Optical fiber distance measuring instrument

Abstract

To provide a three-dimensional distance measuring instrument simplified by using an optical fiber and improved in measurement accuracy.SOLUTION: A three-dimensional distance measuring instrument is intended to improve the accuracy of the difference between the time of light traveling in space and the time of light traveling in an optical fiber by detecting the end reflected wave from the tip of the optical fiber and calibrating the propagation time in the optical fiber. Disclosed is a method for measuring a distance by receiving distance measuring light emitted at a position sharing the emitted time and flying through space at the tip of an optical fiber through which distance measuring light is emitted and made incident, using a unique time through the optical fiber. Disclosed is a method for measuring a plurality of distance positions by receiving distance measuring light emitted and flying through space at a plurality of positions sharing a plurality of times of light emission through the optical fiber. Disclosed is a method for measuring a distance at a position where the distance measurement light, which has been emitted from the tip of the optical fiber and flying through space by passing the optical fiber into which the distance measurement light has been emitted, and which shares the emitted time, using the unique time through the optical fiber.SELECTED DRAWING: Figure 57

Description

[Technical field]

[0001] Distance measuring device [Background technology]

[0002] Optical Distance Measurement [Prior art documents] [Patent documents]

[0003] Patent No. 5508308 Patent No. 5547605 Patent No. 5547670 Patent No. 6719494 Patent No. 7195093 Patent application 2022-148672 [Non-patent literature]

[0004] Patent application 2022-148668 DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0005] Using optical fibers, the distance in three-dimensional space that shares the same light emission and radiation time is measured. Summary of the Invention

[0006] The optical distance measurement method of the present invention, which simplifies distance measurement by using optical fibers, is used to improve measurement accuracy and construct a three-dimensional space that can be grasped by a computer. Equipment and terminology explanation The television camera and laser distance measuring device are commercially available items. A numerically controlled television camera, a numerically controlled laser distance measuring device, a numerically controlled distance measuring receiver, a drive mechanism equipped with the receiver, and a robot drive the numerically controlled drive mechanism with drive values ​​to determine the shooting direction, measurement direction, direction for receiving the distance measuring light, and driving the robot's working position. High-speed distance measurement is possible at a speed of about 100 to 1,000 times per second. A multi-optical fiber has several optical fibers bundled together, and light is emitted, incident or received at the tip of each fiber. Identification is performed using television screens captured by television cameras, and images identified as necessary using methods such as image recognition, including images detected from television screens. [Problem to be solved by the invention]

[0007] Distance measurement and tracking robot Walking robot Controlling a robot using numerical values ​​in 3D space surveying Creating a digital map Internet Digital Map Digitization of existing maps Digitization of existing satellite images Effect of the Invention

[0008] Building digital map infrastructure. [Brief description of the drawings]

