Three-dimensional measurement device, three-dimensional measurement device driving method, and three-dimensional measurement device driving program

Abstract

The purpose of the present invention is to provide a three-dimensional measurement device, a three-dimensional measurement device driving method, and a three-dimensional measurement device driving program capable of reducing the operating time and saving the power consumption of a battery. A three-dimensional measurement device (2) is provided with: a motor (433) that rotates an object to be rotated; a rotary encoder (434) that detects the rotation angle of the object to be rotated; a calculation unit (461) that calculates, as an initial phase, a phase relationship between phases of the motor (433) when the rotary encoder (434) is at a zero position; and a storage unit (468) that stores the initial phase as a drive parameter. A calculation unit (461) stores drive parameters in advance in a storage unit (468), drives a motor (433) by means of open-loop control during an initial operation after a power supply is turned on, and applies, as a phase angle, the drive parameters stored in the storage unit (468) when a zero position of a rotary encoder (434) is detected. The motor (433) is driven by closed-loop control using the value of the rotary encoder (434).

Description

Technical Field

[0001] The present invention relates to a three-dimensional measuring device for acquiring three-dimensional data of a measuring object, a three-dimensional measuring device driving method, and a three-dimensional measuring device driving program. Background Art

[0002] Patent document 1 discloses a measuring device having a tilt detection device. The measuring device described in Patent document 1 has a motor that rotates a rotating object such as a frame and a tilt detection unit around an axis, and an encoder that detects the rotation angle of the rotating object. For example, as the motor of the measuring device described in Patent document 1, a three-phase brushless motor without a Hall sensor is sometimes used. In this case, in the initial operation after the measuring device is powered on, the measuring device needs to confirm and store the initial phase of the motor by performing a swinging operation of the motor, and then control the motor based on the stored initial phase.

[0003] However, for example, every time the operator moves the three-dimensional measuring device to change the measurement location, if the three-dimensional measuring device performs an action of confirming and storing the initial phase of the motor in the initial action, the working time of the three-dimensional measuring device and the working time of the operator will be prolonged, and there is room for improvement in this regard. On the other hand, when the operator moves the three-dimensional measuring device to change the measurement location, for example, it is also a solution to keep the power of the three-dimensional measuring device turned on. However, this will increase the power consumption of the battery of the three-dimensional measuring device, and there is room for improvement in terms of saving power consumption.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2021-63761 Summary of the invention

[0007] Technical problem to be solved by the invention

[0008] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a three-dimensional measuring device, a three-dimensional measuring device driving method, and a three-dimensional measuring device driving program that can shorten the operating time and save battery power consumption.

[0009] Technical solutions for solving technical problems

[0010] A first embodiment of the present invention is a three-dimensional measuring device for acquiring three-dimensional data of a measuring object, characterized in that the three-dimensional measuring device comprises: a motor for rotating a rotating object around an axis; a rotary encoder for detecting a rotation angle of the rotating object; a calculation unit for calculating a phase relationship of the phases of the motor when the rotary encoder is in a zero position as an initial phase; and a storage unit for storing the initial phase calculated by the calculation unit as a driving parameter, wherein the calculation unit stores the driving parameter in the storage unit in advance, drives the motor by open-loop control in an initial operation after power is turned on, and drives the motor by closed-loop control using the value of the rotary encoder after applying the driving parameter stored in the storage unit when the zero position of the rotary encoder is detected as a phase angle.

[0011] According to the first mode of the present invention, the operation unit calculates the phase relationship of the phase of the motor when the rotary encoder is in the zero position as the initial phase, and stores the calculated initial phase in the storage unit as a driving parameter in advance. Then, the operation unit drives the motor through open-loop control in the initial action after the power is turned on, and applies the driving parameter stored in the storage unit when the zero position of the rotary encoder is detected as the phase angle. In this way, the operation unit does not confirm the initial phase of the phase of the motor by performing the swinging action of the motor through closed-loop control in the initial action after the power is turned on. In addition, after the operation unit applies the driving parameter stored in the storage unit when the zero position of the rotary encoder is detected as the phase angle, it drives the motor through closed-loop control using the value of the rotary encoder. Therefore, the three-dimensional measuring device of the first mode of the present invention can shorten the time until the zero position of the rotary encoder is detected, and thus shorten the working time because the swinging action of the motor is not required in the initial action after the power is turned on. In addition, for example, when an operator moves the three-dimensional measuring device to change the measurement location, there is no need to keep the power on. In addition, the three-dimensional measuring device of the first embodiment of the present invention can save battery power consumption and extend the operating time because it can shorten the operating time.

[0012] The second mode of the present invention is a three-dimensional measuring device, characterized in that, in the first mode of the present invention, the calculation unit calculates the initial phase multiple times at each pole of the motor, and stores the average value of the multiple initial phases as the drive parameter in the storage unit.

[0013] According to the second aspect of the present invention, when calculating the initial phase, the operation unit can suppress the deviation of the initial phase caused by the influence of the motor pole and store a more stable value as a drive parameter in the storage unit. As a result, the three-dimensional measurement device of the second aspect of the present invention can achieve a more stable motor drive.

