Displacement amount measuring system

Abstract

To provide a measuring technique capable of measuring a displacement amount of a structure at a low cost without requiring manpower.SOLUTION: A displacement amount measuring system (100) is provided with a laser range finder (1), which is fixed at a position separated from an object to be measured (T) and emits laser light (L), a first reflecting body (2), which is fixed at a position where the laser light enters a first reflecting surface (21) on the object to be measured, and a control unit (31), which controls the laser range finder, wherein the first reflecting body is fixed so that the elevation / depression angle component takes a predetermined value other than 0 ° at a first angle (θ 1) formed by the perpendicular direction of the first reflecting surface and the propagation direction of the laser light. The control unit includes a first obtaining unit (311) that obtains first distances (D1) to the first reflecting surfaces measured by the laser rangefinders, and a first displacement amount calculating unit (313) that calculates first displacement amounts (D1) of the measurement object according to differences between the first distances and first reference distances (D1 ').SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a displacement measurement system. [Background technology]

[0002] Subways, one of the major forms of public transportation, are constructed by burying a concrete tubular structure called a "structure" underground and laying tracks within the structure's interior. To operate a subway, each structure must be positioned as designed, and any gaps or steps that may occur at the joints between adjacent structures must be kept within specified limits. Meanwhile, construction work (such as excavation) may be carried out on the ground on which the structural frame of a commercial line is installed. When excavating the ground around the structural frame of a commercial line, there is a possibility that the structural frame may be displaced (subsidence, for example) to an unacceptable extent. Therefore, the amount of displacement (such as subsidence) of the structural frame is continuously measured, and the impact that may have on the commercial line is continuously evaluated depending on the magnitude of the measurement results. An example of such construction work is widening the structural frame of a commercial line in response to an increase in the number of trains. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 09-053933 Summary of the Invention [Problem to be solved by the invention]

[0004] Known methods for measuring the amount of settlement of a building structure include a method using a water-filled settlement gauge and a method using a barcode and a digital level. Note that the water-filled settlement gauge is also called a communicating pipe settlement gauge (see, for example, Patent Document 1). However, the water-fill type subsidence meter has the problem of being expensive. Furthermore, the method using the barcode and digital level is difficult to automate and requires manual operation, which means that the method cannot perform measurements continuously and takes a long time to perform the measurements.

[0005] One aspect of the present invention has been made in consideration of the above-mentioned problems, and its object is to provide a measurement technique that can measure the amount of displacement of a structure at low cost and without human intervention. [Means for solving the problem]

[0006] In order to solve the above problem, a displacement measurement system according to one embodiment of the present invention comprises a laser rangefinder fixed at a position independent of and spaced from the object to be measured, the laser rangefinder emitting laser light in one or more directions, one or more first reflectors fixed to the object to be measured, the one or more first reflectors fixed at a position where the laser light is incident on a first reflecting surface, and a control unit controlling the laser rangefinder, wherein the one or more first reflectors are fixed so that the elevation / depression angle component at a first angle formed by the normal direction of the first reflecting surface and the propagation direction of the laser light is a predetermined value other than 0°, and the control unit comprises a first acquisition unit that acquires a first distance to the first reflecting surface measured by the laser rangefinder, a first reference distance setting unit that sets the first distance at a reference timing as a first reference distance, and a first displacement calculation unit that calculates a first displacement amount of the object to be measured based on the difference between the first distance at the measurement timing and the first reference distance.

[0007] In addition, a displacement measurement system according to another aspect of the present invention includes a laser rangefinder fixed at a position independent of and spaced from the object to be measured, the laser rangefinder emitting laser light in one or more azimuths; one or more first reflectors fixed to the object to be measured, the one or more first reflectors fixed at a position where the laser light is incident on a first reflecting surface; and a control unit controlling the laser rangefinder, wherein the one or more first reflectors are fixed so that the azimuth angle component at a second angle formed by the normal direction of the first reflecting surface and the propagation direction of the laser light is a predetermined value other than 0°, and the control unit includes a first acquisition unit that acquires a first distance to the first reflecting surface measured by the laser rangefinder, a first reference distance setting unit that sets the first distance at a reference timing as a first reference distance, and a first displacement amount calculation unit that calculates a first displacement amount of the object to be measured based on the difference between the first distance at the measurement timing and the first reference distance.