[0009] [Figure 1] Distance measurement light emitted by a distance measurement light emitter 4 incorporated in a distance measurement device 2 is incident on the robot 19 and passes through an optical fiber 5 arranged in the drive mechanism of the robot 19, where it is emitted into space at a light emission position 6 at the working position 8 of the robot 19. The distance measurement light emitted into the space travels the nearest measurement distance 7 in the space and is received by a distance measurement light receiver 3A incorporated in the distance measurement device 2. The reflected light of the reflected wave generated at the light emission position at the end of the optical fiber 5 arranged in the drive mechanism of the robot 19, where the distance measurement light emitted by the distance measurement light emitter 4 incorporated in the distance measurement device 2 is incident on, travels backward through the fiber 5 and is received by a distance measurement light receiver 3B provided at the tip of the incident optical fiber 5, and the light emission time at the light emission position 6 is calculated from the round trip time through the fiber 5. FIG. 13 is an explanatory diagram for calculating a measured distance 7 traveled in the space from the calculated light emission time at the light emission position 6, using the light reception time of the distance measuring light receiver 3A. [Diagram 2]The measurement distance light 7 emitted by the distance measurement light emitter 4A incorporated in the work position 8 of the robot 19 and flying through space is received by the distance measurement receiver 3A incorporated in the distance measurement device 2. The emitted measurement distance light passes through the optical fiber 5 arranged in the drive mechanism of the robot 19 to which it is incident, and is received by the distance measurement receiver 3B at the position of the distance measurement receiver 3A incorporated in the distance measurement device 2 at the tip. The measurement distance light emitted by the distance measurement light emitter 4B incorporated in the distance measurement device 2 passes through the optical fiber 5 arranged in the drive mechanism of the robot 19 to which it is incident, and the reflected light of the reflected wave generated at the tip of the distance measurement light emitter 4A at the work position 8 travels backward through the fiber 5 and is received by the distance measurement receiver 3B provided in the distance measurement light emitter 4B at the tip of the incident optical fiber 5, and the time it has traveled through the fiber 5 is calculated from the time it has taken for the light to travel back and forth through the fiber 5. Alternatively, the measurement distance light emitted by the distance measuring light emitter 4A incorporated in the work position 8 passes through the optical fiber 5 arranged in the drive mechanism of the robot 19 to which it is incident, and the reflected light of the reflected wave generated at the tip of the distance measuring receiver 3B incorporated in the distance measuring device 2 travels backward through the fiber 5 and is received by the distance measuring receiver 3C provided in the distance measuring light emitter 4A at the work position 8 at the tip of the incident optical fiber 5, and the time it has traveled through the fiber 5 is calculated from the time it has traveled back and forth through the fiber 5. The time it has emitted the light from the distance measuring light emitter 4A is calculated backward from the time it has traveled through the fiber 5 calculated from the time it has been received by the distance measuring receiver 3A. An explanatory diagram for calculating the measurement distance light 7 from the work position 8 to the distance measuring device 2 using the time it has been received by the distance measuring receiver 3A from the time it has been emitted by the distance measuring light emitter 4A, which has been calculated backward. [Diagram 3]The distance measurement light emitted from the distance measurement light emitter 4 of the distance measurement 2 passes through the optical fiber 5 arranged in the drive mechanism of the robot 19, and is emitted at the light emission position 6 of the working position 8 of the robot 19, flies the nearest measurement distances 7A, 7B, 7C in space, and is received by the distance measurement receivers 3A, 3B, 3C at different positions built into the distance measurement device 2. The reflected wave from the working position 8 at the tip of the optical fiber 5 travels back through the optical fiber 5 and is received by the distance measurement receiver 3D built into the distance measurement device 2. The time it took for the light to travel back and forth through the optical fiber 5 is used to calculate the time it was emitted at the light emission position 6 of the working position 8. Using the light emission time of light emission position 6 at working position 8 and the light reception times of distance measuring receivers 3A, 3B, 3C of distance measurement 2, the distance position of working position 8 of robot 19 consisting of measurement distances 7A, 7B, 7C measured by distance measuring receivers 3A, 3B, 3C at different positions of distance measurement 2 is calculated and measured. An explanatory diagram showing how the robot 19 is driven in association with a drive numerical value of working position 8 to a position consisting of measurement distances 7A, 7B, 7C measured by distance measurement device 2, and the operation of robot 19 is instructed using an external signal from operation console 47 that instructs the distance and direction, and the operation of robot 19 is instructed using voices indicating the distance and direction from a voice indicator. [Figure 4] Distance measurement light emitted by distance measurement light emitter 4A incorporated in working position 8 of robot 19 and flying through space is received by distance measurement light receivers 3A, 3B, 3C incorporated in distance measurement instrument 2. The emitted measurement distance light passes through optical fiber 5 arranged in the drive mechanism of robot 19 and is received by distance measurement light receiver 3D incorporated in distance measurement instrument 2 at the tip of the optical fiber 5 to which the emitted measurement distance light is incident. The emission time of distance measurement light emitter 4A is calculated using the time it takes for the light to pass through optical fiber 5 to which it is incident. An explanatory diagram for calculating a position consisting of measurement distances 7A, 7B, 7C flown through the space, using the calculated emission time and the time it takes for the light to be received after flying through the space. [Diagram 5]The distance measurement light emitted by the distance measurement light emitter 4 of the distance measurement unit 35C incorporated in the distance measurement instrument 2 is incident, passes through the optical fiber 5 arranged in the drive mechanism of the robot 19, and is emitted into space at the light emission position 6 at the end of the optical fiber 5 at the working position 8 of the robot 19. At the same time, the distance measurement light that has been incident and passed through the optical fiber 5 is received by the distance measurement receivers 3D and 3E of the distance measurement units 35A and 35B, which are separate from each other and are incorporated in the distance measurement instrument 2, and the emission time of the distance measurement light emitter 4 of the distance measurement units 35A, 35B, and 35C is shared. The distance measurement light that has been emitted and travels through space is received by the distance measurement receivers 3A, 3B, and 3C, which share the emission time of the distance measurement units 35A, 35B, and 35C incorporated in the distance measurement instrument 2. An explanatory diagram which relates the position consisting of measured distances 7A, 7B, 7C from the light emission position 6 of the working position 8 of the robot 19 to the distance measuring receivers 3A, 3B, 3C of the distance measuring units 35A, 35C of the distance measuring device 2 to the position of an image 58 of the working position displayed on a television screen captured by a television camera built into the distance measuring device 2, using the time obtained by subtracting the time the light was emitted by the distance measuring light emitter 4 from the time the light was received by the distance measuring receivers 3A, 3B, 3C and the time it took for the light to pass through the optical fiber 5. [Figure 6] The measurement distance light 1 that is emitted from the distance measurement light emitter 4 incorporated in the distance measurement device 2 and travels through the optical fiber 5 into which the distance measurement light is incident, and is emitted at the light emission position 6 of the pointer 9 at the tip, and travels through the three-dimensional space 52, is received by a numerically controlled distance measurement receiver 37 of a drive mechanism incorporated in the distance measurement device 2, which is associated with the position of an image 30 of the emission position of the distance measurement light that is shown on a television screen 26 captured by a television camera 24 incorporated in the distance measurement device 2. An explanatory diagram in which the measurement distance light 1 measured by the numerically controlled distance measurement receiver 37 is used to calculate and measure the distance from the distance measurement device 2 to the light emission position 6 of an arbitrary pointer 9 in the three-dimensional space 52 [Figure 7]The distance measurement light 1 or the light for photography emitted from the distance measurement light emitter 4 incorporated in the distance measurement device 2 is incident on the optical fiber 5, and the distance measurement light 1 or the light for photography is emitted at the light emission position 6 of the indicator 9 at the tip and flies through the three-dimensional space. The driving mechanism incorporated in the distance measurement device 2 drives the driving mechanism to shoot the image 30 of the emission position on the television screen 40 of the numerically controlled television camera 59 or the light for photography so that it is reflected in the center position of the television screen 40. The distance measurement receiver 3 is attached to the driving mechanism so as to receive the distance measurement light 1 from the direction of the center position of the numerically controlled television camera 59. The distance measurement light 1 from the light emission position 6 of the indicator 9 is received using the distance measurement receiver 3 with a narrowed receiving range. An explanatory diagram of calculating and measuring the distance from the distance measurement device 2 to the light emission position 6 of an arbitrary indicator 9 in the three-dimensional space 52 using the distance measurement 1 measured by the distance measurement receiver 3. [Figure 8] An explanatory diagram of receiving the distance measuring light using a distance measuring device 3 attached to a numerically controlled television camera 59 so that the distance measuring light emitted by a distance measuring light emitter 4 built into the distance measuring device 2 passes through an optical fiber 5 into which the distance measuring light is incident, is emitted at a light emission position 6 of a pointer 9 at the tip, flies over the most recent measurement distance 7 in three-dimensional space, and photographs an image 30B of the emission position of the distance measuring light at the central position of a television screen 40 photographed by a numerically controlled television camera 59 using a drive numerical value associated with the position of an image 30A of the emission position displayed on a television screen 26 photographed by a television camera 24 built into the distance measuring device 2, and measures the distance measuring light in the central direction of the television screen 40. [Figure 9]The distance measurement light emitted from the distance measurement light emitter 4 of the distance measurement instrument 2 passes through the optical fiber 5 on which the distance measurement light is incident, and the distance measurement light emitted from the light emission position 6 of the indicator 9 at the tip flies the nearest measurement distances 7A, 7B, 7C in the three-dimensional space 52 and is received by the distance measurement receivers 3A, 3B, 3C at different positions incorporated in the distance measurement instrument 2. The distance measurement light emitted by the distance measurement light emitter 4 is received by the distance measurement receivers 3D, 3E, 3F near the distance measurement receivers 3A, 3B, 3C, so that the emission time of the distance measurement light emitter 4 is shared. An explanatory diagram for calculating and measuring the position of an arbitrary distance in the three-dimensional space 52 consisting of the measurement distances 7A, 7B, 7C measured by the distance measurement receivers 3A, 3B, 3C at different positions from the distance measurement instrument 2. [Figure 10] The distance measurement light emitted by the distance measurement light emitter 4 incorporated in the distance measurement instrument 2 is emitted at the light emission position 6 of the tip of the indicator 9 through the incident optical fiber 5, and the distance measurement light flying the most recent measurement distances 7A, 7B, 7C in the three-dimensional space 52 is associated with the position of the image 30 of the emission position of the distance measurement light reflected on the television screen 26 photographed by the television camera 24 incorporated in the distance measurement instrument 2. The distance measurement light is received by the distance measurement receivers 37A, 37B, 37C by driving the drive mechanism with the drive numerical value at different positions incorporated in the distance measurement instrument 2. An explanatory diagram for calculating the position of the distance from the measurement instrument 2 to an arbitrary light emission position 6 in the three-dimensional space 52 to calculate the position of the distance consisting of the measurement distances 7A, 7B, 7C measured by the numerically controlled distance measurement receivers 37A, 37B, 37C at different positions. [Figure 11]In the robot workspace 45, the position of the work position 8A where the robot 19 is driven is measured using the indicator 9A to measure the position of the measured distances 7A, 7B, and 7C from the distance measuring device 2, then the position of the work position 8B where the robot 19 is driven is measured using the indicator 9B to measure the position of the measured distances 7D, 7E, and 7F from the distance measuring device 2, and then the position of the work position 8C where the robot 19 is driven is measured using the indicator 9C to measure the position of the measured distances 7G, ​​7H, and 7I from the distance measuring device 2. The position of the distance consisting of the measured distances 7A, 7B, and 7C, the position of the distance consisting of the measured distances 7D, 7E, and 7F, and the position of the distance consisting of the measured distances 7G, ​​7H, and 7I are continuously measured. An explanatory diagram for acquiring the relationship of the distance position from the work position 8A in the work space 45 of the robot 19 through the work position 8B to the work position 8C. [Figure 12] In the working space 45 of the robot 19, the working position 8A of the robot 19 is processed to a position of the distance consisting of the measured distances 7A, 7B, and 7C from the distance measuring device 2 measured in Fig. 4, and then the robot moves to working position 8B and processes a position of the distance consisting of the measured distances 7D, 7E, and 7F from the distance measuring device 2 measured in Fig. 4. Furthermore, the robot moves to working position 8C and is set at a position of the distance consisting of the measured distances 7G, ​​7H, and 7I from the distance measuring device 2 measured in Fig. 4. An explanatory diagram in which distance measuring light 1A, 1B, 1C from working position 8A is received and confirmed by distance measuring receivers 3A, 3B, 3C, measurement is continued during movement from working position 8A to working position 8B, distance measuring light 1D, 1E, 1F from working position 8B is received and confirmed by distance measuring receivers 3A, 3B, 3C, and distance measuring light 1G, 1H, 1I from working position 8C is received and confirmed by distance measuring receivers 3A, 3B, 3C. [Figure 13]An explanatory diagram in which light emission positions 6A, 6B, 6C, 6D, 6E, 6F connected to optical fibers 5A, 5B, 5C, 5D, 5E, 5F from distance measuring light emitter 4ABCDEF are provided at the positions of walking feet 13A, 13B, 13C, 13D, 13E, 13F of a walking legged robot 20, and distance measuring light 1A, 1B, 1C, 1D, 1E, 1F emitted by distance measuring light emitter 4ABCDEF are received with a shifted period using distance measuring light receivers 3A, 3B, 3C provided at the bottom of the walking robot 20, and the positions of walking feet 13A, 13B, 13C, 13D, 13E, 13F are calculated and measured. [Figure 14] Using an indicator 9 to specify the position to be measured, the light emission position 6 at the end of the end of an optical fiber 5 passing through the indicator 9 is attached to a measurement position 11 on an object 10 for distance measurement, and distance measurement light is emitted 12 into space from the measurement position 11 to measure the measurement distance 7. An explanatory diagram of a display that uses a switch built into the indicator 9 to operate the measurement and show the measured distance. [Figure 15] Distance measurement light 1D is focused by an optical lens from light emission position 6 at the tip of pointing device 9 toward measurement position 11 through optical fiber 5 into which distance measurement light emitted by distance measurement light emitter 4 of distance measuring device 2 is injected. The reflected light of distance measurement light 1D traveling from measurement position 11 toward light emission position 6 and the reflected light of distance measurement light traveling backward through optical fiber 5 re-injected from the tip of optical fiber 5 at light emission position 6 are received by distance measurement receiver 3 provided at the position of distance measurement light emitter 4. The flight distance of distance measurement light 1D is calculated using the time obtained by subtracting the time it took to pass through known optical fiber 5 from the time of emission and the time of reception. An explanatory diagram of photographing measurement position 11 using television camera 24 attached to pointing device 9. [Figure 16]Distance measurement light emitted by the distance measurement light emitter 4 of the distance measuring device 2 is passed through the optical fiber 5 into which the distance measurement light is injected, and is collected using an optical lens from the light emission position 6 at the tip, and distance measurement light 1A is emitted in the direction of the measurement position 11. The distance measurement light 1B, 1C, and 1D of the reflected light emitted at the measurement position 11 are received by the distance measurement light receivers 3B, 3C, and 3D of the distance measuring device 2. The light is emitted from the light emission position 6 at the tip through the optical fiber 5 into which the distance measurement light emitted by the distance measurement light emitter 4 is injected, and is received by the distance measurement light emitter 3A provided at the position of the distance measurement light emitter 4 through the optical fiber 5 into which the reflected light of the distance measurement light 1A from the measurement position 11 is injected again. The reflection time of the measurement position 11 is calculated using the time it takes for the light to travel back and forth from the distance measurement light emitter 4 to the measurement position 11. An explanatory diagram for calculating the distance position from the measurement position 11 to the distance measurement light emitters 3B, 3C, and 3D using the reflection time and the light reception time of the distance measurement light emitters 4B, 4C, and 4D. [Figure 17]The distance measurement light emitted by the distance measurement light emitter 4 of the distance measuring device 2 is passed through the injected optical fiber 5A and collected by an optical lens from the light emission position 6A of the tip of the indicator 9A, and the distance measurement light 1A is emitted in the direction of the measurement position 11A. The distance measurement receiver 3A receives the light emitted by the distance measurement light emitter 4 of the distance measuring device 2 and the reflected light from the measurement position 11A that travels backward through the optical fiber 5 re-injected from the tip of the optical fiber 5A. The reflection time of the measurement position 11A is calculated backwards using the light reception time of the distance measurement light emitter 4 from the light emission time of the distance measurement light emitter 4. The three-dimensional distance position from the measurement position 11A to the distance measurement receivers 3B, 3C, 3D of the distance measuring device 2 is calculated using the time when the reflected distance measurement lights 1B, 1C, 1D are received by the distance measurement receivers 3B, 3C, 3D of the distance measuring device 2 from the reflection time of the measurement position 11A that has been calculated backwards. Similarly, the distance measurement light emitted by the distance measurement light emitter 4 of the distance measurement instrument 2 passes through the injected optical fiber 5B and is collected using an optical lens from the light emission position 6B of the pointer 9B at the tip, and distance measurement light 1E is irradiated in the direction of measurement position 11B. The three-dimensional distance position from measurement position 11B to distance measurement receivers 3B, 3C, 3D of the distance measurement instrument 2 is calculated using the time when distance measurement light 1F, 1G, 1H reflected from measurement position 11B is received by distance measurement receivers 3B, 3C, 3D of the distance measurement instrument 2. An explanatory diagram for calculating the positional relationship of the distance of the three-dimensional measurement distance 7 between the three-dimensional measurement position 11A and the three-dimensional measurement position 11B using the position of the distance from the three-dimensional distance measurement instrument 2 to the three-dimensional measurement position 11A and the position of the distance from the three-dimensional distance measurement instrument 2 to the three-dimensional measurement position 11B. [Figure 18] FIG. 13 is an explanatory diagram showing how the light emission position 6 of the indicator 9 of the optical fiber 5 is attached to the distance measuring receiver 3A and the length of the optical fiber 5 is calibrated by measuring the time it takes for the distance measuring light to pass. [Figure 19]Distance measurement light 1A, 1B, 1C emitted from light emission position 6A of measurement position 11A of engine 21 is directly received by distance measurement receivers 3A, 3B, 3C of distance measurement instrument 2 to measure the distance position, passing through optical fiber 5A into which distance measurement light A emitted from distance measurement light emitter 4A of distance measurement instrument 2 is incident. Distance measurement light 1D, 1E, 1F emitted from light emission position 6B arranged at drive position 8 of drive mechanism of robot 19 is directly received by distance measurement receivers 3A, 3B, 3C of distance measurement instrument 2 with a time lag, passing through optical fiber 5B into which distance measurement light B emitted from distance measurement light emitter 4B of distance measurement instrument 2 is incident, to measure the distance position. An explanatory diagram showing how the driving position 8 of the driving mechanism of the robot 19 is driven to the measurement position 11A of the engine 21 while measuring the distance positions of the distance measurement lights 1D, 1E, and 1F from the distance measuring device 2 so as to align the driving position 8 of the robot 19 with the distance position of the measured measurement position 11A of the engine 21. [Figure 20] Distance measurement light 1A, 1B, 1D emitted from light emission position 6 arranged at drive position 8 of the drive mechanism of robot 19 is directly received by distance measurement receivers 3A, 3B, 3C of distance measurement instrument 2 to measure the distance position through optical fiber 5A into which distance measurement light 1 emitted from distance measurement light emitter 4A of distance measurement instrument 2 is incident. Distance measurement light 1G, which is collected and irradiated using an optical lens from light emission position 6 arranged at drive position 8 of the drive mechanism of robot 19 after a time lag, is passed through optical fiber 5B into which distance measurement light 2 emitted from distance measurement light emitter 4B of distance measurement instrument 2 is incident, and distance measurement light 1D, 1E, 1F, which is reflected light irradiated to irradiation position 42 of engine 21, is received by distance measurement receivers 3A, 3B, 3C to measure the distance position. 13 is an explanatory diagram illustrating driving a position at a distance of drive position 8 consisting of distance measuring light beams 1A, 1B, and 1D to a position at a distance of irradiation position 42 consisting of distance measuring light beams 1D, 1E, and 1F. FIG. [Figure 21]Distance measurement light 1 emitted from a distance measurement light emitter 4A provided at a drive position of the drive mechanism of the robot 19 is received by a distance measurement receiver 3D of the distance measurement instrument 2 through an incident optical fiber 5A. Distance measurement light 1A, 1B, 1D emitted from the distance measurement light emitter 4A are directly received by distance measurement receivers 3A, 3B, 3C of the distance measurement instrument 2 to measure the distance position. Distance measurement light 2 emitted from a distance measurement light emitter 4B provided at a drive position of the drive mechanism of the robot 19 is received by a distance measurement receiver 3E of the distance measurement instrument 2 through an incident optical fiber 5B with a time lag. Distance measurement light 1G of the distance measurement light 2 emitted from the distance measurement light emitter 4B is collected using an optical lens, and distance measurement light 1D, 1E, 1F of the reflected light irradiated to an irradiation position 42 of the engine 21 is received by distance measurement receivers 3A, 3B, 3C to measure the distance position. 13 is an explanatory diagram for driving a driving position 8 having a distance corresponding to distance measuring light beams 1A, 1B, and 1D to a position having a distance corresponding to irradiation position 42 having distance measuring light beams 1D, 1E, and 1F. FIG. [Figure 22]Distance measurement light 1A, 1B, 1C emitted from the tip of an indicator 9 attached to a work position 8 of a robot 19 is directly received by distance measurement receivers 3A, 3B, 3C of the distance measurement instrument 2 through optical fiber 5A into which distance measurement light A emitted from distance measurement light emitter 4A of the distance measurement instrument 2 is incident, and the distance position of the work position 8 consisting of distance measurement light 1A, 1B, 1C is measured. After a time lag, distance measurement light 1G focused by an optical lens from the tip of an indicator 9 attached to a work position 8 of a robot 19 is irradiated near a processing position 41 of an engine 21 through optical fiber 5B into which distance measurement light B emitted from distance measurement light emitter 4B of the distance measurement instrument 2 is incident. The drive mechanism of the robot 19 is driven so that the position of the image 44A of the irradiation position shown on the television screen 26A photographed by the television camera 24 of the irradiated irradiation position 42 is displayed at the center position of the television screen 26A, and the image 43A of the processing position shown on the television screen 26A photographed by the television camera 24 attached to the pointing tool 9 is displayed at the position of the image 44B of the irradiation position on the television screen 26B. The distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2 receive the distance measuring light 1D, 1E, and 1F of the reflected light irradiated to the processing position 41 of the irradiation position of the distance measuring light 1G, and measure the position of the distance consisting of the distance measuring light 1D, 1E, and 1F. An explanatory diagram for calculating the distance from the pointing tool 9 to the processing position 41 using the flight time of the distance measuring light 1G described in FIG. 19, and driving the drive mechanism of the robot 19 so as to subtract the calculated distance. [Diagram 23]The distance measurement light emitted from the distance measurement light emitter 4 of the distance measurement device 2 incorporated in the distance measurement unit 35 and incident on the optical fiber 5 is received by the distance measurement receivers 3A, 3B, 3C of the distance measurement device 2, and the distance position consisting of the distance measurement light 7A, 7B, 7C from the distance measurement receivers 3A, 3B, 3C of the distance measurement device 2 to the light emission position 6 of the work position 8 of the robot 19 is calculated. The TV camera 24 incorporated in the distance measurement unit 35 is used to capture the driving range of the work position 8 of the robot 19 in the shooting range 32 of the TV camera. The image 30 of the unique light emission position of the distance measurement light reflected in the image 58 of the work position on the TV screen 26 is identified. An explanatory diagram in which the position of the measured distance is added to the two-dimensional position of the identified two-dimensional position image 58 of the work position on the TV screen 26 and expanded into a three-dimensional space grasped by a computer. [Figure 24]Using the drive numerical value of the laser distance measuring device 55 driven by a numerically controlled drive mechanism incorporated in the distance measuring unit 35, which is associated with the position of the image 57 of the workpiece identified by the image recognition method on the television screen 26 captured by the television camera 24, the distance measuring laser light is irradiated to the workpiece 54 shown in the image, and the distance and direction from the laser distance measuring device 55 of the distance measuring unit 35 to the workpiece 54 are measured. The optical fiber 5 into which the distance measuring light 1 emitted by the distance measuring light emitter 4 of the distance measuring device 2 incorporated in the distance measuring unit 35 is incident is emitted into space at the light emission position 6 at the end of the optical fiber 5, which is placed at the work position 8 driven by the robot 19. The distance measuring light emitted and flying in the space is received by the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2, and the distance position consisting of the measurement distances 7A, 7B, and 7C from the distance measuring device 2 of the distance measuring unit 35 to the work position 8 driven by the robot 19 is measured. Using the drive numerical value of the robot 19 associated with the distance and direction to the workpiece 54 corresponding to the position of the measured distance from the distance measuring device 2 of the distance measuring unit 35 to the work position 8, the work position 8 is driven to the position of the workpiece 54. An explanatory diagram of the processing operation of the workpiece 54 at the work position 8 by driving the drive mechanism of the robot 19 so that the position of the distance consisting of the measured distances 7A, 7B, 7C matches the measured distance and direction of the laser distance measuring device 55. [Diagram 25]An image 57B of the workpiece shown at the center position on the numerically controlled television camera screen 40 is photographed using the drive numerical value of a numerically controlled television camera 59 driven by a numerically controlled drive mechanism incorporated in the distance measurement unit 35, which is associated with the position of an image 57A of the workpiece identified by an image recognition method on a television screen 26 photographed by a television camera 24 incorporated in the distance measurement unit 35. A laser distance measuring device 60 attached to the numerically controlled television camera 59 is used to measure the distance and direction to the workpiece 54 shown on the numerically controlled television camera screen 40 so as to irradiate the central position with a laser light 56 ​​for distance measurement. An optical fiber 5 into which distance measurement light emitted by a distance measurement light emitter 4 of a distance measuring device 2 incorporated in the distance measurement unit 35 is incident is emitted into space at a light emission position 6 at the end of the optical fiber 5 arranged at a work position 8 driven by a robot 19. The emitted distance measurement light flying through space is received by distance measurement receivers 3A, 3B, 3C of distance measurement device 2, and the position of the distance consisting of measurement distances 7A, 7B, 7C from distance measurement device 2 of distance measurement unit 35 to work position 8 driven by robot 19 is measured. An explanatory diagram showing how the drive mechanism of robot 19 is driven to drive workpiece 54 to work position 8 for processing, using a drive numerical value associated with the position of the distance consisting of measurement distances 7A, 7B, 7C, which corresponds to the distance and direction measured by laser distance measurement device 60. [Figure 26]Using the drive value of the laser distance measuring device 55 driven by the numerically controlled drive mechanism incorporated in the distance measuring unit 35, which is associated with the position of the image 57A of the workpiece identified by the image recognition method on the television screen 26 photographed by the television camera 24 incorporated in the distance measuring unit 35, the laser light 56 ​​for distance measurement is irradiated to the workpiece 54 reflected in the image, and the distance and direction from the laser distance measuring device 55 of the distance measuring unit 35 to the workpiece 54 are measured. At the same time, using the drive value of the numerically controlled television camera 59, which is associated with the position of the image 57A of the workpiece and drives the photographing direction of the numerically controlled drive mechanism incorporated in the distance measuring unit 35, the image 57B of the workpiece reflected in the center position on the numerically controlled television camera screen 40A is photographed. Using the measured distance and direction, the zoom mechanism of the angle of view of the numerically controlled drive mechanism is driven to photograph an enlarged image 57C of the workpiece on the numerically controlled television camera screen 40B. Image 57C of the workpiece shown on television camera screen 40B is identified again by the image recognition method. At the same time, image 44A of the irradiation position shown on television camera screen 40B is identified. The drive position of the drive mechanism of laser distance measuring device 55 is corrected so that image 44A of the identified irradiation position is shown at the position of image 57C of the workpiece. It is determined that image 44B of the irradiation position is irradiated at the position of image 57D of the workpiece shown on television camera screen 40C. The distance and direction from laser distance measuring device 55, the drive position of which has been corrected, to image 57D of the workpiece is measured again. An optical fiber 5 into which distance measuring light emitted by distance measuring light emitter 4 of distance measuring device 2 incorporated in distance measuring unit 35 is incident is placed at working position 8 driven by robot 19, and the light is emitted into space at light emission position 6 at the end of optical fiber 5. The emitted distance measurement light flying through space is received by distance measurement receivers 3A, 3B, 3C of distance measurement device 2, and the distance position consisting of measurement distances 7A, 7B, 7C from distance measurement device 2 of distance measurement unit 35 to work position 8 driven by robot 19 is measured. An explanatory diagram of driving the drive mechanism of robot 19 to drive workpiece 54 to work position 8 for processing, associated with the position of the distance consisting of measured measurement distances 7A, 7B, 7C, which correspond to the distance and direction measured again by laser distance measurement device 55. [Figure 27] The image 57A of the workpiece shown on the television screen 26 captured by the television camera 24 incorporated in the distance measurement unit 35 is identified by an image recognition method. The drive mechanism of the numerically controlled laser distance measuring device 55 is driven using a drive value associated with the position of the identified image 57A of the workpiece on the worktable 36 to measure the distance and direction to the workpiece 54A. The work position 8 is driven to the position of the workpiece 54A on the worktable 36 by using a drive value of the robot 19 associated with the position of the distance corresponding to the distance and direction, and the workpiece 54A is acquired. Next, the image shown on the television screen 26 is driven using a drive value associated with the position of the image 43A of the processing position identified by an image recognition method to measure the distance and direction to the processing position 41 by driving the drive mechanism of the numerically controlled laser distance measuring device 55. An explanatory diagram showing how the work position 8 is driven to match the distance and direction measured using a numerically controlled laser distance measuring device 55, using the drive numerical value of the robot 19 associated with the distance position corresponding to the distance and direction, thereby processing the workpiece 54B at the processing position 41. [Figure 28] An optical fiber 5, to which distance measurement light emitted by a distance measurement light emitter 4 of a distance measurement device 2 incorporated in a distance measurement unit 35 is incident, is arranged at a work position 8 driven by a robot 19, and is emitted into space at a light emission position 6 at the end of the optical fiber 5. The emitted distance measurement light traveling in space is received by distance measurement receivers 3A, 3B, and 3C of the distance measurement device 2, and the position of the distance consisting of measurement distances 7A, 7B, and 7C from the distance measurement device 2 of the distance measurement unit 35 to the work position 8 driven by the robot 19 is measured. An explanatory diagram in which a drive value associated with the distance and direction corresponding to the position of the measured distance is used to drive a drive mechanism of a numerically controlled television camera 59, and an image 58 of the work position is taken at the central position on a numerically controlled television screen 40C, and an image 57C of the workpiece is taken on a nearby television screen 26 using a television camera 24 attached to the work position 8. [Figure 29]Distance measurement light 1 emitted from a distance measurement light emitter 4 of a distance measurement device 2 incorporated in a distance measurement unit 35 is incident on an optical fiber 5, which is emitted into space at a light emission position 6 at the end of the optical fiber 5 arranged at a work position 8 where the robot 19 moves in a three-dimensional space. The emitted distance measurement light traveling in space is received by distance measurement receivers 3A, 3B, and 3C of the distance measurement device 2, and the position of the distance consisting of measurement distances 7A, 7B, and 7C from the distance measurement device 2 of the distance measurement unit 35 to the work position 8 where the robot 19 moves is measured. An explanatory diagram of tracking and photographing an image 58C of the work position at the center position on a numerically controlled television screen 40C by driving a numerically controlled television camera 59 using the driving numerical value of the driving mechanism and the driving numerical value of the zoom driving mechanism associated with the distance and direction corresponding to the position of the measured distance. [Diagram 30] The optical fiber 5, into which the distance measurement light emitted by the distance measurement light emitter 4 of the distance measurement device 2 is incident, is emitted into space at the light emission position 6 at the end of the optical fiber 5 arranged at the work position 8 driven by the robot 19. The emitted distance measurement light traveling in space is received by the distance measurement receivers 3A, 3B, and 3C of the distance measurement device 2, and the position of the distance consisting of the measurement distances 7A, 7B, and 7C from the distance measurement device 2 of the distance measurement unit 35 to the work position 8 driven by the robot 19 is measured. Using the drive value of the numerically controlled television camera 59 associated with the measured distance and direction corresponding to the position of the measured distance, the drive mechanism for changing the shooting direction of the numerically controlled television camera 59 and the drive mechanism for changing the shooting angle of view are driven, and an image 58C of the work position is captured so as to be displayed in the center position on the numerically controlled television screen 40C. 13 is an explanatory diagram showing how a work position 8 driven by a robot 19 is photographed using a numerically controlled television camera 59 so that an image 58C of the work position is displayed at the center of a numerically controlled television screen 40C. [Diagram 31]The position of the distance is measured by measuring distances 7A, 7B, 7C measured by directly receiving distance measuring light emitted from the tip of the indicator 9 attached to the working position 8 of the robot 19 using the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 through the optical fiber 5 to which the distance measuring light emitted from the distance measuring light emitter 4 of the distance measuring device 2 incorporated in the distance measuring unit 35 is incident, and the distance is measured by measuring distances 7A, 7B, 7C measured by directly receiving distance measuring light emitted from the tip of the indicator 9 attached to the working position 8 of the robot 19 using the related driving numerical value in the distance and direction corresponding to the position of the distance, and measuring the distance to the working position 8 of the robot 19 using the related driving numerical value and the measured distance, and driving the driving mechanism of the numerically controlled television camera 59 using the related driving numerical value and the measured distance to take an image 58C of the working position at the center position on the numerically controlled television screen 40C. [Diagram 32]At a place where the robot 19 and the worker 86 work together, the image 87A of the worker captured by the television camera 24 on the television screen 26 is tracked and recognized using an image recognition method. Using the drive value of the numerically controlled laser distance measuring device 55 associated with the position of the identified image 87A of the worker captured on the television screen 26, the distance measuring laser light 56A is irradiated onto the worker 86 to track and measure the distance and direction from the worker 86. At the same time, using the drive value for changing the shooting direction of the numerically controlled television camera 59 associated with the position of the identified image 87A of the worker captured on the television screen 26 and the measured distance from the worker 86, the image 87B of the worker enlarged on the numerically controlled television screen 40 is captured using the drive value for changing the shooting angle. Using the optical fiber of the distance measuring device arranged at the driving position of the driving mechanism of the robot 19 at the collaboration place, the driving position of the robot 19 is continuously measured for distance. The measured distance and direction of the worker 86 and the driving position of the robot 19 are continuously expanded in a three-dimensional space constructed on a computer built in the controller 46, and the interval between the distance and direction of the worker 86 and the driving position of the driving mechanism of the robot 19 is calculated in the three-dimensional space constructed on the computer to monitor the safety of the collaborative area. An explanatory diagram of monitoring the approach of the driving mechanism of the robot 19 using a learning function such as AI, based on the movement of the worker 78B enlarged on a numerically controlled television screen 40 captured by a numerically controlled television camera 59. [Diagram 33]The distance measuring light emitted by the distance measuring light emitter 4 and passing through the optical fiber 5 is attached to the light emission position 6 at the tip of the indicator 9A and emitted at the measurement position 11 of the engine 21, and the most recent measured distances 7A, 7B, 7C traveled to the distance measuring receivers 3A, 3B, 3C are measured, and the positional relationship of the distance between the distance measuring device 2 and the measurement position 11 is measured. The distance measuring light emitted by the distance measuring light emitters 4A, 4B, 4C, 4D and passing through the optical fibers 5A, 5B, 5C, 5D and transmitted therethrough is emitted from the light emission positions 6A, 6B, 6C, 6D provided at the hand of the indicator 9A with a time lag, and the distance traveled to the distance measuring receivers 3A, 3B, 3C is measured, and the positional relationship of the distance between the distance measuring device 2 and the light emission positions 6A, 6B, 6C, 6D provided at the hand of the indicator 9A is measured. The distance between the indicator 9A and the measurement position 11 is measured, and the machining direction of the tool attached to the working position 8 where the measurement position 11 of the engine 21 is processed is obtained by measuring the distance position of the light emission positions 6A, 6B, 6C, and 6D provided at the hand of the indicator 9A. An explanatory diagram for storing the measured distance to the distance measuring receivers 3A, 3B, and 3C using the working tool or a jig for the working tool to be performed to determine the machining direction of the tool attached to the working position of the robot. [Diagram 34]The tip of the distance measuring indicator 9 is attached to the measurement position 11 of the engine 21, and the distance measuring light emitted by the distance measuring light emitters 4A, 4B, 4C, 4D with a time lag and passing through the optical fibers 5A, 5B, 5C, 5D is emitted with a time lag from the light emission positions 6A, 6B, 6C, 6D provided at the side of the indicator 9. Each distance measuring light that has traveled the closest distance in space from the light emission positions 6A, 6B, 6C, 6D where the light was emitted is received by the distance measuring receivers 3A, 3B, 3C. The positional relationship of the distance between the distance measuring receivers 3A, 3B, 3C of the distance measuring instrument 2 and the light emission positions 6A, 6B, 6C, 6D provided at the side of the indicator 9 is measured. The direction of the indicator 9 attached to the measurement position 11 of the engine 21 is calculated using the relationship of the distance position between each distance measuring receiver 3A, 3B, 3C of the distance measuring instrument 2 and each light emission position 6A, 6B, 6C, 6D of the indicator 9. An explanatory diagram showing how the distance position of the measurement position 11 of the engine 21 is measured from the distance measuring instrument 2 via the light emission positions 6A, 6B, 6C, 6D of the indicator 9 using the calculated direction of the indicator 9, the known distance to the tip of the indicator 9, and the distance position between the distance measuring receivers 3A, 3B, 3C of the distance measuring instrument 2 and the light emission positions 6A, 6B, 6C, 6D. [Diagram 35]Distance measurement light emission 7G, which is emitted and collected from a distance measurement light emitter 4 provided at the tip of a distance measurement indicator 9, is irradiated onto a measurement position 11 on the engine 21, and the reflected light from the measurement position 11 is received by a distance measurement light emitter 3 provided on the indicator 9, thereby measuring the distance from the tip of the indicator 9 to the measurement position 11. Distance measurement light emitted with a time lag by distance measurement light emitters 4A, 4B, 4C, 4D of the distance measuring instrument 2 and passed through optical fibers 5A, 5B, 5C, 5D is emitted with a time lag from light emission positions 6A, 6B, 6C, 6D provided at the proximal end of the indicator 9. Each distance measuring light that has flown the closest distance in space from the emitted light emission positions 6A, 6B, 6C, 6D is received by distance measuring receivers 3A, 3B, 3C, and the orientation of the indicator 9 and the positional relationship of the distance between the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 and the light emission positions 6A, 6B, 6C, 6D provided at the hand of the indicator 9 are measured. An explanatory diagram for calculating the position of the distance from the distance measuring device 2 to the measurement position 11 using the measured distance from the tip of the indicator 9 to the measurement position 11, the measured orientation of the indicator 9, and the positional relationship of the distance between the distance measuring receivers 3A, 3B, 3C and the light emission positions 6A, 6B, 6C, 6D. [Diagram 36]Distance measurement light 7G emitted from a distance measurement light emitter 4 provided at the tip of a distance measurement indicator 9 and collected using an optical lens is irradiated onto a measurement position 11 of an engine 21, and the reflected light from the measurement position 11 is made incident from the tip of the indicator 9 and received by a distance measurement receiver 3 of the distance measuring instrument 2 through an optical fiber 5. The distance from the tip of the indicator 9 to the measurement position 11 is calculated by subtracting the time it took to pass through the known indicator 9. The distance measurement light emitted by distance measurement light emitters 4A, 4B, 4C, 4D of the distance measuring instrument 2 with a time lag and passed through optical fibers 5A, 5B, 5C, 5D that entered the indicator 9 is emitted from light emission positions 6A, 6B, 6C, 6D provided at the proximal end of the indicator 9 with a time lag. The distance measuring light beams that have traveled the closest distance in space from the emitted light emission positions 6A, 6B, 6C, 6D are received by distance measuring receivers 3A, 3B, 3C, and the positional relationship of the distance between the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 and the light emission positions 6A, 6B, 6C, 6D provided at the hand of the indicator 9 and the direction of the indicator 9 are calculated and measured. The position of the distance from the distance measuring device 2 to the measurement position 11 is calculated and measured using the measured distance from the tip of the indicator 9 to the measurement position 11, the measured direction of the indicator 9, and the positional relationship of the distance between the distance measuring receivers 3A, 3B, 3C and the light emission positions 6A, 6B, 6C, 6D. An explanatory diagram of attaching a television camera 24 to the indicator 9 so as to photograph an irradiation position 42 irradiated with distance measuring light emission 7G. [Figure 37]The light emission position 6 at the tip of the indicator 9, which is aligned with the jig of the welding tool and emits distance measurement light emitted by the distance measuring light emitter 4 incorporated in the distance measuring device 2 and passing through the optical fiber 5, is attached to the processing position 41A where the welding work of the workpieces 54A and 54B is performed, and the light is emitted to measure the position of the distance consisting of the most recent measured distances 1A, 1B, and 1C that flew to the distance measuring receivers 3A, 3B, and 3C, and the positional relationship of the distance between the distance measuring device 2 and the processing position 41A is measured. The indicator 9 is moved so as to trace the circumference from the processing position 41A to the processing position 41B where welding is performed, along the part to be welded. At the same time, the position of the distance consisting of the most recent measured distances 1D, 1E, 1F that were emitted from the light emission position 6A provided at the hand of the indicator 9 and flew to the distance measuring receivers 3A, 3B, 3C is measured, and the positional relationship of the distance between the distance measuring device 2 and the light emission position 6A of the indicator 9 is measured. Similarly, the most recent measured distances that were emitted from the light emission positions 6B, 6C, 6D and flew to the distance measuring receivers 3A, 3B, 3C are measured, and the positional relationship of the distance between the distance measuring device 2 and the light emission positions 6B, 6C, 6D is measured. The position of the consecutive distances of the positions where the indicator 9 has moved along the welding part as if welding is performed is stored. The position of the distance of the welding part along the circumference from the processing position 41A to the processing position 41B and the position of the distance in the direction of welding are measured and stored at the same time. Next, in order to perform chamfering on the workpiece 54A, the workpiece is moved from the processing position 41C to the corner of the workpiece 54D in a tracing manner. An explanatory diagram showing how the position of the chamfering work distance and the distance in the working direction of the work tool are simultaneously measured and stored using an indicator 9 that is aligned with the jig of the chamfering tool so as to match the working direction of the work tool of the robot 19. [Figure 38]The distance measuring light emitter 4 at the tip of the indicator 9, which is fitted to the jig of the welding tool, is attached to the processing position 41A where the workpieces 54A and 54B are welded, and emits light to measure the position of the distance consisting of the most recent measured distance lights 1A, 1B, and 1C that have flown to the distance measuring receivers 3A, 3B, and 3C, to measure the positional relationship of the distance between the distance measuring device 2 and the processing position 41A. The indicator 9 is moved so as to trace the circumference from the processing position 41A to the processing position 41B where welding is performed along the welding location. At the same time, the distance measuring light emitter 4A provided at the hand of the indicator 9 emits light with a time lag to measure the position of the distance consisting of the most recent measured distances 1D, 1E, and 1F that have flown to the distance measuring receivers 3A, 3B, and 3C, to measure the positional relationship of the distance between the distance measuring device 2 and the distance measuring light emitter 4A of the indicator 9. Similarly, the distance measuring light emitters 4B, 4C, and 4D emit light with a time lag, measure the most recent measured distance traveled to the distance measuring receivers 3A, 3B, and 3C, and measure the positional relationship of the distance between the distance measuring device 2 and the distance measuring light emitters 4B, 4C, and 4D. The position of successive distances to which the indicator 9 is moved along the welding portion as if for welding is stored. An explanatory diagram for simultaneously measuring and storing the position of the distance to weld the circumference from processing position 41A to processing position 41B and the position of the distance in the direction of welding. [Figure 39] Distance measuring light emitted by a distance measuring light emitter 4E incorporated in the distance measuring device 2 and incident on the optical fiber 5 is emitted at a light emission position at the tip arranged at the working position 8 of the robot 19, and the working position 8 of the robot 19 is driven in association with the position of the distance between the distance measuring device 2 that measured the most recent measured distances 7G, ​​7H, and 7I that flew to the distance measuring receivers 3A, 3B, and 3C and the working position 8. The circumference from the processing position 41A to the processing position 41B shown in Figures 37 and 38 is moved in a tracing manner along the part to be welded using an indicator 9 matched to the jig of the welding tool, and the welding tool at the working position 8 of the robot 19 associated with the position of the distance from the distance measuring device 2 to the processing position 41A to the processing position 41B is driven and welded using the position of the distance stored. At the same time, the welding tool is driven so as to align the welding direction of the welding tool at the working position 8 associated with the position of the stored distance measured using the light emission positions 6A, 6B, 6C, 6D provided at the hand of the indicating tool 9, from the distance measuring device 2 to the light emission positions 6A, 6B, 6C, 6D. [Diagram 40] The chamfering tool at the work position 8 of the associated robot 19 is driven continuously to perform chamfering at the continuous distance positions from the distance measuring device 2 from the processing position 41C to the processing position 41D of the workpiece 54B described above, which are measured and stored by continuously moving the pointing device 9, which is matched to the jig of the chamfering tool, in a tracing manner along the corner. At the same time, the chamfering tool at the work position 8 of the associated robot 19 is driven so as to match the processing direction to the stored distance positions from the distance measuring device 2 to the light emission positions 6A, 6B, 6C, 6D, which are measured using the light emission positions 6A, 6B, 6C, 6D provided at the hand of the pointing device 9A. An explanatory diagram of making the robot 19 perform work from the processing position 41C to the processing position 41D using the chamfering tool at the work position 8 of the robot 19 from the direction measured and stored in advance. [Diagram 41] A television camera 24 is attached to the welding tool at working position 8 of robot 19, and using an indicator 9, it is moved in a tracing manner along the part to be welded, and using the position of the distance measured and stored, working position 8 is driven in accordance with the memory, and light for photography is emitted from light emission position 6 onto the part to be welded, and photography is performed using television camera 24. Using image 57 of the welding position and image 44 of the irradiation position shown on television camera screen 26A photographed by television camera 24, the part to be welded is driven in accordance with the memory and confirmed. After the confirmation, working position 8 is driven in accordance with the memory, and welding work is performed using the welding tool. An explanatory diagram showing how, after the welding work, the work position 8 is driven again in accordance with the memory, and an image 43 of the welding position after the welding process shown on a television camera screen 26B taken by a television camera 24 attached to the welding tool, and an image 44 of the identified position shown on a camera screen 26A before the welding process are inspected. [Diagram 42]The welding operation is performed by driving the driving mechanism of the numerically controlled laser distance measuring device 55, which is associated with the position of the image 75A of the position to be measured on the television screen 26A using the television camera 24A, and a laser beam for distance measurement is irradiated onto the position to be measured 74, thereby measuring the distance and direction from the distance measuring unit 35 to the position to be measured 74. Using the measured distance and direction, the driving mechanism of the numerically controlled television camera 59, which is associated with the position of the image 75A of the position to be measured, is driven to take an image 75B of the position to be measured enlarged on the television screen 40A. The taken image 75B of the position to be measured is identified. The driving mechanism of the distance measuring robot 19A, which is associated with the position of the distance corresponding to the identified and measured distance and direction, is driven to attach the indicator 9A of the distance measuring jig of the distance measuring robot 19A to the position to be measured 74. A television camera 24B attached to the distance measuring robot 19A is used to take an image 75C of the approaching measurement position on a television screen 26B to confirm the welding position. The reflected light emitted by the distance measuring light emitter 4D of the distance measuring device 2, which passes through the optical fiber 5D and is attached to the measurement position 74 by attaching the tip of the indicator 9A of the distance measuring jig to the measurement position 74, is received by the distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2, and the distance from the distance measuring device 2 to the measurement position 74 is measured. The tip of the indicator 9A of the jig for distance measurement, which is irradiated by the distance measuring light emitters 4A, 4B, 4C of the distance measuring instrument 2 and passes through the optical fibers 5A, 5B, 5C, is attached to the measurement position 74, and the reflected light emitted from the hand of the jig indicator 9A is received by the distance measuring receivers 3A, 3B, 3C of the distance measuring instrument 2, and the distance position from the distance measuring instrument 2 to the hand of the jig indicator 9A is measured. An explanatory diagram for storing the image of the associated television screen 26A, the image of the identified television screen 40A, the confirmed television screen 26B, the distance and direction from the measured distance measuring unit 35 of the numerically controlled laser distance measuring machine 55 to the measurement position 74, the distance position from the distance measuring instrument 2 to the measurement position 74 measured using the optical fibers, and the distance position from the distance measuring instrument 2 measured using the optical fibers in the direction of the hand of the jig indicator 9A. [Diagram 43]Through the Internet network 77, the image of the TV screen 26A stored and associated as described in the explanatory diagram 40, the image of the TV screen 40A identified, the confirmed TV screen 26B, the distance and direction from the measured distance measuring unit 35 of the numerically controlled laser distance measuring device 55 to the measuring position 74, the position of the distance from the distance measuring device 2 measured using optical fiber to the measuring position 74, and the position of the distance from the distance measuring device 2 measured using optical fiber to the direction of the hand of the jig indicator 9A are confirmed. The welding machine 78 of the driving mechanism of the welding robot 19B is driven to the welding position 80 using the driving numerical value associated with the position of the previous distance from the distance measuring device 2 to the measuring position 74. The image 81C of the welding position on the TV screen 26C photographed by the TV camera 24C attached to the welding machine 78 is compared with the stored screen. By comparing and referring to the above, the welding robot 19B is driven using the drive value associated with the stored distance position, and welding processing is performed at the welding position 80. After the welding processing, the welding robot 19B is driven again using the stored distance position, and a television screen 26C photographing the welding position 80 is inspected using a television camera 24C attached to the welding machine 78. [Diagram 44] An explanatory diagram showing how the positional relationship of the distance from an approximate position 15 to an unknown position 16 is calculated by attaching an indicator 9A to the approximate position 15 on the earth's surface 22 to obtain the positional relationship of the distance between the approximate position 15 and a distance measuring device 2, and then attaching an indicator 9B to an unknown position 16 to obtain the positional relationship of the distance between the unknown position 16 and a distance measuring device 2. [Diagram 45] The indicator 9A is attached to a roughly known position 15A on the surface of the earth 22 to maintain the positional relationship of the distance between the roughly known position 15A and the distance measuring device 2, and the indicator 9C is attached to match the shape of an unknown position 16C to obtain the positional relationship of the distance between the shape of the unknown position 16C and the distance measuring device 2. An explanatory diagram of measuring the shape of the unknown position 16C from the roughly known position 15A. [Figure 46]The distance position of the flying drone 14 is measured by measuring distance light 1A, 1B, 1C, which is received by distance measuring receivers 3A, 3B, 3C of the distance measuring device 2A and emitted from light emission position 6 at the tip of optical fiber 5A connected to the drone 14 flying in the sky through optical fiber 5A into which the distance measuring light emitted by the distance measuring light emitter 4 of the distance measuring device 2A is incident. At the same time, the distance measuring light emitted by the distance measuring light emitter 4 is received by distance measuring receiver 3M of the distance measuring device 2B through optical fiber 5B into which the distance measuring light is incident, and the emission time of the distance measuring light emitter 4 is shared. The distance position is measured by measuring distance light 1D, 1E, 1F, which is received and measured using distance measuring receivers 3D, 3E, 3F of the distance measuring device 2B. An explanatory diagram for calculating the measured distance 7 from distance measuring device 2A to distance measuring device 2B via the distance position consisting of measured distance lights 1A, 1B, and 1C from distance measuring device 2A to the flying drone 14 and the distance position consisting of measured distance lights 1D, 1E, and 1F from distance measuring device 2B to the flying drone 14. [Figure 47] The distance measurement light emitted by the distance measurement light emitter 4 of the distance measurement device 2A is received by the distance measurement receivers 3A, 3B, and 3C of the distance measurement device 2A and stably emitted from the light emission position 6 at the tip of the optical fiber 5A connected to the drone 14, which is connected to the winder 88 and flies and stays in the sky, and the distance position consisting of the measurement distance light 1A, 1B, and 1C is measured. At the same time, the distance measurement light emitted by the distance measurement light emitter 4 is received by the distance measurement receiver 3M of the distance measurement device 2B through the optical fiber 5B into which it is received, and the emission time of the distance measurement light emitter 4 is shared. The distance position consisting of the measurement distance light 1D, 1E, and 4F received and measured by the distance measurement receivers 3D, 3E, and 3F of the distance measurement device 2B is measured. An explanatory diagram for calculating the measured distance 7 from distance measuring device 2A to distance measuring device 2B via the distance position consisting of measured distance lights 1A, 1B, and 1C from distance measuring device 2A to drone 14 connected to a winding machine 88 and flying and remaining in the sky, and the distance position consisting of measured distance lights 1D and 1E from distance measuring device 2B to the flying drone 14. [Figure 48]The distance measurement light emitted from the distance measurement light emitter 4 of the distance measurement device 2A is received by the distance measurement receivers 3A, 3B, and 3C of the distance measurement device 2A and emitted from the light emission position 6A at the tip of the optical fiber 5A connected to the drone 14 flying in the sky through the optical fiber 5A into which the distance measurement light emitted from the distance measurement light emitter 4 of the distance measurement device 2A is incident, and the distance position consisting of the measured measurement distance light 1A, 1B, and 1C is measured. At the same time, the measurement distance light emitted into the sky from the light emission position 6B of the indicator 9 through the optical fiber 5B into which the distance measurement light emitted from the distance measurement light emitter 4 is incident is received by the distance measurement receivers 3D, 3E, and 3F that share the emission time of the drone 14 flying in the sky, and the distance position consisting of the measured measurement distance light 1D, 1E, and 1F is measured. An explanatory diagram for calculating the measured distance 7 from the distance measuring device 2A to the pointing device 9 based on the distance position consisting of measured distance lights 1A, 1B, and 1C from the distance measuring device 2A to the flying drone 14 and the distance position consisting of measured distance lights 1D, 1E, and 1F from the flying drone 14 to the pointing device 9. [Figure 49]The distance measuring light A emitted from a distance measuring light emitter 4A at a known position 15 on the ground is passed through an optical fiber 5A into which the distance measuring light A is incident, and emitted from a light emission position 6A at the tip of the optical fiber 5A connected to a drone 14 flying in the sky. The distance position is measured using distance measuring receivers 3A, 3B, 3C attached to a drive mechanism 84 associated with the drive mechanism 84 so as to receive the distance measuring light from the drone 14 flying in the sky at the position of an image 85A of the drone flying in the sky that is displayed on a television screen 26B photographed by a television camera 24B from the known position 15. At the same time, the distance measurement light emitted from the drone 14 passes through the optical fiber 5B into which the distance measurement light B emitted from the distance measurement light emitter 4B at the unknown position 16 is incident, and the distance measurement light B emitted from the light emission position 6B at the tip of the optical fiber 5B connected to the drone 14 flying in the sky is received by the distance measurement receivers 3D, 3E, and 3F attached to the numerically controlled television camera 59, which captures an image 85B of the drone flying in the sky at the center position of the television screen 40B of the numerically controlled television camera 59, and measures the position of the distance consisting of the measured measurement distance lights 1D, 1E, and 1F. An explanatory diagram for calculating the measured distance 7 from the approximate position 15 to the unknown position 16 using the position of the distance consisting of the measured distance lights 1A, 1B, and 1C from the approximate position 15 to the flying drone 14 and the position of the distance consisting of the measured distance lights 1D, 1E, and 1F from the unknown position 16 to the flying drone 14. [Figure 50] Using a distance measuring device 2 incorporated in a pan head 33, an indicator 9 is attached to an approximate position 15 near an intersection on a travel path 23, and the positional relationship of the distance between the approximate position 15 and the distance measuring device 2 is obtained. An explanatory diagram showing how a television camera incorporated in a smartphone 34 attached to the pan head 33 is used to photograph the approximate position 15 of the intersection to be measured. [Figure 51]The positional relationship of the distance between the roughly known position 15 and the distance measuring device 2 is obtained, and an indicator 9 is attached to the position of a right corner 17 of the road intersection to obtain the positional relationship of the distance between the right corner 17 of the road intersection and the distance measuring device 2. The right corner 17 of the intersection is related to the roughly known position 15. Alternatively, the positional value measured using a GPS positioning function built into a smartphone 34 attached to a pan head 33 and the measured distance position are used to calculate the GPS positional value of the position of the right corner 17 of the intersection, and the image is taken using a television camera built into the smartphone 34. [Figure 52] The positional relationship between the approximate position 15 and the distance measuring device 2 is obtained, and an indicator 9 is attached to the position of the left corner 18 of the road intersection to obtain the positional relationship of the distance between the left corner 18 of the road intersection and the distance measuring device 2. The left corner 18 of the road intersection is related to the approximate position 15. Furthermore, the road widths of the right corner 17 of the intersection and the left corner 18 of the intersection are calculated. An explanatory diagram showing the approximate position 15, right corner 17, and left corner 18 of the intersection to be measured distance, taken using a smartphone attached to a camera platform 33. [Figure 53] Using the distance measuring device 2 incorporated in the pan head 33, the indicator 9 is attached to the approximate position 15 near the intersection of the road 23, and the positional relationship between the absolute direction value of the approximate position 15 and the distance of the distance measuring device 2 is obtained. An explanatory diagram showing the light for measuring the distance, which is an image 27 of the approximate position and an image 28 of the indicator, projected on a television screen captured by a television camera 24 attached to the pan head 33. [Figure 54]Using the distance measuring device 2 attached to the pan head 33, the positional relationship between the absolute direction value of the approximate position 15 and the distance of the distance measuring device 2 is obtained. The indicator 9 is attached to the positions of the crosswalk 25 at the intersection of the travel path 23, the curb 65 at the corner near the intersection, the street corner 62 near the intersection, and the street tree 63 near the intersection, and the positional relationship of the distance from the crosswalk 25, the curb 65, the street corner 62, and the street tree 63 to the distance measuring device 2 is obtained. Using the absolute direction value of the approximate position 15, the absolute direction values ​​of the crosswalk 25, the curb 65 at the corner, the street corner 62, and the street tree 63 are calculated and obtained. The image 27 of the absolute direction value, the image 29 of the crosswalk, the image 67 of the curb at the corner, the image 66 of the street corner, and the image 68 of the street tree, which are shown on a television screen photographed by the television camera 24 attached to the pan head 33, are identified using an image recognition method. FIG. 13 is an explanatory diagram showing how the identified image is assigned an associated absolute orientation value and pasted onto an existing map and existing satellite image in a computer for storage. [Figure 55] Using a distance measuring device 2 incorporated in a tracking system 31, an indicator 9 is attached to an approximate position 15 near an intersection on a travel path 23, and the positional relationship of the distance between the approximate position 15 and the distance measuring device 2 is obtained. The indicator 9 is attached to the approximate position 15, and the emitted light is photographed using a television camera 24 as an image 44 of the irradiation position at the approximate position 15 where the indicator 9 is attached. A numerically controlled television camera 59 is driven using the drive numerical value associated with the position of an image 44A of the irradiation position of an image 27 of the approximate position shown on a television screen 26, and the emitted light is photographed as an image 44A of the irradiation position at the image 27 of the approximate position at the center of a numerically controlled television screen 40A. Similarly, the measurements are taken, and images 44B, 44C, 44D, and 44E of the irradiation position are taken at the center positions of the numerically controlled television screens 40B, 40C, 40D, and 40E on the street corner image 62, road sign image 63, roadside tree image 64, and curbstone image 65. The images 27 of the roughly known position, the street corner image 62, road sign image 63, roadside tree image 64, and curbstone image 65, which are enlarged and displayed on the numerically controlled television screens 40A, 40B, 40C, 40D, and 40E, are identified, and the measured absolute orientation value is added, and the images are pasted and stored at the positions to be displayed on the television screen 26. An explanatory diagram of how the television screen 26 pasted and stored is used to turn an existing map into a digital map with absolute orientation display. [Figure 56] Using the distance measuring device 2 incorporated in the tracking system 31, the indicator 9 is attached to the approximate position 15 near the intersection of the travel path 23, and the positional relationship of the distance between the approximate position 15 and the distance measuring device 2 is obtained. The angle of view of the numerically controlled television camera 59 is widened and an image 44 of the irradiation position is taken on the image 27 of the approximate position at the center position on the television screen 40. The image shown on the television screen 40 is identified using an image recognition method. The angle of view of the numerically controlled television camera 59 is narrowed to take the image 27 of the approximate position identified above at the center position on the television screen 40A as an image 44A of the irradiation position on the image 27 of the approximate position at the center position on the television screen 40A. Similarly, the indicator 9 is attached, and images 44B, 44C, 44D, and 44E of the irradiation position are taken on the image 66 of the street corner, the image 67 of the road sign, the image 68 of the roadside tree, and the image 69 of the curb at the center positions of the numerically controlled television screens 40B, 40C, 40D, and 40E. The images 44B, 44C, 44D, 44E of the identified irradiation positions are enlarged on numerically controlled television screens 40A, 40B, 40C, 40D, 40E, and the numerical values ​​of the measured absolute orientation are added to the image 27 of the approximate position, the image 62 of the street corner, the image 63 of the road sign, the image 64 of the roadside tree, and the image 65 of the curbstone, which are then pasted and stored at the screen positions shown on the television screen 40. An explanatory diagram for converting an existing map into a digital map showing the absolute orientation, using the images of the television screens 40A, 40B, 40C, 40D, 40E that have been pasted and stored. [Figure 57] The measurement distance light 1A, 1B, 1C that is emitted at the light emission position 6 where the indicator 9 at the tip is attached to the approximate position 15 and travels through the optical fiber 5 into which the distance measurement light emitted by the distance measurement light emitter 4 incorporated in the pan head 33 is incident and flies through the three-dimensional space is received by the distance measurement receivers 37A, 37B, 37C of the numerically controlled drive mechanism at different positions incorporated in the pan head 33, which are associated with the position of the image 44 of the emission position of the distance measurement light reflected on the television screen 26 photographed by the television camera 24 incorporated in the pan head 33, with the reception range narrowed. An explanatory diagram for calculating and measuring the distance from the pan head 33 to the approximate position 15, which is made up of the measurement distance light 1A, 1B, 1C measured by the numerically controlled distance measurement receivers 37A, 37B, 37C at different positions. [Figure 58]The distance measurement light 1A, 1B, 1C traveling through three-dimensional space is emitted at a light emission position 6 where a pointer 9 at the tip is attached to a known position 15, through an optical fiber 5 into which the distance measurement light emitted from a distance measurement light source 4 incorporated in a pan head 33 is incident, and is photographed by numerically controlled television cameras 59A, 59B, 59C incorporated in the pan head 33. The images 27A, 27B, 27C of the known position shown on the photographed television screens 40A, 40B, 40C are photographed so that they are shown in the center positions on the television screens 40A, 40B, 40C. Using distance measuring receivers 3A, 3B, 3C attached to numerically controlled television cameras 59A, 59B, 59C so as to measure the direction of the center of television screens 40A, 40B, 40C, a pointer 9 is attached to an approximate position 15 shown in the center position on television screens 40A, 40B, 40C to measure emitted measurement distance light 1A, 1B, 1C. An explanatory diagram of measuring measurement distance light 1A, 1B, 1C using distance measuring receivers 3A, 3B, 3C that have narrowed the light receiving range and measured toward approximate position 15 photographed by numerically controlled television cameras 59A, 59B, 59C. [Figure 59] Images 44, 44A, 44B, 44C, 44D, 44E of the irradiated position are stored via the Internet on the image 27 of the approximate location, the image 62 of the street corner, the image 63 of the road sign, the image 64 of the roadside tree, and the image 65 of the curb, which are displayed on the television screen 26 and the numerically controlled television screens 40, 40A, 40B, 40C, 40D, 40E. The stored images are distributed to satellite map images and the like on the Internet. The images are used to turn an existing map into a map with absolute orientation as a digital map. [Figure 60]An image of the gazed upon from a television screen captured by a line-of-sight television camera worn by the driver of an automobile 98 traveling along a roadway 23 is stored. The stored gazed upon image is expanded and displayed so as to match the image of the roadway 23 on a television screen 26 captured by a television camera 24. An explanatory diagram for measuring the position of the distance from the subject captured in the gazed upon image to the subject captured in the gazed upon image from the distance measuring device 2 while watching the numerically controlled television screens 40A, 40B, 40C, 40D, 40E that display the gazed upon image captured using the driving numerical value of a numerically controlled television camera 59 that is associated with the position of the expanded gazed upon image on the television screen 26. [Figure 61] A distance measuring light emitter 4 is attached to a measurement position 11 of a measurement object 10, and the emitted flight distance measuring light 1 is received by a distance measuring receiver 3B of a distance measuring device 2. At the same time, the emitted distance measuring light is received by a distance measuring receiver 3A of the distance measuring device 2 through an optical fiber 5 into which the light is incident, and the approximate time it takes to pass through the optical fiber 5 is measured, and the distance measuring light 1 that has traveled through space is calculated. [Figure 62] The distance measurement light emitted by the distance measurement light emitter 4 incorporated in the pointing tool 9 is irradiated to the measurement position 11 of the measurement object 10, and the reflected light is received by the distance measurement receiver 3B of the distance measurement instrument 2 as the flight distance measurement light 1 that has traveled through space. At the same time, the reflected light irradiated to the measurement position 11 is received by the distance measurement receiver 3A of the distance measurement instrument 2 through the optical fiber 5 into which it is incident, and the distance measurement light 1 that has traveled through space is calculated from the estimated time it has traveled through the optical fiber 5 that has been measured. [Figure 63]A distance measurement light emitter 4 incorporated in an indicator 9 is attached to a measurement position 11 of a measurement object, and the reflected light of the distance measurement light emitted and irradiated travels through space as distance measurement light 1A, 1B, 1C, which is received by distance measurement receivers 3A, 3B, 3C of a distance measurement device 2. At the same time, the light irradiated to the measurement position 11 is received by distance measurement receiver 3D of the distance measurement device 2 through optical fiber 5 into which the light irradiated to the measurement position 11 is incident. The emission time of the distance measurement light emitter 4 is calculated backwards from the estimated time of light reception through said fiber 5, and the distance from the measurement position 11 to the distance measurement receivers 3A, 3B, 3C is calculated from the backward-calculated time using the light reception time of the distance measurement receivers 3A, 3B, 3C, and the distance from the position of the distance measurement light emitter 4 to the measurement position 11 is calculated. This is an explanatory diagram showing the calculation of the position of the distance from the position of the distance measurement light emitter 4 to the measurement position 11. [Figure 64] The distance measurement light emitted by the distance measurement light emitter 4 incorporated in the pointing device 9 is irradiated onto a measurement position 11 of a measurement object 10, and the reflected light, flight distance measurement light 1A, 1B, 1C that has traveled through space, is received by distance measurement receivers 3A, 3B, 3C of the distance measuring device 2. At the same time, the reflected light irradiated onto the measurement position 11 is received by distance measurement receiver 3D of the distance measuring device 2 through optical fiber 5 into which it is incident. At the same time, it is received by distance measurement receiver 3E incorporated in the pointing device 9. An explanatory diagram showing how the time that measurement distance light 7A, B7, 7C has traveled through space is calculated from the known time that it passed through optical fiber 5 and the time it was received by distance measurement receiver 3E, and the distance position of measurement position 11 is calculated from the position of the distance measurement light emitter 4. [Figure 65] An explanatory diagram showing how the emission position 6 of the distance measuring light emitted by the distance measuring light emitter 4 incorporated in the pointing device 9 is attached to the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2, and the approximate time it takes for the light to travel from the emission position 6 through the optical fiber 5 is measured and corrected. [Figure 66] An explanatory diagram showing how distance measurement light 1A, 1B, 1C emitted with a time lag from distance measurement light emitters 4A, 4B, 4C of distance measurement devices 2A, 2B, 2C incorporated in distance measurement light emitter unit 35 is incident through multiple optical fibers 5A, 5B, 5C, and the distance measurement light 1A, 1B, 1C emitted with a time lag at the same light emission position 6 is received with a time lag by distance measurement receivers 3A, 3B, 3C at the positions of distance measurement devices 2A, 2B, 2C. [Figure 67] The distance measurement light 1A, 1B, 1C emitted with a time lag from the distance measurement light emitters 4A, 4B, 4C at the tip of the indicator 9 and traveling in space is received by the distance measurement light emitters 3A, 3B, 3C built into the distance measurement light emitter unit 35. The light is received with a time lag by the distance measurement receivers 3D, 3E, 3F at the distance measurement light emitters 3A, 3B, 3C, passing through the optical fibers 5A, 5B, 5C that are emitted with a time lag and enter the positions of the distance measurement light emitters 4A, 4B, 4C. The travel time of the distance measurement light 1A, 1A, 1C is calculated by subtracting the estimated times that the light traveled through the fibers 5A, 5B, 5C from the time differences between the times that the distance measurement light emitters 4A, 4B, 4C emitted with a time lag and the times that the distance measurement receivers 3D, 3E, 3F received with a time lag. An explanatory diagram showing how the distance from the distance measuring light emitter unit 35 to the measurement position 11 is accurately measured using the time of the emitted light with a time lag and the time of the received light of the distance measuring light 1A, 1A, 1C with a time lag by the distance measuring light emitters 3D, 3E, 3F. [Figure 68] An explanatory diagram showing how distance measurement light emitted with a time lag from distance measurement light emitters 4A, 4B, 4C of distance measuring devices 2A, 2B, 2C incorporated in distance measurement light emitter unit 35 passes through optical fibers 5A, 5B, 5C, which are incident on the distance measurement light, and how distance measurement light 1A, 1B, 1C emitted from light emission position 6 at the tip of pointing device 9 is received with a time lag by distance measurement receivers 3A, 3B, 3C of distance measuring devices 2A, 2B, 2C. [Figure 69] Distance measurement light 1A, 1B, 1C, 1D, 1E emitted from light emitting position 4 at the tip of pointing tool 9 is received by distance measurement light emitters 3A, 3B, 3C, 3D, 3E of distance measuring devices 2A, 2B, 2C, 2D, 2E. An explanatory diagram showing how distance measurement light emitted from light emitting position 4 is received at the positions of distance measurement light emitters 2A, 2B, 2C, 2D, 2E as distance measurement light 1A, 1B, 1C, 1D, 1E from multiple directions that share the same emission time. [Figure 70]Distance measurement light is emitted with a time lag from distance measuring devices 2A, 2B, 2C, 2D incorporated in distance measuring light emitting unit 35, and is arranged through optical fibers 5A, 5B, 5C, 5D, which are incident and emitted with a time lag from light emission positions 6A, 6B, 6C, 6D of different driving mechanisms of the robot. The emitted distance measurement light 7A, 7B, 7C, 7D, 7E, 7F, 7G is received with a time lag by distance measuring light receivers 3A, 4B, 4C, 4D at the positions of distance measuring light emitting devices 4A, 4B, 4C, 4D of distance measuring devices 2A, 2B, 2C, respectively, to measure the position of the distance consisting of measurement distances 7A, 7B, 7C, 7D, 7E, 7G, and 7F of the driving positions of different driving mechanisms of the robot. [Figure 71] Distance measurement light emitted from different measurement positions 11A, 11B, 11C, 11D where an athlete 72 moves, which are arranged through optical fibers 5A, 5B, 5C, 5D that are emitted with a time lag from distance measurement light emitters 4A, 4B, 4C, 4D incorporated in distance measurement light emitter unit 35 and enter, is received with a time lag by distance measurement receivers 3A, 4B, 4C of distance measuring devices 2A, 2B, 2C, 2D. An explanatory diagram for continuously and quickly measuring the positions of the distances 7A, 7B, 7C and 7D, 7E, 7F that fly in a space measured by emitting light with a time lag from different measurement positions 11A, 11B, 11C, 11D where an athlete moves. EXAMPLES