[0014] A third embodiment of the present invention is a three-dimensional measuring device driving method for acquiring three-dimensional data of a measuring object, characterized in that the three-dimensional measuring device driving method includes: a first step of calculating the phase relationship of the motor when a rotary encoder for detecting the rotation angle of a rotating object is in a zero position as an initial phase; a second step of pre-storing the initial phase calculated in the first step in a storage unit as a driving parameter; a third step of driving the motor by open-loop control in an initial action after power is turned on, and applying the driving parameter stored in the storage unit when the zero position of the rotary encoder is detected as a phase angle; and a fourth step of driving the motor by closed-loop control using the value of the rotary encoder.

[0015] According to the third mode of the present invention, in the first step, the phase relationship of the phase of the motor when the rotary encoder is in the zero position is calculated as the initial phase, and in the second step, the initial phase calculated by the first step is pre-stored in the storage unit as a driving parameter. Then, in the third step, in the initial action after the power is turned on, the motor is driven by open-loop control, and the driving parameter stored in the storage unit when the zero position of the rotary encoder is detected is applied as the phase angle. In this way, in the third step, the initial phase of the phase of the motor is not confirmed by performing the swinging action of the motor by closed-loop control in the initial action after the power is turned on. In addition, in the fourth step, the motor is driven by closed-loop control using the value of the rotary encoder. Therefore, the third mode of the three-dimensional measuring device driving method of the present invention can shorten the time until the zero position of the rotary encoder is detected, and thus shorten the working time, because the swinging action of the motor is not required in the initial action after the power is turned on. In addition, for example, when the operator moves the three-dimensional measuring device to change the measurement location, there is no need to keep the power on. In addition, the third-party three-dimensional measuring device driving method of the present invention can shorten the working time, thereby saving battery power consumption and extending the working time.

[0016] A fourth aspect of the present invention is a three-dimensional measuring device driver, which is executed by a computer of a three-dimensional measuring device that obtains three-dimensional data of a measuring object, and is characterized in that the three-dimensional measuring device driver causes the computer to execute: a first step of calculating the phase relationship of the phases of the motor when a rotary encoder that detects the rotation angle of the rotating object is in a zero position as an initial phase; a second step of pre-storing the initial phase calculated in the first step in a storage unit as a drive parameter; a third step of driving the motor through open-loop control in an initial action after power is turned on, and applying the drive parameter stored in the storage unit when the zero position of the rotary encoder is detected as a phase angle; and a fourth step of driving the motor through closed-loop control using the value of the rotary encoder.

[0017] According to the fourth mode of the present invention, in the first step, the phase relationship of the phase of the motor when the rotary encoder is in the zero position is calculated as the initial phase, and in the second step, the initial phase calculated in the first step is pre-stored in the storage unit as a driving parameter. Then, in the third step, in the initial action after the power is turned on, the motor is driven by open-loop control, and the driving parameter stored in the storage unit when the zero position of the rotary encoder is detected is applied as the phase angle. In this way, in the third step, the initial phase of the phase of the motor is not confirmed by performing the swinging action of the motor by closed-loop control in the initial action after the power is turned on. In addition, in the fourth step, the motor is driven by closed-loop control using the value of the rotary encoder. Therefore, the three-dimensional measurement device driver of the fourth mode of the present invention can shorten the time until the zero position of the rotary encoder is detected, and thus shorten the working time, because the swinging action of the motor is not required in the initial action after the power is turned on. In addition, for example, when the operator moves the three-dimensional measuring device to change the measurement location, there is no need to keep the power on. In addition, the three-dimensional measuring device driver of the fourth mode of the present invention can save battery power consumption and extend the operating time because it can shorten the operating time.

[0018] Effects of the Invention

[0019] According to the present invention, a three-dimensional measuring device, a three-dimensional measuring device driving method, and a three-dimensional measuring device driving program that can shorten the operating time and save battery power consumption can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a block diagram mainly illustrating the configuration system of the three-dimensional measuring device according to the embodiment of the present invention.

[0021] Figure 2 This is a block diagram mainly illustrating a control system of the three-dimensional measuring device according to the present embodiment.

[0022] Figure 3 This is a flowchart showing the preliminary operation of the three-dimensional measuring device according to the present embodiment.

[0023] Figure 4 This is a flowchart showing the initial operation of the three-dimensional measuring device according to the present embodiment after the power is turned on.

[0024] Figure 5 This is a graph illustrating an example of the measurement result of the initial phase according to this embodiment. DETAILED DESCRIPTION

[0025] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0026] It should be noted that the embodiments described below are preferred specific examples of the present invention, and therefore various technically preferred limitations are attached, but as long as the description of the present invention is not particularly limited in the following description, the scope of the present invention is not limited to these modes. In addition, in each of the accompanying drawings, the same reference numerals are used for the same constituent elements, and detailed descriptions are appropriately omitted.

