisms, and reflects light made incident from its entire circumference (360°) toward directions opposite to the incident directions. That is, the reflection target 11 reflects distance measuring light from the surveying instrument 50 toward the surveying instrument 50. The reflection target 11 is not limited to the 360-degree prism, and a normal prism to be used for a survey may be used.
The support member 12 is a pole extending for a certain length, and fixes and supports the reflection target 11 so that the central axis A of the support member 12 passes through the center O of the reflection target 11.
The encoder pattern portion 13 is configured by providing an encoder pattern 13B on a side circumferential surface of a short-length columnar base 13A.
The base 13A is, for example, a molded body made of a metal or a resin. The base 13A is fixed between the support member 12 and the reflection target 11 so as to become coaxial with the central axis A of the support member 12 by a means such as screw-fitting of a screw portion (not illustrated) formed on an outer circumference of the support member 12 and a screw hole (not illustrated) formed at the center of the base 13A. Therefore, the encoder pattern portion 13 is attached to the distance-measuring device 14 that is a measuring object via the support member 12.
In
The reflective material layer 120 is a reflective substance layer containing, for example, a reflection film, glass beads, or synthetic resin, and having properties for retroreflecting incident light toward a light source. In detail, a publicly known reflection sheet of a reflection prism type, a sealed lens type, or a prism lens type, available on the market, can be used as the reflective material layer.
The encoder pattern layer 130 is a layer forming a pattern corresponding to angle information and width information by combinations of two kinds of polarization filters including a first polarization filter 130a that transmits a polarization component in a first direction and attenuates the other components, and a second polarization filter 130b that transmits a polarization component in a second direction different from the first direction and attenuates the other components. Here, the second direction is preferably a direction orthogonal to the first direction, however, the second direction is not limited to this.
As a material of the polarization filters, for example, a polarization film prepared by adsorbing and orienting iodine compound molecules to a polyvinyl alcohol (PVA) film can be used.
A pattern of the angle information portion 131 is described. As an example, as illustrated in
The encoder pattern portion 13 is configured so that, by setting a direction (hereinafter, referred to as “reference direction of the encoder pattern”) RD from the center of the encoder pattern portion 13 to the reference point RP as 0°, an angle (hereinafter, referred to as “read angle of the encoder pattern”) calculated from a pattern read by the surveying instrument 50 corresponds to an angle θT of the surveying instrument 50 in the circumferential direction with respect to the reference direction RD, that is, an absolute angle between the reference direction RD and a straight line connecting the surveying instrument 50 and the central axis A of the encoder pattern portion.
The angle information portion 131 is configured to realize a desired resolution by changing a bit number of the angle information portion 131.
The bit pattern is not limited to a bit pattern using the M-sequence code, and a bit pattern using a gray code or a pure binary code, etc., can also be used, and these can be generated by a publicly known method. However, the use of an M-sequence code is advantageous because it enables an increase in bit number without increasing the number of tracks, and realizes high resolution by a simple configuration.
On the other hand, the width information portion 132 includes a first zone 132a with a predetermined height h1 and a second zone 132b with the same height. The first zone 132a and the second zone 132b respectively consist of a first polarization filter 130a and a second polarization filter 130b. The first zone 132a and the second zone 132b respectively extend across the entire circumference in the circumferential direction of the encoder pattern portion 13 and represent a width of the encoder pattern portion 13 when observed laterally.
The encoder pattern portion 13 is manufactured as illustrated in
(a) First, the short-length cylindrical base 13A is prepared.
(b) Next, a reflection sheet is attached as a reflective material layer 120 to the entire circumference of the outer circumferential side surface of the base 13A. On the other hand, the encoder pattern layer 130 in which the polarization filters 130a and 130b are disposed as described above is prepared. The encoder pattern layer 130 may have a protective layer such as a polyethylene terephthalate (PET) layer.
(c) Last, the encoder pattern 13B is attached to the outer side of the reflective material layer 120 by an adhesive agent such as a PVA-based adhesive agent, and accordingly, the encoder pattern portion 13 is formed.
In the example illustrated in the drawings, the width information portion 132 is disposed above and adjacent to the angle information portion 131. However, the positional relationship between the angle information portion 131 and the width information portion 132 is not limited to this, and the width information portion 132 may be disposed below the angle information portion 131.
The encoder pattern portion 13 is disposed below and adjacent to the reflection target 11 (
That is, the encoder pattern portion 13 may be disposed above the reflection target 11. The encoder pattern portion 13 and the reflection target 11 may be disposed away from each other.
The distance-measuring device 14 is a digital metering rod. The distance-measuring device 14 is configured to be extensible and contractible in the direction of the double-headed arrow B in
A distance d between the base point R of the distance-measuring device 14 and the center O of the reflection target 11 is known in advance. Further, an angle θB (refer to
Alternatively, it is also possible that the distance-measuring device 14 is attached rotatably around the central axis A of the support member 12, and a rotation angle measuring device such as a rotary encoder is attached to enable a measurement of the angle.