[0010] Equipment and terminology explanation The television camera and laser distance measuring device are commercially available items. A numerically controlled television camera, a numerically controlled laser distance measuring device, a numerically controlled distance measuring receiver, a drive mechanism equipped with the receiver, and a robot drive the numerically controlled drive mechanism with drive values ​​to determine the shooting direction, measurement direction, direction for receiving the distance measuring light, and driving the robot's working position. The expected speed for measuring distance is approximately 30 to 1,000 times per second. A multi-optical fiber has several optical fibers bundled together, and light is emitted, incident or received at the tip of each fiber. Identification is performed using television screen images captured by a television camera, and images identified as necessary using methods such as image recognition with a learning function, including images detected from the television screen. Example: The distance measuring light emitted by the distance measuring light emitter 4 incorporated in the distance measuring device 2 in Figure 1 is made to enter an optical fiber 5, passes through the driving mechanism of the robot 19, and is emitted and diffused into space at the light emission position 6 at the tip of the optical fiber 5 located at the working position 8. The distance measuring light emitted into the space travels the nearest measurement distance 7 in the space and is received by the distance measuring receiver 3A incorporated in the distance measuring device 2. The measured distance 7 from the distance measuring device 2 to the working position 8 is calculated using the difference between the time when the distance measuring light emitter 4 emits light and the time when the light is received by the distance measuring receiver 3A minus the time it takes for the light to travel through the optical fiber 5. Alternatively, the measured distance 7 from the distance measuring device 2 to the work position 8 is calculated using the time from the light emission time to the light reception time.

[0011] Alternatively, the measured length of the optical fiber 5 is subtracted from the total length calculated using the difference between the time when the light was emitted and the time when the light was received to calculate the measured distance 7 from the distance measuring device 2 to the working position 8. The time taken for the light to pass through the optical fiber 5 or the time taken for the light to be emitted from the tip of the optical fiber 5 is calculated by the method described below. The tip of the optical fiber 5 is processed so that the received light passes through the optical fiber 5 and some reflected light is generated at the tip of the optical fiber 5.

[0012] Some of the processed reflected light passes through the optical fiber 5 in the opposite direction and is received by the distance measuring light receiver 3B provided at the position of the distance measuring light emitter 4, and the time it takes for the light to travel back and forth through the optical fiber 5 is used to back calculate the time it passed through the optical fiber 5 or the time it was emitted. Alternatively, the distance measuring light that has been received and incident on the optical fiber 5 is passed through the optical fiber 5, the tip of the optical fiber 5 is attached to a subject, and the reflected light from the attached subject passes through the optical fiber 5 where it re-enters in the opposite direction from the tip position, and is received by the distance measuring light receiver 3B provided at the position of the distance measuring light emitter 4, and the time it takes for the light to travel back and forth through the optical fiber 5 is used to back-calculate the time it has passed through the optical fiber 5 or the time it was emitted.

[0013] Alternatively, the distance measuring light, which is received and incident through the fiber 5, is emitted from the tip of the optical fiber 5, travels through space, and is irradiated onto a subject, and is reflected from the subject and travels through the space, passes through the optical fiber 5 that is incident in the opposite direction from the tip of the fiber 5, and is received and measured by a distance measuring receiver 3B provided at the position of the distance measuring light emitter 4. The time taken for the light to travel from the tip of the optical fiber 5 to the subject and back is separately measured, the time taken for the light to travel back and forth through the optical fiber 5 is calculated, and the time taken for the light to travel through the optical fiber 5 or the time taken for the light to be emitted is calculated backwards. The time includes the phase difference, but in the following description it will be referred to as time. The time for receiving light by the distance measuring light receiver is shared by using the time for which the light was emitted by the distance measuring light emitter and the time for which the light passed through the optical fiber 5. Distance measurement using the optical fiber of the distance measuring device 2 enables high-speed and highly accurate measurements.

[0014] Example 1 Distance measuring light emitted by a distance measuring light emitter 4A incorporated in a working position 8 of a robot 19 in FIG. 2 and traveling through space is received by a distance measuring light receiver 3A incorporated in a distance measuring device 2. The emitted distance measuring light passes through an optical fiber 5 arranged in the drive mechanism of the robot 19 and is received by a distance measuring receiver 3B incorporated in the distance measuring device 2 at the tip thereof. In order to measure the time it takes to pass through the fiber 5, the distance measuring light emitted from the distance measuring light emitter 4B built into the distance measuring device 2 is incident on the optical fiber 5 arranged in the drive mechanism of the robot 19, and the reflected light generated at the tip of the working position 8 or the distance measuring light re-injected from the tip is made to travel backwards through the optical fiber 5 and received using the distance measuring receiver 3B built into the distance measuring device 2. The light emission time of the distance measuring light emitter 4A is calculated backwards using the light reception time of the distance measuring light receiver 3B from the light emission time of the distance measuring light emitter 4B, and the time it took for the emitted light to pass through the optical fiber 5 where it was incident. The measured distance 7 traveled through the space is calculated using the back-calculated light emission time and light reception time after flying through the space.

[0015] Example: The distance measuring light is received by the distance measuring light emitter 4 built into the distance measuring device 2 in Figure 3, passes through an optical fiber 5 located in a drive mechanism driven by the drive value of the numerical control of the robot 19, is emitted from the robot's working position 8 at the tip into the robot working space 45, and is scattered into three-dimensional space.The distance measuring light flies the nearest measurement distances 7A, 7B, 7C in the space and is received by distance measuring receivers 3A, 3B, 3C that share the time of emission at three or more different positions built into the distance measuring device 2.

[0016] Using the method described, the distance position is measured, which consists of measurement distances 7A, 7B, 7C in three directions from the light emission position 6 in the robot workspace 45 to the distance measuring receivers 3A, 3B, 3C. The working position 8 in the robot workspace 45 of the measurement distances 7A, 7B, 7C measured from the working position 8 of the robot 19 to the distance measuring receivers 3A, 3B, 3C at different positions can measure the distance position of the three-dimensional robot workspace 45 consisting of the measurement distances 7A, 7B, 7C in three directions from the position of the distance measuring device 2. A work position 8 at a distance position of a three-dimensional robot work space 45 measured from the positions of the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2, A drive value for driving the drive mechanism of the robot 19 is associated with the working position 8 .

[0017] Using the several drive values ​​used to drive the drive mechanism of the robot 19 to the several different work positions 8 at the working positions 8 of the robot 19 at several different three-dimensional spatial distance positions measured from the positions of the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2, all of the drive values ​​related to the driving of the drive mechanism of the robot 19 to all of the work positions 8 at all three-dimensional spatial distance positions of the robot 19 measured from the positions of the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 are obtained using an interpolation calculation formula. By continuously measuring the distance to the work position 8 where the robot 19 is continuously driven by the distance measuring device 2, the robot 19 can track the work position 8 where the robot 19 is driven and measure the distance position. Alternatively, the obtained drive numerical value can be used for the numerical values ​​of positions at successive distances in a three-dimensional space to track and drive the working position 8 to which the robot 19 is driven.

[0018] Unlike a method of calculating the operation of the working position 8 of the robot 19 at a distance position in three-dimensional space from the drive numerical values ​​of the drive positions of the drive mechanism of the robot 19, the working position 8 of the robot 19 can be driven using all the drive numerical values ​​of the drive mechanism obtained in association with all of the working positions 8 in three-dimensional space, based on the numerical values ​​of the distance position in three-dimensional space from the position of the distance measuring device 2. Since the robot 19 can be driven by the numerical values ​​of the distance position in three-dimensional space, the robot 19 can be operated by using the operation console 47 to instruct the numerical values ​​of the distance position in three-dimensional space.

[0019] In addition, the robot 19 can be operated using the voice indicator 48 by voice that conveys the numerical value of a position distance in a three-dimensional space or the numerical value of a three-dimensional direction. It is also possible to manipulate the position of the distance in three-dimensional space from an external device using numerical values. The controller 46 compares the three-dimensional space distance position of the working position 8 of the robot 19 calculated in response to the instruction and received from the operation console 47, the audio indicator 48, and external devices with the three-dimensional space distance position of the working position 8 of the robot 19 driven in response to the instruction, against the actually measured distance position in three-dimensional space measured by the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 after receiving light. The working position 8 of the robot 19 is always operated by comparing the working position 8 of the robot 19 calculated from the drive values ​​of the drive mechanism of the robot 19 with the working position 8 of the robot 19 actually measured as the distance position in three-dimensional space from the position of the distance measuring device 2.

[0020] Example: The distance measuring light emitter 4A incorporated in the working position 8 of the driving mechanism driven by the driving numerical value of the numerical control of the robot 19 in Figure 4 emits light, is emitted from the light emission position 6 into the robot working space 45, and is scattered in three-dimensional space. The distance measuring light flies the nearest measurement distances 7A, 7B, 7C in the space and is received by the distance measuring receivers 3A, 3B, 3C incorporated in the distance measuring instrument 2. The distance measuring light emitter 4 incorporated in the working position 8 emits light which passes through an optical fiber 5 arranged within the drive mechanism of the robot 19 and is received by a distance measuring light receiver 3D incorporated in the distance measuring device 2 at the tip. The reflected wave from the tip of the optical fiber 5, which is emitted by a distance measuring light emitter 4B incorporated in the distance measuring instrument 2 and passes through the optical fiber 5, is received by a distance measuring light receiver 3D incorporated in the distance measuring instrument 2, and the time it takes to pass through the optical fiber 5 is calculated.

[0021] Using the calculated time for passing through the optical fiber 5, the light emission time of the distance measuring light emitter 4 is calculated from the light reception time by the distance measuring light receiver 3D. Using the calculated light emission time of the distance measuring light emitter 4A and the light reception time of the distance measuring light receivers 3A, 3B, 3C, the distance position consisting of measurement distances 7A, 7B, 7C from the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 to the distance measuring light emitter 4 at the working position 8 of the robot 19 is calculated. A drive value for driving the drive mechanism of the robot 19 to the work position 8 is associated with the distance position of the work position 8 in the three-dimensional robot workspace 45 measured from the positions of the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2.

[0022] Using the several drive values ​​for driving the drive mechanism of the robot 19 to several different work positions 8 of the robot 19 measured from the positions of the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2, all of the drive values ​​related to the drive of the drive mechanism of the robot 19 to all of the work positions 8 of the robot 19 measured from the positions of the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 are obtained using an interpolation formula, and a data table of all drive values ​​for driving the drive mechanism of the robot 19 corresponding to all of the work positions 8 in the three-dimensional space is constructed. Using the constructed data table, the driving numerical value of the driving mechanism of the robot 19 associated with the numerical value of the position of the specified distance in three-dimensional space is used to drive the working position 8 of the robot 19 to the position of the specified distance. Alternatively, the working position 8 of the robot 19 is grasped by a numerical value of the distance position in the associated three-dimensional space.

[0023] Example: The distance measuring light 1 emitted by the distance measuring light emitter 4 of the distance measuring unit 35C incorporated in the distance measuring instrument 2 in Figure 5 passes through an optical fiber 5 arranged within the drive mechanism of the robot 19, which is driven by the input numerical control drive value, and is emitted into three-dimensional space at the light emission position 6 at the end of the working position 8 of the robot 19. At the same time, the distance measuring light 1 that was incident and passed through the optical fiber 5 is received by distance measuring receivers 3D and 3E of distance measuring units 35A and 35B that are separate from each other and incorporated in the distance measuring device 2, and the emission time of the distance measuring light emitter 4 of the distance measuring units 35A, 35B, and 35C is shared. The distance measuring light 1 that is emitted and travels through three-dimensional space is received by distance measuring receivers 3A, 3B, and 3C that share the emission time of distance measuring units 35A, 35B, and 35C incorporated in a distance measuring device 2. The time when the distance measuring light emitter 4 emits light and the time when the light is received by the distance measuring receivers 3A, 3B, 3C minus the time it takes for the light to pass through the optical fiber 5 is used to calculate the distance position consisting of measurement distances 7A, 7B, 7C in three-dimensional space from the light emission position 6 of the working position 8 of the robot 19 to the distance measuring receivers 3A, 3B, 3C of the distance measuring units 35A, 35B, 35C of the distance measuring device 2.

[0024] The position of the distance consisting of the measured distances 7A, 7B, and 7C in the three-dimensional space and the drive numerical value of the drive mechanism that drives the robot 19 to the working position 8 of the robot 19 are correlated to the position of an image 44 of the radiation position of the distance measuring light 1 of the working position 8 of the robot 19 shown on a television screen 26, and the television camera 24 built into the distance measuring device 2 is used to photograph the working position 8 of the robot 19 at several different positions. Using the several different distance positions consisting of the spatial measurement distances 7A, 7B, and 7C and the several different drive values ​​of the drive mechanism driven to the working position 8 of the robot 19, a television camera 24 built into the distance measuring device 2 is used to photograph the working positions 8 of all positions of the robot 19, and the drive values ​​relating all of the distance positions consisting of the measured three-dimensional spatial measurement distances 7A, 7B, and 7C and all of the drive mechanisms driven to the working position 8 of the robot 19 to all of the positions of the image 44 of the emission position of the distance measurement light 1 at the working position 8 of the robot 19 displayed on the television screen 26 are obtained by calculating using an interpolation formula.

[0025] The numerical value of the distance position associated with the position of the image 58 of the working position of the robot 19 is displayed at the position of the image 58 of the working position shown on the television screen 26. The working position 8 of the robot 19 is grasped as a distance position in three-dimensional space on the computer. Using the distance of the working position 8 of the robot 19 measured by the distance measuring device 2, the working position 8 of the robot 19 is adjusted to work with a human. The working position 8 of the robot 19 is safely driven to work with a human by using the distance position of the three-dimensional space on the computer. The distance measuring light 1 includes light for imaging by a television camera.

[0026] Example: The distance measuring light 1 emitted from the distance measuring emitter 4 built into the distance measuring device 2 in Figure 6 passes through an optical fiber 5 into which the distance measuring light 1 is incident, and is emitted at the emission position 6 of the tip of the pointer 9 and flies through a three-dimensional space 52. An image 30 of the emission position of the distance measuring light 1 displayed on a television screen 26 is captured using a television camera 24 built into the distance measuring device 2. The distance measuring light 1 emitted at the light emission position 6 is received by driving a drive mechanism for changing the light receiving direction of the numerically controlled distance measuring light receiver 37 having a narrowed light receiving range 88 . The position of an image 30 of the radiation position projected on a television screen 26 obtained by photographing the radiation position using a television camera 24 is associated with the drive value used to drive the drive mechanism that receives the distance measuring light 1 from the radiation position.

[0027] Using the several different drive values ​​that drive the drive mechanism that receives distance measurement light 1 from the several different radiation positions to the several different positions of an image 30 of radiation positions shown on a television screen 26 in which several different radiation positions have been photographed using a television camera 24, all of the related drive values ​​that drive the drive mechanism that receives distance measurement light 1 from all of the radiation positions to all of the positions of an image ㉚ of radiation positions shown on a television screen 26 in which all of the radiation positions have been photographed using a television camera 24 are obtained by calculating using an interpolation formula. The drive value associated with the position of the image 30 of the radiation position displayed on the television screen 26 is used to drive the drive mechanism of the distance measuring receiver 37 which shares the emission time of the distance measuring light emitter 4, thereby receiving the distance measuring light 1. Using the method described in Examples 1 to 5, the distance from the distance measuring instrument 2 to the light emission position 6 of the tip pointing device 9 through the optical fiber 5 is calculated by subtracting the time it takes to travel through the optical fiber 5 from the difference between the time emitted by the distance measuring light emitter 4 incorporated in the distance measuring instrument 2 and the time received by the distance measuring receiver 37 which shares the same time emitted by the distance measuring light emitter 4.

[0028] The direction in which the distance measuring light receiver 37 receives light is calculated using the drive value of the drive mechanism of the distance measuring light receiver 37. Similarly, the light emission position 6 of the pointing device 9 is correlated with the position of the image 30 of the emission position of the distance measuring light 1 shown on the television screen 26 photographed by the television camera 24, the drive value used to change the light receiving direction of the distance measuring receiver 37, the distance calculated by receiving light using the distance measuring receiver 37, and the calculated direction of the received light. All of the light emission positions 6 of the pointing device 9 are obtained by an interpolation formula using images 30 of the several different emission positions of the distance measuring light 1 shown on the television screen 26 captured by the television camera 24, all of the drive values ​​for driving the drive mechanism that changes the light receiving direction of the distance measuring receiver 37, and the several different distances and the several different calculated directions calculated by receiving light using the distance measuring receiver 37, and drive values ​​related to all of the light emission positions 6 of the pointing device 9 are obtained by an interpolation formula using images 30 of the several different emission positions of the distance measuring light 1 shown on the television screen 26 captured by the television camera 24, all of the drive values ​​for driving the drive mechanism that changes the light receiving direction of the distance measuring receiver 37, and the several different distances and the several different calculated directions calculated by receiving light using the distance measuring receiver 37.

[0029] The image 30 of the radiation position shown on the television screen 26 is identified using an image recognition method, and the light emission position 6 of the pointing device 9 is aligned with the position of the identified image 30 of the radiation position shown on the television screen 26 photographed by the television camera 24 using the associated drive numerical value, and the distance measuring receiver 37 is driven to receive the distance measuring light 1. Using the method described in the first to fifth embodiments, the distance measuring light 1 is calculated and measured using the difference between the time when the distance measuring light 1 is emitted from the distance measuring light emitter 4 and the time when the light is received by the numerically controlled distance measuring receiver 37 which shares the emission time of the distance measuring light emitter 4, minus the time it takes to pass through the known optical fiber 5. The distance from the distance measuring device 2 to the light emission position 6 of an arbitrary pointing tool 9 in space is measured by tracking the position via an image 30 of the light emission position shown on a television screen 26 captured by a television camera 24.

[0030] Example: The distance measuring light or photography light emitted by the distance measuring light emitter 4 built into the distance measuring device 2 in Figure 7 passes through an optical fiber 5 into which the distance measuring light or photography light is incident, and is emitted at the light emission position 6 of the tip of the indicator 9 and flies through space.The image 30 of the emission position or the image of the photography light displayed on the numerically controlled television screen 40 of the numerically controlled television camera 59 built into the distance measuring device 2 is identified using an image recognition method. The drive mechanism is driven so that the image 30 of the identified radiation position or the image of the light for photography is projected at the center position of the television screen 40, and photography is performed. The distance measuring receiver 3 is attached to the driving mechanism so that the distance measuring light from the direction of the central position photographed by the numerically controlled television camera 59 is received with a narrow light receiving range 88 .

[0031] The drive mechanism is driven to capture the image 30 of the identified emission position or the image of the light for photography, which is displayed on the numerically controlled television screen 40 of the numerically controlled television camera 59 that captures the identified distance measurement light or the light for photography from the light emission position 6 of the pointing device 9, so that the image 30 is displayed at the central position of the numerically controlled television screen 40. The distance measuring receiver 3, which has a narrowed light receiving range 88 attached to the drive mechanism, receives the distance measuring light emitted at the light emission position 6 shown in the central position of the numerically controlled television screen 40 and flying through space. The driving values ​​of the numerically controlled television screen 40 are used to calculate the measurement direction. Using the method described in Examples 1 to 5, the distance from the distance measuring device 2 to the light emission position 6 of the pointing device 9 at an arbitrary position in space is calculated and measured by subtracting the calculated approximate time it takes for the light to travel through the optical fiber 5 from the difference between the time when the distance measuring light is emitted from the distance measuring light emitter 4 and the time when the light is received by the distance measuring light receiver 3 which shares the same time of emission by the distance measuring light emitter 4. By identifying the light emission position 6 of the pointing device 9 shown on a numerically controlled television screen 40, the position of the pointing device 9 is tracked to measure said distance and direction and the position of said distance.

[0032] Example: The distance measuring light 1 emitted from the distance measuring light emitter 4 built into the distance measuring instrument 2 in Figure 8 passes through an optical fiber 5 into which the distance measuring light 1 is incident, and is emitted at the light emission position 6 of the tip pointing device 9, and flies through three-dimensional space. An image 30A of the emission position of the distance measuring light 1 displayed on a television screen 26 is captured by a television camera 24 built into the distance measuring instrument 2, and an image 30B of the emission position of the distance measuring light 1 displayed at the center position on a television screen 40 by a numerically controlled television camera 59 that drives the driving mechanism by narrowing the range of the driving mechanism is captured. The position of the image 30A of the radiation position shown on the television screen 26, which has photographed the radiation position using the television camera 24, is associated with the drive numerical value used to drive the drive mechanism that has photographed the radiation position of the pointing device 9 at a central position on the numerically controlled television camera screen 40 using a numerically controlled television camera 59, and all of the associated drive numerical values ​​used to drive the drive mechanism that has photographed the radiation position of the pointing device 9 at the central position on the numerically controlled television camera screen 40 using the numerically controlled television camera 59 are calculated and obtained using an interpolation formula for the position of the image 30A of the several different radiation positions shown on the television screen 26, which has photographed several different radiation positions using the television camera 24, using the several different drive numerical values ​​used to drive the drive mechanism.

[0033] Using the drive numerical value associated with the position of the image 30A of the irradiation position shown on the television screen 26, the drive mechanism of the numerically controlled television camera 59 is driven to capture an image 30B of the irradiation position at the central position on the numerically controlled television camera screen 40. The distance measuring light 1 from the emission position 6 is received by using a distance measuring receiver 3 attached to the drive mechanism so as to receive the distance measuring light 1 in the direction of the center of a numerically controlled television camera screen 40 . Using the method described in Examples 1 to 5 above, the distance from the light emission position 6 of the tip indicator 9 to the distance measuring instrument 2 is calculated through the optical fiber 5 by subtracting the time it takes to travel through the optical fiber 5 from the difference between the time the distance measuring light emitter 4 emits light and the time it is received by the distance measuring receiver 3 which shares the same light emission time. The image 30B of the radial position displayed on a numerically controlled television screen 40 is identified using image recognition methods. The distance from the distance measuring device 2 to the light emission position 6 of the pointing tool 9 is tracked and measured via the identified position of the image 30A of the emission position shown on the television screen 26.

[0034] Example: The distance measuring light emitted from the distance measuring light emitter 4 in Figure 9 is passed through the optical fiber 5 and emitted into the three-dimensional space 52 at the light emission position 6 at the tip of the pointing device 9, and travels the most recent measurement distances 7A, 7B, and 7C, and is received by distance measuring receivers 3A, 3B, and 3C at different positions built into the distance measuring device 2. The emitted distance measuring light from the distance measuring light emitter 4 passes through each optical fiber into which it is incident and is directly received by the nearest distance measuring light receivers 3D, 3E, and 3F of the distance measuring light receivers 3A, 3B, and 3C at different positions at the tip, and the estimated time passing through each optical fiber is subtracted to share the emitted time of the distance measuring light receivers 3A, 3B, and 3C. The position of the distance consisting of the measured distances 7A, 7B, 7C traveled is calculated using the difference between the shared light emission time of the distance measuring receivers 3A, 3B, 3C and the light reception time of the distance measuring receivers 3A, 3B, 3C minus the time it took to pass through the optical fiber 5 calculated using the methods described in 1 to 5 above. Alternatively, a reflected wave generated at the tip position of the optical fiber 5 where the distance measuring light is incident travels back through the optical fiber 5, and the reflected wave that has passed through the optical fiber 5 is received using distance measuring receivers 3D, 3E, and 3F installed at the closest position to the distance measuring receivers 3A, 3B, and 3C, and the time that the reflected wave has passed through the optical fiber 5 is calculated using the methods described in 1 to 5 above, and the time that the light was received and emitted by the distance measuring receivers 3A, 3B, and 3C is shared.

[0035] Alternatively, the reflected light of the distance measuring light emitted at the light emission position 6 at the tip of the optical fiber 5 is re-injected, and the reflected light that has passed through the optical fiber 5 is received using distance measuring receivers 3D, 3E, and 3F installed at the closest positions to the distance measuring receivers 3A, 3B, and 3C, and the emission time of the distance measuring light of the distance measuring receivers 3A, 3B, and 3C is shared. Using the difference between the light reception times of the distance measuring receivers 3A, 3B, and 3C that share the light emission time, the distance position consisting of each measurement distance 7A, 7B, and 7C is calculated from the light emission position 6 of the pointing device 9 using the light reception times of the distance measuring receivers 3A, 3B, and 3C. The distance measuring light emitted by a pointing device 9 at any position in three-dimensional space 52, which passes through an optical fiber 5 incident from a distance measuring light emitter 4 of the distance measuring device 2, is received by distance measuring receivers 3A, 3B, and 3C which share the same emission time, and the distance position of any pointing device 9 in three-dimensional space can be measured and calculated.

[0036] Example: The distance measuring light emitted from the distance measuring light emitter 4 incorporated in the distance measuring device 2 in Figure 10 passes through the optical fiber 5 into which the distance measuring light is incident, and is emitted at the light emission position 6 of the tip indicator 9, and flies through the three-dimensional space 52, and is photographed by the television camera 24 incorporated in the distance measuring device 2 at the position of the image 30 of the emission position of the distance measuring light displayed on the television screen 26. The distance measuring light emitted at the light emission position 6 and flies through the three-dimensional space 52 the most recent measured distance is narrowed in direction and received by the numerically controlled distance measuring receivers 37A, 37B, 37C which drive the driving mechanism incorporated in the distance measuring device 2 to change the light receiving direction. Using the method described in the sixth embodiment, the distance positions in the three-dimensional space 52 from the light emission position 6 to the distance measuring light receivers 37A, 37B, and 37C are measured. The position of the image 30 of the radiation position displayed on the television screen 26, the drive numerical values ​​of the drive mechanisms of the distance measuring receivers 37A, 37B, 37C driven to receive the distance measuring light, and the position of each distance in the three-dimensional space 52 measured up to the distance measuring receivers 37A, 37B, 37C of the distance measuring instrument 2 are correlated using the method described in Example 6.