[0027] Figure 1 This is a block diagram mainly illustrating the configuration system of the three-dimensional measuring device according to the embodiment of the present invention.

[0028] Figure 2 This is a block diagram mainly illustrating a control system of the three-dimensional measuring device according to the present embodiment.

[0029] like Figure 1 as well as Figure 2 As shown, the three-dimensional measurement device 2 according to the present embodiment includes a sighting distance measuring unit 4 and a scanner unit 5, for example, to obtain three-dimensional data of a measurement object such as a structure. Figure 1 as well as Figure 2 The three-dimensional measuring device 2 shown is an example, and the three-dimensional measuring device 2 involved in this embodiment does not necessarily have both the sighting and ranging unit 4 and the scanner unit 5. That is, the three-dimensional measuring device 2 involved in this embodiment may also be a sighting and ranging unit 4 called a total station, which is a device that performs distance measurement and angle measurement. Alternatively, the three-dimensional measuring device 2 involved in this embodiment may also be a scanner unit 5, which is a device that performs distance measurement and angle measurement and obtains point group data. In the description of this embodiment, the case where the three-dimensional measuring device 2 has both the sighting and ranging unit 4 and the scanner unit 5 is taken as an example.

[0030] The aiming and ranging unit 4 of this embodiment includes a calibration unit 41, a first bracket unit 42, a first horizontal rotation unit 43, a first vertical rotation unit 44, a telescope unit 45, a control and calculation unit 46, an operation and display unit 47, a base unit 48, and an inclinometer 49. The aiming and ranging unit 4 has an automatic search for a measurement target 6 (see Figure 2 )’s automatic tracking function.

[0031] The control operation unit 46 includes an operation unit 461, a first distance measuring unit 462, a first horizontal rotation driving unit 463, a first vertical rotation driving unit 464, a second distance measuring unit 465, a second horizontal rotation driving unit 466, a second vertical rotation driving unit 467, a storage unit 468, and an image processing unit 469. The operation unit 461 is, for example, a CPU (Central Processing Unit) and the like, and executes program startup, signal control processing, operation, and drive control of the display unit 471 of the operation display unit 47 and the like based on a signal (command) sent from the operation input unit 472 of the operation display unit 47. That is, the operation unit 461 controls the three-dimensional measuring device 2 as a whole, and displays measurement conditions, measurement results (distance measurement results and angle measurement results), and image processing results (image of the aiming range) on the display unit 471.

[0032] The first distance measuring unit 462, the first horizontal rotation driving unit 463, the first vertical rotation driving unit 464, the second distance measuring unit 465, the second horizontal rotation driving unit 466, the second vertical rotation driving unit 467, and the image processing unit 469 are implemented by the operation unit 461 executing a program stored in the storage unit 468. It should be noted that the first distance measuring unit 462, the first horizontal rotation driving unit 463, the first vertical rotation driving unit 464, the second distance measuring unit 465, the second horizontal rotation driving unit 466, the second vertical rotation driving unit 467, and the image processing unit 469 may be implemented by hardware or by a combination of hardware and software.

[0033] The storage unit 468 stores, for example, sequence programs for measurement, image processing programs for image processing, calculation programs, and the like. In addition, the storage unit 468 stores drive parameters described below. The details of the drive parameters will be described below. As the storage unit 468, for example, a semiconductor memory built into the three-dimensional measuring device 2 can be listed. Alternatively, as the storage unit 468, various storage media such as a CD (Compact Disc), a DVD (Digital Versatile Disc), a RAM (Random access memory), a ROM (Read only memory), a hard disk, a memory card, etc. that can be connected to the three-dimensional measuring device 2 can be listed.

[0034] The program executed by the computer including the control operation unit 46 is an example of the "three-dimensional measurement device driver" of the present invention. The "computer" mentioned here is not limited to a personal computer, but also includes an operation processing device, a microcomputer, etc. included in an information processing device, and is a general term for devices and apparatuses that can realize the functions of the present invention through a program.

[0035] The calibration part 41 is a part mounted on a tripod (not shown), and has, for example, three adjustment screws 411. The calibration of the calibration part 41 is performed, for example, in the following manner: the adjustment screws 411 are adjusted at a known point where the measurement target 6 is set so that the tilt sensor (not shown) provided on the first bracket part 42 can detect the horizontal state. That is, the first bracket part 42 is calibrated by adjusting the screws 411 at a known point where the measurement target 6 is set, for example, so as to maintain the horizontal state.

[0036] The first horizontal rotating part 43 has a first horizontal rotating shaft 431, a bearing 432, a first horizontal driving motor 433 and a first horizontal angle detector 434. The first horizontal driving motor 433 is an example of a "motor" of the present invention, for example, a three-phase brushless motor without a Hall sensor. The first horizontal angle detector 434 is an example of a "rotary encoder" of the present invention, for example, an incremental rotary encoder. The first horizontal rotating shaft 431 has a first vertical axis 436 extending vertically, and is rotatably supported on the base part 48 via a bearing 432. The first bracket part 42 is supported by the first horizontal rotating shaft 431, and rotates integrally with the first horizontal rotating shaft 431 in the horizontal direction around the first vertical axis 436 by the driving force transmitted from the first horizontal driving motor 433. The first bracket part 42 is an example of a "rotating object" of the present invention.