[0008] The displacement measurement system according to each aspect of the present invention may be realized by a computer. In this case, the information processing program for the displacement measurement system that causes the computer to operate as each part (software element) of the displacement measurement system to realize the displacement measurement system, and the computer-readable recording medium on which the program is recorded, also fall within the scope of the present invention. [Effects of the Invention]

[0009] According to one aspect of the present invention, the amount of displacement of a structure can be measured at low cost and without manual intervention. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating the displacement direction of a measurement object, the displacement amount of which is measured by the displacement amount measuring system according to the first to third embodiments. FIG. [Figure 2] 1A and 1B are a perspective view and a plan view showing a part of a displacement amount measuring system according to a first embodiment. [Figure 3]FIG. 2 is a block diagram showing an example of the functional configuration of a displacement amount measuring system according to the first embodiment (second and third embodiments). [Figure 4] 1 is a side view showing an example of first and second reflectors included in the displacement amount measuring systems according to the first and second embodiments. FIG. [Figure 5] 1A and 1B are diagrams illustrating the principle of measurement of the amount of displacement by the displacement measurement system according to the first and second embodiments. [Figure 6] FIG. 4 is a diagram showing an example of a method for outputting the measurement results by the displacement amount measuring systems according to the first to third embodiments. [Figure 7] 10A and 10B are a perspective view and a plan view showing a part of a displacement amount measuring system according to a second embodiment. [Figure 8] FIG. 10 is a block diagram showing an example of a displacement amount measuring system group according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] <Embodiment 1> Hereinafter, the first embodiment of the present invention will be described in detail.

[0012] [Usage environment of the displacement measurement system 100] The displacement measurement system 100 is a system that measures the displacement of a measurement object T. The measurement object T includes a relatively large object such as the skeleton of an underground structure (a subway tunnel). The measurement object T may sink slightly (displaced vertically, in a direction along the Z axis in FIG. 1 (hereinafter referred to as the first direction)) due to gravity, for example, when the ground below the measurement object T is excavated. The displacement measurement system 100 according to the first embodiment measures the displacement of the measurement object T in the first direction.

[0013] [Configuration of displacement measurement system 100] 2 and 3 , the displacement measurement system 100 includes a laser rangefinder 1, one or more first reflectors 2, and a control unit 31. The displacement measurement system 100 according to the first embodiment includes the control unit 31 in a displacement calculation device 3 included in the displacement measurement system 100.

[0014] [First reflector 2] As shown in FIG. 2, one or more first reflectors 2 are fixed to the measurement object T. The first reflector 2 has a first reflecting surface 21. The one or more first reflectors 2 are fixed at a position where the laser light L from the laser rangefinder 1 is incident on the first reflecting surface 21. As shown in FIG. 4, the first reflector 2 according to the first embodiment further includes a support 22 and an angle adjustment mechanism 23. The support 22 is fixed to the measurement object T using a fixture (e.g., a bolt or an anchor) (not shown). The angle adjustment mechanism 23 is interposed between the support 22 and the first reflecting surface 21 and can adjust the orientation of the first reflecting surface 21 relative to the support 22 to any desired orientation. As shown in the upper part of FIG. 2, the one or more first reflectors 2 are fixed so that the elevation and depression angle components of a first angle θ1 formed between the normal to the first reflecting surface 21 and the propagation direction of the laser light L are predetermined values ​​other than 0°. The first reflector 2 according to the first embodiment is fixed so that the elevation / depression angle component is 45°. Furthermore, as shown in the lower part of FIG. 2, one or more first reflectors 2 according to the first embodiment are fixed so that the azimuth angle component at the first angle θ1 is 0°. When the displacement measurement system 100 includes a plurality of first reflectors 2, the first reflectors 2 are arranged at intervals along the longitudinal direction of the measurement object T. When viewed in a plan view, each first reflecting surface 21 faces the direction of the laser rangefinder 1. This makes it possible to measure the displacement of each part of the measurement object T.