[0037] Using the positions of the images 30 of the several different radiation positions shown on the television screen 26 obtained by photographing the several different radiation positions 6 using the television camera 24, the several different drive numerical values ​​of the drive mechanisms of the distance measuring receivers 37A, 37B, and 37C driven to receive the distance measuring light, and the several different distance positions in the three-dimensional space 52 obtained by measuring from the several different light emission positions 6 to the distance measuring receivers 37A, 37B, and 37C using the method described in Example 6, a numerical value relating the positions of the images 30 of all the radiation positions shown on the television screen 26 obtained by photographing all the radiation positions 6 using the television camera 24, and the positions of all the distances in the three-dimensional space 52 obtained by measuring from all the light emission positions 6 to the distance measuring receivers 37A, 37B, and 37C using all the drive numerical values ​​of the drive mechanisms of the distance measuring receivers 37A, 37B, and 37C driven to receive the distance measuring light, is obtained using an interpolation calculation formula.

[0038] Using the drive values ​​of the distance measuring receivers 37A, 37B, and 37C associated with the position of the image 30 of the radiation position displayed on the television screen 26, the drive mechanisms of the distance measuring receivers 37A, 37B, and 37C are driven to receive the distance measuring light from the radiation position 6, The distance positions in the three-dimensional space 52 to be calculated, which are measured by the distance measuring light receivers 37A, 37B, and 37C from the emission position 6, are correlated. The spatial position of the pointing device 9 can be measured via the position of the image 30 of the emission position displayed on the television screen 26, by having the distance measuring light emitted by the pointing device 9 received by distance measuring receivers 37A, 37B, 37C, and the distance position of the pointing device 9 in three-dimensional space 52 can be measured using the time from the time the light is emitted to the time the light is received by distance measuring receivers 37A, 37B, 37C.

[0039] Example 10 Using the method described in Example 10 of Figure 11, a pointing device 9A is used to measure and obtain the position of the distance consisting of measurement distances 7A, 7B, and 7C from the distance measuring device 2 at the robot's intended working position 8A in the robot's workspace 45. During movement from an assumed working position 8A to an equally assumed working position 8B, the indicating device 9B continuously measures and obtains the same assumed continuous measured distance 53, which is the distance position consisting of the measured distances 7D, 7E, and 7F from the distance measuring device 2. The position of the distance consisting of the measurement distances 7G, ​​7H, and 7I from the distance measuring device 2 is measured and acquired using the pointing device 9C at the assumed working position 8C of the moved robot. The three-dimensional distance position of the robot's working space 45 from the working position 8A where the robot 19 is to work to the next working position 8B, including the distance between the continuous movements of the robot 19 to the working position 8A where the robot 19 is to work, to the next working position 8B, is continuously acquired and stored using the pointing tool 9C.

[0040] Example: The working position 8A in Figure 12 and the position between the moving of the continuous measured distance 53 and the working position 8B are set to the memorized three-dimensional distance positions using the indicating devices 9A, 9B, and 9C in the working space 45, and the driving mechanism of the robot 19 is driven using the driving numerical value of the robot 19 associated with the method described in Examples 1 to 5, so that the robot 19 performs processing work at the working position 8A, processing work of the continuous measured distance 53 up to the working position 8B, and processing work at the working position 8C. The machining work of the robot 19 is performed according to the time actually measured using the jig, or the time for the machining work is set separately. Using the numerical values ​​of the three-dimensional distance position direction from the operation console 47, the working position 8A of the robot 19, the continuous measured distance 53 from the working position 8A to the working position 8B, and the processing position of the working position 8B are corrected. The working position of the drive mechanism of the robot 19 is corrected by using the voice indicator 48 to indicate numerical values ​​of three-dimensional distance positions by voice. The robot working position 8A is processed in the robot working space 45 according to the positions of the measured distances 7A, 7B, and 7C from the distance measuring device 2 stored in the eleventh embodiment. Next, the moving position of the continuous measured distance 53 is moved to match the moving position of the three-dimensional distance consisting of the measured distances 7A, 7B, and 7C from the distance measuring device 2 stored in the eleventh embodiment. The vacant work position 8B is processed into a three-dimensional distance position consisting of the measured distances 7D, 7E, and 7F from the distance measuring device 2 stored in the eleventh embodiment.

[0041] Example: Light emission positions 6A, 6B, 6C, 6D, 6E, 6F connected to optical fibers 5A, 5B, 5C, 5D, 5E, 5F incident from distance measuring light emitter 4ABCDEF are provided at the positions of walking feet 13A, 13B, 13C, 13D, 13E, 13F of walking robot 20 which walks on ground surface 22 in Figure 13 using drive values ​​of multiple numerically controlled multi-legged mechanisms, and distance measuring light 1A, 1B, 1C, 1D, 1E, 1F emitted by distance measuring light emitter 4ABCDEF with a shifted period for each walking foot 13A, 13B, 13C, 13D, 13E, 13F is emitted from light emission positions 6A, 6B, 6C, 6D, 6E, 6F toward the bottom of walking robot 20. In the method described in the first to fifth embodiments, the distance measuring light beams 1A, 1B, 1C, 1D, 1E, and 1F emitted with a shift in period are received by the distance measuring receivers 3A, 3B, and 3C, and the distance positions of the walking feet 13A, 13B, 13C, 13D, 13E, and 13F are calculated and measured using the method described above.

[0042] The unevenness of the ground surface 22 photographed by a television camera attached to the bottom of the walking robot 20 is image-recognized as described in the present invention, and the unevenness of the ground surface 22 is measured using a laser distance measuring device to measure distance and direction, or the walking robot 20 is made to walk by sequentially driving the walking feet 13A, 13B, 13C, 13D, 13E, 13F to the position of the distance calculated from the time at which the distance measuring light 1A, 1B, 1C, 1D, 1E, 1F emitted by the distance measuring light emitter 4ABCDEF is received using the distance measuring light receivers 3A, 3B, 3C. Alternatively, distance measuring light emitters 4A, 4B, 4C, 4D, 4E, 4F are provided at the positions of walking feet 13A, 13B, 13C, 13D, 13E, 13F of the walking robot 20, and distance measuring light receivers 3A, 3B, 3C are used to receive light at the bottom of the walking robot 20, whereby the distance positions are similarly measured and the walking feet 13A, 13B, 13C, 13D, 13E, 13F are driven to walk.

[0043] Example: The distance measuring light emitted by the distance measuring light emitter 4 of the distance measuring device 2 in Figure 14 passes through the optical fiber 5 and is diffused and emitted 12 from the light emission position 6 at the tip of the optical fiber 5 of the pointing device 9 attached to the measurement position 11 of the distance measurement object 10. The distance measuring light emitted by the bonding 12 and diffusely reflected at the measuring position 11 and scattered into space is received by a distance measuring receiver 3 provided at the position of the distance measuring light emitter 4 of the distance measuring device 2, on a straight line from the measuring position 11. The distance traveled by the distance measurement light from the distance measurement light emitter 4 of the distance measuring device 2 to the distance measuring device 2 is calculated using the difference between the light emission time and the light reception time and the phase difference. The distance from the measurement position 11 to the distance measuring light receiver 3A of the distance measuring device 2 is measured by subtracting the distance by the known length of the optical fiber 5 from the calculated distance.

[0044] The known distance of the optical fiber 5 to be subtracted is the measured length or the time and phase difference through the measured length of the optical fiber 5 . Or, it is the distance in time and phase obtained by attaching the light emission position 6 of the indicator 9 to the distance measuring receiver 3 and calibrating the length of the fiber 5 . Alternatively, the reflected light returning through the optical fiber 5 derived from the end of the optical fiber 5 of the distance measurement light is adjusted, and received using a distance measurement receiver 3B that shares the emitted time and is installed at the position of the distance measurement light emitter 4 in the distance measurement, and the time and phase distance are calculated using the time difference and phase difference of the round trip of the fiber 5.

[0045] Alternatively, the reflected light from the measurement position 11 to which the indicator 9 is attached is incident back into the optical fiber 5 from the end of the optical fiber 5, passes through the optical fiber 5, and is received by the distance measuring light receiver 3B provided at the position of the distance measuring light emitter 4 in the distance measurement, and the time and phase difference are calculated using the time difference and phase difference between the round trip through the fiber 5 and the round trip from the light emission position 6 to the measurement position 11. A switch 14 incorporated in the pointing device 9 is operated at hand, and the pointing device 9 is used to continuously measure the light emission position 6 using the measurement position 11 along the shape of the distance measurement object 10, and the three-dimensional shape of the distance measurement object 10 is measured in detail by operating the distance measuring device 2 using the switch 14 at hand. The measured and calculated distance is displayed on a display 89 provided on the pointing device 9, and the distance from the starting point of the distance measurement to the position to be measured is displayed while the distance is being measured.

[0046] Example: The distance measuring light emitted by the distance measuring light emitter 4 of the distance measuring device 2 in Figure 15 is passed through the injected optical fiber 5 and is focused using an optical lens from the light emission position 6 at the tip of the pointing device 9 in the direction of the measurement position 11, and the distance measuring light 1D is irradiated. The reflected light of the distance measuring light 1D irradiated to the measurement position 11 and traveling from the measurement position 11 in the direction of the emission position 6 returns through the optical fiber 5 injected back from the tip of the optical fiber 5 at the emission position 6 and is received by a distance measuring receiver 3 that shares the emission time and is located in the closest position to the distance measuring light emitter 4.

[0047] The distance from the light emission position 6 of the indicator 9 to the measurement position 11 is calculated and measured using the difference between the time when the distance measuring light emitter 4 emits light and the time when the light is received by the distance measuring receiver 3 minus the time it takes for the light to travel through the known optical fiber 5. An image of the measurement position 11 taken by a television camera 24 attached to the pointing tool 9, showing the irradiated position, is stored. The image captured by the television camera 24 is identified using an image recognition method using an application on a smartphone or the like. The identified image is added with the measured distance and stored.

[0048] Example 1 The distance measuring light emitted by the distance measuring light emitter 4 of the distance measuring device 2 in Figure 16 is passed through the injected optical fiber 5 and focused using an optical lens from the light emission position 6 at the tip of the pointing device 9, and irradiated in the direction of the measurement position 11. The distance measuring light beams 1B, 1C, and 1D, which are reflected light beams from a measurement position 11 of the irradiated distance measuring light beam 1A, travel through space and are received by distance measuring light receivers 3B, 3C, and 3D of the distance measuring device 2. The distance measuring light 1A reflected from the light emission position 6 of the pointing device 9 toward the measurement position 11 is received by the distance measuring receiver 3A provided at the position of the distance measuring light emitter 4 through the optical fiber 5 injected from the light emission position 6.

[0049] The distance measuring light emitted by the distance measuring light emitter 4 passes through the injected optical fiber 5 and is emitted from the light emission position 6 at the tip, and the reflected light from the measurement position 11 passes through the optical fiber 5 into which the light is re-injected from the light emission position 6 and is received by the distance measuring light receiver 4A provided at the original position. The reflection time at the measurement position 11 is calculated using the time it takes for the light to travel round trip from the distance measuring light emitter 4 to the measurement position 11. Using the calculated reflection time and the light reception time of each of the distance measuring light receivers 3A, 3B, and 3C, the distance position from the measurement position 11 to each of the distance measuring light receivers 3A, 3B, and 3C is calculated. The position of the distance of the measurement position 11 is measured as a three-dimensional position from the position of the distance measuring device 2 based on the distances from the three directions of the distance measuring light receivers 3A, 3B, and 3C.

[0050] Example: Distance measuring light 1A emitted from light emission position 6A at the tip of optical fiber 5A at the position of pointer 9A of distance measuring light emitted from distance measuring light emitter 4 of distance measuring device 2 in Figure 17 and passed through optical fiber 5A is focused using an optical lens and irradiated to measurement position 11A. The reflected light from the irradiated measurement position 11A passes through the optical fiber 5A again from the tip thereof and is received by a distance measuring receiver 3A which is located closest to the distance measuring light emitter 4 and shares the same emission time. The reflection time at the measurement position 11A is calculated from the emission time of the distance measuring light emitter 4 and the round trip time of the distance measuring light received by the distance measuring light emitter 3A. Distance measuring light 1B, 1C, 1D that has traveled through the space of reflected light from the irradiated measuring position 11A is received by distance measuring receivers 3B, 3C, 3D that share the same light emission time of the distance measuring device 2.

[0051] The flight time of the distance measuring light 1B, 1C, 1D that flew directly from the measurement position 11A to the distance measuring receivers 3B, 3C, 3D is calculated using the reflection time calculated for the measurement position 11A and the reception time of the distance measuring receivers 3B, 3C, 3D located closest to the distance measuring light emitter 4. The distance from the distance measuring device 2 to the measurement position 11A is calculated using the flight time of the distance measuring light 1B, 1C, 1D from the distance measuring device 2 to the measurement position 11A. Similarly, distance measuring light 1E emitted from light emission position 6B at the tip of optical fiber 5B at the position of pointer 9B of distance measuring light emitted from distance measuring light emitter 4 of distance measuring device 2 at the same position, passed through optical fiber 5B, and was irradiated to measurement position 11B.

[0052] The reflected light from the measurement position 11B of the irradiated distance measuring light 1E passes through the optical fiber 5B again from the tip thereof and is received by a distance measuring receiver 3A that is located closest to the distance measuring light emitter 4 and shares the same emission time. The reflection time at the measurement position 11B is calculated from the emission time of the distance measuring light emitter 4 and the round trip time of the distance measuring light received by the distance measuring light emitter 3A. The time at which the reflected light from measurement position 11B is received by distance measuring receivers 3B, 3C, and 3D located closest to the distance measuring light emitter 4 is used to calculate the time of flight of distance measuring lights 1E, 1F, and 1G that travel directly from the time of reflection from measurement position 11B to the distance measuring receivers 3B, 3C, and 3D. Using the time of flight of the distance measurement light beams 1E, 1F, and 1G from the measurement position 11B to the distance measurement device 2, the distance position from the distance measurement device 2 to the measurement position 11B is calculated.

[0053] The positional relationship between the distance position of measurement position 11A and the distance of measurement position 11B can be calculated using the distance position of measurement position 11A calculated from the time when reflected light consisting of distance measurement lights 1B, 1C, and 1D from measurement position 11A is received using multiple distance measurement receivers 3B, 3C, and 3D at different positions of the distance measuring instrument 2, and the positional relationship between the distance position of measurement position 11A and the distance of measurement position 7 of measurement position 11B calculated from the time when reflected light consisting of distance measurement lights 1E, 1F, and 1G from measurement position 11B is received using multiple distance measuring receivers 3B, 3C, and 3D at different positions of the distance measuring instrument 2, via the same position of the distance measuring instrument 2.

[0054] Example: The distance measuring light emitted from the distance measuring light emitter 4 in FIG. 18 is passed through the optical fiber 5 into which the distance measuring light is incident, and the tip of the optical fiber 5 of the pointing device 6 is attached to the distance measuring light receiver 3A, which emits light and receives the distance measuring light. The time for which the distance measuring light passes through the optical fiber 5 is measured using the time for which the distance measuring light emitter 4 emits light and the time for which the light is received by the distance measuring receiver 3A attached thereto. The light emission position 6 of the indicator 9 connected to the optical fiber 5 can be attached to the distance measuring receiver 3A to calibrate the time and distance for measuring the length of the optical fiber 5. The time it takes for the light to travel through the optical fiber 5 and the length of the optical fiber 5 to be measured using the distance measuring device 2 are assumed to be approximately known. In addition, the reflected light passing through the optical fiber 5 from the end of the optical fiber 5, and a portion of the reflected light from the measurement position 11, are measured by the distance measuring receiver 3B, which shares the emission time of the distance measuring light emitter 4 at the nearest position, to calibrate the round trip time and distance traveled through the optical fiber 5.

[0055] In the embodiment shown in FIG. 19, distance measuring light 1A emitted from a distance measuring light emitting device 4A passes through an incident optical fiber 5A and is emitted at a measuring position 11A indicated by an indicator 9 at the tip. The pointing device 9 is attached to the measurement position 11A of the engine 21, and the distance measurement light beams 1A, 1B, and 1C of the emitted distance measurement light 1A reflected from the measurement position 11A of the engine 21 are received by the distance measurement light receivers 3A, 3B, and 3C of the distance measuring device 2. Using the method described in Examples 1 to 5, the distance positions in three directions from the measurement position 11A indicated by the indicator 9 of the engine 21 to the distance measuring receivers 3A, 3B, 3C of the distance measuring instrument 2 are calculated by subtracting the time it takes to pass through the known optical fiber 5A from the difference between the time the light was emitted at the position of the distance measuring light emitter 4A of the distance measuring instrument 2 and the time the light was received at the positions of the distance measuring receivers 3A, 3B, 3C of the distance measuring instrument 2.

[0056] Similarly, the distance measuring light 1B emitted with a time lag from the distance measuring light emitting element 4B of the distance measuring device 2 passes through an optical fiber 5B arranged within the drive mechanism of the robot 19, which is driven by the injected numerical control drive value, and is emitted at the measurement position 11B at the working position 8 of the robot 19 at the tip. The distance measuring beams 1D, 1E, and 1F emitted with a time lag are received by the distance measuring beam receivers 3A, 3B, and 3C of the distance measuring device 2 with a time lag. Using the method described in Examples 1 to 9, the distance positions in three directions from measurement position 11B of the working position 8 of robot 19 to distance measuring receivers 3A, 3B, 3C of distance measuring device 2 are calculated by subtracting the time it takes to pass through known optical fiber 5B from the difference between the time when light was emitted with a shift at the position of distance measuring light emitter 4B of distance measuring device 2 and the time when light was received with a shift at the positions of distance measuring receivers 3A, 3B, 3C of distance measuring device 2.

[0057] Using the continuously emitted distance measuring light 1B, the distance measuring device 2 continuously measures the distance position of the working position 8 of the robot 19. The drive mechanism of the robot 19 is driven so that the position of the distance continuously measured at the working position 8 of the robot 19 is aligned with the measurement position 11A indicated by the engine 21 using the pointing device 9, and the working position 8 of the robot 19 is driven to the measurement position 11A indicated by the pointing device 9. Measurement continues continuously while the distance measuring light 1A passes through the optical fiber 5A and is emitted at the light emission position 6A of the measurement position 11A of the engine 21.

[0058] Even if the position of the engine 21 moves during work, by continuing to measure the measurement position 11A, it is possible to measure the measurement position 11B of the work position 8 of the robot 19 and continue to drive it to the measurement position 11A. Even if the distance measuring device 2 moves, the robot 19 can continue working at the working position 8 by continuing to measure the measuring position 11B. The distance measuring light 1A emitted by the distance measuring light emitter 4A is switched with a shifted measurement period, and the distance measuring light 1A or the distance measuring light 1B is distributed using an optical mirror and passes through the optical fiber 5B to be continuously emitted at the light emission position 6B of the measurement position 11B of the working position 8 of the robot 19, thereby moving the working position 8 of the robot 19 to the measurement position 11A where the pointing tool 9 is pointed to.

[0059] Example: Distance measuring light A emitted from distance measuring light emitter 4A of distance measuring device 2 in Figure 20 passes through incident optical fiber 5A and distance measuring light 1A, 1B, 1D emitted from light emission position 6 located at drive position 8 of the drive mechanism of robot 19 is directly received by distance measuring receivers 3A, 3B, 3C of distance measuring device 2. Using the method described in the first to fifth embodiments, the distance from the distance measuring device 2 to the drive position 8 is calculated by subtracting the time it takes for the distance measuring light A to pass through the known optical fiber 5A from the difference between the time when the distance measuring light A is emitted and the time when it is directly received. After a time lag, the distance measuring light 1G emitted from the distance measuring light emitter 4B of the distance measuring instrument 2 passes through the incident optical fiber 5B and is focused using an optical lens from the light emission position 6 located at the drive position 8 of the drive mechanism of the robot 19, and the distance measuring light 1G is irradiated to the irradiation position 42 of the engine 21.

[0060] The reflected light of distance measuring beams 1D, 1E, and 1F from irradiation position 42 is received by distance measuring receivers 3A, 3B, and 3C. Using the method described in Examples 1 to 5, the distance from the distance measuring instrument 2 to the irradiation position 42 of the engine 21 is calculated by subtracting the time it takes for the distance measuring light 1G to pass through the known optical fiber 5B from the difference between the time when the distance measuring light 1G is emitted and the time when the reflected light is received. The drive mechanism of the robot 19 is driven to a position of distance from drive position 8 consisting of distance measuring light beams 1A, 1B, and 1D to a position of distance from irradiation position 42 consisting of distance measuring light beams 1D, 1E, and 1F using the measured distance.

[0061] Example: Distance measuring light beams 1A, 1B, and 1C emitted from distance measuring light emitter 4A at working position 8 of the drive mechanism of robot 19 in Figure 21 are directly received by distance measuring receivers 3A, 3B, and 3C of distance measuring device 2. The distance measuring light 1 emitted from the distance measuring light emitter 4A passes through an optical fiber 5A arranged in the drive mechanism of the robot 19 and is received by the distance measuring light receiver 3D of the distance measuring device 2. Using the method described in the first to fifth embodiments, the emission time of the distance measuring light 1 is calculated from the time it takes to pass through the known optical fiber 5A. The distance from the distance measuring device 2 to the working position 8 is measured using the calculated difference between the light emission time and the direct light reception time of the distance measuring light emitting device 4A.

[0062] After a time lag, the distance measuring light 1G emitted by the distance measuring light emitter 4B at the working position 8 is collected by an optical lens and irradiated onto the irradiation position 42 of the engine 21. The distance measuring light beams 1D, 1E, and 1F, which are reflected light beams from the irradiation position 42 of the engine 21, are received by the distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2. A part of the distance measuring light 1G reflected from the irradiation position 42 passes through the incident optical fiber 5B and is received by the distance measuring light receiver 3E of the distance measuring device 2. The reflected time of the distance measuring light emitter 4B is calculated from the time it takes for the distance measuring light 1G to travel through the known optical fiber 5B and the time it takes for the distance measuring light 1G to travel. The distance from the distance measuring device 2 to the irradiation position 42 is calculated using the difference between the calculated reflected light time of the distance measuring light emitter 4B and the time when the reflected light is received. The drive mechanism of the robot 19 is driven to change the position of the measured distance of the drive position 8 consisting of the distance measuring light 1A, 1B, and 1C to the position of the measured distance of the irradiation position 42 consisting of the distance measuring light 1D, 1E, and 1F, using the position of the calculated distance measured.

[0063] Example 22: Distance measuring light B emitted from distance measuring light emitter 4B of distance measuring device 2 in FIG. 22 passes through optical fiber 5B arranged in the drive mechanism of robot 19, which is driven by numerical control, and is focused using an optical lens and irradiated from light emission position 6 arranged in working position 8 of robot 19. The irradiation position of distance measuring light 1G is photographed by television camera 24, and the image 44A of the irradiation position displayed on television screen 26A is attached to working position 8 of robot 19 so that it is displayed at the central image coordinates. An image 43A of the processing position shown on a television screen 26A photographed by a television camera 24 is identified by an image recognition method. The drive mechanism of the robot 19 is driven so that the image coordinate position of the image 43A of the identified processing position on the television screen 26A is reflected in the position of the image 44B of the irradiation position of the central image coordinate on the television screen 26B.

[0064] The distance measuring receivers 3A, 3B, 3C of the distance measuring instrument 2 receive distance measuring light 1D, 1E, 1F, which is reflected light from the processing position 41 of the distance measuring light 1G irradiated from the light emission position 6 of the working position 8 of the robot 19 to the processing position 41 at the position of the irradiation position image 44B which overlaps with the processing position image 43B by the above-mentioned drive. Using the method described in the first to fifth embodiments, the distance from the distance measuring device 2 to the processing position 41 is measured.

[0065] After a time lag, distance measuring light A emitted from distance measuring light emitter 4A of distance measuring instrument 2 passes through optical fiber 5A arranged in the drive mechanism of robot 19 and is emitted from light emission position 6 of working position 8 of robot 19, and is directly received by distance measuring receivers 3A, 3B, 3C of distance measuring instrument 2. The distance from the distance measuring device 2 to the working position 8 of the robot 19 is measured using the method described in the first to fifth embodiments. The drive mechanism of the robot 19 is driven so that the position of the measured distance of the work position 8 coincides with the position of the measured distance of the processing position 41. Alternatively, the working position 8 of the drive mechanism of the robot 19 is driven so as to shorten the distance position calculated by measuring the distance measurement light 1G irradiated to the processing position 41, and processing work is performed at the working position 8 of the robot 19 at the processing position 41.

[0066] Example 1 Using an optical fiber distance measuring device 2 incorporated in the distance measuring unit 35 of Figure 23 as described in Examples 1 to 5, the distance position consisting of measurement distances 7A, 7B, and 7C from the distance measuring device 2 to the working position 8 of the robot 19 is measured. The television camera 24 incorporated in the distance measuring unit 35 is used to photograph the driving range of the working position 8 of the robot 19 within the photographing range 32 of the television camera. The distance measuring light emitted by the distance measuring light emitter 4 of the distance measuring instrument 2 or the light for photographing by the television camera 24 is emitted from the working position 8 at the tip of the incident optical fiber 5, and the light is photographed by the television camera 24 at the position of the image 58 of the working position on the television screen 26, as an image 30 of the light emission position.

[0067] The unique distance measuring light emitted from the image 58 of the working position on the television screen 26 or the light emitted for shooting by the television camera 24 is identified. The image 30 of the light emission position reflected at the position of the image 58 of the identified work position is displayed with the position of the distance added thereto. On the two-dimensional screen of a television screen 26 photographed by a television camera 24, an image 30 of the light emission position is placed at the position of the aforementioned distance in the three-dimensional space grasped by the computer. The image 58 of the work position arranged at the distance in the shooting range 32 of the television camera is grasped at a distance in three-dimensional space on the computer.

[0068] Using a screen photographed by a television camera of the positions at which the robot 19 is driven to move to the different work positions 8, the measured distance positions of the different work positions 8 are expanded in a three-dimensional space on a computer. The image 58 of the arranged work position is stored as the measured time elapses, and the driving range of the work position 8 of the robot 19 in the three-dimensional space is set. A computer grasps the working position 8 of the robot 19 in three-dimensional space using an image 58 of the working position of the robot 19 on a two-dimensional television screen 26 captured by a television camera 24 and the distance position measured by the distance measuring device 2. The working position 8 of the robot 19 in three-dimensional space is displayed on a television screen 26.

[0069] Example: The position of an image 57 of a workpiece 54 on a television screen 26 photographed using a television camera 24 built into the distance measuring unit 35 in Figure 24 is associated with a drive numerical value that drives the drive mechanism of the laser distance measuring device 55, which is built into the distance measuring unit 35 and drives a numerically controlled drive mechanism to change the irradiation direction using a drive numerical value, to irradiate the workpiece 54 shown in the image with a laser light 56 ​​for distance measurement. Using the several different drive values ​​obtained by irradiating the laser light 56 ​​onto the workpiece 54 at several different positions at the positions of the images 57 of the workpiece 54 at several different positions on the television screen 26 where the workpiece 54 at several different positions has been photographed, all of the associated drive values ​​obtained by irradiating the laser light 56 ​​onto the workpiece 54 at all of the positions are calculated using an interpolation formula and obtained at the positions of all of the images 57 of the workpiece 54 at all of the positions on the television screen 26 where the workpiece 54 at all positions has been photographed.

[0070] The direction is calculated using the associated drive numerical value to the position of an image 57 of the workpiece on a television screen 26 captured by a television camera 24, the drive mechanism of the laser light 56 ​​for distance measurement is driven using the drive numerical value, and the laser light 56 ​​is irradiated to the workpiece 54 shown in the image to measure the distance. The distance and direction to the workpiece 54 are measured from a laser distance measuring device 55 incorporated in the distance measuring unit 35 . The workpiece 54 is moved to the workpiece 54 by driving the driving mechanism of the numerically controlled robot 19 using the driving numerical value related to the position of the distance consisting of the measured distances 7A, 7B, 7C measured from the distance measuring device 2 incorporated in the distance measuring unit 35 to the working position 8 of the robot 19, which corresponds to the distance and direction measured by the laser distance measuring device 55 as described in Examples 1 to 5.

[0071] The image shown on the television screen 26 is identified using a method such as image recognition, and the robot 19 is caused to perform a task at the work position 8 on the workpiece 54 that is the subject of the identified image. By specifying the position of an image 57 of the workpiece on the television screen 26 at the position of the image on the television screen 26, the laser distance measuring device 55 associated with the specified position on the television screen 26 is driven by the drive value to irradiate laser light 56 ​​onto the subject shown at the specified position, thereby measuring the distance and direction to the specified subject. Using the drive numerical value of the robot 19 associated with the position of the distance measured using the distance measurement light emitted from the light emission position 6 at the end of the optical fiber 5 at the working position 8 of the robot 19, which corresponds to the position of the measured distance and direction, the working position 8 of the robot 19 can be driven to the position of the specified distance and direction, and the robot 19 can be made to perform the processing work at the specified position. The numerical values ​​of the three-dimensional distance position from the operation console 47 are manipulated and corrected, or the numerical values ​​of the three-dimensional distance position of the sound from the sound indicator 48 are manipulated and corrected by authentication. Moreover, the robot 19 can be caused to perform a task remotely by instructing the task position 8 on a television screen 26 connected via the Internet.

[0072] Example: Using the television camera 24 built into the distance measurement unit 35 in Figure 25, an image of the workpiece 54 is taken at the position of the image 57A of the workpiece that appears on the television screen 26, and an image of the workpiece 57B is taken so that it appears in the center of the numerically controlled television camera screen 40A of the numerically controlled television camera 59, which is driven by a numerically controlled driving mechanism that changes the shooting direction and is built into the distance measurement unit 35. The drive numerical value that drives the drive mechanism, the drive numerical value that drives a drive mechanism of a zoom function that changes the angle of view of the numerically controlled television camera 59 that captures an image 57B of the workpiece on the numerically controlled television camera screen 40B of the numerically controlled television camera 59, and the distance and direction from the distance measuring unit 35 to the workpiece 54 measured using a laser distance measuring device 60 attached at the driving position of the drive mechanism so as to measure the distance in the central direction on the numerically controlled television camera screen 40A are correlated.

[0073] The several different drive values ​​for driving the drive mechanism to shoot the workpiece 54 at several different positions so that the image 57B of the workpiece is displayed at the center position on the numerically controlled television camera screen 40A at the position of the image 57A of the workpiece at several different positions displayed on the television screen 26 that photographs the workpiece 54 at several different positions using the television camera 24, the several different drive values ​​for driving the drive mechanism of the zoom function to shoot the image 57C of the workpiece at the center position on the numerically controlled television camera screen 40B, and the several different distances and directions to the several different workpieces 54 measured using a laser distance measuring device 60. Using the above, an interpolation formula is used to calculate all the drive numerical values ​​for driving the drive mechanism to shoot the workpiece 54 at all positions photographed by the television camera 24 so that the image 57A of the workpiece at all positions appears on the television screen 26, and the image 57B of the workpiece 54 at all positions appears at the central position on the numerically controlled television camera screen 40A, all the drive numerical values ​​for driving the drive mechanism of the zoom function to shoot the image 57B of the workpiece at the central position on the numerically controlled television camera screen 40B, and all the distance and direction related numerical values ​​between the workpiece 54 at all positions measured using the laser distance measuring device 60.

[0074] A laser light 56 ​​for the distance measuring instrument is irradiated from the laser distance measuring instrument 60 to the workpiece 54 shown in the image 57B of the workpiece on the numerically controlled television camera screen 40A taken by the numerically controlled television camera 59, which is associated with the image 57A of the workpiece 54 on the television camera screen 26 taken by the television camera 24, thereby measuring the distance and direction from the distance measuring unit 35 to the workpiece 54. Using the drive numerical values ​​of the associated numerically controlled robot 19, the drive mechanism of the robot 19 is driven to move the working position 8 of the robot 19 to a distance position consisting of measured distances 7A, 7B, 7C from the distance measuring device 2 incorporated in the distance measuring unit 35 as described in Examples 1 to 5, which correspond to the numerical values ​​of the distance and direction, so that the working position 8 tracks and moves to the position of the workpiece 54 of the corresponding distance and direction. At the same time, the zoom drive mechanism is driven using the drive numerical value of the zoom drive mechanism associated with the distance and direction of the numerically controlled television camera 59 related to the distance and direction, and an image 57C of the workpiece is captured on the television screen 40B by driving the zoom drive mechanism. The photographed image 57C of the workpiece is used to identify the image 57C of the workpiece by using the image recognition method again.

[0075] The position of said associated workpiece image 57A in the image on the television camera screen 26 is corrected in association with the position of said re-identified workpiece image 57C on the television screen 40B or the indicated corrected image. Through the image position of the corrected workpiece image 57A, the associated drive value is used to move the drive mechanism of the robot 19 to the working position 8 to the position where the identified workpiece image 57C or the indicated corrected image is displayed. The center position of the associated workpiece image 57B shown in the image on the numerically controlled television camera screen 40A is moved to the corrected center position, and the drive mechanism of the robot 19 is moved to the position shown in the corrected image by using the associated drive numerical value to indicate the work position 8. The center position of the associated workpiece image 57C shown in the image on the numerically controlled television camera screen 40B is moved to the corrected center position, and the drive mechanism of the robot 19 is moved to the position shown in the corrected image by using the associated drive numerical value to indicate the work position 8.