[0037] The rotation angle of the first horizontal rotation shaft 431 relative to the base portion 48 (i.e., the rotation angle of the first bracket portion 42) is detected by the first horizontal angle detector 434. The detection result of the first horizontal angle detector 434 is input to the calculation unit 461. The driving of the first horizontal driving motor 433 is controlled by the first horizontal rotation driving unit 463 based on the detection result of the first horizontal angle detector 434.

[0038] The first vertical rotating part 44 has a first vertical rotating shaft 441, a bearing 442, a first vertical driving motor 443, and a first vertical angle detector 444. The first vertical driving motor 443 is an example of a "motor" of the present invention, for example, a three-phase brushless motor without a Hall sensor. The first vertical angle detector 444 is an example of a "rotary encoder" of the present invention, for example, an incremental rotary encoder. The first vertical rotating shaft 441 has a first horizontal axis 446 extending horizontally, and the first vertical rotating shaft 441 is rotatably supported on the first bracket part 42 via a bearing 442. One end of the first vertical rotating shaft 441 protrudes into the gap 421 of the first bracket part 42. The telescope part 45 is supported on one end of the first vertical rotating shaft 441 protruding into the gap 421 of the first bracket part 42, and the telescope part 45 rotates integrally with the first vertical rotating shaft 441 in the vertical direction around the first horizontal axis 446 by the driving force transmitted from the first vertical driving motor 443. The telescope unit 45 is an example of the “rotation object” of the present invention.

[0039] The first vertical angle detector 444 is provided at the other end of the first vertical rotation shaft 441. The rotation angle of the first vertical rotation shaft 441 relative to the first bracket portion 42 (i.e., the rotation angle of the telescope portion 45) is detected by the first vertical angle detector 444. The detection result of the first vertical angle detector 444 is input to the calculation unit 461. The driving of the first vertical driving motor 443 is controlled by the first vertical rotation driving unit 464 based on the detection result of the first vertical angle detector 444.

[0040] As described above, the telescope unit 45 is supported on the first vertical rotation axis 441, and the telescope unit 45 rotates in the vertical direction around the first horizontal axis 446 by the driving force transmitted from the first vertical drive motor 443. The telescope unit 45 has a sighting telescope 458, and the telescope unit 45 sights the measurement target 6 and irradiates the first distance measurement light 455. Specifically, the telescope unit 45 has a first distance measurement light emitting unit 451, a first distance measurement light receiving unit 452, and a sighting light receiving unit 453.

[0041] The first distance measuring light emitting unit 451 is driven and controlled by the first distance measuring unit 462. The first distance measuring light emitting unit 451 is provided inside the telescope unit 45, and emits a first distance measuring light 455 such as a laser beam, for example, in a direction perpendicular to the first horizontal axis 446. The first distance measuring light 455 emitted from the first distance measuring light emitting unit 451 is irradiated onto the measuring target 6. The first reflected distance measuring light 456 reflected by the measuring target 6 is received by the first distance measuring light receiving unit 452 provided inside the telescope unit 45. The first distance measuring light receiving unit 452 converts the brightness (light receiving result) of the received first reflected distance measuring light 456 into an electronic signal (light receiving signal), and transmits the light receiving signal to the first distance measuring unit 462. In addition, the first distance measuring light receiving unit 452 receives the internal reference light (not shown) guided from the reference light optical unit (not shown), converts it into an electric signal, and transmits it to the first distance measuring unit 462.

[0042] The first distance measuring unit 462 calculates the distance to the measurement target 6 based on the light receiving signal sent from the first distance measuring light receiving unit 452. That is, the first reflected distance measuring light 456 and the internal reference light are converted into the first reflected distance measuring photoelectric signal and the internal reference photoelectric signal, respectively, and sent to the first distance measuring unit 462. The distance to the measurement target 6 is measured based on the difference in time interval between the first reflected distance measuring photoelectric signal and the internal reference photoelectric signal. The calculation result of the first distance measuring unit 462 is input to the calculation unit (CPU) 461.

[0043] The operation unit 461 calculates the coordinate value of the measurement target 6 based on the measured distance to the measurement target 6, the vertical angle detected by the first vertical angle detector 444, and the horizontal angle detected by the first horizontal angle detector 434. In other words, since the measurement target 6 is set at a known point, the operation unit 461 calculates the coordinate value of the measurement center of the sighting distance measuring unit 4 based on the measured distance to the measurement target 6, the vertical angle detected by the first vertical angle detector 444, and the horizontal angle detected by the first horizontal angle detector 434.