In this case, an angle around the central axis of the support member 12 between a direction corresponding to 0° of the rotation angle measuring device and the reference direction RD when the distance-measuring device 14 is fitted to the support member 12 is obtained when the distance-measuring device 14 is fitted, and set as a correction value in the rotation angle measuring device. In this way, the rotation angle measuring device 22 enables a measurement of an angle θB of the distance-measuring device 14 around the central axis A of the support member 12 with respect to the reference direction RD of the encoder pattern 13B. Measurement data of the rotation angle measuring device can be output to the module communication unit 19.
When outputting a measurement result of the distance 1 to the module communication unit 19, the distance-measuring device 14 also outputs the data on the distance d between the center O of the reflection target 11 and the base point R of the distance-measuring device 14 and the angle θB of the distance-measuring device 14 around the central axis A of the support member 12 to the module communication unit 19.
The tilt angle-measuring device 15 is a tilt sensor, and for example, a tilt sensor that makes detection light incident on a horizontal liquid surface and detects levelness based on a change in reflection angle of reflected light of the detection light, or an electronic bubble tube that detects a tilt based on a position change of sealed bubble, can be used.
The tilt angle-measuring device 15 is attached to the distance-measuring device 14 so as to be parallel to the distance-measuring device 14. The tilt angle-measuring device 15 measures a tilt angle (that is, an angle in the vertical direction) ϕ of the distance-measuring device 14 with respect to a horizontal plane (plane H1-H2 in
The level 16 is a bubble tube formed by sealing a bubble and liquid in a columnar container. The level 16 is attached to the support member 12 so that a vertical state of the central axis A of the support member 12 can be ensured by keeping the bubble positioned within a central gauge line.
The control unit 17 is, for example, an MPU (Micro Processing Unit). The control unit 17 is connected to the distance-measuring device 14, the tilt angle-measuring device 15, the input unit 18, and the module communication unit 19. The connection may be made by means of wireless communication. The control unit 17 performs measurements by the distance-measuring device 14 and the tilt angle-measuring device 15 in accordance with a command to make a measurement, etc., input from the input unit 18. In addition, the control unit 17 transmits measurement data to the surveying instrument 50 through the module communication unit 19.
The input unit 18 is, for example, a button switch, and turns the power supply ON/OFF and inputs commands for measurement start, etc., by being pressed by an operator U.
The module communication unit 19 enables wireless communication between the measurement module 10 and the surveying instrument 50. The module communication unit 19 transmits measurement data acquired by the measurement module 10 to the communication unit 57 of the surveying instrument 50.
Herein the measurement data includes a distance 1 between the base point R of the distance-measuring device 14 and the measurement point P acquired by the distance-measuring device 14, a tilt angle ϕ of the distance-measuring device 14 with respect to a horizontal plane acquired by the tilt angle-measuring device 15, a distance d known in advance between the center O of the reflection target 11 and the base point R of the distance-measuring device 14, and an angle θB of the distance-measuring device 14 around the central axis A of the support member 12 with respect to the reference direction RD of the encoder pattern 13B.
The control unit 17, the input unit 18, and the module communication unit 19 may be attached to the support member of the measurement module 10 in an appropriate manner as in the illustrated example, or may be configured as a separate body like a remote controller.
Next, the surveying instrument 50 is described.
As illustrated in
The surveying instrument 50 is a total station. As illustrated in
The horizontal angle detector 52, the vertical angle detector 53, the communication unit 57, the horizontal rotation driving unit 58, the vertical rotation driving unit 59, the storage unit 61, and the arithmetic control unit 64 are housed in the bracket portion 2a. The input unit 62 and the display unit 63 are provided outside the bracket portion 2a. The EDM 51 and the tracking unit 56 are housed in the telescope 2b, and the camera 55 is attached to an upper portion of the telescope 2b.
The EDM 51 includes a light emitting element, a distance-measuring optical system, and a light receiving element. The EDM 51 measures a distance to the reflection target 11 by emitting distance-measuring light from the light emitting element and receiving reflected light from the reflection target 11 by the light receiving element.
The horizontal angle detector 52 and the vertical angle detector 53 are rotary encoders, and detect rotation angles around rotation axes of the bracket portion 2a and the telescope 2b respectively driven by the horizontal rotation driving unit 58 and the vertical rotation driving unit 59 described later, and obtains a horizontal angle and a vertical angle of a collimation optical axis A.
The EDM 51, the horizontal angle detector 52, and the vertical angle detector 53 constitute a survey unit 54 that is an essential portion of the surveying instrument 50.