[0076] Example: The position of an image 57A of the workpiece 54 on a television screen 26 using a television camera 24 incorporated in the distance measurement unit 35 in Figure 26 is correlated with the distance and direction measured by irradiating the workpiece 54 with a laser light 56 ​​for distance measurement of a laser distance measurement device 55 incorporated in the distance measurement unit 35, which drives a numerically controlled drive mechanism in the irradiation direction using a drive value, the drive value used to drive the drive mechanism of the laser distance measurement device 55 measured as above, the drive value used to drive the drive mechanism of a numerically controlled television camera 59 which drives the drive mechanism for the shooting direction using a drive value incorporated in the distance measurement unit 35, so that an image 57B of the workpiece is displayed at the center of a numerically controlled television screen 40A, and the drive value used to drive the zoom mechanism of a numerically controlled television camera 59 which uses the measured distance and direction to enlarge and photograph an image 57C of the workpiece at the center of a numerically controlled television screen 40B.

[0077] A number relating the several different distances and directions measured by irradiating the workpiece 54 at several different positions with a laser light 56 ​​for distance measurement at the positions of the several different images 57A of the workpiece 54 on the television screen 26 in which the workpiece 54 at several different positions is photographed using the television camera 24, the several different drive values ​​for driving the drive mechanism of the laser distance measuring device 55 that measured the several different drive values ​​for driving the drive mechanism that photographs the workpiece so that the image 57B of the workpiece is displayed at the center position on the numerically controlled television screen 40A, and the several different drive values ​​for driving the zoom mechanism that photographs the workpiece image 57C in an enlarged manner on the numerically controlled television screen 40B using the several different distances measured is used. Then, using an interpolation formula, numerical values ​​relating all the distances and directions measured by irradiating the distance measuring laser light 56 ​​of the laser distance measuring device 55 to the workpiece 54 at all positions at the positions of all images 57A of the workpiece 54 at all positions on the television screen 26 photographed by the television camera 24, all the drive numerical values ​​used to drive the drive mechanism of the laser distance measuring device 55 measured, all the drive numerical values ​​used to drive the drive mechanism to photograph the workpiece image 57B so that it appears at the center position on the numerically controlled television screen 40A, and all the drive numerical values ​​used to drive the zoom mechanism to photograph the workpiece image 57C on the numerically controlled television screen 40B in an enlarged manner using all the measured distances are obtained.

[0078] The direction is calculated using the drive value of the laser distance measuring device 55, which is associated with the position of the image 57A of the workpiece on the television screen 26 of the television camera 24, and the drive mechanism is driven using the drive value to irradiate the distance measuring laser light 56 ​​to the irradiation position 42, thereby measuring the distance. Using the associated drive numerical value and the measured distance, a drive mechanism for changing the shooting direction of the numerically controlled television camera 59 is driven to shoot an image 57B of the workpiece in the center of the numerically controlled television screen 40A, and a zoom mechanism for the numerically controlled television camera 59 is driven to shoot an enlarged image 57C of the workpiece on the numerically controlled television screen 40B. The image 57C of the workpiece photographed under magnification is identified from the image 44A of the specific irradiation position of the distance measurement laser light irradiated onto the image 57B of the workpiece. The numerical control of the laser light for distance measurement of the numerically controlled laser distance measuring device 55 is corrected so that the position of the image 44A of the identified irradiation position is irradiated at the position of the image 57C of the workpiece.

[0079] The distance and direction of the distance measuring laser light that has been identified or corrected and irradiated onto the workpiece 54 is measured from the distance measuring device 2. Using the drive numerical value of the associated numerically controlled robot 19, the drive mechanism of the robot 19 is driven to drive the working position 8 to the position of the workpiece 54 shown in the workpiece image 58 at the position of the workpiece image 57E on the numerically controlled television screen 40D, at the position of the distance consisting of measured distances 7A, 7B, 7C measured by the distance measuring device 2 incorporated in the distance measuring unit 35 as described in Examples 1 to 5, which corresponds to the identified or corrected measured distance and direction from the distance measuring device 2 to the workpiece 54. The distance and direction of the wide range of workpieces 54 are measured using a laser distance measuring device 55 using the drive numerical value related to the position of an image 57A of the wide range of workpieces shown on a television screen 26 of a television camera 24 which photographs the position of the wide range of workpieces 54.

[0080] Using the drive value and the measured distance related to the position of the workpiece image 57A, a wide range of the workpiece 54 is photographed, along with an enlarged workpiece image 57C and irradiation position 44A on a numerically controlled television screen 40B of a numerically controlled television camera 59 which photographs a narrow range. The photographed workpiece image 57C and irradiation position 44A are identified by image recognition, and the driving numerical value of the laser distance measuring device 55 is corrected so that the irradiation position 44A of the distance measuring laser light 56 ​​is irradiated to the position of the enlarged workpiece image 57C. The irradiation position 44A, which has been corrected to the position of the workpiece image 57C, is measured, and the distance and direction to be measured by the distance measuring laser light 56 ​​are measured. Using the drive numerical value of the associated numerically controlled robot 19, the drive mechanism of the robot 19 is driven to drive the work position 8 to the position of the workpiece 54 shown in the work position image 58 at the position of the workpiece image 57E on the numerically controlled television screen 40D at the distance position consisting of measured distances 7A, 7B, 7C from the distance measuring device 2 to the work position 8 of the robot 19, which corresponds to the measured distance and direction. The drive mechanism of the robot 19 is driven to drive the work position 8 to the position of the workpiece 54 in a wide range accurately.

[0081] Examples The image captured on the television screen 26 by the television camera 24 built into the distance measuring unit 35 in Figure 27 is associated with the position of the image 57A of the workpiece identified by image recognition using a drive numerical value associated with the image captured on the television screen 26 by the method described in Examples 24, 25, and 26, and the drive mechanism of the numerically controlled laser distance measuring device 55 is driven to irradiate the distance measuring laser light 56A to the workpiece 54A on the workbench 36 shown in the image 57A of the workpiece on the television screen 26, thereby measuring the distance and direction to the workpiece 54A. At the same time, using the drive numerical value associated with the position of the identified workpiece image 57A by the method described in Examples 25 and 26, and the measured distance and direction, the drive mechanism for changing the shooting direction of the numerically controlled television camera 59 and the zoom drive mechanism are driven in accordance with the measured distance and direction, and an enlarged image 57B of the workpiece and an image 44A of the irradiation position are captured in the central position on the numerically controlled television screen 40A.

[0082] The enlarged workpiece image 57B and the irradiation position image 44A are identified using an image recognition method. The driving value of the distance measuring laser light 56A of the numerically controlled laser distance measuring device 55 is corrected so that the identified irradiation position image 44A is reflected on the identified workpiece image 57B. The corrected drive value is used to drive the numerically controlled laser distance measuring device 55 to measure the distance and direction of the workpiece 54A on the worktable 36 again.

[0083] The distance measurement light emitted from the distance measuring light emitter 4 of the distance measuring device 2 incorporated in the distance measurement unit 35 is passed through the optical fiber 5 into which the distance measurement light is incident, and the distance measurement light emitted from the tip of the pointing device 9 attached to the working position 8 of the robot 19 is directly received and measured using the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2.The work position 8 is driven to the position of the workpiece 54A on the work table 36 using the drive numerical value of the robot 19 related to the position of the re-measured distance which corresponds to the position of the distance consisting of the measured distances 7A, 7B, 7C calculated by the method described in Examples 1 to 5, to obtain the workpiece 54A. Next, the image displayed on the television screen 26 is used to drive the drive mechanism of the numerically controlled laser distance measuring device 55 using the drive numerical value associated with the position of the image 43A of the processing position identified by the image recognition method, thereby measuring the distance and direction from the processing position 41.

[0084] At the same time, using the drive value associated with the position of image 43A of the processing position and the measured distance, a drive mechanism that changes the shooting direction of numerically controlled television camera 59 is driven to shoot image 43B of the processing position, enlarged by driving the zoom mechanism, in the center of numerically controlled television screen 40B. The enlarged image 43B of the machining position and the image 44B of the irradiation position displayed on the numerically controlled television screen 40B are identified. The driving numerical value of the numerically controlled laser distance measuring device 55 is corrected so that the image 44B of the irradiation position of the distance measuring laser light 56B reflects the image 43B of the processing position, and the distance and direction to the workpiece 54B are measured again.

[0085] The distance measuring light emitted from the distance measuring light emitter 4 of the distance measuring device 2 incorporated in the distance measurement unit 35 is passed through the optical fiber 5 into which the distance measuring light is incident, and the distance measuring light emitted from the tip located at the working position 8 of the robot 19 is directly received and measured by the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2.The working position 8 is driven to the assumed processing position 41 and the workpiece 54B is placed using the drive numerical value of the robot 19 related to the distance and direction corresponding to the position of the distance consisting of the measured distances 7A, 7B, 7C calculated by the method described in Examples 1 to 5. First, the distance and direction of the workpiece 54A shown in the image 57A of the identified workpiece on the television screen 26 captured by the television camera 24 is measured using a numerically controlled laser distance measuring device 55.

[0086] While measuring the position of the distance using the optical fiber 5 of the distance measuring device 2, the work position 8 of the robot 19 is driven to the first distance and in the first direction to obtain the workpiece 54B on the worktable 36. Next, the position of the distance to the processing position 41 shown on the image 43A of the identified processing position on the television screen 26 photographed by the television camera 24 is measured using the optical fiber 5 of the distance measuring device 2 which measures the next distance and direction using a numerically controlled laser distance measuring device 55, while driving the working position 8 of the robot 19 to the next distance and direction, and placing it at the processing position 41 to process the workpiece 54B.

[0087] Example: An image 57A of the workpiece that appears on a television screen 40A captured by a numerically controlled television camera 59, which is incorporated in the distance measurement unit 35 in Figure 28 and drives a drive mechanism that changes the shooting direction using a drive value, is identified using an image recognition method. The drive mechanism of the numerically controlled television camera 59 is driven to photograph the position of the identified workpiece image 57A on the television screen 40A so that it appears at the position of the central workpiece image 57B on the television screen 40B. A laser distance measuring device 60 attached to a driving position of the driving mechanism of a numerically controlled television camera 59 so as to irradiate a distance measuring laser light toward the center of the television screen 40B is used to measure the distance and direction to the workpiece 54 shown in the image 57B of the identified workpiece.

[0088] The distance measuring unit 35, which corresponds to the distance and direction measured by the laser distance measuring device 60, is described in the first to fifth embodiments. Using the drive numerical value of the numerically controlled robot 19, which is related to the position of the distance consisting of measured distances 7A, 7B, and 7C from the distance measuring device 2 measured by the built-in distance measuring device 2 to the working position 8 of the robot 19, the drive mechanism of the robot 19 is driven to move the working position 8A to the working position 8B consisting of measured distances 7D, 7E, and 7F by the said distance and direction. The moving and numerically controlled television camera 59 captures an image 58 of the work position on the television screen 40C, and the television camera 24, which is mounted so as to capture an image of the instructions 39 affixed to the workpiece 54 at the driven work position 8B, captures an image 92 of the instructions on the television screen 26. The operator reads image 92 of the instructions attached to the enlarged image 57C of the workpiece displayed on the television screen 26, and performs the work at the work position 8B of the robot 19 in accordance with the instructions.

[0089] Example: The working position 8 of the robot 19 with the numerically controlled drive mechanism in Figure 29, which is driven in three-dimensional space by a drive numerical value, is photographed and identified using a numerically controlled television camera 59 incorporated in the distance measurement unit 35, which drives the drive mechanism by a drive numerical value. A driving mechanism for changing the shooting direction of a numerically controlled television camera 59 is driven to shoot so that the position of an image 58A of the work position shown on a numerically controlled television screen 40A is shown at the position of an image 58B of the central work position on a numerically controlled television screen 40B. A laser distance measuring device 60 is attached to a driving position of the driving mechanism of the numerically controlled television camera 59 so as to irradiate a distance measuring laser light 56 ​​toward the center of the numerically controlled television screen 40B, and the distance and direction to the work position 8 shown at the position of the image 58B of the central work position on the numerically controlled television screen 40B is measured.

[0090] A zoom drive mechanism that changes the photographing angle of the numerically controlled television camera 59 is driven in accordance with the measured distance and direction to photograph an enlarged image 58C of the working position at the central position on the numerically controlled television screen 40C. The working position 8 at which the robot 19 moves in three-dimensional space is photographed using a numerically controlled television camera 59 so that it appears in the enlarged working position image 58C at the central position of the numerically controlled television screen 40C, and the drive numerical values ​​that drive the drive mechanism of the numerically controlled television camera 59, the drive numerical values ​​that drive the zoom drive mechanism, and the measured distance and direction of the laser distance measuring device 60 are correlated.

[0091] Using the several different drive values ​​that drove the drive mechanism of a numerically controlled television camera 59, which photographed several different work positions 8 in the driven three-dimensional space so that they are reflected in the enlarged image 58C of the work position at the central position of a numerically controlled television screen 40C, the several different drive values ​​that drove the zoom drive mechanism, and the several different distances and directions measured by a laser distance measuring device 60, a numerical value relating all of the drive values ​​that drove the drive mechanism of a numerically controlled television camera 59, all of the drive values ​​that drove the zoom drive mechanism, and all of the distances and directions measured by a laser distance measuring device 60 are calculated using an interpolation formula.

[0092] Using the drive numerical value of the numerically controlled robot 19 associated with the position of the distance consisting of measured distances 7A, 7B, 7C from the distance measuring device 2 to the working position 8 of the robot 19 measured by the distance measuring device 2 incorporated in the distance measuring unit 35 as described in Examples 1 to 5, the drive mechanism of the robot 19 is driven to track and photograph the working position 8A so that it appears in the enlarged working position image 58C at the central position of the numerically controlled television screen 40C.

[0093] Alternatively, the drive mechanism of the numerically controlled television camera 59 is driven using the drive numerical value related to the position of the image designated on the numerically controlled television screen 40A, and the enlarged designated image is photographed at the central position on the numerically controlled television screen 40C. Identify the enlarged pointed image at the center location on a numerically controlled television screen 40C. The distance and direction to the subject shown in the image specified by the laser distance measuring device 60 attached to the numerically controlled television camera 59 is measured. The drive mechanism of the robot 19 is driven using the drive numerical value associated with the position of the distance corresponding to the measured distance and direction, and the working position 8 is driven to track the position of the subject shown in the specified image.

[0094] Using the method described in Examples 1 to 5, an optical fiber 5 into which distance measurement light emitted by a distance measurement light emitter 4 of a distance measuring device 2 incorporated in a distance measuring unit 35 of Figure 30 is input is emitted into space at a light emission position 6 at the end of the optical fiber 5 positioned at a working position 8 driven by the robot 19. The emitted distance measuring light flying through space is received by distance measuring receivers 3A, 3B, and 3C of the distance measuring instrument 2, and the distance position consisting of measurement distances 7A, 7B, and 7C from the distance measuring instrument 2 of the distance measuring unit 35 to the working position 8 driven by the robot 19 is measured. The working position 8, which drives the robot 19 of the numerically controlled drive mechanism in three-dimensional space, is photographed by a drive mechanism which changes the shooting direction of the numerically controlled television camera 59 so that the position of the working position image 58A photographed by the numerically controlled television camera 59, which drives the drive mechanism by a drive numerical value incorporated in the distance measurement unit 35, on the numerically controlled television screen 40A is displayed in the center position on the numerically controlled television screen 40B, and by driving the zoom mechanism which changes the angle of view for shooting so that an enlarged working position image 58C is displayed in the center position on the numerically controlled television screen 40C.

[0095] The measured distance position to the work position 8 is associated with the drive numerical value used to drive the drive mechanism of the robot 19, the drive numerical value used to drive the drive mechanism of the numerically controlled television camera 59 so that an image 58B of the work position is displayed in the central position of the numerically controlled television screen 40B captured by the numerically controlled television camera 59, and the drive numerical value used to drive the zoom mechanism of the numerically controlled television camera 59 so that the enlarged image 58C of the work position is displayed in the central position of the television screen 40C captured using the distance position.

[0096] Using the several different drive values ​​for driving the drive mechanism of the robot 19 to the several different distance positions measured to several different work positions, the several different drive values ​​for driving the drive mechanism so that the work position image 58B is displayed at the central position of the numerically controlled television screen 40B, and the several different drive values ​​for driving the zoom mechanism of the numerically controlled television camera 59 so that the enlarged work position image 58C is displayed at the central position of the numerically controlled television screen 40C, all of the drive values ​​for driving the drive mechanism of the robot 19 to all of the distance positions measured to all of the work positions 8, all of the drive values ​​for driving the drive mechanism so that the work position image 58B is displayed at the central position of the numerically controlled television screen 40B, and all of the related values ​​for driving the zoom mechanism of the numerically controlled television camera 59 so that the enlarged work position image 58C is displayed at the central position of the numerically controlled television screen 40C are obtained using an interpolation calculation formula.

[0097] The driving numerical value acquired and associated with the work position 8 in three-dimensional space to the distance position measured using the distance measuring device 2 is used to drive the driving mechanism of the numerically controlled television camera 59 to capture an image 58B of the work position at the central position of the television screen 40B, and the calculated distance position is used to drive the zoom mechanism of the numerically controlled television camera 59 to capture an image 58C of the enlarged work position at the central position of the television screen 40C. A numerically controlled television camera 59 tracks the work position 8 moving in three-dimensional space using a drive numerical value obtained using the calculation formula of the interpolation method, and tracks and captures an image 58C of the enlarged work position at the center position of a television screen 40C. The image 58C of the work position captured by tracking is identified and the work at the work position 8 is performed.

[0098] Example: The position of the working position 8 shown in images 58A, 58B, 58C8 of the working position of the robot 19 on numerically controlled television screens 40A, 40B, 40C taken by a numerically controlled television camera 59 connected to an Internet network 77 in Figure 31 is measured as a distance using optical fibers of a distance measuring device 2 arranged at the working position 8, and operation is performed using the numerical values ​​of the measured three-dimensional distance position and the position on the numerically controlled television screens 40A, 40B, 40C via the Internet network 77. Using the method described in Examples 1 to 5, the distance position consisting of measured distances 7A, 7B, 7C from the distance measuring device 2 incorporated in the distance measurement unit 35 to the working position 8 of the robot 19 is calculated. At the same time, a laser light 56 ​​for measuring distance from a laser distance measuring device 55, which is incorporated in the distance measuring unit 35 and drives a drive mechanism with a drive value, is irradiated onto the working position 8 of the robot 19 to measure the distance and direction.

[0099] Furthermore, a numerically controlled television camera 59, which is incorporated in the distance measurement unit 35 and drives a drive mechanism using a drive value, is used to capture an image 58B of the work position so that it appears at the center of the numerically controlled television screen 40B. Using the measured distance and direction, a zoom mechanism that changes the angle of view of the numerically controlled television camera 59 is driven, and the image is captured in association with the enlarged image 58C of the working position on the numerically controlled television screen 40C. The distance position calculated by measuring the working position 8 at which the robot 19 is driven in three-dimensional space, the drive numerical value used to drive the working position 8 in the three-dimensional space, the distance and direction measured by shining a laser light 56 ​​for distance measurement from a laser distance measuring device 55 onto the working position 8 of the robot 19, the drive numerical value used to drive the laser distance measuring device 55, the drive numerical value used to photograph using a numerically controlled television camera 59 so that an image 58B of the working position is displayed in the center position on a numerically controlled television screen 40B, and the drive numerical value used to photograph using the measured distance and direction by driving the zoom mechanism of the numerically controlled television camera 59 so that an enlarged image 58C of the working position is displayed in the center position on a television screen 40C are correlated.

[0100] The several different distance positions calculated by measuring the several different work positions 8 for driving the robot 19 in the three-dimensional space, the several different drive values ​​for driving the several different work positions 8 in the three-dimensional space, the several different distances and directions measured by irradiating the several different work positions 8 in the three-dimensional space of the robot 19 with a laser light 56 ​​for distance measurement of a laser distance measuring device 55, the several different drive values ​​for driving the laser distance measuring device 55, the several different work positions 8 in the three-dimensional space of the robot 19 using a numerically controlled television camera 59 so that an image 58B of the work position is displayed at the center position on a numerically controlled television screen 40B, and the distances measured by the laser light 56 ​​for distance measurement are used.

[0101] The zoom mechanism of the numerically controlled television camera 59 is driven to take a photograph so that the enlarged image 58C of the working position is displayed at the center of the television screen 40C, and the positions of all distances are measured and calculated using the several different drive values ​​for all working positions 8 for driving the robot 19 in the three-dimensional space, all drive values ​​for driving the robot 19 to all working positions 8 in the three-dimensional space, and all distances and directions measured by irradiating the laser light 56 ​​for distance measurement of the laser distance measuring device 55 to all working positions 8 of the robot 19. Using all of the drive values ​​used to drive the laser distance measuring device 55, all of the drive values ​​photographed using a numerically controlled television camera 59 so that an image 58B of the work position is displayed at the center position on the numerically controlled television screen 40B, and all of the distances measured by the distance measuring laser light 56, the zoom mechanism of the numerically controlled television camera 59 is driven to calculate numerical values ​​related to all of the drive values ​​photographed so that the enlarged image 58C of the work position is displayed at the center position on the television screen 40C, using an interpolation formula.

[0102] The distance and direction described above are related to the position where the image 58A, 58B, 58C of the working position is indicated on the numerically controlled television screen 40A, 40B, 40C photographed by the numerically controlled television camera 59, or the position where the image 30A, 30B, 30C of the light emission position is indicated. Using the drive numerical value of the drive mechanism of the robot 19 described in the first to fifth embodiments, which is related to the distance position corresponding to the distance, the work position 8 of the drive mechanism is driven and operated using the numerical value of the distance position of the work position displayed in the work position images 58A, 58B, 58C indicated on the numerically controlled television screens 40A, 40B, 40C displayed via the Internet network. Alternatively, the driving operation is performed using the measured distance and direction values ​​between the designated light emission position and the subject shown in the image 30A, 30B, 30C.

[0103] Example In the place where the robot 19 and the worker 86 in Figure 32 work together, the distance position of the working position 8 of the robot 19 is measured using the methods described in Examples 1 to 5 from the directions of different distance measurement units built into the distance measuring device 2, and the working range of the robot 19 in a three-dimensional space is constructed on the computer of the controller 46. The distance position of the working position 8 of the robot 19 is constantly measured, and the distance position of the working position 8 within the constructed three-dimensional space is monitored. An image 87A of the worker and an image 58A of the work position shown on a television screen 26 captured by a television camera 24 incorporated in the distance measuring device 2 are identified.

[0104] Using the method described in Examples 1 to 5, the driving numerical value of the numerically controlled laser distance measuring device 55, which is associated with the position of the image 87A of the worker on the television screen 26, is used to irradiate the worker 86 with a distance measuring laser light 56A, thereby measuring the distance and direction. Using the measured distance and direction, safety is monitored by placing the worker 86 at a position at a distance equivalent to the measured distance and direction within the three-dimensional space constructed on the computer. Using the measured distance and direction and the method described in embodiments 1 to 5, a drive value for changing the shooting direction of the numerically controlled television camera 59 and a drive value for changing the shooting angle, which are associated with the position of the image 87A of the worker on the television screen 26, are used to capture an enlarged image 87B of the worker on the numerically controlled television screen 40.

[0105] An enlarged image 87B of the worker is displayed in the center of the numerically controlled television screen 40, and the image 58B of the work position that is displayed nearby and the distance on the numerically controlled television screen 40 are monitored. Using the drive numerical value of the numerically controlled laser distance measuring device 55, which is associated with the position of the image 87A of the worker on the television screen 26, a distance measuring laser beam 56B is irradiated onto the worker to measure the distance and direction. The measured distance and direction of the worker 86 and the measured distance and position of the work position 8 are used to calculate the distance and direction between the worker 86 and the work position 8, thereby ensuring the safety of the worker 86 working together. By constantly measuring the distance position of the work position 8, which operates at high speed, continuously and at high speed, the work position 8 is avoided in advance using the measured distance position in the three-dimensional space of the work position 8.

[0106] Example: The tip of the distance measuring indicator 9A in Figure 33 is attached to the measurement position 11 of the engine 21, and the distance measuring light emitted by the distance measuring light emitter 4 of the distance measuring device 2, which passes through the optical fiber 5 and is emitted at the light emission position 6 of the indicator 9A. The distance measuring light that has traveled the closest distance in space from the emitted light emission position 6 is received by the distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2. Using the method described in the first to fifth embodiments, the distance from the distance measuring device 2 to the measurement position 11 of the engine 21 is measured. The distance measuring light emitted with a time lag by distance measuring light emitters 4A, 4B, 4C, and 4D of the distance measuring device 2 and incident thereon passes through optical fibers 5A, 5B, 5C, and 5D, and is emitted with a time lag from light emission positions 6A, 6B, 6C, and 6D provided at the hand of the pointing device 9A.

[0107] The time-shifted distance measuring light that has traveled the most recent distance from the emitted light emission positions 6A, 6B, 6C, and 6D is received by the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2 with a time shift. Using the method described in the first to fifth embodiments, the distances between the light emission positions 6A, 6B, 6C, and 6D provided at the hand of the pointing tool 9A and the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2 are measured. The distance position from the distance measuring device 2 to the measurement position 11 of the engine 21 is measured, and the distance position in the direction measured by the pointing device 9A is measured using the distance positions measured from the light emission positions 6A, 6B, 6C, and 6D of the pointing device 9A to the distance measuring device 2. The position of the distance measured from the distance measuring device 2 to the measurement position 11 of the engine 21 and the position of the distance in the direction measured by the pointing device 9A are stored.

[0108] Example: The tip of the distance measuring indicator 9 in Figure 34 is attached to the measurement position 11 of the engine 21, and the distance measuring light emitted by the distance measuring light emitters 4A, 4B, 4C, and 4D of the distance measuring device 2 with a time lag and passed through the optical fibers 5A, 5B, 5C, and 5D is emitted from the light emission positions 6A, 6B, 6C, and 6D provided near the indicator 9 with a time lag. The distance measuring light that has traveled with the time lag from the light emitting positions 6A, 6B, 6C, and 6D to the nearest distance in space is received with the time lag by the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2.

[0109] Using the method described in Example 33, the relationship between the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 and the light emission positions 6A, 6B, 6C, 6D located near the pointing device 9 and the relationship between the direction of the pointing device 9 are measured. Using the distance positions of the light emission positions 6A, 6B, 6C, 6D of the indicating device 9, the direction of the indicating device 9, and the estimated distance positions from the known light emission positions 6A, 6B, 6C, 6D to the tip of the indicating device 9, the distance position of the tip of the indicating device 9 attached to the measurement position 11 of the engine 21 is calculated from the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 via the distance positions of each light emission position 6A, 6B, 6C, 6D of the indicating device 9. The position of the distance measured from the distance measuring device 2 to the measurement position 11 of the engine 21 and the position of the distance in the direction measured by the pointing device 9 are stored.

[0110] Example: The distance measurement light emitter 4 attached to the tip of the distance measuring pointing device 9 in Figure 35 emits light, and the light is collected using an optical lens to produce distance measurement light 1G, which is then irradiated to the measurement position 11 of the engine 21 in the direction in which the pointing device 9 is facing, and the reflected light from the measurement position 11 is received using the distance measurement light emitter 3 attached to the pointing device 9. The distance from the distance measuring light emitter 4 at the tip of the pointing tool 9 to the measurement position 11 is measured. Distance measuring light emitted by distance measuring light emitters 4A, 4B, 4C, and 4D of the distance measuring device 2 with a time lag and passing through optical fibers 5A, 5B, 5C, and 5D is emitted from light emission positions 6A, 6B, 6C, and 6D provided near the pointing device 9 with a time lag. The distance measuring beams that have traveled the closest distance in space from the emitted beam positions 6A, 6B, 6C, and 6D are received by distance measuring receivers 3A, 3B, and 3C.

[0111] Using the method described in Example 33, the distance position relationship between the distance measuring receivers 3A, 3B, 3C of the distance measuring instrument 2 and the light emission positions 6A, 6B, 6C, 6D located near the pointing device 9, and the distance position in the direction of the pointing device 9 are calculated. Using the light emission positions 6A, 6B, 6C, 6D of the pointing device 9 and the known distance position of the distance measuring light source 4 at the tip, the measured distance position from the distance measuring light source 4 of the pointing device 9 to the measurement position 11 of the engine 21, and the orientation of the pointing device 9 measured using the method described in Example 33, the distance position from the distance measuring device 2 to the measurement position 11 of the engine 21 is calculated via the measured distance positions of the light emission positions 6A, 6B, 6C, 6D. By continuously irradiating distance measurement light emission 1G from the pointing device 9 along the shape of the engine 21 and measuring, the distance position of the shape of the engine 21 can be measured. The measured shape, the position of the measured distance of the pointing tool 9, and the position of the measured distance in the measured direction are stored.

[0112] Example: The distance measuring light emitter 4 provided at the tip of the distance measuring pointing device 9 in Figure 36 emits light and the distance measuring light emission 1G is focused using an optical lens and irradiated onto the measurement position 11 of the engine 21. The reflected light from the measurement position 11 passes through the optical fiber 5 provided in the pointing device 9 and is received by the distance measuring light receiver 3 of the distance measuring device 2. The distance of the distance measuring light emitter 1G is calculated using the time when the light is emitted by the distance measuring light emitter 4 and received by the distance measuring light receiver 3 minus the time it takes for the light to pass through the optical fiber 5 measured using the method described in Examples 1 to 5. Distance measuring light emitters 4A, 4B, 4C, and 4D provided near the pointing device 9 emit light with a time lag, are released into space, and the distance measuring light that has traveled the most recent distance is received by distance measuring light receivers 3A, 3B, and 3C.

[0113] The distance measuring light emitted by the distance measuring light emitters 4A, 4B, 4C, and 4D with a time lag and passing through the optical fibers 5A, 5B, 5C, and 5D is received by the distance measuring light receivers 3D, 3E, 3F, and 3G of the distance measuring device 2 with a time lag. Using the method described in Example 33, the distance position relationship between the distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2 and the distance measuring light emitters 4A, 4B, 4C, and 4D provided near the pointing device 9, as well as the direction of the pointing device 9, are calculated. Using the estimated distance positions of the distance measuring light emitters 4A, 4B, 4C, 4D of the pointing device 9 and the distance measuring light emitter 4 at the tip, the measured distance position from the distance measuring light emitter 4 of the pointing device 9 to the measurement position 11 of the engine 21, and the measured distance position of the direction of the pointing device 9, the distance position from the distance measuring device 2 to the measurement position 11 of the engine 21 is calculated via the measured distance positions of the distance measuring light emitters 4A, 4B, 4C, 4D of the pointing device 9 from the distance measuring device 2. By continuously irradiating distance measurement light emission 1G from the pointing device 9 along the shape of the engine 21 and measuring, the distance position of the shape of the engine 21 can be measured. The irradiated position of the measurement position 11 is photographed using a television camera 24 attached to the pointing tool 9 . The measured shape, the position of the measured distance of the pointing tool 9, and the measured direction are stored together with their positions on the captured image.

[0114] Example 37: The distance measuring light emitted by the distance measuring light emitter 4 in FIG. 37 is incident on an optical fiber 5 and the light emission position 6 at the tip of the indicator 9 is attached to the processing position 41A where the welding work of the workpieces 54A and 54B is performed, and the light is emitted. The distance measuring light beams 1A, 1B, and 1C emitted from the processing position 41A are received by the distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2. Using the method described in the first to fifth embodiments, the distance between the distance measuring device 2 and the processing position 41A is measured. The indicating tool 9 is attached along the circumference from the processing position 41A to be welded to the processing position 41B and moved in a tracing manner to measure the position of the distance measuring device 2 and the continuous distance from the processing position 41A to the processing position 41B.

[0115] Simultaneously with the measurement, distance measuring light emitted with a time lag from distance measuring light emitters 4A, 4B, 4C, and 4D of distance measuring device 2 passes through injected optical fibers 5A, 5B, 5C, and 5D and is emitted with a time lag from light emission positions 6A, 6B, 6C, and 6D provided near pointing device 9 at the tip of the optical fiber. Each distance measuring light 1D, 1E, 1F, ... emitted from light emission positions 6A, 6B, 6C, 6D of the pointing tool 9 moving from the welding processing position 41A to the processing position 41B is linearly received by the distance measuring light receivers 3A, 3B, 3C of the distance measuring device 2 with the above-mentioned time lag. Using the method described in Examples 1 to 5, the time at which light was emitted from the distance measuring light emitting devices 4A, 4B, 4C, and 4D of the distance measuring device 2 is shifted, and the time at which light was emitted from the light emission positions 6A, 6B, 6C, and 6D is calculated by subtracting the estimated time at which light was emitted from the injected optical fibers 5A, 5B, 5C, and 5D by shifting the time from each of the shifted times.