[0044] The aiming light receiving unit 453 is, for example, an image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and receives the reflected aiming light 457 of a wavelength region different from that of the first reflected distance measuring light 456. The reflected aiming light 457 is light having a wavelength region different from that of the first reflected distance measuring light 456, and is light reflected by the measuring target 6. That is, the aiming light receiving unit 453 receives the reflected aiming light 457 reflected by the measuring target 6, and receives an image of the measuring target 6. Examples of the reflected aiming light 457 include natural light and infrared light. In addition, the reflected aiming light 457 is not limited thereto. The reflected aiming light 457 is received by the aiming light receiving unit 453 provided inside the telescope unit 45. The aiming light receiving unit 453 converts the brightness (light reception result) of the reflected aiming light 457 into an electronic signal (image signal), and transmits the image signal to the image processing unit 469.

[0045] The image processing unit 469 performs image processing on the image signal sent from the aiming light receiving unit 453, and sends it as an image data signal to the calculation unit 461. The calculation unit 461 performs calculation based on the image data signal sent from the image processing unit 469, and controls the display unit 471 of the operation display unit 47 to display the image of the aiming range of the telescope unit 45.

[0046] The inclinometer 49 measures the inclination (inclination angle) of the sighting and ranging unit 4 with respect to gravity. The measurement result of the inclinometer 49 is input to the calculation unit 461 .

[0047] The scanner unit 5 of this embodiment includes a second bracket 52, a second horizontal rotating unit 53, a second vertical rotating unit 54, a scanning mirror 55, a second distance measuring light emitting unit 56, and a second distance measuring light receiving unit 57. The external orientation factor of the scanner unit 5 relative to the collimation and distance measuring unit 4 is a known factor set in advance.

[0048] The second horizontal rotating part 53 includes a second horizontal rotating shaft 531, a bearing 532, a second horizontal driving motor 533, and a second horizontal angle detector 534. The second horizontal driving motor 533 is an example of a "motor" of the present invention, for example, a three-phase brushless motor without a Hall sensor. The second horizontal angle detector 534 is an example of a "rotary encoder" of the present invention, for example, an incremental rotary encoder. The second horizontal rotating shaft 531 has a second vertical axis 536 extending vertically, and is rotatably supported on the second bracket part 52 via a bearing 532. One end of the second horizontal rotating shaft 531 is connected to the first bracket part 42 of the sighting and ranging unit 4. The second bracket part 52 is supported by the second horizontal rotating shaft 531, and the second bracket part 52 rotates integrally with the second horizontal rotating shaft 531 in the horizontal direction around the second vertical axis 536 by the driving force transmitted from the second horizontal driving motor 533. The second bracket part 52 is an example of a "rotating object" of the present invention.

[0049] The second vertical axis 536 is parallel to the first vertical axis 436. In the three-dimensional measuring device 2 according to the present embodiment, the first vertical axis 436 and the second vertical axis 536 are located on the same straight line. In addition, the first vertical axis 436 and the second vertical axis 536 are not limited to being located on the same straight line. The distance between the first vertical axis 436 and the second vertical axis 536 is known. That is, the position of the second vertical axis 536 relative to the first vertical axis 436 is known.

[0050] The second horizontal angle detector 534 is provided at the other end of the second horizontal rotation shaft 531. The rotation angle of the second horizontal rotation shaft 531 relative to the first bracket portion 42 (i.e., the rotation angle of the second bracket portion 52) is detected by the second horizontal angle detector 534. The detection result of the second horizontal angle detector 534 is input to the operation unit 461. The driving of the second horizontal driving motor 533 is controlled by the second horizontal rotation driving unit 466 based on the detection result of the second horizontal angle detector 534.

[0051] The second vertical rotating part 54 has a second vertical rotating shaft 541, a bearing 542, a second vertical driving motor 543, and a second vertical angle detector 544. The second vertical driving motor 543 is an example of a "motor" of the present invention, for example, a three-phase brushless motor without a Hall sensor. The second vertical angle detector 544 is an example of a "rotary encoder" of the present invention, for example, an incremental rotary encoder. The second vertical rotating shaft 541 has a second horizontal axis 546 extending horizontally, and is rotatably supported on the second bracket part 52 via a bearing 542. One end of the second vertical rotating shaft 541 protrudes into the recess 521 of the second bracket part 52. The scanning mirror 55 is supported by one end of the second vertical rotating shaft 541 protruding into the recess 521 of the second bracket part 52, and the scanning mirror 55 rotates integrally with the second vertical rotating shaft 541 in the vertical direction around the second horizontal axis 546 by the driving force transmitted from the second vertical driving motor 543. The scanning mirror 55 is an example of the “rotation object” in the present invention.

[0052] The second vertical angle detector 544 is provided at the other end of the second vertical rotation shaft 541. The rotation angle of the second vertical rotation shaft 541 relative to the second bracket portion 52 (i.e., the rotation angle of the scanning mirror 55) is detected by the second vertical angle detector 544. The detection result of the second vertical angle detector 544 is input to the operation unit 461. The driving of the second vertical drive motor 543 is controlled by the second vertical rotation drive unit 467 based on the detection result of the second vertical angle detector 544.