[0015] [Laser Rangefinder 1] The laser rangefinder 1 is fixed at a position independent of and spaced apart from the measurement target T. At a construction site of an underground structure, the laser rangefinder 1 is fixed, for example, to a retaining wall W, scaffolding, or the ground facing the main body via a space. The laser rangefinder 1 emits laser light L in one or more directions. As shown in FIG. 3 , the laser rangefinder 1 includes a rotation mechanism 11 and a laser light source 12. The laser rangefinder 1 according to the first embodiment further includes an attitude sensor 13, an attitude adjustment mechanism 14, one or more targets 15, and a distance measurement unit 16.

[0016] (Rotation mechanism 11) The rotation mechanism 11 rotates around a first rotation axis 11a. The first rotation axis 11a is an axis along the vertical direction. The rotation mechanism 11 according to the first embodiment rotates based on rotation instruction information received from the displacement amount calculation device 3. The rotation instruction information includes a numerical value indicating the rotation angle of the rotation mechanism 11 required for the laser rangefinder 1 to change the emission direction of the laser light L from the current direction to a desired direction.

[0017] (laser light source 12) The laser light source 12 is fixed to the rotation mechanism 11 so as to emit the laser light L in a direction perpendicular to the first rotation axis 11a. Furthermore, the laser light source 12 emits the laser light L in a plurality of directions as the rotation mechanism 11 rotates. The laser light source 12 according to the first embodiment emits the laser light L in one or a plurality of directions in a plane along a horizontal plane as the rotation mechanism 11 rotates.

[0018] (Attitude sensor 13) The attitude sensor 13 detects the attitude of the laser rangefinder 1. Specifically, it detects the inclination of the first rotation axis 11a with respect to the horizontal plane.

[0019] (Posture adjustment mechanism 14) The attitude adjustment mechanism 14 adjusts the attitude of the laser rangefinder 1. Specifically, it adjusts the tilt of the laser rangefinder 1 so that the first rotation axis 11a is perpendicular to the horizontal plane. The rotation mechanism 11 according to the first embodiment adjusts the attitude of the laser rangefinder 1 based on attitude adjustment information received from the displacement amount calculation device 3, or manually. The attitude adjustment information includes a numerical value indicating the tilt angle of the attitude adjustment mechanism 14 required for the laser rangefinder 1 to change the emission direction of the laser light L from the current direction to the horizontal direction.

[0020] (Target 15) The one or more targets 15 are fixed so that their relative positions with respect to the first rotation shaft 11a of the rotation mechanism 11 have a predetermined relationship.

[0021] (Distance measurement unit 16) The distance measurement unit 16 measures a first distance d1. The first distance d1 is the distance between the laser light source 12 of the laser rangefinder 1 and the first reflecting surface 21 of the first reflector 2. The distance measurement unit 16 according to the first embodiment measures the first distance d1 based on the time from when the laser rangefinder 1 emits the laser light L until the laser light L is reflected and returns. The distance measurement unit 16 according to the first embodiment repeatedly measures the first distance d1 at a predetermined cycle. The distance measurement unit 16 according to the first embodiment sends the measured first distance d1 to the displacement amount calculation device 3 every time it measures the first distance d1.

[0022] [Displacement calculation device 3] The displacement amount calculation device 3 includes a control unit 31, an interface unit 32, a storage unit 33, and an output unit .

[0023] (Interface section 32) The interface unit 32 is composed of a terminal to which a cable connected to the laser rangefinder 1 is connected, a communication module for communicating with the laser rangefinder 1, and the like.

[0024] (Control unit 31) The control unit 31 controls the laser rangefinder 1. The control unit 31 includes a first acquisition unit 311, a first reference distance setting unit 312, and a first displacement amount calculation unit 313. The control unit 31 according to the first embodiment further includes a rotation control unit 314, an elevation / depression angle calculation unit 315, an attitude control unit 316, and a registration unit 317.

[0025] Registration Department 317 The registration unit 317 registers at least one direction (the position of one or more reflectors) in which the laser light L is emitted. The registration unit 317 according to the first embodiment registers the direction in which the laser light L is emitted based on an input operation performed using an operation unit (not shown).

[0026] Rotation control unit 314 The rotation control unit 314 controls the rotation of the rotation mechanism 11. The rotation control unit 314 according to the first embodiment controls the rotation of the rotation mechanism 11 (sends rotation instruction information to the rotation mechanism 11) so that the laser light L is emitted in the emission direction registered by the registration unit 317 (toward the reflective surfaces of one or more reflectors).