The camera 55 functions as an information acquiring unit, and includes an optical system 55A, an image pickup device 55B, and a polarization filter 55C as illustrated in
The optical system 55A is an optical system publicly known as components of a camera. The image pickup device 55B is an image sensor, for example, a CCD sensor, a CMOS sensor, etc. The polarization filter 55C is a polarization filter that transmits a polarization component in the second direction as with the second polarization filter (130b) of the encoder pattern portion 13.
The polarization filter 55C is disposed on an optical path of light that is output from the reading light transmission unit 69, reflected by the encoder pattern 13B, and enters a light receiving surface 55B1 of the image pickup device 55B. Therefore, the polarization filter 55C may be disposed in front of the light receiving surface 55B1 of the image pickup device 55B as illustrated in
The camera 55 receives light by the image pickup device 55B through the optical system 55A of the camera 55, and acquires an image of the light as an image. Therefore, the camera 55 optically acquires information represented by the encoder pattern 13B as an image. The image pickup device 55B is connected to the arithmetic control unit 64, and converts the acquired image into digital data and outputs the digital data to the arithmetic control unit 64.
The camera 55 is attached to an upper portion of the telescope 2b so as to become parallel to the telescope 2b. The camera 55 is configured to be collimated to the encoder pattern portion 13 whose positional relationship with the reflection target 11 is fixed, in a state where the telescope 2b is collimated to the reflection target 11. Therefore, it is also possible that the camera 55 includes a rotation driving unit, and is configured turnably upward, downward, leftward, and rightward when capturing an image according to control of the arithmetic control unit 64.
The reading light transmission unit 69 includes a light emitting element, shares the optical system with the EDM 51, and outputs light toward the encoder pattern portion 13.
The tracking unit 56 includes a light emitting element for emitting tracking light, a light receiving element that is an image sensor, for example, a CCD sensor, a CMOS sensor, etc., and a tracking optical system that shares optical elements with the distance-measuring optical system. The tracking unit 56 is configured to project infrared laser light with a wavelength different from that of the distance-measuring light onto a tracking object (target), receive reflected light from the tracking object, and track the tracking object based on the light receiving result.
The tracking unit 56 is not essential and can be omitted when a tracking function is not required. When the tracking unit 56 is provided, it is also possible that the function of the camera 55 is incorporated in the tracking unit 56, and the independent camera 55 can be omitted.
The communication unit 57 enables wireless communication with the module communication unit 19 of the measurement module 10. The communication unit 57 receives measurement data from the module communication unit 19.
The horizontal rotation driving unit 58 and the vertical rotation driving unit 59 are motors, and are controlled by the arithmetic control unit 64 to respectively rotate the bracket portion 2a horizontally and the telescope 2b vertically.
The storage unit 61 includes a ROM (Read Only Memory) and a RAM (Random Access Memory).
In the ROM, programs and data necessary for operation of the entire surveying instrument 50 are stored. These programs are read by the RAM and started by the arithmetic control unit 64 to perform various processings of the surveying instrument 50.
The RAM temporarily holds data for operating three-dimensional position coordinates of the center point O of the reflection target, three-dimensional position coordinates of the measurement point P, and the direction angle θT of the surveying instrument.
The input unit 62 is, for example, an operation button. An operator can input commands to be executed by the surveying instrument 50 to the input unit 62 and select settings.
The display unit 63 is, for example, a liquid crystal display, and displays various types of information such as measurement results and operation results in response to a command of the arithmetic control unit 64. In addition, the display unit 63 displays setting information for inputs by an operator and commands input by an operator from the input unit 62.
The input unit 62 and the display unit 63 may be integrally configured as a touch panel display.
The arithmetic control unit 64 includes a CPU (Central Processing Unit) and a GPU (Graphical Processing Unit). The arithmetic control unit 64 performs various processing for fulfilling functions of the surveying instrument 50. In detail, the arithmetic control unit 64 controls the rotation driving units 58 and 59 and performs automatic tracking by the tracking unit 56. In addition, the arithmetic control unit 64 controls the EDM 51 and acquires distance measurement data of the reflection target. Additionally, the arithmetic control unit 64 acquires angle measurement data of the reflection target 11 from values detected by the horizontal angle detector 52 and the vertical angle detector 53. In addition, the arithmetic control unit 64 calculates three-dimensional position coordinates of the center O of the reflection target 11 from the distance measurement data and the angle measurement data. Further, the arithmetic control unit 64 controls the camera 55 to acquire an image.
The arithmetic control unit 64 includes, as functional units, an encoder pattern reading unit 65, a direction angle calculation unit 66, and a measurement point coordinate calculation unit 67.
The encoder pattern reading unit 65 recognizes the encoder pattern from an image acquired by the camera 55, and converts the encoder pattern 13B into a bit pattern.