[0053] The second horizontal axis 546 is parallel to the first horizontal axis 446. The distance between the first horizontal axis 446 and the second horizontal axis 546 is known. That is, the position of the second horizontal axis 546 relative to the first horizontal axis 446 is known.

[0054] The scanning mirror 55 is a deflecting optical component, and reflects the second ranging light 565 incident from the horizontal direction at a right angle. That is, the scanning mirror 55 reflects the second ranging light 565 incident from the horizontal direction in a direction orthogonal to the second horizontal axis 546. As described above, the scanning mirror 55 is supported by the second vertical rotation axis 541, and the scanning mirror 55 is rotated in the vertical direction with the second horizontal axis 546 as the center by the driving force transmitted from the second vertical driving motor 543. Thus, the scanning mirror 55 causes the second ranging light 565 to be rotationally irradiated in a plane intersecting (specifically, orthogonal to) the second horizontal axis 546. In addition, the scanning mirror 55 reflects the second reflected ranging light 566 reflected by the measuring object 7 and incident on the scanning mirror 55 to the second ranging light receiving unit 57. That is, the scanning mirror 55 reflects the second reflected ranging light 566 reflected by the measuring object 7 and incident on the scanning mirror 55 in a direction parallel to the second horizontal axis 546.

[0055] like Figure 2 As shown, the second distance measuring light emitting unit 56 includes a light emitting element 561 and a light projection optical unit 562 including an objective lens, etc., and is driven and controlled by the second distance measuring unit 465. The light emitting element 561 is, for example, a semiconductor laser, etc., and emits the second distance measuring light 565 to the optical axis consistent with the second horizontal axis 546 through the light projection optical unit 562. The second distance measuring light 565 is a pulsed laser beam of infrared light, which is invisible light. The light emitting element 561 is controlled by the second distance measuring unit 465 to emit pulsed light in a desired state including a desired light intensity and a desired pulse interval.

[0056] like Figure 2 As shown, the second distance measuring light receiving unit 57 includes a light receiving element 571 and a light receiving optical unit 572 including a condenser lens and the like. The light receiving element 571 receives the second reflected distance measuring light 566 after the second distance measuring light 565 is reflected by the measuring object 7, reflected by the scanning mirror 55, and transmitted through the light receiving optical unit 572. The light receiving element 571 converts the brightness (light receiving result) of the received second reflected distance measuring light 566 into an electronic signal (light receiving signal), and sends the light receiving signal to the second distance measuring unit 465. In addition, the light receiving element 571 receives the internal reference light (not shown) guided from the reference light optical unit (not shown), converts it into an electrical signal, and sends it to the second distance measuring unit 465.

[0057] The second distance measuring unit 465 calculates the distance to the measuring object 7 based on the light receiving signal sent from the second distance measuring light receiving unit 57 (specifically, the light receiving element 571). That is, the second reflected distance measuring light 566 and the internal reference light are converted into a second reflected distance measuring photoelectric signal and an internal reference photoelectric signal, respectively, and sent to the second distance measuring unit 465. The distance to the measuring object 7 is measured based on the difference in the time interval between the second reflected distance measuring photoelectric signal and the internal reference photoelectric signal. The calculation result of the second distance measuring unit 465 is input to the calculation unit 461.

[0058] The calculation unit 461 calculates the coordinate value of the measurement object 7 based on the measured distance to the measurement object 7, the vertical angle detected by the second vertical angle detector 544, and the horizontal angle detected by the second horizontal angle detector 534. In addition, the calculation unit 461 can obtain point group data related to the entire measurement range or point group data related to the measurement object 7 by recording the coordinate value of the measurement object 7 for each pulse light.

[0059] Here, when a three-phase brushless motor without a Hall sensor is used for at least one of the first horizontal drive motor 433, the first vertical drive motor 443, the second horizontal drive motor 533, and the second vertical drive motor 543, the three-dimensional measuring device 2 needs to confirm and store the initial phase of the motor phase by performing a swinging action of the motor, and control the motor based on the stored initial phase. However, for example, every time the operator moves the three-dimensional measuring device 2 to change the measurement location, if the three-dimensional measuring device 2 performs an action of confirming and storing the initial phase of the motor phase in the initial action, the working time of the three-dimensional measuring device 2 and the working time of the operator become longer. In addition, for example, when the operator moves the three-dimensional measuring device 2 to change the measurement location, if the power supply of the three-dimensional measuring device 2 is kept on, it is not necessary to confirm and store the initial phase of the motor phase every time the measurement location is changed, and on the other hand, the power consumption of the battery of the three-dimensional measuring device 2 increases.