[0116] From the time at which the emitted distance measuring light 1D, 1E, 1F, ... was emitted with a shift, the distance positions of each of the light emission positions 6A, 6B, 6C, 6D are calculated from the distance measuring device 2 using the difference in the time at which the light was received with a shift at the positions of the distance measuring light receivers 3A, 3B, 3C which share the emission times of each of the distance measuring light emitters 4A, 4B, 4C, 4D of the distance measuring device 2. The distance position of the direction of the pointing tool 9 is calculated using the calculated distance positions of the light emission positions 6A, 6B, 6C, and 6D from the distance measuring device 2. The position of the calculated continuous welding distance from the distance measuring device 2 to the pointing device 9 when welding from the processing position 41A to the processing position 41B and the position of the calculated distance in the direction of the pointing device 9 from the distance measuring device 2 to the pointing device 9 are displayed on the display 89.

[0117] An indicator 9 matched to the jig of the welding machine 78 is attached to the welding point and moved as if actually welding, and the position of the distance of the welding point measured continuously along the welding point and the welding method of the direction of the indicator 9 matched to the jig measured continuously are displayed on a display 89, confirmed, and stored. Similarly, a worker skilled in chamfering work uses an indicating tool 9 that matches the jig of the chamfering machine to measure and store the method of chamfering work along the corner of the workpiece 54A from processing position 41C to processing position 41D using the jig of the chamfering machine. An indicating tool 9 that matches the jig of the chamfering machine 79 of the worker who performed the work is attached to the chamfering location, and the distance measuring light from the light emission position 6 is received using the distance measuring receivers 3A, 3B, 3C of the distance measuring instrument 2, and the distance position of the attached and emitted light to the chamfering processing position is calculated from the distance measuring receivers 3A, 3B, 3C of the distance measuring instrument 2.

[0118] At the same time, the distance measuring light emitted with a time lag from light emission positions 6A, 6B, 6C, 6D on the hand of the pointing device 9 attached to the chamfered portion is received with a time lag by distance measuring receivers 3A, 3B, 3C of the distance measuring device 2, and the distance position of the light emission positions 6A, 6B, 6C, 6D on the hand of the pointing device 9 is calculated from the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2. The distance position of the orientation of the pointing tool 9 is calculated using the calculated distance positions from the distance measuring light receivers 3A, 3B, 3C of the distance measuring device 2 to the light emission positions 6A, 6B, 6C, 6D at the hand of the pointing tool 9. Even when the distance measurement light is emitted from several different positions of the pointing tool 9, the direction of the pointing tool 9 is calculated in a similar manner. The direction of the chamfering work instruction tool, which is continuously measured in synchronization with the continuously measured distance position of the chamfering work location, is stored.

[0119] Example As in Figure 37, the distance measuring light emitter 4 at the tip of the indicating device 9, which is matched to the jig of the welding tool in Figure 38, is attached to the processing position 41A where the welding work of the workpieces 54A and 54B is performed, and emits light to measure the distance position consisting of the most recent measurement distance lights 1A, 1B, and 1C that have traveled to the distance measuring receivers 3A, 3B, and 3C, thereby measuring the positional relationship of the distance between the distance measuring device 2 and the processing position 41A. The indicator 9 is moved so as to trace the circumference of the portion to be welded from the processing position 41A to the processing position 41B. At the same time, the distance position consisting of the most recent measurement distance lights 1D, 1E, and 1F that have traveled to the distance measuring receivers 3A, 3B, and 3C from the distance measuring light emitted with a time lag from the distance measuring light emitter 4A installed near the pointing device 9 is measured with the same time lag, and the relationship between the distance position between the distance measuring instrument 2 and the distance measuring light emitter 4A of the pointing device 9 is measured. In the same manner, light is emitted from the distance measuring light emitters 4B, 4C, and 4D with a time lag, and the most recent measured distance traveled to the distance measuring receivers 3A, 3B, and 3C is measured with the same time lag, thereby measuring the positional relationship of the distance between the distance measuring instrument 2 and the distance measuring light emitters 4B, 4C, and 4D.

[0120] The measured distance position from the distance measuring device 2 to the processing position 41A and the distance position from the distance measuring device 2 to the direction of the pointing device 9 of the jig are stored as consecutive distance positions to which the pointing device 9 of the jig is moved along the welding point for welding. The distance position of the welding jig that continues around the circumference from processing position 41A to processing position 41B and the distance position of the direction of the welding jig are simultaneously measured and stored.

[0121] Example A numerically controlled robot 19 in which distance measuring light emitted by the distance measuring light emitter 4E of the distance measuring device 2 in Figure 39 and passing through the optical fiber 5E is emitted at the light emission position 6 at the tip located at the work position 8 driven by the drive value of the numerical control of the robot 19, and the most recent measured distances 7G, ​​7H, 7I flown to the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 are measured, and the distance between the distance measuring device 2 and the work position 8 is related to the drive value of the drive mechanism that drives the work position 8 of the robot 19 in the manner described in Examples 3, 4, and 5. As described in Example 38, the indication tool 9 of the welding tool jig is used to trace the area to be welded, and the work position 8 is driven using the drive numerical value of the drive mechanism of the robot 19, which is associated with the distance measuring device 2 and the positions of the continuous distance from the processing position 41A to the processing position 41B, which have been stored as above, and the circumference from the processing position 41A to the processing position 41B is welded using the welding machine 78 incorporated in the work position 8.

[0122] At the same time, the work position 8 is driven using the drive numerical value of the drive mechanism of the robot 19, which is related to the distance position from the distance measuring device 2 to the light emission positions 6A, 6B, 6C, 6D measured using the light emission positions 6A, 6B, 6C, 6D provided near the indicating device 9 of the jig of the welding machine 78 and stored as described in Example 38, and the welding angle of the circumference from the processing position 41A to the processing position 41B is adjusted and welding is performed using the welding of the welding machine 78 incorporated in the work position 8.

[0123] Example This is a robot 19 in which distance measuring light emitted by the distance measuring light emitter 4E in Figure 40 and passing through the optical fiber 5 is emitted at the light emission position at the tip located at the working position 8 of the robot 19, and the most recent measured distances 7G, ​​7H, and 7I flown to the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2 are measured, and the distance between the distance measuring device 2 and the measured working position 8 is related to the drive value of the drive mechanism that drives the working position 8 of the robot 19 in the manner described above. In the method described in Example 38, the pointing device 9A of the jig of the chamfering machine 80 is used to move the workpiece 54B from processing position 41C to processing position 41D in a manner tracing along the corner, and the work position 8 is driven using the drive numerical value of the drive mechanism of the robot 19, which is related to the distance measuring device 2 and the positions of the continuous distance from processing position 41C to processing position 41D that have been measured and stored, and the chamfering machine 79 attached to the work position 8 is used to chamfer the corner from processing position 41C to processing position 41D.

[0124] At the same time, using the light emission positions 6A, 6B, 6C, and 6D provided near the indicating device 9A of the jig of the chamfering machine 79, the distance from the distance measuring device 2 to the light emission positions 6A, 6B, 6C, and 6D is measured and stored by moving the chamfering machine 79 from the processing position 41C to the processing position 41D, and the chamfering machine 79 is driven using the drive numerical value of the robot 19 associated with the continuous distance positions from the processing position 41C to the processing position 41D, and the chamfering machine 79 chamfers the corner from the processing position 41C to the processing position 41D in the direction stored.

[0125] In FIG. 41, the indicating tool 9A described in Example 37 is used to move in a tracing manner along the part to be welded, continuously measuring and storing the distance, and the welding machine 78 attached to the working position 8 of the driving mechanism of the robot 19 is continuously driven using the driving numerical value associated with the method described in 1 to 5 above. Light for photography is continuously irradiated from a light emission position 6 at the tip of the welding machine 78 onto a welding position 41, and images 44 of the irradiated position are continuously photographed by using a television camera 24. The successive images 57 of the workpieces to be welded and the successive images 44 of the irradiation positions captured by the television camera 24 on the television camera screen 26A are used to verify the successive positions before welding.

[0126] Using the verified drive value associated with the stored distance position, the welding machine incorporated in the work position 8 of the drive mechanism of the robot 19 is driven at a speed suitable for the welding work, thereby performing the continuous welding. After the welding operation, the working position 8 is driven continuously again using the drive numerical value associated with the memory, and the continuous images 44 of the irradiation position before welding and the continuous images 43 of the processing position after welding, which are shown on the continuous photographed television camera screen 26B of the television camera 24 attached to the welding machine, are compared for inspection. The successive images that have been compared are stored.

[0127] Example: In order to perform welding work using a distance measuring robot 19A that drives a numerically controlled drive mechanism with a drive value and a welding robot 19B from a remote location in Figure 42, the welding operation is photographed using a television camera 24A. An image 75A of the position to be measured, which is captured by the television camera 24A and appears on the television screen 26A, is specified via the Internet network 77. In the method described in Examples 24 to 29, the drive value of a numerically controlled laser distance measuring device 55, which drives a drive mechanism with a drive value associated with the position of an image 75 of the specified measurement position on a television screen 26A, is used to irradiate a measurement laser light 56 ​​onto the measurement position 74, thereby measuring the distance and direction from the distance measuring device 2 to the measurement position 74. In the method described in Examples 1 to 5, the drive mechanism of the distance measurement robot 19A is driven using the drive numerical value associated with the position of the distance corresponding to the measured distance and direction, and the pointing device 9 attached to the working position 8 is attached to the measurement position 74. In the method described in the embodiments 25 to 29, an image 75B of the position to be measured is taken on a numerically controlled television screen 40A using a drive value of a numerically controlled television camera 59 which drives a drive mechanism with the drive value and which is associated with the position of the image 75A of the specified position to be measured. An image 75A of the position to be measured displayed on a television screen 26A via an Internet network 77, and an image 75C of the position to be measured displayed on a television screen 26B captured by a television camera 24B attached to an indicator 9 adhered to the position to be measured 74 are visually recognized.

[0128] The position and direction for welding the indicator 9 is assumed from the image, and the position of the distance is operated by the numerical value of the distance using the operation console 47B via the Internet network 77, or the location to be welded is identified. The distance measuring light 1A, 1B, 1C emitted from light emission position 6 of the pointing device 9 placed in contact with the position 74 where the operation or identification is performed and measurement is performed, and the distance measuring light emitted from light emission positions 6A, 6B, 6C, 6D provided at the hand of the pointing device 9 described above are received by distance measuring receivers 3A, 3B, 3C of the distance measuring instrument 2. Using the method described in Example 37, the received distance measurement light 1A, 1B, and 1C is used to calculate the distance position from the distance measuring device 2 to the position 74 to be measured and the distance positions from the distance measuring device 2 to the pointing device 9 in the measurement direction. The image 75C of the position to be measured, which is captured by the television camera 24B and appears on the television screen 26B, is visually confirmed with the position and direction of the distance captured by the television camera 24B added thereto. The distance location and the direction of the distance location are used to map an image of the location 74 to be measured. An image is attached to the figure and stored.

[0129] Example: In order to perform welding work using a distance measuring robot 19A that drives a numerically controlled drive mechanism with a drive value and a welding robot 19B from a remote location in FIG. 43, the welding operation is photographed using a television camera 24A. Via Internet network 77, image 81A of the stored welding position on television screen 26A, image 81B of the stored welding position on numerically controlled television screen 40A taken by numerically controlled television camera 59 associated with image 81A of the welding position, and image 81C of the stored welding position taken by television camera 24C attached to welding machine 78 of welding robot 19B are viewed.

[0130] Using the distance position from the distance measuring device 2 and the distance position in the direction of the indicating device 9 from the distance measuring device 2 measured and stored using the indicating device 9 of the welding jig, the driving mechanism of the welding robot 19B is driven to photograph the welding machine 78 using the television camera 24A and the numerically controlled television camera 59 and television camera 24C. The surroundings are photographed using the drive numerical values ​​of the numerically controlled television camera 59, which are associated with the surrounding positions of an image 81A of the welding position on a television screen 26A photographed by the television camera 24A, and the surroundings where an image 81B of the welding position is photographed on a numerically controlled television screen 40A are confirmed.

[0131] An image 81D of the welding position is taken and confirmed on a television screen 26C photographed by a television camera 24C attached to the welding machine 78. The measurement laser light 56 ​​is irradiated onto the welding position 80 using the drive value of the numerically controlled laser distance measuring device 55, which drives the drive mechanism with the drive value and is associated with an image 81A of the welding position shown on the television screen 26A. The irradiation position 42 irradiated onto the welding position 80 is confirmed as an image 44 of the irradiation position on a numerically controlled television screen 40A. Check the distance and direction from the distance measuring device 2 to the welding position 80. The image 81B of the welding position on the numerically controlled television screen 40A photographed by the numerically controlled television camera 59 and the surrounding area, which has been stored as above, is confirmed, and an image 81D of the welding position on the television screen 26C photographed by the television camera 24C is also photographed and confirmed.

[0132] The distance position from the distance measuring device 2 and the distance position in the direction of the indicator 9 from the distance measuring device 2, which are described and stored in Example 42, are used to drive the driving mechanism of the welding robot 19B to confirm the welding position. After the welding work, the welding work is inspected again via the Internet network 77 using a numerically controlled television camera 59, distance measuring device 2 of distance measuring robot 19A, television camera 24B, and numerically controlled laser distance measuring device 55 linked to television screen 26A. The several distance measuring beams are moved in a manner tracing the circumference from processing position 41A to processing position 41B using the pointing device 9 of the welding machine jig, and the distance is measured using the reflected light from the welded area to check whether the welding has been performed correctly, using a distance measuring function built into the distance measuring device 2, and the result is transmitted by sound or the like via the Internet network 77. The image 81C of the position to be measured, which is captured by the television camera 24C and appears on the television screen 26C, is visually confirmed with the position and direction of the distance captured by the television camera 24C added thereto. Using the position and direction of the distance, an image of the welding position 80 is added to a three-dimensional space diagram that grasps the position of the measured distance on the computer.

[0133] Example: Distance measuring light A, which passes through an optical fiber 5 receiving the light emitted from the distance measuring light emitter 4 of the distance measuring instrument 2 in FIG. 44, is emitted by attaching the tip of the optical fiber 5 of the pointing device 9 to a known position 15 on the earth's surface 22. The reflected light of the distance measuring light A from the approximate position 15 where the pointing tool 9 is attached is received by the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2. The positional relationship of the distance consisting of the measured distances 7A, 7B, and 7C between the known position 15 and the distance measuring device 2 is obtained by subtracting the time it takes for the light to pass through the known optical fiber 5 from the time from the time the light was emitted to the time the light was received. When there is an obstacle between the approximate position 15 and the unknown position 16 and the distance between the two cannot be measured, the distance position relationship consisting of measured distances 7D, 7E, 7F between the unknown position 16 and the distance measuring device 2 is obtained by attaching an indicator 9 to the unknown position 16, and the distance position relationship of the measured distance 7 from the approximate position 15 to the unknown position 16 is obtained via the distance position of the distance measuring device 2.

[0134] Example As described above in Figure 45, the pointing device 9A is attached to a known position 15A on the ground surface 22 to be measured, and the measurement distances 7A, 7B, 7C between the known position 15A to be measured and the distance measuring device 2 are continuously measured using the distance measuring light A emitted from the tip of the optical fiber 5A into which the distance measuring light A emitted by the distance measuring light emitter 4A is incident. The pointing tool 9C is moved continuously to and attached to an unknown position 16C of the continuous shape in accordance with the shape, and the shape of the unknown position 16C that has been moved continuously is measured via the distance measuring device 2. An unknown position 16C having a continuous shape is measured from the absolute direction value position of the known position 15A, and a digital map is created in which the detailed topography of the unknown position 16C is associated with the known position 15A.

[0135] Example: The distance measuring light emitted by the distance measuring light emitter 4 of the distance measuring device 2A in Figure 46 is incident on the optical fiber 5A and passes through the optical fiber 5A, and is emitted toward the ground from a light emission position 6 on the underside of the drone 14 connected to the drone 14 flying in the sky. The emitted distance measuring beams 1A, 1B, and 1C are received by distance measuring receivers 3A, 3B, and 3C of a distance measuring device 2A. Using the method described in the first to fifth embodiments, the distance position of the drone 14 flying in the sky, which is formed by the distance measuring beams 1A, 1B, and 1C, is calculated from the distance measuring device 2A. At the same time, the distance measuring light emitted by the distance measuring light emitter 4 and incident on the optical fiber 5B is received by the distance measuring light receiver 3M of the distance measuring device 2B on the ground surface through the optical fiber 5B. The distance measuring light received by the distance measuring light receiver 3M is used to share the emission time of the distance measuring light emitter 4 of the distance measuring device 2A at the position of the distance measuring device 2B.

[0136] Distance measurement light 1D, 1E, 1F emitted toward the ground from a downward direction position 6 of a drone 14 flying in the sky is received by distance measurement receivers 3D, 3E, 3F of a distance measuring device 2B. Using the time of emission of the shared distance measuring light emitter 4, the distance position of the drone 14 flying in the sky surrounded by distance measuring lights 1D, 1E, and 1F is calculated from the distance measuring device 2B using the method described in Examples 1 to 5. The position of the measured distance 7 from the distance measuring device 2A to the drone 14 flying in the sky and the position of the measured distance from the distance measuring device 2B to the drone 14 flying in the sky are used to measure the position of the measured distance 7 from the distance measuring device 2A to the distance measuring device 2B. Similarly, the position of the measured distance from the distance measuring devices 2C, 2D to the drone 14 flying in the sky is used to record the position of the measured distance on the position of images 75A, 75B, 75C, 75D of the measured position on the television screen 26 captured by a television camera 24 attached to the flying drone 14 which measures the position of the distance from the distance measuring device 2A to the distance measuring devices 2C, 2D, and is reflected in the general map and satellite image.

[0137] In the embodiment shown in FIG. 47, the distance measuring drone 14 of the embodiment shown in FIG. 46 described above is tethered from the ground using a fiber thread 90 and is flown so as to be tethered in the sky. The drone 14 attempts to rise and is stabilized in the sky by the tension of the winding machine 88 on the ground, allowing it to fly and measure the distance to the ground. Alternatively, the flying drone 14 is tethered in the sky, and distance measurement light that passes through an optical fiber 5A connected to the drone 14 is emitted from a light emission position 6 toward the ground. By supplying power for flight from the ground to the drone 14 moored in the sky, it becomes possible to measure optical fiber distances for long periods of time.

[0138] Example: The distance measuring light emitted by the distance measuring light emitter 4 of the distance measuring device 2A in Figure 48 is incident on the optical fiber 5A, passes through the optical fiber 5A, and is emitted toward the ground from the light emission position 6 on the underside of the drone 14, which is connected to a drone 14 flying in the sky. The emitted distance measuring beams 1A, 1B, and 1C are received by distance measuring receivers 3A, 3B, and 3C of a distance measuring device 2A. Using the method described in the first to fifth embodiments, the distance position of the drone 14 flying in the sky, which is formed by the distance measuring beams 1A, 1B, and 1C, is calculated from the distance measuring device 2A. At the same time, the distance measuring light emitted by the distance measuring light emitter 4 and incident on the optical fiber 5B is emitted toward the sky through the optical fiber 5B and the pointing tool 9 at the tip is attached to the measuring position 11 on the ground surface.

[0139] The distance measuring light 1D, 1E, 1F emitted toward the sky is received by distance measuring receivers 3D, 3E, 3F on the underside of a drone 14 flying in the sky. Using the method described in the first to fifth embodiments, the distance position of the drone 14 flying in the sky between the distance measurement beams 1D, 1E, and 1F from the measurement position 11 is calculated. The position of the distance from the distance measuring device 2A to the drone 14 flying in the sky and the position of the distance from the measurement position 11 to the drone 14 flying in the sky are used to measure the position of the distance from the distance measuring device 2A to the measurement position 11. The positions of the measured distances are recorded and plotted on images 75A and 75B of the measurement position on a television screen 26 captured by a television camera 24 attached to a flying drone 14, and are reflected in general maps and satellite images.

[0140] Example: A drone 14 flying in the sky in FIG. 49 is photographed by a television camera 24B on the ground, and an image 85A of the drone is displayed on a television screen 26B. Distance measuring light 1A, 1B, 1C from a drone 14 flying in the sky is received from the ground using distance measuring receivers 3A, 3B, 3C attached to a drive mechanism 84 that drives the direction of light reception using a numerically controlled drive value. The position of the image 85A of the drone displayed on the television screen 26B is correlated with the drive value that drives the drive mechanism 84 so as to receive distance measurement light 1A, 1B, 1C from the drone 14 flying in the sky. Using the positions of images 85A of drones flying in several different skies that are captured on a television screen 26B using a television camera 24B of the drones 14 flying in several different skies, and the several different drive values ​​obtained by driving the drive mechanism 84 so as to receive distance measurement light 1A, 1B, 1C from the drones 14 flying in the several different skies, the positions of images 85A of all of the drones flying in the skies that are captured on a television screen 26B using a television camera 24B of the drones 14 flying in all positions in the skies, and all of the related drive values ​​obtained by driving the drive mechanism 84 so as to receive distance measurement light 1A, 1B, 1C from all of the drones 14 flying in the skies, are calculated using an interpolation formula.

[0141] Distance measurement light emitted by a distance measurement light emitter 4A at a known position 15 is incident on an optical fiber 5A, passes through the optical fiber 5A, and is emitted toward the ground from a light emission position 6A on the underside of the drone 14 connected to a drone 14 flying in the sky. An image 85A of the drone flying in the sky, captured by a television camera 24B of the drone 14 flying in the sky and displayed on a television screen 26B, is identified using an image recognition method. The associated drive value is used to drive the drive mechanism 84 at the approximate position 15 to the position of the identified drone image 85A. The emitted distance measuring beams 1A, 1B, and 1C are received by distance measuring receivers 3A, 3B, and 3C attached to the driven drive mechanism 84A. Using the method described in the first to fifth embodiments, the distance position of the drone 14 flying in the sky, which is located within the distance measurement beams 1A, 1B, and 1C from the approximate position 15, is calculated. At the same time, by shifting the emission time from the distance measuring light emitter 4A, the distance measuring light emitted by the distance measuring light emitter 4B at the unknown position 16 and incident on the optical fiber 5B is passed through the optical fiber 5B and emitted toward the ground from a light emission position 6B on the underside of the drone 14, which is connected to the drone 14 flying in the sky.

[0142] A numerically controlled television camera 59 at an unknown position 16 is used to track and photograph the drone 14 flying overhead, using the methods described above. The image 85B of the drone captured by the numerically controlled television camera 59 and shown on the television screen 40A is identified using image recognition methods. The identified image 85B of the drone displayed on the television screen 40A is photographed at the center of the numerically controlled television screen 40C by driving a drive mechanism that changes the shooting direction of the numerically controlled television camera 59 and a drive mechanism that changes the angle of view. Distance measuring light receivers 3D, 3E, and 3F are attached at different positions of the driving mechanism so as to receive the distance measuring light in the direction of the center of a numerically controlled television screen 40C. Distance measuring beams 1D, 1E, and 1F emitted from the beam emission position 6B toward the ground surface are received by distance measuring beam receivers 3D, 3E, and 3F.

[0143] Using the method described in the first to fifth embodiments, the distance between the unknown position 16 and the drone 14 formed by the distance measurement beams 1D, 1E, and 1F is calculated. The position of the distance from the approximate position 15 to the drone 14 flying in the sky, which is measured as above, and the position of the distance from the unknown position 16 to the drone 14 flying in the sky, which is measured at approximately the same time, are used to calculate the position of the distance from the approximate position 15 to the unknown position 16. The position of the measured distance is expanded and recorded on the image 27 of the approximate position on the television screen 26A captured by the television camera 24A attached to the flying drone 14 and the image 75 of the measured position, and the position is drawn and reflected in an approximate map and satellite image. This will be reflected in existing maps and satellite images via the Internet network.

[0144] Example: The distance measuring light emitted by the distance measuring light emitter 4 of the distance measuring device 2 incorporated in the pan head 33 of Figure 50 is incident on the optical fiber 5 and passes through the optical fiber 5, and is emitted from the tip of the optical fiber 5 of the indicator 9 attached to a known position 15 near an intersection of the travel path 23. The emitted distance measuring beams 1A, 1B, and 1C are received by distance measuring receivers 3A, 3B, and 3C of a distance measuring device 2. The time from the light emission to the light reception minus the time it takes for the light to pass through the known optical fiber 5 is used to calculate the distance from the known position 15 to the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2. Using the calculated distance position from the distance measuring light receivers 3A, 3B, 3C of the distance measuring device 2 to the approximate position 15, the distance position of the distance measuring device 2 is associated with the approximate position 15 and stored. Using a smartphone 34 attached to a pan head 33, the approximate position 15 of the intersection to be measured is photographed with a distance measurement light turned on, and the position of the measured distance is stored.

[0145] 51. The approximate position 15 and the distance measuring device 2 described in the embodiment 50 of FIG. 51 are maintained. The measured and stored position of the distance measuring device 2 is maintained. In a similar manner to the method described above, the pointer 9 at the tip of the optical fiber through which the light emitted from the distance measuring light emitter 4 passes is attached to the position of the right corner 17 of a road intersection, and the distance measuring lights 1D, 1E, and 1F from the right corner 17 of the intersection are received by the distance measuring receivers 3A, 3B, and 3C of the distance measuring instrument 2. The time of flight of the distance measurement beams 1D, 1E, and 1F is used to calculate the positional relationship between the distance measurement device 2 and the right corner 17 of the unknown intersection.

[0146] The distance position of the right corner 17 of the intersection is related to the distance position of the approximate location 15 via the distance position of the distance measuring device 2 as described and related above in Examples 1 to 5. Alternatively, the GPS positioning value of the position of the right corner 17 of the intersection is calculated using the relationship of the distance from the distance measuring device 2 to the right corner 17 of the intersection from the GPS positioning value measured using a GPS positioning function built into a smartphone 34 attached to a pan head 33, and the calculated measured distance position or the calculated GPS positioning is attached to an image of the right corner 17 of the intersection taken using a television camera built into the smartphone 34 and stored.

[0147] Example: The positional relationship between the approximate position 15 and the distance measuring device 2 described above in FIG. 52 is acquired, and the measurement position of the distance measuring device 2 is maintained. Using the pointer 9 at the tip of the optical fiber through which the light emitted from the distance measuring light emitter 4 is input, the pointer 9 is attached to the position of the left corner 18 of the road intersection in the same manner as described above, and the positional relationship between the position of the left corner 18 of the road intersection and the distance measuring device 2 is obtained. The position of the left corner 18 of the road junction is related to the approximate location 15 via the position of the distance measuring device 2 . Using the methods described in the first to fifth embodiments, the location of the right corner 17 of the intersection and the location of the left corner 18 of the road intersection are related to the known position value 15, and the distance between the location of the right corner 17 of the intersection and the left corner 18 of the road intersection is calculated. A smartphone 34 attached to a camera platform 33 is used to photograph the approximate position 15, right corner 17, and left corner 18 of the intersection to be measured.

[0148] The measured approximate position 15, the associated right corner position 17, the associated left corner position 18, and the calculated distance from the right corner position 17 to the left corner position 18 are stored in the smartphone 34 along with the captured image. Image recognition methods built into the smartphone 34 are used to identify the approximate location 15 and the right corner location 17 and left corner location 18 . The distance positions between the approximate position 15, the right corner 17 of the intersection, the left corner 18 of the intersection, and the distance between the right corner 17 and the left corner 18 of the intersection, measured using the method described above, and the identified image are attached to a GPS positioning value measured using the GPS positioning function built into the smartphone 34, and the smartphone 34 or a device connected to the Internet is used to connect to the Internet and the date and time of the measurement are added and stored. An image of the road intersection taken by the smartphone 34 is used to create a map of the area around the intersection using the position of the measured distance. The measured distance locations are used to create a digital map.

[0149] Example: Using a distance measuring device 2 attached to the pan head 33 in Figure 53, and using the indicator 9 at the tip of the optical fiber that emits light from the distance measuring light emitter 4 and passes through it, the indicator 9 is attached to an approximate position 15 near an intersection on the road 23, and the relationship between the approximate position 15 and the distance position of the distance measuring device 2 is obtained in the same manner as described in Examples 1 to 5 above. The pointing device 9 is attached to the approximate position 15 so that the emitted distance measurement light is reflected on a television screen 26 taken with a television camera 24 attached to the distance measuring device 2, and an image 27 of the approximate position 24 and an image 44 of the irradiation position are identified by an image recognition method. The image 27 of the identified approximate position and the image 44 of the irradiation position are stored in the storage medium 61 with the relationship of the distance from the distance measuring device 2 added thereto.

[0150] Example: Using the GPS positioning function built into the pan head 33 in FIG. 54, the GPS positioning value of the pan head 33 is measured. Using the indicator 9 at the tip of the optical fiber that emits light from the distance measuring light emitter of the distance measuring device 2 attached to the pan head 33 and passes through the optical fiber, the indicator 9 is attached to the position of the curb 65 at the corner near the intersection of the crosswalk 25, street corner 62, road sign 63, street tree 64 at the intersection of the travel path 23, or distance measuring light is emitted from the indicator 9 described above, and the distance position between the crosswalk 25, the street corner 62, the road sign 63, the street tree 64 and the curb 65 is measured from the distance measuring device 2.

[0151] The distance measuring light from irradiation positions 6A, 6B, 6C, and 6D of a crosswalk 25, a street corner 62, a road sign 63, a roadside tree 64, and a curbstone 65, to which an indicator 9 is adhered or which is irradiated and reflected, is photographed by a television camera 24 attached to a pan head 33. The pointing tool 9 is attached to or irradiated onto the television screen 26, and the image of the position where the unique irradiated light of the distance measuring light is reflected is identified by using an image recognition method. The measured time and the measured distance position are attached to the identified image and stored at the position of the image shown on the television screen 26. Using the relationship between the distance positions of the crosswalk 25, street corner 62, road sign 63, road tree 64, and curb 65 and the distance measuring device 2, the distance positions of the crosswalk 25, street corner 62, road sign 63, road tree 64, and curb 65 are obtained by calculating the GPS positioning value via the distance measuring device 2 related to the measured GPS positioning value.

[0152] On a television screen 26 photographed by a television camera 24 attached to a pan head 33, an image 29 of a crosswalk, an image 66 of a street corner, an image 67 of a road sign, an image 68 of a roadside tree, an image 69 of a curb, an image 28 of the indicator, and images of irradiation positions 6A, 6B, 6C, and 6D reflecting the unique irradiation light of the distance measuring light are stored with the GPS positioning value obtained by the above calculation. The measured GPS position values ​​and the calculated GPS position values ​​of the crosswalk 25, the street corner 62, the road sign 63, the roadside tree 64, and the curbstone 65 are expanded on an existing map using the measured GPS position values ​​and stored. The image 29 of the crosswalk, the image 66 of the street corner, the image 67 of the road sign, the image 68 of the roadside tree, and the image 69 of the curbstone, which are to be attached to the map, are learned using an AI along with existing images of the travel path 22, and the GPS positioning values ​​are attached to the positions of the image 29 of the crosswalk, the image 66 of the street corner, the image 67 of the road sign, the image 68 of the roadside tree, and the image 69 of the curbstone, which appear in existing satellite images, and are stored. The memory is reflected on the Internet network. The autonomous vehicle is driven by calculating the distance from the GPS positioning values ​​(absolute orientation) of street corners 62, road signs 63, road trees 64, and road curbs 65 on the road 23 stored in the Internet network to the position of the GPS positioning values ​​(absolute orientation) measured by the autonomous vehicle.

[0153] Example: The distance measuring light emitted from the distance measuring light emitter of the distance measuring device 2 incorporated in the tracking system 31 of Figure 55 is passed through an optical fiber and incident on the optical fiber, and is emitted from the light emission position 6 at the tip of the pointing device 9 attached to a known position 15. The distance measuring light is received by the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2. In the method described in the first to fifth embodiments, the distance measuring light received by the distance measuring receivers 3A, 3B, 3C is used to measure the distance position consisting of the measurement distances 7A, 7B, 7C from the positions of the distance measuring receivers 3A, 3B, 3C to an approximate position 15. The position of the distance measuring device 2 is associated with a distance position consisting of measured distances 7A, 7B, 7C of a known position 15. Using the television camera 24 of the tracking system 31, an image of light radiated from the light radiating position 6 appearing at the position of an image 27A at a known position on the television screen 26A, is captured as an image of the light radiated at the irradiation position 44A. An image 44A of a specific irradiation position of the distance measuring light projected on a television screen 26A is detected and identified.

[0154] Using the drive numerical value of a numerically controlled television camera 59 driven by a numerically controlled drive mechanism that changes the shooting direction incorporated in a tracking system 31, which is associated with the position of the image 27A of the approximate position detected and identified on the television screen 26A using the method described in Examples 25 to 31, the zoom mechanism of the numerically controlled television camera 59 is driven to a narrow angle in accordance with the measured distance, thereby enlarging the image 27B of the approximate position to the central position on the television camera screen 40A, and capturing the image 44C of the specific irradiation light. Similarly, the indicator 9B of the distance measuring device 2 is attached to the street corner 62 to measure the distance position. The distance position relationship between the street corner 62 and the distance measuring device 2 is correlated using the methods described in the twenty-fifth to thirty-first embodiments. The street corner 62 is photographed using the television camera 24 of the tracking system 31 to capture the unique emission of distance measuring light emitted at the light emission position 6A of the tip of the pointing tool 9A attached to the street corner 62, and an image 44B of the unique irradiation position of the distance measuring light at the tip of the pointing tool 9A is photographed at the position of the image 66 of the street corner on the television screen 26B.