The direction angle calculation unit 66 calculates a direction angle θT of the surveying instrument 50 with respect to the reference direction RD of the encoder pattern 13B based on the reading result of the encoder pattern reading unit 65.
The measurement point coordinate calculation unit 67 calculates three-dimensional position coordinates P (X, Y, Z) of the measurement point P from three-dimensional position coordinates O (xP, yP, zP) of the center O of the reflection target 11 calculated from measurement data of the measurement module 10, the direction angle θT of the surveying instrument 50 with respect to the reference direction RD of the encoder pattern 13B, the distance measurement data, and the angle measurement data.
Each functional unit may be configured by software, or may be configured by a dedicated arithmetic circuit. A functional unit configured by software and a functional unit configured by a dedicated arithmetic circuit may be mixed.
1-2. Survey of Measurement Point
First, when a measurement starts in a mode for measuring a measurement point that is not in sight in response to an operation such as pressing a measurement start button, in Step S101, the survey unit 54 measures the center O of the reflection target 11.
Specifically, the EDM 51 measures a distance from the surveying instrument 50 to the reflection target 11 by transmitting distance-measuring light toward the reflection target 11 and receiving reflected distance-measuring light reflected from the reflection target 11. In addition, the horizontal angle detector 52 and the vertical angle detector 53 measure angles of the reflection target 11.
Next, in Step S102, the arithmetic control unit 64 calculates coordinates O (xP, yP, zP) of the center O of the reflection target 11 by a publicly known method based on the distance data and the angle data acquired in Step S101. The calculation result is stored in the storage unit 61.
Next, in Step S103, the camera 55 captures a landscape image in a collimation direction of the telescope 2b and reads the encoder pattern 13B of the measurement module 10. Reading of the encoder pattern 13B will be described later.
Next, in Step S104, the arithmetic control unit 64 calculates a direction angle θT of the surveying instrument 50 with respect to the reference direction RD of the encoder pattern 13B based on the reading result of the encoder pattern portion 13 in Step S103. The calculation result is stored in the storage unit 61.
Next, in Step S105, the arithmetic control unit 64 waits for reception of the measurement data from the measurement module 10.
On the other hand, in the measurement module 10, a measurement is started in response to an operation such as pressing a measurement start button of the measurement module by an operator U on the measurement module side according to a cue, etc., from the operator on the surveying instrument side. Next, in Step S201, the distance-measuring device 14 measures a distance 1 from the base point R of the distance-measuring device 14 to the measurement point P, and outputs the measurement result data to the module communication unit 19 together with data on the distance d between the center O of the reflection target 11 and the base point R of the distance-measuring device 14, and the angle θB around the central axis of the support member 12.
Next, in Step S202, the tilt angle-measuring device 15 measures a tilt angle ϕ of the distance-measuring device 14 with respect to a horizontal plane passing through the base point R of the distance-measuring device 14, and outputs the measurement result data to the module communication unit 19.
The processing in Steps S201 and S202 do not necessarily have to be performed in this order, and may be simultaneously performed or performed in the reverse order.
Next, in Step S203, the module communication unit 19 transmits, as measurement data of the measurement module 10, the distance 1 between the base point R of the distance-measuring device 14 and the measurement point P, the tilt angle ϕ of the distance-measuring device 14 with respect to the horizontal plane, the distance d between the center O of the reflection target 11 and the base point R of the distance-measuring device 14, and the angle θB of the distance-measuring device 14 around the central axis A of the support member 12 with respect to the reference direction RD of the encoder pattern 13B, to the surveying instrument 50.
In a case where the angle θB of the distance measuring device 14 around the central axis A of the support member 12 with respect to the reference direction RD of the encoder pattern 13B is not fixed but measurable by the rotation angle measuring device, before Step S203, the angle θB is measured and output to the module communication unit 19.
Concerning the data transmission in Step S203, all measurement data do not necessarily have to be transmitted after the processing of both Steps S201 and S202, and it is also possible that data acquired in each step is transmitted to the surveying instrument 50 after each Step S201 or S202 is finished.
Then, when the measurement data transmitted from the measurement module 10 is received by the surveying instrument 50, in Step S106, the arithmetic control unit 64 calculates measurement point coordinates P (X, Y, Z) based on the measurement data and the measurement point direction angle θT. Details of the calculation of the measurement point coordinates will be described later.
Next, in Step S107, in the surveying instrument 50, the measurement point coordinates P (X, Y, Z) obtained by the operations are displayed on the display unit 63, and then the measurement is ended.
1-3. Angle Detection (Encoder Pattern Reading)
When angle detection is started, in Step S301, the reading light transmission unit 69 transmits reading light. Next, in Step S302, the camera 55 captures a landscape image around the encoder pattern portion 13.