[0060] On the other hand, the calculation unit 461 of the three-dimensional measuring device 2 according to the present embodiment calculates the phase relationship of the motor phase when the first horizontal angle detector 434 is at the zero position as the initial phase, and stores the calculated initial phase in the storage unit 468 as a driving parameter in advance. Then, the calculation unit 461 drives the first horizontal driving motor 433 by open loop control in the initial operation after the power supply of the three-dimensional measuring device 2 is turned on, and applies the driving parameter stored in the storage unit 468 when the zero position of the first horizontal angle detector 434 is detected as the phase angle. Then, the calculation unit 461 applies the driving parameter stored in the storage unit 468 when the zero position of the first horizontal angle detector 434 is detected as the phase angle, and then drives the first horizontal driving motor 433 by closed loop control using the value of the first horizontal angle detector 434. Such processing is also performed on the first vertical angle detector 444 and the first vertical driving motor 443, the second horizontal angle detector 534 and the second horizontal driving motor 533, and the second vertical angle detector 544 and the second vertical driving motor 543.

[0061] Below, with reference to the accompanying drawings, the operation of the three-dimensional measuring device 2 involved in this embodiment, the three-dimensional measuring device driving method executed by the three-dimensional measuring device 2 involved in this embodiment, and the details of the three-dimensional measuring device driver program executed by the computer of the three-dimensional measuring device 2 involved in this embodiment are explained.

[0062] Figure 3 This is a flowchart showing the preliminary operation of the three-dimensional measuring device according to the present embodiment.

[0063] Figure 4 This is a flowchart showing the initial operation of the three-dimensional measuring device according to the present embodiment after the power is turned on.

[0064] Figure 5 This is a graph illustrating an example of the measurement result of the initial phase according to this embodiment.

[0065] It should be noted that Figure 3 as well as Figure 4 The flowchart shows the steps executed by the three-dimensional measuring device driving method according to the present embodiment and the steps of causing the computer of the three-dimensional measuring device 2 to execute the three-dimensional measuring device driving program according to the present embodiment.

[0066] In the following, for the sake of convenience, the first horizontal drive motor 433, the first vertical drive motor 443, the second horizontal drive motor 533 and the second vertical drive motor 543 are referred to as "motors", and the first horizontal angle detector 434, the first vertical angle detector 444, the second horizontal angle detector 534 and the second vertical angle detector 544 are referred to as "rotary encoders".

[0067] First, in Figure 3 In step S11 shown, the three-dimensional measuring device 2 performs a swinging motion of the motor as a preliminary action in the manufacturing process and assembly process of the three-dimensional measuring device 2, for example. That is, the operation unit 461 performs control to find the initial position of the motor. Next, in step S12, the operation unit 461 drives the motor through closed-loop control. Next, in step S13, the operation unit 461 determines whether the zero position of the rotary encoder is detected.

[0068] When the operation unit 461 does not detect the zero position of the rotary encoder (step S13: No), it performs the above-mentioned processing on step S12. On the other hand, when the operation unit 461 detects the zero position of the rotary encoder (step S13: Yes), in step S14, it calculates the phase relationship of the motor phase when the rotary encoder is at the zero position as the initial phase. Next, in step S15, the operation unit 461 stores the calculated initial phase in the storage unit 468 as a drive parameter.

[0069] Here, if Figure 5 As shown, in the initial phase calculated by the operation unit 461, there is a deviation in the magnetic pole of the motor that confirms the initial phase according to the operation unit 461. Figure 5 An example of the result of measuring the phase of an arbitrary phase (for example, the U phase of a three-phase brushless motor) in each pole of the motor once, twice, and three times is shown. Figure 5 The deviation of the initial phase shown is present not only in the U phase of the three-phase brushless motor, for example, but also in the V phase and the W phase.

[0070] Therefore, the operation unit 461 of this embodiment calculates the initial phase multiple times at each pole of the motor, and stores the average value of the multiple initial phases as a drive parameter in the storage unit 468. As a result, when calculating the initial phase, the operation unit 461 can suppress the deviation of the initial phase caused by the influence of the magnetic pole of the motor, and store a more stable value in the storage unit 468 as a drive parameter.

[0071] In this way, the preliminary operations in the manufacturing process and the assembly process of the three-dimensional measuring device 2 are completed.

[0072] Next, in Figure 4 In step S21 shown, the power of the three-dimensional measuring device 2 is turned on, for example, at a measurement site. Then, in step S22, as an initial operation after the power is turned on, the operation unit 461 drives the motor through open loop control. Next, in step S23, the operation unit 461 determines whether the zero position of the rotary encoder is detected.

[0073] When the operation unit 461 does not detect the zero position of the rotary encoder (step S23: No), the operation unit 461 performs the above-mentioned processing on step S22. On the other hand, when the operation unit 461 detects the zero position of the rotary encoder (step S23: Yes), in step S24, the drive parameter stored in the storage unit 468 is applied as the phase angle. In this way, the operation unit 461 of this embodiment does not confirm the initial phase of the motor by performing the swinging action of the motor through closed-loop control in the initial action after the power is turned on. Next, in step S25, the operation unit 461 drives the motor through closed-loop control using the value of the rotary encoder.

[0074] According to the three-dimensional measuring device 2 involved in this embodiment, since the swinging action of the motor in the initial action after the power is turned on is not required, the time until the zero position of the rotary encoder is detected can be shortened, and the working time can be shortened. In addition, when the operator moves the three-dimensional measuring device 2 to change the measurement location, for example, it is not necessary to keep the power turned on, and the working time can be further shortened, so the power consumption of the battery can be saved and the working time can be extended.