[0155] A street corner 62 is photographed using a numerically controlled television camera 59 associated in the manner described above with the position of image 44B of the irradiation position where the unique irradiation light of the distance measurement light is reflected on television screen 26B, by driving the zoom mechanism of the numerically controlled television camera 59 to match the measured distance. Similarly, The indicator 9B of the distance measuring device 2 is attached to a road sign 63, a roadside tree 64, and a curbstone 65 to measure the distance position of each. The tip of the pointing device 9B is attached to a road sign 63, a street tree 64 and a curb 65, and the drive numerical values ​​associated with the positions of an image 67A of a road sign, an image 68A of a street tree and an image 69A of a curb appearing on a television screen 26B captured by a television camera 24 of the tracking system 31 are used to store numerical values ​​representing the distance measured from the approximate position 15 via the distance measuring device 2 at the positions of the images 44, 44A, 44B, 44C and 44D of the irradiation position of the tip of the pointing device 9B appearing on the numerically controlled television screens 40A, 40B, 40C, 40D and 40E captured by a numerically controlled television camera 59 with the pointing device 9 attached.

[0156] The absolute directions of street corners 62, road signs 63, road trees 64, and curbs 65 calculated using the positions of the distances from a roughly known position 15 of the absolute direction via a distance measuring device 2 are expanded at the positions of the images of an existing map and an existing roadway, with the identified images and the images of the irradiation positions attached. A digital map is created by learning the positions of the developed distances in an image of a street corner 66, an image of a road sign 67, an image of a roadside tree 68, and an image of a curb 69 using an image of the distance of the road measured by a LIDAR distance measuring device attached to an autonomous vehicle, the existing map of the road that is developed, and an image of the illumination position taken on the existing image of the road. The autonomous vehicle travels a distance that is actually measured using the LIDAR distance measuring device or the like, using the distance to the absolute orientation positions of street corners 62, road signs 63, road trees 64, and road curbs 65 on the road 23 that appear in the image of the road taken by the autonomous vehicle's television camera on the unfolded digital map.

[0157] Example: Using a distance measuring device 2 incorporated in the tracking system 31 of Figure 56, an indicator 9A is attached to an approximate position 15 near an intersection on the road 23, and the distance position relationship between the approximate position 15 and the distance measuring device 2 is obtained using the method described in Examples 44 to 52. The distance measuring light emitted from the light emission position 6 at the tip of the pointing device 9 attached to the approximate position 15 is detected by a numerically controlled television camera 59 driven by a numerically controlled driving mechanism that changes the shooting direction, and an image 44 of the irradiation position of the unique blinking emission light of the distance measuring light is detected on a numerically controlled television screen 40A. The image 44 of the detected specific irradiation position of the emitted light is driven by a driving mechanism of the value-controlled television camera 59 so that it appears in the center position on the television screen 40. The measured distance from the distance measuring device 2 to the approximately known position 15 is used to drive a zoom function driving mechanism that changes the angle of view of the numerically controlled television camera 59, and an image 27A of the approximately known position is captured enlarged at the central position on the numerically controlled television camera screen 40B. An image 44A of the illumination position that appears in the image 27A of the known position is identified.

[0158] Similarly, the indicator 9B of the distance measuring device 2 is attached to the street corner 62 to measure the distance position. The positional relationship of the distance between the street corner 62 and the distance measuring device 2 is obtained using the method described above. The distance measuring light emitted from light emission position 6 of the tip of the pointing device 9 attached to the street corner 62 is aligned with the measured distance position of the pointing device 9B from the distance measuring device 2, and the driving mechanism of the zoom function is driven using the numerically controlled television camera 59 of the tracking system 31, and an image 44B of the irradiation position of the emitted light from the distance measuring light of the tip of the pointing device 9B, which is shown at the position of the image 66 of the street corner enlarged at the central position on the numerically controlled television camera screen 40C, is captured. Image 44B of the illuminated position that appears in image 66 of the street corner is identified.

[0159] Similarly, the indicator 9B of the distance measuring device 2 is attached to a road sign 63, a roadside tree 64, and a curbstone 65 to measure the distance position. Images 44C, 44D, and 44E of the irradiation positions of the emitted light from the tip of the indicator 9B, which has measured the distances to the road sign 63, roadside tree 64, and curbstone 65, are taken by a numerically controlled television camera 59. The images 44C, 44D, and 44E of the irradiation position shown in the image 67 of the road sign, the image 68 of the roadside tree, and the image 69 of the curbstone shown on the photographed numerically controlled television screens 40D, 40E, and 40F are identified. Images 44A, 44B, 44C, 44D, and 44E of the illumination positions reflected in an image 27 of the approximately known position, an image 66 of a street corner, an image 67 of a road sign, an image 68 of a roadside tree, and an image 69 of a curbstone, which are taken using a numerically controlled television camera 59, are identified, and a numerical value of the distance measured from the approximately known position 15 via a distance measuring device 2 is added to the images 44A, 44B, 44C, 44D, and 44E of the identified illumination positions, and the image 27 of the approximately known position, the image 66 of the street corner, the image 67 of the road sign, the image 68 of a roadside tree, and the image 69 of the curbstone are stored via the Internet network.

[0160] Using existing maps and satellite images, the distance positions of the images 44A, 44B, 44C, 44D, and 44E of the measured irradiation positions within the screens of the stored image 27 of the approximate location, image 66 of the street corner, image 67 of the road sign, image 68 of a roadside tree, and image 69 of a curb are referred to, and using a learning function such as AI, the existing maps and satellite images are converted into digital maps showing absolute orientations, and stored via the Internet network.

[0161] Example: The distance measuring light emitted by the distance measuring light emitter 4 incorporated in the pan head 33 in Figure 57 is passed through the optical fiber 5 into which the distance measuring light is incident, and the light emission position 6 of the pointing device 9 at the tip is attached to the approximately known position 15 and emitted. The distance measuring light, which is emitted after being attached to a known position 15 and flies through a three-dimensional space, is photographed by a television camera 24 mounted on a pan head 33. The image 27 of the approximate position, the image 28 of the pointing tool, and the image 44 of the irradiation position that are shown on the television screen 26 are identified using an image recognition method.

[0162] The drive numerical value associated with any one of the identified image 27 of the approximate position, image 28 of the pointing device, and image 44 of the irradiation position displayed on the television screen 26, obtained using the method described in Examples 24, 25, and 26, is used to drive a numerically controlled drive mechanism 84 that changes the light receiving direction of the distance measuring receivers 37A, 37B, and 37C built into the pan head 33, thereby narrowing the range in which each receives the distance measuring light 1A, 1B, and 1C from the emission position 6 of the approximate position 15. The distance position can be calculated from the radiation position 6 of the known position 15 and the distance measuring beams 1A, 1B, 1C received by the distance measuring receivers 37A, 37B, 37C of the numerical control. Using the absolute orientation of the position of the camera head 33 at the distance measured from the absolute orientation of the roughly known position 15, the absolute orientations of street corners 62, road signs 63, roadside trees 64, and road curbs 65 around the travel path 23 are measured and stored. Using this memory, the distance from the absolute orientation of street corners 62, road signs 63, road trees 64, and road curbs 65 on the road 23 to the position of the GPS positioning value (absolute orientation) measured by the self-driving vehicle is calculated and traveled.

[0163] Example: Distance measuring light emitted by a distance measuring light emitter 4 incorporated in the pan head 33 of Figure 58 passes through an optical fiber 5 into which the distance measuring light is incident, and is emitted at a light emission position 6 where a pointer 9 at the tip is attached to a known position 15. The measurement distance light 1A, 1B, 1C emitted and flying through three-dimensional space is captured by numerically controlled television cameras 59A, 59B, 59C driven by a driving mechanism built into the pan head 33, and images 27A, 27B, 27C of known positions and images 28A, 28B, 28C of the pointing device and any of the unique measurement distance light 1A, 1B, 1C are identified using an image recognition method.

[0164] Using the method described in the above-mentioned embodiments 28 to 31, the drive mechanisms of the numerically controlled television cameras 59A, 59B, 59C are driven to capture images of any of the images displayed on the identified numerically controlled television screens 40A, 40B, 40C so that the images are displayed in the center positions on the numerically controlled television screens 40A, 40B, 40C. In order to measure the direction of the center of the numerically controlled television screens 40A, 40B, 40C, distance measuring receivers 3A, 3B, 3C attached to the drive mechanisms of the numerically controlled television cameras 59A, 59B, 59C are used to receive measuring distance light 1A, 1B, 1C emitted by being attached to an approximate position 15 reflected in the center position on the numerically controlled television screens 40A, 40B, 40C.

[0165] Using the method described in the above embodiments 28 to 31, the shooting range of the numerically controlled television cameras 59A, 59B, 59C is narrowed, and distance measuring receivers 3A, 3B, 3C having a narrowed measuring range toward the approximate position 15 are used to receive distance measuring light 1A, 1B, 1C. The received measurement distance lights 1A, 1B, and 1C are used to calculate the distance from the pan head 33 to the approximate position 15. The images 27A, 27B, 27C of the approximate positions shown on the television screens 40A, 40B, 40C taken by the numerically controlled television cameras 59A, 59B, 59C are accompanied by the position of the distance calculated by receiving the measurement distance light 1A, 1B, 1C from the measured camera platform 33 to the approximate position 15, and are stored in an existing map.

[0166] Example 59 The distance measuring light emitted by the distance measuring light emitter 4 of the distance measuring device 2 incorporated in the pan head 33 of FIG. 59 is incident on the optical fiber 5A. The light emission position 6A of the tip of the pointer 9A is attached to the approximately known position 15 of the absolute orientation and emitted. The specific distance measuring beams 1A, 1B, and 1C of the emitted reflected beam are received by distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2. In the same manner as in the methods described in the embodiments 53 to 58, the distance from the distance measuring device 2 of the pan head 33 to the approximate position 15 is measured, and the absolute orientation of the pan head 33 is measured. Next, the light is passed through the optical fiber 5B into which the specific distance measuring light is incident, and the light emission position 6B of the tip of the indicator 9B is attached to a street corner 62, a road sign 63, a roadside tree 64, or a curbstone 65 so that the light is emitted. The specific distance measuring light emitted and reflected from a street corner 62, a road sign 63, roadside trees 64, and a curbstone 65 is received by distance measuring receivers 3A, 3B, and 3C of a distance measuring device 2.

[0167] Using the methods described in Examples 53 to 58, the distance position from the distance measuring device 2 of the pan head 33 to the street corner 62, road sign 63, street tree 64, and curbstone 65 is measured, and the absolute orientations of the street corner 62, road sign 63, street tree 64, and curbstone 65 are measured via the pan head 33. The peculiar distance measuring light that is emitted by adhering to a street corner 62, a road sign 63, a roadside tree 64, and a curbstone 65 and that flies through a three-dimensional space is photographed by a television camera 24 mounted on a pan head 33. Using the method described in embodiment 55, the drive values ​​of the numerically controlled television camera 59 associated with the position of the captured image on the television screen 26 are used to capture an image 66B of a street corner, an image 67 of a road sign, an image 68 of a road tree and an image 69 of a curb on the numerically controlled television screens 40B, 40C, 40D and 40E. Image 66B of a street corner, image 67 of a road sign, image 68 of a street tree, and image 69 of a curb are identified using image recognition methods.

[0168] Using the method described in Examples 24 to 25, the associated drive values ​​of the numerically controlled television camera 59 are used to photograph the positions of the identified street corner image 66A, road sign image 67A, road tree image 68A, and curbstone image 69A shown on the television screen 26, and the numerically controlled television screens 40B, 40C, 40D, and 40E, as well as the enlarged street corner image 66B, road sign image 67B, road tree image 68B, and curbstone image 69B. The image 27A of the approximate position, image 66A of the street corner, image 67A of the road sign, image 68A of a road tree, and image 69A of the curb, which are photographed on the television screen 26, and the image 27B of the approximate position, image 66B of the street corner, image 67 of the road sign, image 68 of a road tree, and image 69 of the curb, which are enlarged on the numerically controlled television screens 40A, 40B, 40C, 40D, and 40E and show the irradiation position of the measured peculiar distance measurement light, are added with the numerical value of the absolute direction measured from the approximate position 15 via the distance measuring device 2 and the date and time of the measurement, and are stored via the Internet network 77.

[0169] The image 27B of the roughly known position, the image 66B of the street corner, the image 67 of a road sign, the image 68 of a roadside tree, and the image 69 of a curb, which are associated with the absolute orientation around the roadway 23 and stored via the Internet network 77, are compared with the roughly known map and the roughly known satellite image for learning, and the measured absolute orientation is added to the position shown on the roughly known map and the position shown in the roughly known satellite image and stored. The absolute direction information added to the added area and general road maps and satellite images is acquired using an autonomous vehicle, a computer, or a smartphone. The intersection and its vicinity are drawn using the positions of the measured distances and absolute directions of street corners 62, road signs 63, roadside trees 64, and curbs 65 in the vicinity of the travel lane 23. The measured distance locations are used to create a digital map.

[0170] Example 60. An experienced driver is fitted with a line-of-sight television camera and is made to drive an automobile 97 along the road 23 shown in FIG. When the driver is driving, the line-of-sight television camera is used to record images of the portion of the roadway 23 that the driver is watching. Using the image recorded by the line-of-sight television camera, the image being gazed upon is deployed so as to align with the position of the image of the running road circumference 23 shown on the television screen 26 captured by the television camera 24 built into the pan head 33, or with an image of the point being gazed upon that has been learned and detected by AI from the images around the running road circumference 23 on the television screen 26. The gazed-at location is displayed on the television screen 26 after being expanded into an absolute direction measurement designated position 93A, a road sign measurement designated position 95A, a roadside tree measurement designated position 96A, and a curb measurement designated position 97A. The numerically controlled television camera 59 is driven using the drive numerical values ​​of the numerically controlled television camera 59 built into the camera head 33 as described above and associated with the absolute orientation measurement indication position 93A, road sign measurement indication position 95A, street tree measurement indication position 96A, and curb measurement indication position 97A displayed above, to photograph the absolute orientation measurement indication position 93B, pedestrian crossing measurement indication position 94B, road sign measurement indication position 95B, street tree measurement indication position 96B, and curb measurement indication position 97B on the numerically controlled television camera screens 40A, 40B, 40C, 40D, and 40E.

[0171] While watching the images of the gazed-up location photographed on the numerically controlled television camera screens 40A, 40B, 40C, 40D, and 40E, the indicator 9 of the distance measuring device 2 is attached to the absolute direction position 15, the crosswalk 25, the road sign 63, the roadside tree 64, and the curb 65 that are the measurement indication positions. The distance measuring light emitted from the distance measuring light emitter 4 of the distance measuring device 2 passes through the incident optical fiber 5 and is bonded to the light emission position 6 of the pointing device 9 to emit the light. The emitted reflected distance measuring light beams 1A, 1B, and 1C are received by distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2 to measure the distance position. A gaze television camera is attached to a knowledgeable driver, and an image of a portion gazed at while driving along a road 23 is extracted, and the image of the extracted portion is developed so as to be positioned on a television screen of a television camera 24 photographing the road 23. While watching the poured-out area shown on the screen photographed by driving a numerically controlled television camera 59 using the driving numerical value associated with the position of the image of the unfolded poured-out area, the pointing device 9 of the distance measuring device 2 is used to actually measure the distance position of the gazed-on area from the absolute orientation position 15 in the same manner as described in Examples 53 to 58.

[0172] Example 61 is attached to a measurement position 11 of a measurement object 10, and the emitted distance measuring light is received by the distance measuring light receiver 3A of the distance measuring instrument 2 via the optical fiber 5 into which the distance measuring light is incident. At the same time, the distance measuring light emitter 4 is attached to the measurement position 11 of the object 10, and the distance measuring light 1 that is emitted and travels through space is received by the distance measuring receiver 3B of the distance measuring device 2, which shares the most recent time of reception. At the same time, the time when the light was emitted at the measurement position 11 is calculated backward from the time when the light was received by the distance measuring light receiver 3A, using the approximate time when the distance measuring light passed through the optical fiber 5. From the time thus calculated, the time at which the distance measuring light 1 travels through space and is received by the distance measuring light receiver 3B is calculated. The distance from the measurement position 11 to the distance measuring light receiver 3B of the distance measuring device 2 is calculated using the calculated time for flight through the space.

[0173] Example: The distance measuring light emitted by the distance measuring light emitter 4 incorporated in the pointing device 9 in Figure 62 is irradiated onto the measurement position 11 of the object to be measured 10, and the reflected light is received by the distance measuring receiver 3A of the distance measuring device 2 using the distance measuring receiver 3B of the distance measuring device 2 in the nearest position via the optical fiber 5 into which the distance measuring light 1 that has traveled through space is simultaneously irradiated onto the measurement position 11 and reflected light is received. From the reception time of the distance measuring receiver 3A, the reflection time at the measurement position 11 is calculated using the known time the distance measuring light travels through the optical fiber 5 and the known time to the emission position 6 of the distance measuring light emitted by the distance measuring light emitter 4. From the reflected time, the time at which the distance measuring light 1 travels through space and is received by the distance measuring light receiver 3B is calculated. The distance from the measurement position 11 to the distance measuring light receiver 3B is calculated using the calculated time for flight through the space.

[0174] Example: Distance measuring light 1 emitted by a distance measuring light emitter 4 incorporated in the tip of the pointing device 9 in Figure 63 is irradiated onto a measurement position 11 of a measurement object 10, and the reflected light is distance measuring light 1A, 1B, 1C that travels through space is received by distance measuring receivers 3A, 3B, 3C of a distance measuring device 2 incorporated in a pan head 33. At the same time, the reflected light of the distance measuring light irradiated to the measurement position 11 is received by the distance measuring light receiver 3D of the distance measuring device 2 through the incident optical fiber 5. The time when the distance measuring light emitter 4 emitted light is calculated backward from the time when the light was received by the distance measuring light receiver 3D, using the estimated time when the distance measuring light passed through the optical fiber 5. The time that the distance measuring light beams 1A, 1B, and 1C have traveled through space is calculated from the time that the distance measuring light beams 4 emitted, which has been calculated inversely.

[0175] The distance from the measurement position 11 to the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 is calculated using the time that the distance measuring lights 1A, 1B, 1C have traveled through the space calculated above. Using the distances from the measurement position 11 calculated above to the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2, the position of the distance from the measurement position 11 to the distance measuring device 2 is calculated. The distance measurement light emitted by the distance measurement light emitter 4 is photographed using a smartphone 34 mounted on a camera platform 33 .

[0176] Example: The distance measuring light emitted by the distance measuring light emitter 4 incorporated in the pointing device 9 in Figure 64 is collected using an optical lens from the tip of the pointing device 9, and the reflected light of the distance measuring light 1G from the measurement position 11 where the distance measuring light 1G is irradiated is received by a distance measuring receiver 3E incorporated in the pointing device 9. The time that the distance measuring light 1G travels from the light emission position 6 at the tip of the pointing device 9 to the measurement position 11 is calculated by subtracting the estimated time from the distance measuring light emitter 4 to the light emission position 6 and the estimated time from the light emission position 6 to the distance measuring receiver 3E from the difference between the time emitted by the distance measuring light emitter 4 incorporated in the pointing device 9 and the time received by the distance measuring light receiver 3E. At the same time, distance measurement light 1A, 1B, 1C that has traveled through the space of reflected light from measurement position 11 is received by distance measurement receivers 3A, 3B, 3C of distance measuring device 2 incorporated in pan head 33. At the same time, the reflected light of the distance measuring light 1G irradiated to the measurement position 11 of the distance measuring light is received by the distance measuring receiver 3D of the distance measuring device 2 through the optical fiber 5 incident from the tip of the pointing tool 9.

[0177] The time at which the distance measuring light 1G is reflected from the measurement position 11 is calculated backwards from the time at which the light is received by the distance measuring receiver 3D, using the known time it has traveled through the optical fiber 5 and the calculated flight time of the distance measuring light 1G. Using the reflected time from the measurement position 11 calculated inversely from the reflected time from the measurement position 11 and the received time of the distance measuring receivers 3A, 3B, 3C, the distance from the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 to the measurement position 11 is calculated and measured. Distance measurement light focused using an optical lens incorporated in the pointing device 9 is irradiated onto a measurement position 11 away from the pointing device 9 where measurement is performed, and the reflected light from the measurement position 11 where measurement is performed away is received by distance measurement receivers 3A, 3B, and 3C at the measurement position which share the time at which the distance measurement light was emitted using an optical fiber 5, thereby measuring the distance from measurement position 2 to the measurement position 11 where the distance measurement light is irradiated away.

[0178] Example: The light emission position 6 of the distance measuring light emitter 4 incorporated at the tip of the pointing device 9 in Figure 65 is attached to the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2 incorporated in the pan head 33, and the approximate time it takes for the light to pass through the optical fiber 5 from the light emission position 6 of the distance measuring light emitter 4 at the tip of the pointing device 9 to the distance measuring receivers 3A, 3B, and 3C is corrected.

[0179] Example: The distance measuring light emitters 4A, 4B, 4C incorporated in the distance measuring ...

Claims

1. A distance measuring method in a distance measuring device that measures the time that distance measuring light travels through space and calculates the distance traveled, characterized in that the distance measuring light is emitted at the tip position of an optical fiber that is emitted and input and travels through the space, at the position of light emission, or a position that shares the time of light emission, or a plurality of different positions that share the time of light emission, or the distance measuring light is emitted and emitted and travels through the space, at the position of light emission, or a position that shares the time of light emission, or a plurality of different positions that share the time of light emission, at the tip position of an optical fiber that is emitted and input and travels through the space.

2. A distance measuring method in a distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, characterized in that the distance measuring light, which is attached to a subject at the tip position of an optical fiber that is emitted and introduced and is emitted and flies through the space, is measured at the position where the light was emitted, or a position that shares the time where the light was emitted, or a plurality of different positions that share the time where the light was emitted, or the distance measuring light, which is emitted, attached to a subject and emitted and flies through the space, is measured at the position where the light was emitted, or a position that shares the time where the light was emitted, or a plurality of different positions that share the time where the light was emitted, at the tip position of an optical fiber that is emitted and introduced and is emitted and flies through the space.

3. A distance measuring method in a distance measuring device that measures the time that distance measuring light travels through space and calculates the distance traveled, characterized in that the distance measuring light that is emitted from the tip of an optical fiber that is emitted and input, flies through space, and is reflected from an illuminated subject and flies through the space is measured at the position where the light was emitted, or a position that shares the time where the light was emitted, or a plurality of different positions that share the time where the light was emitted, or the distance measuring light that is emitted, flies through space, and is reflected from an illuminated subject and flies through the space is measured at the position where the light was emitted, or a position that shares the time where the light was emitted, or a plurality of different positions that share the time where the light was emitted, of the tip of the optical fiber that is emitted and input, or

4. A distance measuring method for a distance measuring device that measures the time that distance measuring light travels through a space and calculates the distance traveled, characterized in that the distance measuring light is emitted and introduced into an optical fiber, passed through the optical fiber, and is derived and reflected at the tip of the optical fiber and returns through the optical fiber, or the distance measuring light is emitted through the optical fiber that has been emitted and introduced, the tip of the optical fiber is attached to a subject, and the light is reflected from the subject and irradiated through the optical fiber and re-introduced from the tip of the optical fiber and returns through the optical fiber, or the distance measuring light is emitted from the tip through the optical fiber that has been emitted and introduced, travels through the space, is reflected from the subject that has been irradiated, and travels through the space, and is re-introduced from the tip of the optical fiber that emitted the light and returns through the optical fiber, at the position where the light was emitted, or at a position that shares the time of the light emission, or at multiple different positions that share the time of the light emission.

5. A distance measuring method in a distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, characterized in that the distance measuring light that travels through the space with a time lag is emitted at several different positions and incident on several different optical fibers and emitted from the same tip position, and the distance measuring light that travels through the space with a time lag is received with a time lag at several different emitted positions or at several different positions that share the emitted time, or the distance measuring light that travels through the space with a time lag is received with a time lag at several different tip positions or at several different positions that share the emitted time, and measured.

6. A distance measuring method in a distance measuring device that measures the time that distance measuring light travels through space and calculates the distance traveled, characterized in that the distance measuring light that is emitted from the tip of an optical fiber that is incident from the position where it is emitted and travels through the space, and the distance measuring light that travels through the space as reflected light from a subject that is collected and irradiated from the tip, are measured at the position where the light was emitted, or at a position that shares the time where the light was emitted, or at multiple different positions that share the time where the light was emitted.

7. A distance measuring method in a distance measuring device that measures the time that distance measuring light travels through space and calculates the distance traveled, characterized in that the distance measuring light that is emitted from the position where it is emitted and travels through the space, and the distance measuring light that travels through the space as reflected light from a subject that is collected and irradiated from the position where it is emitted, are measured at the position of the tip of an optical fiber that is input from the position where it is emitted, or at the position of a tip that shares the time where it was emitted, or at the positions of multiple different tips that share the time where it was emitted.

8. A distance measuring method in a distance measuring device that measures the time it takes for distance measuring light to travel through space and calculates the distance traveled, comprising the steps of: receiving the distance measuring light emitted into the space at the tip position of an optical fiber where the light was emitted and input, driving the driving mechanism using a television camera that changes the direction of shooting with a driving mechanism so that the position of an image of the emitted distance measuring light is reflected in the center of a television screen at the position of the light emission or a position that shares the time of the light emission or at multiple different positions that share the time of the light emission, and receiving the emitted distance measuring light using a receiver attached to the television camera so as to receive the distance measuring light emitted from the direction of the center of the television screen.

9. A distance measuring method in a distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, comprising the steps of: using a television camera that changes the direction of shooting with a drive mechanism at the tip position of an optical fiber into which the emitted distance measuring light is incident, driving the drive mechanism so that the position of an image of the emitted distance measuring light is reflected at the center of a television screen, and receiving the emitted distance measuring light using a receiver attached to the television camera so as to receive the emitted distance measuring light from the direction of the center of the television screen.

10. A distance measuring method for a distance measuring device that measures the time that distance measuring light takes to travel through space and calculates the distance traveled, characterized in that the distance measuring light that is emitted, emitted, and travels through the space passes through different optical fibers into which it was emitted and entered, and is received at a position at the tip of the optical fiber that shares the time that the light was emitted, or at multiple different positions that share the time that the light was emitted.

11. A distance measuring method for a distance measuring device that measures the time that distance measuring light travels through space and calculates the distance traveled, characterized in that the distance measuring light, which passes through an optical fiber into which it was emitted and entered, is emitted from the tip of the optical fiber and travels through the space, and is received at a position at the tip of the optical fiber that shares the time that the light was emitted through a different optical fiber into which it was emitted and entered, or at a plurality of different positions that share the time that the light was emitted.

12. A distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, characterized in that the distance measuring light is emitted at a driving position of a robot that drives a driving mechanism with a numerically controlled driving value, and the distance measuring light is incident on an optical fiber arranged in the driving mechanism, and the tip of the optical fiber is attached to the driving position, and the distance measuring light is directly received and measured, and the time the light was emitted at the driving position is calculated from the time it passed through the fiber.

13. A distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, characterized in that the distance measuring light is emitted at a driving position of a robot that drives a driving mechanism with a numerically controlled driving value, and the reflected light generated at the tip position is received and measured at the incident position through an optical fiber arranged in the driving mechanism, and the time it takes for the light to travel back and forth through the optical fiber is used to calculate the time the light was emitted at the driving position.

14. A distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, characterized in that the distance measuring method comprises: emitting and incidenting light at a driving position of a robot that drives a driving mechanism with a numerically controlled driving value, passing through an optical fiber arranged on the driving mechanism and attaching the tip of the optical fiber, and then receiving and measuring the reflected light from the adhesive, the distance measuring light re-entering the tip of the optical fiber and returning through the optical fiber, at the driving position where the light was emitted, and using the time it takes for the light to travel back and forth through the optical fiber to calculate the time when the light was emitted at the driving position.

15. A distance measuring method in a distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, characterized in that the distance measuring light is emitted and passed through an optical fiber, and emitted from the tip of the optical fiber positioned at a driving position of a robot drive mechanism driven by a numerically controlled drive value, and travels through space, and is measured at the position where the light was emitted, or at a position that shares the time where the light was emitted, or at a plurality of different positions that share the time where the light was emitted.

16. A distance measuring method in a distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, characterized in that the distance measuring light is emitted, passes through an optical fiber into which it enters, and is emitted from the tip of the optical fiber positioned at a driving position of a drive mechanism of a robot driven by a drive value of a numerical control, and the reflected light irradiated by flying through space is measured at the position where the light was emitted, or at a position that shares the time where the light was emitted, or at a plurality of different positions that share the time where the light was emitted.

17. A distance measuring method in a distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, characterized in that the distance measuring light is emitted, passes through an optical fiber into which it enters, is emitted from the tip of the optical fiber positioned at a driving position of a robot driven by a numerically controlled driving value, and travels through space, and the reflected light is irradiated and travels through the space, re-enters the tip of the optical fiber, passes through the optical fiber, and is received and measured at the position where the light was emitted, or at a position that shares the time where the light was emitted, or at a plurality of different positions that share the time where the light was emitted.

18. A distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, characterized in that the distance measuring light is emitted, passes through an optical fiber where it enters, is emitted from the tip of the optical fiber positioned at a driving position of a robot driven by a numerically controlled driving value, and travels through space, and the reflected light is irradiated and travels through the space, re-enters the tip of the optical fiber, passes through the optical fiber, and is received and measured at the position where the light was emitted, or a position that shares the time where the light was emitted, or a plurality of different positions that share the time where the light was emitted, and the time it took to pass through the optical fiber is subtracted to measure the distance traveled through the space.

19. A distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, characterized in that the distance measuring light is emitted, passes through an optical fiber where it enters, is emitted from the tip of the optical fiber positioned at a driving position of a robot driven by a numerically controlled driving value, and travels through space, and the reflected light is irradiated and travels through the space, re-enters the tip of the optical fiber, passes through the optical fiber, and is received and measured at the position where the light was emitted, or a position that shares the time where the light was emitted, or a plurality of different positions that share the time where the light was emitted, and the time it took to pass through the optical fiber is subtracted to measure the distance traveled through the space.

20. A distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, comprising the steps of: emitting the distance measuring light, passing through an optical fiber where it enters, emitting the light from the tip of the optical fiber positioned at a driving position of a robot driven by a numerically controlled driving value, flying through space, and measuring the reflected light from the irradiated subject after flying through the space and re-entering the tip of the optical fiber and passing through the optical fiber, and receiving and measuring the light at the position where the light was emitted, or a position that shares the time where the light was emitted, or a plurality of different positions that share the time where the light was emitted, subtracting the time it took to pass through the optical fiber and calculating the distance traveled through the space using the time it flew through the space, and driving the driving mechanism of the robot to move the driving position to the position of the subject so as to subtract the calculated distance.

21. A distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, wherein the distance measuring light is emitted, passes through an incident optical fiber, and is emitted from the tip of the optical fiber positioned at a driving position of a robot drive mechanism driven by a numerically controlled drive value, and the reflected light from an irradiated subject is attached to the drive mechanism of the robot so that an image of the reflected light from the subject is displayed at the center of a television screen shot by a television camera, and the robot is driven by the drive value so that the image of the distance measuring light shot by the television camera is displayed at the center of the television screen, and the distance measuring light reflected from the subject is received at the position where the light was emitted, or at a position that shares the time where the light was emitted, or at a plurality of different positions that share the time where the light was emitted, and the measurement is performed.

22. a distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, the distance measuring light being emitted, passing through an incident optical fiber, emitted from the tip of the optical fiber positioned at a driving position of a robot driven by a numerically controlled driving value, and irradiated with light reflected from a subject, the light being attached to the driving mechanism of the robot so that an image of the reflected light from the subject is displayed at the center of a television screen taken by a television camera, the robot is driven by the driving value so that the image of the reflected light from the subject taken by the television camera is displayed at the center of the television screen, the distance measuring method comprising the steps of: receiving the distance measuring light reflected from the subject at the position where the light was emitted, or at a position that shares the time where the light was emitted, or at a plurality of different positions that share the time where the light was emitted, and measuring the distance from the subject to the position where the light was emitted, or the position that shares the time where the light was emitted, or at a plurality of different positions that share the time where the light was emitted, using the time obtained by subtracting the time it took to travel through the optical fiber from the time it took to fly through the space.

23. In a distance measuring device that measures the time that distance measuring light travels through a space and calculates the distance traveled, the distance measuring light is emitted and passed through an optical fiber into which the light is incident, the optical fiber is arranged at a position where a driving mechanism driven by a driving value of a numerical control of the robot is driven, and the light is collected from the tip of the optical fiber and emitted to fly through the space and irradiate an irradiation position. The television camera is attached to a driving position of the robot so that the position of an image of the irradiation position taken by the television camera is reflected in the center of the television screen, and the position of an image of a subject taken by the television camera is displayed on the television screen. a drive mechanism of the robot so that the object is reflected in the center of the light source, the light reflected from the illuminated object is received and measured at the position of emission or at multiple light receiving positions that share the time of emission, an approximate time taken for the optical fiber to travel through the space from the driving position to the illuminated object is subtracted to calculate a time from the object to the position of emission or at multiple light receiving positions that share the time of emission, and a distance is calculated from the illumination position to the position of emission or at multiple light receiving positions that share the time of emission.