Next, in Step S303, the encoder pattern reading unit 65 recognizes and cuts out a range 81 of the encoder pattern portion 13 into a rectangular shape from the acquired image (
Next, in Step S304, the encoder pattern reading unit 65 linearly reads the image of the range 81 of the encoder pattern portion 13 cut out in Step S302 in the circumferential direction of the encoder pattern 13B. For example, as illustrated in
As described above, in front of the image pickup device 55B of the camera 55, the polarization filter 55C that is the same as the second polarization filter 130b is disposed. Therefore, in light transmitted from the reading light transmission unit 69 and reflected by the encoder pattern portion 13, a polarization component in the second direction is transmitted through the polarization filter 55C, however, lights of the other components are attenuated by the polarization filter 55C.
Therefore, lights reflected by the regions 131c and the second zone 132b that are made of the second polarization filter 130b are transmitted through the polarization filter 55C on the camera 55 side, and corresponding portions become bright images. On the other hand, lights reflected by the vertical lines 131a and 131b and the first zone 132a that are made of the first polarization filter are attenuated by the polarization filter 55C on the camera 55 side, so that corresponding portions become dark images.
The pixel value becomes smaller as the image becomes dark, and becomes larger as the image becomes bright. Therefore, the reading results at the respective positions I to V (hereinafter, referred to as “pixel rows I to V”) can be expressed as illustrated in, for example,
For setting the reading intervals, for example, as illustrated in
Next, in Step S305, from the reading result in Step S304, the reading result of the width information portion 132 is extracted. In detail, a portion with a pixel value smaller than a predetermined threshold is determined as a portion corresponding to the first polarization filter 130a, and a portion with a pixel value larger than the predetermined threshold is determined as a portion corresponding to the second polarization filter 130b, and a pixel row in which at least one of a dark portion and a bright portion continues for a certain length is determined as the reading result of the width information portion 132.
As a result, in
Next, in Step S306, from the linear reading results in Step S304, correlations between pixel rows are calculated, and portions having correlations higher than a predetermined value are extracted as the reading results of the angle information portion 131.
In the example illustrated in
Then, the pixel values of the extracted pixel rows III to V are summed in the vertical direction and an average value is calculated. A portion at which the result of the average calculation is smaller than a predetermined threshold is determined as a vertical line, and widths of the respective vertical lines are obtained. Next, which of the narrow-width or wide-width vertical line the obtained width values correspond to is determined, and a vertical line with a narrow width is read as a bit “0,” that is, the vertical line 131a, and a vertical line with a wide width is read as a bit “1,” that is, the vertical line 131b. In this way, when a pixel value is calculated as a mean value from the plurality of pixel rows, for example, even when a positionally deviated pixel row is generated like the pixel row IV, influence from the positional deviation can be reduced, and reading accuracy can be improved.
Since the encoder pattern portion 13 is columnar, the vertical line widths w1 and w2 and the pitch p are observed to be narrower than the actual widths with increasing distance from the center. For example, in
Next, the process shifts to Step S307, and the direction angle calculation unit 66 obtains an angle in the circumferential direction with respect to the reference direction RD of the encoder pattern 13B, that is, a direction angle θT of the surveying instrument 50 with respect to the reference direction RD by comparing a bit pattern in a region with a predetermined width R extending to the left and the right from a center set at the center position A of the encoder pattern 13B obtained in Step S305, that is, a bit pattern indicated by vertical lines of a predetermined bit number (for example, 10 lines) included in the region with the predetermined width R with the correlation between bit pattern and angle stored in the storage unit 61. (Then, the process shifts to Step S105.)
As another example of the reading operation of the encoder pattern 13B, the extraction of the angle information portion 131 in Step S306 may be performed by calculating a frequency spectrum of each pixel row from the results of linear image reading in the circumferential direction in Step S304 and, when a peak point in the spatial frequency matches the pitch p of the black vertical lines of the bit pattern, extracting the corresponding pixel row as data of the angle information portion 131.
The polarization filter 55C on the camera 55 may be made of not the second polarization filter 130b but the first polarization filter 130a of the encoder pattern 13B. In this case, the pixel rows obtained by reading in Step S304 are inverted as compared with those in
It is also possible that the camera 55 is configured to have an automatic zooming function, and according to a size of the encoder pattern portion 13 recognized as a subject in Step S101, switch the focal length to the wide-angle side or the narrow-angle side so that the size of the image of the encoder pattern 13B becomes constant irrespective of the distance.
With this configuration, irrespective of the distance from the surveying instrument 50 to the measurement module 10, an image with a size suitable for reading of the encoder pattern 13B in Step S302 can be cut out, and occurrence of a reading error according to the distance can be prevented.