[0075] In addition, about Figure 3 as well as Figure 5 As described above, the operation unit 461 calculates the initial phase multiple times at each pole of the motor, and stores the average value of the multiple initial phases as a drive parameter in the storage unit 468. As a result, when calculating the initial phase, the operation unit 461 can suppress the deviation of the initial phase caused by the influence of the magnetic pole of the motor, and store a more stable value as a drive parameter in the storage unit 468. As a result, the three-dimensional measuring device 2 can achieve more stable motor drive.

[0076] The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the scope of the claims. The structures of the above embodiments can be partially omitted or combined arbitrarily in a manner different from the above.

[0077] Description of Reference Numerals

[0078] 2: three-dimensional measuring device; 4: aiming and ranging unit; 5: scanner unit; 6: measuring target; 7: measuring object; 41: calibration unit; 42: first bracket unit; 43: first horizontal rotating unit; 44: first vertical rotating unit; 45: telescope unit; 46: control and calculation unit; 47: operation and display unit; 48: base unit; 49: inclinometer; 52: second bracket unit; 53: second horizontal rotating unit; 54: second vertical rotating unit; 55: scanning mirror; 56: second ranging light-emitting unit; 57: Second distance measuring light receiving unit; 411: adjustment screw; 421: gap unit; 431: first horizontal rotation axis; 432: bearing; 433: first horizontal drive motor; 434: first horizontal angle detector; 436: first vertical axis; 441: first vertical rotation axis; 442: bearing; 443: first vertical drive motor; 444: first vertical angle detector; 446: first horizontal axis; 451: first distance measuring light emitting unit; 452: first distance measuring light receiving unit; 453: aiming light receiving unit; 4 55: first distance measuring light; 456: first reflected distance measuring light; 457: reflected aiming light; 458: aiming telescope; 461: operation unit; 462: first distance measuring unit; 463: first horizontal rotation driving unit; 464: first vertical rotation driving unit; 465: second distance measuring unit; 466: second horizontal rotation driving unit; 467: second vertical rotation driving unit; 468: storage unit; 469: image processing unit; 471: display unit; 472: operation input unit; 521: recess; 531: second horizontal rotation axis; 532: bearing; 533: second horizontal drive motor; 534: second horizontal angle detector; 536: second vertical axis; 541: second vertical rotation axis; 542: bearing; 543: second vertical drive motor; 544: second vertical angle detector; 546: second horizontal axis; 561: light emitting element; 562: light projecting optical unit; 565: second ranging light; 566: second reflected ranging light; 571: light receiving element; 572: light receiving optical unit.

Claims

1. A three-dimensional measuring device for acquiring three-dimensional data of a measurement object, characterized in that: The three-dimensional measuring device comprises: The motor makes the rotating object rotate around the axis; A rotary encoder for detecting a rotation angle of the rotating object; a calculation unit, which calculates the phase relationship of the phases of the motor when the rotary encoder is at a zero position as an initial phase; as well as a storage unit that stores the initial phase calculated by the calculation unit as a driving parameter, The operation unit stores the drive parameters in the storage unit in advance, drives the motor by open-loop control in an initial operation after power is turned on, and drives the motor by closed-loop control using the value of the rotary encoder after applying the drive parameters stored in the storage unit as a phase angle when the zero position of the rotary encoder is detected.

2. The three-dimensional measuring device according to claim 1, characterized in that: The calculation unit calculates the initial phase a plurality of times for each pole of the motor, and stores an average value of the plurality of initial phases in the storage unit as the drive parameter.

3. A method for driving a three-dimensional measuring device, for acquiring three-dimensional data of a measurement object, characterized in that: The three-dimensional measurement device driving method comprises: In the first step, a phase relationship of the motor phase when a rotary encoder for detecting the rotation angle of a rotating object is at a zero position is calculated as an initial phase; A second step is to pre-store the initial phase calculated in the first step as a driving parameter in a storage unit; A third step of driving the motor by open loop control in an initial operation after power is turned on, and applying the drive parameter stored in the storage unit when the zero position of the rotary encoder is detected as a phase angle; and In the fourth step, the motor is driven by closed-loop control using the value of the rotary encoder.

4. A three-dimensional measuring device driver, executed by a computer of a three-dimensional measuring device for acquiring three-dimensional data of a measurement object, characterized in that: The three-dimensional measuring device driver causes the computer to execute: In the first step, a phase relationship of the motor phase when a rotary encoder for detecting the rotation angle of a rotating object is at a zero position is calculated as an initial phase; A second step is to pre-store the initial phase calculated in the first step as a driving parameter in a storage unit; The third step is to drive the motor by open loop control in an initial operation after power is turned on, and to apply the drive parameter stored in the storage unit when the zero position of the rotary encoder is detected as a phase angle; as well as In the fourth step, the motor is driven by closed-loop control using the value of the rotary encoder.

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