24. A distance measuring device that measures the time that distance measuring light travels through space and calculates the distance traveled, the distance measuring light being emitted and incident on the several different optical fibers with a time lag and emitted from the tips of the several different positions of the several different optical fibers arranged at a driving position of a driving mechanism driven by a driving value of a numerical control of a robot, the distance measuring light being reflected from an irradiation position where the light is collected and irradiated, the distance measuring light traveling through space with a time lag is received and measured at the emission position or a plurality of measurement positions that share the emission time, a distance measurement method comprising: emitting light from the tips of the several different positions with a shift in time by subtracting the estimated time that the light measurement light reflected from the irradiation position with a shift in time from the estimated time that the light traveled through the several different optical fibers with a shift in time and the time that the light measurement light was reflected from the irradiation position with a shift in time to the position at which the light was emitted or to several measurement positions that share the time of the light emission; calculating the several different distances from the irradiation position to the several different light emission positions by using the calculated distances; and calculating the direction of the driving position from the irradiation position.

25. A distance measuring device that measures the time that distance measuring light travels through a space and calculates the distance traveled, characterized in that the distance measuring light that has been emitted and entered passes through an optical fiber, is emitted from the tip of an optical fiber arranged at a drive position of a robot that drives a drive mechanism with a drive value of a numerical control, and travels through the space, and is driven at the position of emission, or a position that shares the time of emission, or a plurality of different positions that share the time of emission, by a television camera that changes the direction of shooting with a drive mechanism so that the position of an image of the emitted distance measuring light is reflected at the center of a television screen, and the emitted distance measuring light is received using a receiver attached to the television camera so as to receive the emitted distance measuring light from the direction of the center of the television screen, thereby measuring the distance of the drive position of the robot.

26. A distance measuring device that measures the time that distance measuring light travels through a space and calculates the distance traveled, characterized in that the distance measuring light is emitted at a drive position of a robot that drives a drive mechanism with a drive value of a numerical control and travels through the space, and the distance measuring light is emitted at the drive position and passes through an incident optical fiber arranged at the drive position, and the drive mechanism is driven so that the position of an image of the emitted distance measuring light is reflected at the center of a television screen using a television camera that changes the direction of shooting with a drive mechanism at the light emission position or a position that shares the time of light emission or a plurality of different positions that share the time of light emission, and the distance measuring light that has traveled through the space is received using a receiver attached to the television camera so as to receive the emitted distance measuring light from the direction of the center of the television screen, thereby measuring the distance of the drive position of the robot.

27. A distance measuring device that measures the time that distance measuring light travels through space and calculates the distance traveled, the distance measuring light that is emitted and enters an optical fiber, passes through the optical fiber, and is emitted from the tip of the optical fiber and travels through the space, is received using a receiver at the position where the light was emitted or a receiver that shares the same time of the light emission, calculates the distance that the distance measuring light travels through the space using the difference between the time of the light emission and the time of the light reception minus the time the light traveled through the optical fiber, and adds the calculated distance to an image of the distance measuring light that is projected on a television screen captured by a television camera using the emitted distance measuring light.

28. A distance measuring device that measures the time that distance measuring light takes to fly through space and calculates the distance traveled, the distance measuring light being emitted and flying through the space passing through an optical fiber into which it was emitted and entered, and being received by a receiver that shares the same time of emission, the distance measuring light traveling through the space being calculated using the difference between the time of emission and the time of reception minus the time the light traveled through the optical fiber, and the calculated distance being added to an image of the distance measuring light that is displayed on a television screen captured by a television camera.

29. A distance measuring device that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, the distance measuring light being emitted from the tip of an optical fiber placed on a drone flying through an optical fiber into which it is emitted and enters, and flying through the space, the distance measuring light being received by a plurality of optical receivers at several different positions that share the same emitted time, the multiple distances being calculated from the flying drone using the multiple optical receivers at the several different positions, and the position of a distance consisting of the multiple distances at the several different positions being measured from the flying drone.

30. A distance measuring device that measures the time it takes for distance measuring light to fly through a space and calculates the distance traveled, the distance measuring method comprising the steps of: receiving the distance measuring light that is emitted and emitted by a flying drone and flies through the space using a plurality of optical receivers at several different positions that share the time of emission at the tip of an optical fiber positioned from the flying drone through an optical fiber into which the light is emitted and entered; calculating the multiple distances from the flying drone using the multiple optical receivers at the several different positions; and measuring the position of a distance consisting of the multiple distances at the several different positions from the flying drone, the distance measuring method comprising the steps of:

31. A distance measuring device that measures the time it takes for distance measuring light to fly through a space and calculates the distance traveled, the distance measuring light being emitted from the tip of an optical fiber arranged on a drone flying through an optical fiber where the light was emitted and entered and flying through the space, and receiving the distance measuring light flying through the space using a plurality of optical receivers at several different positions that share the time of emission; alternatively, the distance measuring light being emitted by a flying drone and flying through the space and emitted from the tip of an optical fiber arranged on a drone flying through the optical fiber where the light was emitted and entered, and receiving the distance measuring light flying through the space using a plurality of optical receivers at several different positions that share the time of emission of the light; calculating the multiple distances from the flying drone using the multiple optical receivers at the several different positions; and calculating and measuring the distances at the several different positions via the position of the flying drone consisting of the calculated distances of the multiple optical receivers at the several different positions.

32. A distance measurement method for measuring the time that distance measurement light travels through a space and calculating the distance traveled, comprising: a distance measurement light emitter of a distance measurement device emits light through an optical fiber, the light is emitted from a light emission position at the tip of the optical fiber provided at a measurement position of a measuring jig or a measuring device arranged in the distance measurement device, the light is received by a plurality of light receivers that share the light emission position or the light emission time of the distance measurement device, and the distance measured is calculated from the light emission time and the light reception time of the plurality of light receivers. By subtracting the time, the position consisting of the plurality of distances from the measurement position of the measuring jig or measuring instrument to the plurality of light receivers is calculated using the time when the emitted light was received by the plurality of light receivers from the time when the light was emitted at the light emission position of the tip of the optical fiber, and similarly, the position consisting of the plurality of distances from the measurement position of the measuring jig or measuring instrument to the plurality of light receivers is calculated by subtracting the time, and the position consisting of the plurality of distances from the measurement position of the measuring jig or measuring instrument to the plurality of light receivers is calculated using the time when the light was emitted from the plurality of different distance measuring light emitters of the distance measuring instrument and received through the plurality of different optical fibers. a plurality of light receivers that share the light emission position or the light emission time of the distance measuring instrument, and receive the light with a time lag; subtracting the time that the light travels through the several different optical fibers from the time that the light was emitted with a time lag at the several different positions and the time that the light was received with a time lag by the several light receivers; calculating the positions of the several different distances from the several different light emission positions provided at the hand of the jig or measuring instrument to the positions of the several light receivers using the time that the light was received by the several light receivers from the time that the light was emitted at the light emission positions of the tips of the several different optical fibers; and calculating the direction of the jig or measuring instrument using the position consisting of the several distances from the measurement position of the measuring jig or measuring instrument to the several light receivers, which were calculated as described above.

33. A distance measurement method for measuring the time that distance measurement light travels through a space and calculating the distance traveled, the distance measurement light that is emitted and released from a position to be measured on a measuring jig or measuring instrument and travels through the space is received by a plurality of light receivers that share the position of emission or the time of emission at the tip of the light, the time of emission is calculated using the time that the light traveled through the optical fiber, and a position consisting of the plurality of distances from the measurement position of the measuring jig or measuring instrument to the plurality of light receivers is calculated using the calculated time of emission and the time of reception by the plurality of light receivers, and similarly, the distance measurement light that is emitted and released with a time lag from the several different light emitters provided near the measuring jig or measuring instrument and travels through the space is received by the several different light emitters provided near the measuring jig or measuring instrument and travels through the space, the time of emission is calculated using the calculated time of emission and the time of reception by the several different light receivers. a plurality of light receivers at the tip of the jig or measuring instrument that share the light emission position or the light emission time are used to receive the light with a shift in time, the time passing through the several different optical fibers is used to calculate the light emission time of the several different light emitters with a shift in time, the time received by the several light receivers with a shift in time is used from the light emission time of the several different positions with a shift in time at the several different positions to calculate the several different distances from the several different light emission positions provided at the hand of the jig or measuring instrument to the positions of the several light receivers, and the direction of the jig or measuring instrument is calculated using the position calculated as described above, consisting of the several distances from the measurement position of the measuring jig or measuring instrument to the several light receivers and the position calculated as described above, consisting of the several different distances from the several different hand of the jig or measuring instrument to the several light receivers.

34. In a distance measuring device that measures the time that distance measuring light travels through a space and calculates the distance traveled, the distance measuring light emitted at the position of the tip of an optical fiber where the light is emitted and incident is received by a drive value for driving the drive mechanism so that the emitted distance measuring light is received by a plurality of distance measuring receivers attached at different positions of a drive mechanism driven by a drive value of a numerical control, and the distance measuring light emitted at several different positions is recorded on a television screen captured by a television camera at the position where the light is emitted or at the position of the tip of the optical fiber where the light is emitted and incident. a distance measuring method comprising: acquiring, using several different drive values ​​obtained by driving the drive mechanism so as to receive the distance measuring light emitted at the several different positions at positions of an image of the distance measuring light emitted at the several different positions displayed on a television screen captured using a television camera, the distance measuring light emitted at all positions; and acquiring, using an interpolation formula, all of the related drive values ​​obtained by driving the drive mechanism so as to receive the distance measuring light emitted at all positions at positions of all of the images of the distance measuring light emitted at the several different positions displayed on a television screen captured using a television camera, the distance measuring light emitted at all positions.

35. In a distance measuring device that measures the time that distance measuring light travels through space and calculates the distance traveled, the distance measuring light emitted at the position of the tip of an optical fiber where light is emitted and incident is emitted at the position of the light emission, or the distance measuring light emitted and emitted is emitted at the position of the tip of an optical fiber where light is emitted and incident, and a drive value that drives the drive mechanism so that the emitted distance measuring light is received by a distance measuring receiver that drives a drive mechanism with a drive value of a numerical control is associated with a position of an image of the emitted distance measuring light that is shown on a television screen captured by a television camera, and the distance measuring light emitted at several different positions is calculated. a distance measurement method comprising: obtaining the distance measurement light radiated at all positions by calculating, using the several different drive values ​​associated with driving the drive mechanism of the distance measurement receiver so as to receive the several different distance measurement light at the positions of an image of the distance measurement light radiated at the several different positions displayed on a television screen captured using the television camera, and calculating all of the drive values ​​associated with driving the drive mechanism of the distance measurement receiver so as to receive all of the distance measurement light at the positions of all of the images of the distance measurement light radiated at all positions displayed on a television screen captured using the television camera, using an interpolation formula.

36. A distance measuring device that measures the time that distance measuring light travels through a space and calculates the distance traveled by measuring the time that the distance measuring light travels through a space, the distance measuring light being emitted at the tip position of the optical fiber that was emitted and incident thereon, the distance measuring light being emitted at the tip position of the optical fiber that was emitted and incident thereon, the distance measuring light being emitted at the tip position of the optical fiber that was emitted and incident thereon, the distance measuring light being emitted at several different tip positions is correlated with the drive value that drove the drive mechanism that was used to photograph the distance measuring light being emitted at the center position of the television screen using a television camera that drives a drive mechanism with a drive value of a numerical control, and the distance measuring light being emitted at several different tip positions is calculated. a television camera that captures the distance measurement light at the positions of the images of the several different distance measurement light on a television screen captured by the television camera, and the positions of the images of the several different distance measurement light are captured at the central position of the television screen of the drive numerical value; a television camera that captures the distance measurement light at the positions of all of the images of the distance measurement light on a television screen captured by the television camera, and the positions of all of the images of the distance measurement light are captured at the central position of the television screen of the drive numerical value; and a distance measurement method comprising the steps of: calculating and obtaining all of the associated drive numerical values ​​that drive the drive mechanism using an interpolation formula.

37. In a distance measuring device that measures the time that distance measuring light travels through a space and calculates the distance traveled, the distance measuring light is emitted at a tip position of an optical fiber where it is emitted and incident, and the distance measuring light is emitted at the tip position of an optical fiber where it is emitted and incident, and the distance measuring light is emitted at several different tip positions, and the distance measuring light is emitted at several different tip positions at several different tip positions at several different positions of the image of the distance measuring light that is shown on a television screen that photographs the distance measuring light that is emitted using a television camera, the distance measuring light that is emitted is associated with a drive value that drives the drive mechanism that photographs the distance measuring light that is emitted at a central position of the television screen using a television camera that drives a drive mechanism with a drive value of a numerical control. a position of the distance measurement light emitted from all of the tip positions is photographed at the center position of the television screen of the drive numerical value, using some of the drive numerical values ​​that have been driven by the drive mechanism, the distance measurement light emitted from all of the tip positions is photographed at the positions of images of all of the distance measurement light displayed on the television screen photographed using the television camera, and the positions of the images of all of the distance measurement light are photographed at the center position of the television screen of the drive numerical value, all of the associated drive numerical values ​​that have been driven by the drive mechanism are calculated and obtained using an interpolation formula, and using the drive numerical values ​​that have been associated with the positions of the images of the distance measurement light displayed on the television screen, the position of the image of the distance measurement light is photographed at the center position of the television screen of the drive numerical value, and the distance measurement light is received using a receiver attached to the drive mechanism so as to be received in the direction of the center of the television screen.

38. A distance measuring device that measures the time that distance measuring light travels through a space and calculates the distance traveled, the distance measuring light is emitted through an optical fiber that is emitted and incident thereon, emitted from a tip of the optical fiber arranged at a driving position of a driving mechanism of a robot driven by a driving value of a numerical control, and travels through the space, and is received and measured at the position where the light was emitted, and the time through the optical fiber is subtracted from the difference between the time where the light was emitted and the time where the light was received, and the distance to the driving position where the light was emitted from the tip is calculated using the time where the light flew through the space and was received from the time where the light was emitted from the tip at the driving position, or the distance measuring light is emitted at the driving position where the driving mechanism of a robot driven by a driving value of a numerical control, emitted and traveled through the space, and the optical fiber that is emitted at the driving position and incident on the optical fiber arranged at the driving mechanism of the robot, and traveled through the space. a drive numerical value of the drive mechanism that drives the drive mechanism to the driving position to the driving position is associated with the calculated distance from the light receiving position to the driving position, and the drive numerical value of the drive mechanism that drives the drive mechanism to the driving position is associated with the calculated distance from the light receiving position to the driving position to the driving position, and the drive numerical value of the drive mechanism that drives the drive mechanism to the driving position is associated with the calculated distance from the light receiving position to the several different driving positions to the several different distances from the light receiving position to the several different driving positions, and the drive numerical value of the drive mechanism that drives the drive mechanism to the several different driving positions is associated with the calculated distances from the light receiving position to all of the driving positions to the several different driving positions by using an interpolation method.

39. A distance measuring device measures the time that distance measuring light travels through a space and calculates the distance traveled, the distance measuring light is emitted from a tip of the optical fiber arranged at a driving position of a robot driven by a drive value of a numerical control, passes through an optical fiber where light is emitted and incident, and the distance measuring light that has traveled through the space is received and measured using a plurality of light receivers at the light emitting position or a plurality of light receivers at different positions that share the light emitting time, and the time that the light has traveled through the optical fiber is subtracted from the difference between the light emitting time and the light receiving time at the plurality of different positions to calculate the distance traveled by the drive. The distance measuring light is emitted at a driving position of a driving mechanism of a robot driven by a driving value of a numerical control, and the distance measuring light is emitted and emitted at the driving position of the driving mechanism of the robot driven by a driving value of a numerical control, and the distance measuring light is received and measured using a plurality of light receivers at the tip position of the optical fiber that has passed through the optical fiber and is incident on the optical fiber arranged at the driving position of the driving mechanism, or a plurality of light receivers at different positions that share the emission time. a time for which the light was emitted and emitted using a time that the light passed through a fiber optic cable; a time for which the light was received at a measuring position of the plurality of different positions by flying through the space from the time that the distance measurement light at the driving position was emitted and emitted; a time for which the light was received at a measuring position of the plurality of different positions by flying through the space from the time that the distance measurement light at the driving position was emitted and emitted; a distance from a measuring position of the plurality of different positions to the driving position is calculated using the calculated time; a drive numerical value of the driving mechanism that drove the light to the driving position is associated with a position consisting of the plurality of different distances; a drive numerical value of the driving mechanism that drove the light to the driving position is associated with a position consisting of the plurality of different distances;A distance measurement method characterized in that the distance is obtained by calculation using an interpolation method.

40. A distance measuring device measures the time that distance measuring light travels through a space and calculates the distance traveled, the distance measuring light is emitted through an optical fiber into which the distance measuring light is incident, and emitted from a tip of the optical fiber arranged at a position of a walking leg driven by a drive mechanism of a multi-legged walking robot driven by a drive value of a numerical control, the distance measuring light that has traveled through the space is received at a plurality of measuring positions at the position of the bottom of the multi-legged walking robot where the light was emitted, or at a plurality of measuring positions that share the time of the light emission, and a pre-travel distance is calculated from the difference in time between the time of the light emission and the time of the light reception. The time for the plurality of distance measuring lights to fly in the space from the plurality of measuring positions to the position of the walking foot from which the light was emitted is calculated using the time obtained by subtracting the time for the light to pass through the optical fiber, and a drive value of the drive mechanism that drives the position of the walking foot is associated with a position consisting of the plurality of distances calculated from the plurality of measuring positions to the position of the walking foot, or the distance measuring light is emitted and incident at the position of the walking foot of a multi-legged walking robot that drives a drive mechanism by a drive value of a numerical control, and the distance measuring light that flies in the space is emitted and incident on the multi-legged walking robot. a time for light emission at the position of said walking foot is calculated using the time taken for light to be received at a plurality of measuring positions at a position of a bottom of said multi-legged walking robot at the tip through an optical fiber arranged in a drive mechanism of said multi-legged walking robot and to pass through said optical fiber; a position consisting of said plurality of distances from said light emission position at the position of a walking foot of said multi-legged walking robot to said receiving position of said plurality of flying distance measuring light is calculated using the time taken for light emission to be received and measured by said plurality of light receivers from the back-calculated time for light emission; a drive numerical value for driving said drive mechanism is associated with a position of said walking foot to a position consisting of said calculated plurality of distances from said plurality of measuring positions to said position of said walking foot;A distance measurement method, comprising: calculating and acquiring all of the associated drive values ​​of the drive mechanisms that have been driven to the positions of all of the walking feet using an interpolation method;

41. A distance measuring method in a distance measuring device that measures the time that distance measuring light takes to travel through space and calculates the distance traveled, characterized in that the distance measuring light is emitted at the tip position of an optical fiber where it is emitted and input, and the distance measuring light is measured at the position where it was emitted, or at the tip position of a different optical fiber where it is emitted and input at the position where it is emitted.

42. A distance measuring method in a distance measuring device that measures the time that distance measuring light travels through space and calculates the distance traveled, characterized in that the distance measuring light is emitted at the tip position of an optical fiber where it is emitted and input, and the distance measuring light is measured using a receiver that drives a numerically controlled drive mechanism to receive the distance measuring light at the position where it is emitted, or at the tip position of a different optical fiber where it is input at the position where it is emitted and output, and the drive mechanism of the receiver is driven so that the distance measuring light is received at the center position of the light receiving mechanism of the receiver.

43. A distance measuring method in a distance measuring device that measures the time that distance measuring light travels through space and calculates the distance traveled, characterized in that the distance measuring light is emitted at the tip position of an optical fiber where it is emitted and input, and the distance measuring light is photographed using a television camera that is driven by a numerically controlled driving mechanism in the direction in which it is photographed, at the tip position of a different optical fiber where it is emitted and input, so that an image of the distance measuring light on a television screen captured using the television camera is displayed in the center position on the television screen.

44. A distance measuring method in a distance measuring device that measures the time that distance measuring light travels through space and calculates the distance traveled, comprising the steps of: photographing the distance measuring light, which is emitted at the tip position of an optical fiber where it is emitted and incident, at the tip position of a different optical fiber where it is emitted and incident at the tip position of the optical fiber where it is emitted and emitted, using a television camera whose shooting direction is driven by a numerically controlled driving mechanism so that an image of the distance measuring light on a numerically controlled television screen where the emitted distance measuring light is photographed is displayed in the center position of the numerically controlled television screen, and driving a zoom mechanism of the numerically controlled television camera using the measured distance from the light emission position to the photographed position to enlarge and photograph the distance measuring light.

45. A distance measurement method as described in any one of claims 1 to 44, characterized in that the numerically controlled television camera drive mechanism is driven to photograph an object on a numerically controlled television screen photographed using the numerically controlled television camera so that the object is displayed in a central position on the numerically controlled television screen, a measurement laser light of a laser distance measuring device attached to the numerically controlled television camera is irradiated in the central direction to measure the central direction of the numerically controlled television camera, thereby measuring the distance and direction to the object, and a drive mechanism of the robot is driven using the associated drive numerical value to a position consisting of the plurality of different distances corresponding to the measured distance and direction, thereby driving the drive position of the robot to the position of the object.

46. A distance measurement method as described in any one of claims 1 to 44, characterized in that the numerically controlled television camera drive mechanism is driven to photograph an object on a numerically controlled television screen photographed using the numerically controlled television camera so that the object is displayed in a central position on the numerically controlled television screen, a measurement laser light of a laser distance measuring device attached to the numerically controlled television camera is irradiated in the central direction to measure the central direction of the numerically controlled television camera, thereby measuring the distance and direction to the object, and a drive mechanism of the robot is driven using the associated drive numerical value to a position consisting of the plurality of different distances corresponding to the measured distance and direction, thereby driving the drive position of the robot to the position of the object.

47. According to any one of claims 1 to 44, a driving value for driving a driving mechanism of the laser distance measuring device that irradiates the subject with a laser light for distance measurement of the laser distance measuring device driven by a driving value of a numerical control from the measurement position to a position of an image of the subject on a television screen on which the subject is photographed using a television camera, and the position of the image of the subject at several different positions on the television screen on which the subject is photographed at several different positions is displayed on the television screen on which the subject is photographed at all positions using the several different driving values ​​for irradiating the subject with the laser light for distance measurement at the several different positions. a distance measuring method comprising the steps of: calculating all of the associated drive values ​​by irradiating the distance measuring laser light to the subjects at all of the positions of the images of the subjects displayed on the television screen using an interpolation formula; measuring a direction using the associated drive values ​​at the positions of the images of the subjects on the television screen; irradiating the subjects with the laser light to measure the distance; measuring the distance and direction from the laser distance measuring device to the subjects; driving a drive mechanism of the robot using the associated drive values ​​to positions consisting of the plurality of different distances corresponding to the measured distance and direction; and driving the drive position of the robot to the position of the subjects.

48. The present invention relates to a method for controlling a camera driving mechanism for a numerically controlled television camera, the method comprising: associating a position of an image of a subject on a television screen photographed using a television camera with a drive value for driving the camera driving mechanism, the method including the steps of: photographing the subject on a numerically controlled television screen photographed using a numerically controlled television camera that drives a drive mechanism with a drive value such that the image of the subject is displayed in a central position on the numerically controlled television screen; and using the several different drive values ​​for driving the numerically controlled television camera driving mechanism for photographing the subject at several different positions such that the image of the subject is displayed in a central position on the numerically controlled television screen, the method including the steps of: a driving mechanism for said numerically controlled television camera that drives said numerically controlled television camera so as to shoot an image of said subject at a central position on said television screen by calculating and obtaining all said associated driving values ​​using an interpolation formula, said driving values ​​of said numerically controlled television camera that are associated with the position of an image of said subject on the television screen shot by said television camera, said image of said subject being shot at a central position on said numerically controlled television screen, said measuring laser light of a laser distance measuring device attached to said numerically controlled television camera being irradiated onto said subject in said central direction so as to measure said central direction of said numerically controlled television camera, thereby measuring a distance and direction to said subject, and said driving mechanism for said robot being driven using said associated driving values ​​to positions consisting of said plurality of different distances that correspond to said measured distance and direction, thereby driving said driving position of said robot to the position of said subject.

49. 45. The distance measuring method according to claim 1, further comprising providing a switch for emitting the distance measuring light at a position where the distance measuring light is emitted.

50. 45. A distance measuring method according to claim 1, further comprising the step of photographing a position where the distance measurement light is emitted and the distance measurement is performed using a television camera attached at a position where the distance measurement light is emitted.

51. A distance measurement method as described in any one of claims 1 to 44, characterized in that the driving range of a robot corresponds to a position in a three-dimensional space constructed using the position of the distance measured using the method described above, the distance and direction of a subject measured using the method described above are expanded to a position in the constructed three-dimensional space, and the distance position is maintained safely at the distance position in the driving range in accordance with the distance and direction of the subject.

52. 45. A distance measurement method according to any one of claims 1 to 44, characterized in that the distance measurement light is emitted from a light emission position of a jig for measuring the distance, the distance of the light emission position of the jig is measured by the method described above, and the position of the jig for measuring the distance is measured via the light emission position of the jig.

53. 45. A distance measurement method as described in any one of claims 1 to 44, characterized in that the distance measurement light is emitted from a number of light emission positions of a jig for measuring distance, a number of distances at the number of light emission positions are measured by the method described above, and the direction of the jig is calculated using the number of measured distances.

54. 45. A distance measuring method according to claim 1, further comprising the step of photographing the position at which the distance measuring light is emitted using a smartphone.

55. 45. A distance measuring method according to claim 1, further comprising the step of photographing the position where the distance measuring light is emitted using a television camera.

56. A distance measurement method according to any one of claims 1 to 44, characterized in that the several different optical fibers into which the several different distance measurement light beams are emitted and incident are arranged at several different driving positions of a driving mechanism that drives in an associated manner, the several different distance measurement light beams are emitted from the tips of the several different optical fibers, and the several different distance measurement light beams that fly through the space are received and measured at the emission positions or at a position that shares the time of the emission or at a plurality of different positions that share the time of the emission, thereby measuring the distances at the several different driving positions of the driving mechanism that drives in an associated manner.

57. A distance measurement method as described in any one of claims 1 to 44, characterized in that the several different distance measurement light beams emitted from light emission positions attached to several different moving positions of a moving human body are received and measured at the position of emission or a position sharing the time of emission or a plurality of different positions sharing the time of emission, thereby measuring the distances of the several different moving positions of the human body.

58. A distance measuring method according to any one of claims 1 to 44, characterized in that an image of the gaze direction on a television screen captured by a gaze television camera is stored, the image stored at the gaze direction is projected onto a television screen captured by a different television camera, and the position of the distance between the image of the gaze direction displayed in the projected image and the subject is measured.

59. 45. A distance measuring method according to claim 1, characterized in that the emitted light, the emitted light, or the irradiated light is projected on a television screen that captures the position where the distance measuring light is emitted or emitted to measure.

60. 45. A distance measuring method according to claim 1, further comprising projecting the distance measuring light or the light for photographing onto the television screen and the numerically controlled television screen.

61. 45. The distance measuring method according to claim 1, wherein a position of the distance to be measured by the distance measuring light is arranged in a three-dimensional space constructed on a computer.

62. 45. A distance measuring method according to claim 1, further comprising the step of emitting, emitting or irradiating the distance measuring light at the distance to be measured using a distance measuring robot.

63. 45. A distance measuring method as claimed in any one of claims 1 to 44, characterized in that the direction of the distance measured by the numerically controlled laser distance measuring device corresponds to the position of the distance measured by the distance measuring light emitted from the plurality of light emission positions.

64. 45. A distance measuring method according to claim 1, further comprising the step of measuring an irradiation position where the emitted distance measuring light is condensed by an optical lens and irradiated.

65. 45. A distance measuring method according to any one of claims 1 to 44, characterized in that the emitted distance measuring light is incident on several different optical fibers and the distance measuring light emitted at the several different light emission positions is measured.

66. 45. A distance measuring method according to any one of claims 1 to 44, comprising the steps of: making the emitted distance measuring light incident on an optical fiber; receiving the distance measuring light emitted into space at a position where the distance measuring light has passed through the optical fiber; and measuring a distance from the position where the light is emitted to the position where the light is received.

67. 45. A distance measuring method according to any one of claims 1 to 44, comprising the steps of: making the emitted distance measuring light incident on several different optical fibers; receiving the distance measuring light emitted into space at several different positions after passing through the several different optical fibers; and measuring distances from the emitted position to the several different received positions.

68. 45. A distance measuring method according to any one of claims 1 to 44, characterized in that the emitted or radiated distance measuring light from a drone flying in the sky is measured at a position of the optical fiber through which the emitted or radiated distance measuring light has passed.

69. A distance measurement method according to any one of claims 1 to 44, characterized in that the emitted light or the emitted distance measurement light is measured from a drone flying in the sky tethered to the ground at a position of the optical fiber through which the emitted light or the emitted distance measurement light has passed.

70. A distance measurement method as described in any one of claims 1 to 44, characterized in that the distance measurement light emitted or transmitted from a drone flying in the sky is measured at the position that shares the time at which the distance measurement light emitted or transmitted through the optical fiber was emitted or emitted from several different locations.

71. A distance measurement method as described in any one of claims 1 to 44, characterized in that a tip of the fiber is processed so that some reflected light is generated at the tip of the optical fiber through which the distance measurement light is emitted and incident.

72. A distance measurement method according to any one of claims 1 to 44, characterized in that an absolute direction value of an unknown position associated with the absolute direction value measured using the optical fiber is added to an existing map.

73. 45. A distance measuring method according to claim 1, further comprising the step of: creating a digital map using the measured distance.

74. A distance measurement method according to any one of claims 1 to 44, in which an image taken using the television camera and the smartphone is expanded onto an existing map using the measured distance between the image and the subject.

75. A distance measurement method according to any one of claims 1 to 44, in which an image taken using the television camera and the smartphone is expanded onto an existing satellite image using the measured distance between the image and the subject.

76. A distance measurement method as described in any one of claims 1 to 44, characterized in that the distance measurement light is emitted from the tip of the optical fiber arranged at the working position of the robot, and flies through space, and the working position of the working mechanism of the robot is driven using a voice of the position numerical value converted into the position numerical value of the associated distance using the method described above for measuring the working position of the robot at the position where the distance measurement light is emitted, and the working position of the working mechanism of the robot is driven using a voice of the position numerical value converted into the position numerical value of the associated distance using the method described above for driving the working position of the driving mechanism of the robot associated with the position numerical value of the measured distance.

77. A distance measurement method according to any one of claims 1 to 44, characterized in that the distance measurement light is emitted from a tip of the optical fiber arranged at the working position of the robot and flies through the space, and a method for measuring the distance position of the working position of the robot at the position where the distance measurement light is emitted is used, and a method for driving the working position of a driving mechanism of the robot, which is described and associated with the numerical value of the measured distance position, is used to drive the working position of the working mechanism of the robot using an external signal that is converted into the numerical value of the associated distance position.

78. 45. The distance measuring method according to claim 1, wherein the distance measuring light emitted with a time lag is used for measuring with a time lag.

79. 45. A distance measuring method according to claim 1, wherein the distance measuring light emitted at a plurality of different positions with a time lag is measured with the time lag.

80. 45. A distance measuring method according to claim 1, characterized in that the distance measuring light emitted at a plurality of different positions with a time lag is measured at a plurality of different positions that share the emission time that is aligned with the lag time.

81. 45. A distance measuring method according to any one of claims 1 to 44, characterized in that the optical fiber onto which the emitted distance measuring light is incident is placed at a drive position of the robot, the drive mechanism of the robot driving the numerically controlled drive mechanism by a drive numerical value, and the distance measuring light emitted from a tip of the optical fiber and traveling through the space is received at the light emission position sharing the time of the light emission, thereby making the measurement.

82. A distance measurement method as described in any one of claims 1 to 44, characterized in that the distance measurement light emitted and radiated flying through the space at a drive position of the robot which drives a numerically controlled drive mechanism with a drive numerical value, is received and measured by receiving the distance measurement light which travels through the space at the position of the tip of the optical fiber which is incident on the optical fiber arranged at the drive position of the robot and passes through the optical fiber.

83. 45. A distance measuring method according to any one of claims 1 to 44, characterized in that an optical fiber into which the emitted distance measuring light is incident is arranged at a drive position of a robot to be driven through a drive mechanism that drives a drive mechanism of a robot with a drive value of a numerical control, and the distance measuring light is emitted from a tip of the arranged optical fiber and travels through the space, and is measured at the light emission position that shares the time of the light emission.

84. 45. A distance measuring method according to any one of claims 1 to 44, further comprising the step of driving a driving mechanism of a robot using a measuring jig.

85. A distance measurement method according to any one of claims 1 to 44, characterized in that a distance measured using a measuring jig is stored, and the stored measured distance is used to drive a drive mechanism of a robot.

86. 45. A distance measuring method according to claim 1, further comprising the step of continuously measuring the position in the space.

87. 45. A distance measuring method according to claim 1, further comprising storing distances measured continuously from positions in the space.

88. 45. A distance measuring method according to claim 1, further comprising the step of: using said stored distance to drive a driving mechanism of said robot associated with said distance.

89. A method according to any one of claims 1 to 44, characterized in that the object is identified using an image recognition method.

90. 45. A method according to any one of claims 1 to 44, further comprising the step of adding the measured absolute orientation value to the identified object and storing the same.

91. 45. A method according to any one of claims 1 to 44, further comprising the step of adding the date and time of said measurement to said identified image and storing said image via an internet network.

92. A method according to any one of claims 1 to 44, further comprising creating a digital map on an Internet network using the measured distances and the captured images stored via the Internet network.

93. 45. A method according to any one of claims 1 to 44, characterized in that the distances measured using the method and the images captured are stored via an internet network.

94. 45. The method according to claim 1, wherein the stored distances and the captured images are acquired via an Internet network.

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