In this way, in the angle detection system 90 according to the present embodiment, the encoder pattern portion 13 is attached to a remote measuring object, the encoder pattern 13B is read by the camera 55 provided in the surveying instrument 50, and an angle is calculated by the arithmetic control unit 64 of the surveying instrument 50, so that the angle of the remote measuring object can be remotely measured without attaching a comparatively complicated angle detection device main body including a light emitting device and an image sensor, etc., to the measuring object.
Further, in the present embodiment, it is also possible that by making known or measureable in advance an angle between the reference direction of the encoder pattern 13B and the measuring object, an angle relationship between the surveying instrument and the measuring object is remotely measured.
When the above configuration applies to the angle detection system 90, the measurement module 10 including the distance-measuring device 14 serving as the measuring object includes the module communication unit 19, however, in a case where it is desired to simply know a direction angle θT of the surveying instrument with respect to the reference direction of the encoder pattern 13B, the angle measurement can be made in real time without requiring such a communication means.
The encoder pattern portion 13 is attached to an outer side of a measuring object, so that it is easily attached. Further, the encoder pattern portion 13 has a simple structure, and is easily manufactured.
1-4. Calculation of Measurement Point Coordinates
Next, a method for operating measurement point coordinates P (X, Y, Z) is described.
Here, the x axis indicates a horizontal direction extending in a direction from the base point R of the distance-measuring device 14 toward the surveying instrument 50, the y axis indicates a horizontal direction orthogonal to the x axis, and the z axis indicates the central axis A direction of the support member 12, that is, the vertical direction.
First, from
1′=1·cos ϕ Equation 1
A distance in the z-axis direction between the center O of the reflection target and the measurement point P is obtained according to d+1·sin ϕ.
Next, from
θ=θT+θB Equation 2
Therefore, when offset values of the measurement point P with respect to the center O of the reflection target are defined as (xO, yO, zO), the values of (xO, yO, zO) can be respectively obtained according to Equations 3, 4, and 5.
x
O1′=1·cos ϕ Equation 3
y
O1′=·sin θ Equation 4
z
O
=d+1′·sin ϕ Equation 5
From the offset values (xO, yO, zO) of the measurement point P obtained in this way and the coordinates O (xP, yP, zP) of the point O, coordinates P (X, Y, Z) of the point P are obtained according to Equation 6.
P(X,Y,Z)=(xP+xO,yP+yO,zP+zO) Equation 6
In this way, according to the survey system 100 according to the present embodiment, simultaneously with the measurement of the reflection target, measurements relating to a relationship between the horizontal angle, the vertical angle, and the distance between the reflection target and the measurement point are made, and based on the measurement results, a correction operation is automatically performed, so that even when the measurement point cannot be directly collimated from the surveying instrument, coordinates of the measurement point can be confirmed in real time at the survey site.
1-5. Modification 1
However, the provision of the width information portion 132 as illustrated in
2-1. Configuration of Angle Detection System
The survey system 200 includes a measurement module 10 and a surveying instrument 250 as with the survey system 100. However, the surveying instrument 250 is different in that it does not include a camera that functions as an information acquiring unit, and instead of the camera, includes a scanner 70. Therefore, the angle detection system 290 consists of an encoder pattern portion 13 attached to a distance-measuring device 14, and the surveying instrument 250 including the scanner 70 and an arithmetic control unit 264.
The scanner 70 includes, as illustrated in
The scanner 70 performs scanning by the scanning light a plurality of times in at least a horizontal direction (circumferential direction of the encoder pattern portion 13) by transmitting, for example, infrared laser light as scanning light from the light transmission unit 71 toward the encoder pattern portion 13, and rotationally driving the turning mirror 72 by the mirror rotation driving unit 73, receives reflected light from the encoder pattern 13B by the light receiving unit 75 such as a photodiode, and acquires a received light amount distribution as scan data. In other words, the scanner 70 optically acquires information represented by the encoder pattern as a received light amount distribution.
The control unit 76 of the scanner 70 is electrically connected to the arithmetic control unit 264 of the surveying instrument 250, and the scanner 70 performs scanning according to control of the arithmetic control unit 264.
The light receiving unit 75 is, for example, a photodiode. In front of a light receiving surface of the light receiving unit 75, a polarization filter 77 that is the same as the second polarization filter 130b constituting the encoder pattern 13B, and transmits the second polarization component and attenuates the other components, is provided.
However, as with the polarization filter 55C of the camera 55 according to the first embodiment, the disposition of the polarization filter 77 only has to be disposed on an optical path of light that is output from the light transmission unit 71, reflected by the encoder pattern 13B, and enters the light receiving surface of the light receiving unit 75. Therefore, the polarization filter 77 may be disposed in front of an optical system (not illustrated) of the scanner 70, and may be disposed in front of the light transmission unit 71.
2-2. Angle Detection (Encoder Pattern Reading)
In detection of a direction angle θT of the surveying instrument 250 with respect to the reference direction RD of the encoder pattern 13B in an operation in a case where a measurement point P not visible from the surveying instrument 250 is surveyed by using the survey system 200, the angle detection system 290 performs the operation illustrated in
When angle detection is started, in Step S401, according to control of the encoder pattern reading unit 265, the scanner 70 scans light with respect to the encoder pattern portion 13 as illustrated in, for example,
Next, in Step S402, the light receiving unit of the scanner 70 acquires a received light amount distribution as scan data, and outputs the scan data to the encoder pattern reading unit 65.
Here, in light reflected by the encoder pattern 13B, lights reflected by the vertical lines 131a and 131b and the first zone 132a made of the first polarization filter 130a are polarization components in the first direction, and are attenuated by the polarization filter 77 of the scanner 70. On the other hand, lights reflected by the regions 131c and the second zone 132b made of the second polarization filter 130b are polarization components in the second direction orthogonal to the first direction, and are transmitted through the polarization filter 77 of the scanner 70.
As a result, received light amount distributions at the respective positions I to V are as illustrated in, for example,
In Step S403, from the received light amount distribution acquired in Step S402, the reading result of the width information portion 132 is extracted.
Next, in Step S404, from the received light amount distribution acquired in Step S402, correlations of the received light amount distributions at the respective positions of the width are calculated, and portions having correlations higher than a predetermined value are extracted as the reading results of the angle information portion 131.
Next, in Step S405, the direction angle calculation unit 66 calculates a direction angle θT of the surveying instrument 50 with respect to the reference direction RD of the encoder pattern 13B by comparing a bit pattern included in a predetermined width R extending to the left and the right from a center set at the center position A of the encoder pattern 13B obtained in Step S403, that is, a bit pattern represented by vertical lines of a predetermined bit number (for example, 10 lines) included in the region with the predetermined width R with the correlation between bit pattern and angle stored in the storage unit 61 (then, the process shifts to Step S105).
In this way, even when the scanner 70 is used instead of the camera 55, the same effect as that of the angle detection system 90 of the first embodiment can be obtained. By using the scanner 70, the encoder pattern 13B is read by using reflected light of laser light, so that the received light amount increases, and a sufficient contrast can be obtained even in the measurement of a long distance or a situation where the amount of light is small.
When the scanner is used, reading is performed by a plurality of times of scanning, so that the reading accuracy can be improved by increasing the number of times of scanning according to a purpose.
As illustrated in
On the other hand, in the angle detection system 390 according to the third embodiment, an operation in angle detection is different from that in the angle detection system 90 as follows.
When angle detection is started, in Step S501, as in Step S301, the camera 55 acquires a landscape image 80 around the encoder pattern portion 13 including the encoder pattern portion 13.
Next, in Step S502, the encoder pattern reading unit 65 identifies a range 81 of the encoder pattern 13B in the image based on distance measurement data of the reflection target 11 acquired in Step S101 and known dimensions of the encoder pattern portion 13 stored in the storage unit 61, and cuts the range out into a rectangular shape. By this operation, an image can be cut out into an optimum size for encoder pattern reading, and reading accuracy is improved.
Next, in Step S503, a reading direction is set based on angle measurement data of the reflection target acquired in Step S101. This setting is made by considering an influence of a positional relationship in the vertical direction between the camera 55 and the encoder pattern portion 13 on the appearance of the encoder pattern portion 13 appearing on the image.
Specifically, when the camera 55 is at a position higher than the encoder pattern portion 13, as illustrated in
Therefore, in advance, side surface shapes of the encoder pattern portion according to angle measurement data are calculated and the calculation results are stored in the storage unit 61, and in Step S503, based on angle measurement data acquired in Step S101, a side surface shape of the encoder pattern portion 13 in an acquired image is obtained, and according to the side surface shape, a reading direction is set so as to become parallel to an outer circumferential edge of the bottom surface or the upper surface. For example, when the image of the encoder pattern portion 13 is as illustrated in
Next, in Step S504, the encoder pattern reading unit 65 reads the image of the range 81 of the encoder pattern 13B cut out in Step S502, linearly in the circumferential direction of the encoder pattern portion 13. Here, the reading intervals h3 are set to intervals h3 smaller than the height h1 and shorter than ½ of the height h2 based on the distance measurement data of the reflection target 11 and known dimensions of the encoder pattern portion 13 stored in the storage unit 61 as in Step S303. By this setting, intervals that enable reliable capturing of the width information portion 132 and the angle information portion 131 can be accurately obtained, and reading accuracy is improved.
Next, in Step S505, from the reading results in Step S504, the reading results of the width information portion 132 are extracted. In detail, in a case where at least one of a black portion with a pixel value smaller than a predetermined threshold and a white portion with a pixel value larger than the predetermined threshold continues for a length corresponding to a diameter L of the encoder pattern portion calculated from the distance measurement data of the reflection target 11 acquired in Step S101 and known dimensions of the encoder pattern portion, a corresponding pixel row is determined to correspond to the width information portion 132.
Next, in Step S506, as in Step S305, from the reading results in Step S504, pixel rows corresponding to the angle information portion 131 are extracted.
Then, the process shifts to Step S507, and in the same manner as in Step S306, the direction angle calculation unit 66 obtains a direction angle θT of the surveying instrument 50 with respect to the reference direction RD of the encoder pattern 13B (then, the process shifts to Step S105).
In this way, in the angle detection system, by providing the reflection target and using a total station as a surveying instrument, an image can be cut out and setting of a reading direction, etc., can be performed based on a distance measured by the total station, so that reading accuracy is improved.
In the present embodiment, a configuration is also possible in which in addition to the camera 55, a narrow-angle camera sharing the optical system with the optical system of the survey unit is further provided as disclosed in Japanese Published Unexamined Patent Application No. 2016-138802, and according to a distance of the reflection target 11 calculated based on distance measurement data acquired by the survey unit, switching between the camera 55 and the narrow-angle camera can be made.
According to the configuration described above, irrespective of the distance from the surveying instrument 50 to the measurement module 10, an image with a size suitable for reading of the encoder pattern 13B in Step S302 can be cut out, and occurrence of a reading error according to the distance can be prevented.
As in the second embodiment, the scanner 70 may be used in the present embodiment instead of the camera 55.
As illustrated in
As a material of the reflective material layer 420, a retroreflection sheet, etc., available on the market as in the first embodiment can be used. The reflective material layer 420 is configured by combining two kinds of reflective materials 420a and 420b. The reflective materials 420a and 420b are different in reflectance due to, for example, a difference in a resin layer protecting a surface, and for example, the former reflective material has a low reflectance, and the latter reflective material has a high reflectance.
On the other hand, in the encoder pattern layer 430, a first polarization filter 430a that transmits a polarization component in a first direction as in the first embodiment, and a second polarization filter 430b that transmits a polarization component in a second direction orthogonal to the first direction, are disposed at equal pitches p so as to continue with equal widths in the circumferential direction.
The positions of the respective polarization filters of the encoder pattern layer and the positions of the reflection sheets are matched with each other.
In front of the image pickup device 55B of the camera 55, as in the first embodiment, a polarization filter 55C that is the same as the second polarization filter 430b is disposed. As a result, pixel values of an image acquired by the camera 55 are pixel values as illustrated in Table 1 and
In this way, according to combinations of the reflective materials and the polarization filters, three pixel values are indicated. Therefore, first, an M-sequence code pattern using three values of bits “−1,” “0,” and “1” is generated so as to correspond to an angle from the reference direction of the encoder pattern. Then, the encoder pattern 413B is configured by disposing the reflective materials 420a and 420b and the polarization filters 430a and 430b so as to represent a code pattern by assigning the bits “−1,” “0,” and “1” to the combinations of the reflective materials and the polarization films according to the three-pixel values.
Therefore, even when the encoder pattern is formed by the combinations of the reflective materials and the polarization filters, as in the first embodiment, the effect that enables a remote measurement of an angle of a measuring object can be obtained.
In addition, according to the present embodiment, two values can be assigned to one pitch, so that, as compared with a case where one value is assigned to one pitch, the reading width R can be made short even at the same resolution. In other words, a region near the central axis A of the encoder pattern portion can be read, so that an influence based on the shape of the encoder pattern portion in which pitches and widths of the observed pattern vary according to the disposition is reduced. In addition, the pitches are not made smaller, so that a harmful influence on the reading accuracy caused by a finer pattern does not occur.
As illustrated in
In addition, as illustrated in
Concerning the reflective materials, as illustrated in
In front of the image pickup device 55B of the camera 55, contrary to the fourth embodiment, a polarization filter 55C that is the same as the first polarization filter 530a is disposed. As a result, pixel values of an image acquired by the camera 55 are pixel values as illustrated in Table 2 and
The first polarization filters 530a disposed at equal pitches p have two-pixel values of a and b. The first polarization filters 530a have two widths of w1 and w2, so that there are four patterns of combinations of the widths and the pixel values as illustrated in
In this way, the angle information portion 531 of the encoder pattern can also be configured by combining polarization filters with different widths and reflective materials with different reflection intensities, and the same effect as that of the angle detection device according to the first embodiment can be obtained.
Although preferred embodiments of the present invention are described above, the embodiments and examples described above are just examples of the present invention, and the respective configurations can be combined based on knowledge of a person skilled in the art, and modes of such combination are also included in the scope of the present invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2018-144786 | Aug 2018 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2019/029426 | 7/26/2019 | WO | 00 |