[0027] Elevation / Depression Angle Calculation Unit 315 The elevation / depression angle calculation unit 315 calculates the elevation / depression angle, which is the angle between the horizontal plane and the propagation direction, based on the attitude. The elevation / depression angle calculation unit 315 displays the calculated elevation / depression angle on a display unit (not shown) included in the laser rangefinder 1 or on an output unit 34 included in the displacement amount calculation device 3.

[0028] Attitude control unit 316 The attitude control unit 316 controls the attitude adjustment mechanism 14 of the laser rangefinder 1 so as to reduce the absolute value of the elevation / depression angles (sends attitude adjustment information to the attitude adjustment mechanism 14). Preferably, the attitude adjustment mechanism 14 is controlled so that the elevation / depression angles become 0°. Note that if the attitude adjustment mechanism 14 of the laser rangefinder 1 is configured so that the attitude is adjusted manually, the control unit 31 does not need to include the attitude control unit 316.

[0029] ·1st Acquisition Department 311 The first acquisition unit 311 acquires the first distance d1. The first acquisition unit 311 according to the first embodiment acquires the first distance received by the interface unit 32 from the laser rangefinder 1.

[0030] ·First reference distance setting section 312 The first reference distance setting unit 312 sets the first distance d1 at the reference timing as the first reference distance d1'. The reference timing can be any timing from the installation of the displacement amount measurement system 100 to the start of an operation (e.g., excavation) that may cause displacement of the measurement object T. When multiple first reflectors 2 are fixed to the measurement object T, the first reference distance setting unit 312 sets the first reference distance d1' for each of the first reflectors 2.

[0031] First displacement amount calculation unit 313 The first displacement amount calculation unit 313 calculates a first displacement amount D1 of the measurement object T based on the difference between the first distance d1 at the measurement timing and the first reference distance d1'. The first displacement amount D1 is the amount of displacement of the measurement object T in the first direction from the reference timing to the measurement timing. As described above, the first reflector 2 according to the first embodiment is fixed at the first angle θ1 so that the elevation / depression angle component is 45° and the azimuth angle component is 0°. Therefore, as shown in FIG. 5 , the difference between the first distance d1 and the first reference distance d1' is the first displacement amount D1. When multiple first reflectors 2 are fixed to the measurement object T, the first displacement amount calculation unit 313 calculates the first displacement amount D1 for each of the first reflectors 2.

[0032] (Storage unit 33) Each time the control unit 31 calculates the first displacement amount D1, the storage unit 33 stores the calculated first displacement amount D1 in association with the time at which the first displacement amount D1 was calculated or the measurement timing of the first distance d1 that was the basis for the calculation. When multiple first reflectors 2 are fixed to the measurement object T, the storage unit 33 stores the calculated first displacement amount D1 for each of the first reflectors 2.

[0033] (output unit 34) The output unit 34 outputs the first displacement amount D1 stored in the storage unit 33. The output unit 34 according to the first embodiment is configured with a display device (such as a liquid crystal display panel or a cathode ray tube). The output unit 34 displays a graph, for example, as shown in FIG. 6, with the horizontal axis representing time and the vertical axis representing the first displacement amount D1 (subsidence amount). The output unit 34 may be configured to display the first displacement amount D1 as a numerical value. The output unit 34 may also be configured with a speaker that emits a sound indicating the first displacement amount D1, a communication device that transmits data indicating the position of the beacon B, or the like. When a plurality of first reflectors 2 are fixed to the measurement object T, the output unit 34 outputs the first displacement amount D1 for each of the first reflectors 2.

[0034] [Actions and Effects of Displacement Measurement System 100] In the displacement measurement system 100 described above, the first reflector 2 is fixed so that the elevation / depression angle component of the first angle θ1 formed between the normal to the first reflecting surface 21 and the propagation direction of the laser light is a predetermined value other than 0°. Therefore, when the measurement object T is displaced in the first direction, the distance between the laser rangefinder 1 and the first reflector 2 calculated by the displacement amount calculation device 3 also changes. The first reflector 2 has a simple structure, so it can be manufactured and grounded at low cost. It is also possible to use a conventional laser rangefinder 1. Therefore, the displacement measurement system 100 makes it possible to measure the first displacement of the measurement object T at low cost and without human intervention.

[0035] <Embodiment 2> A second embodiment of the present invention will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the first embodiment, and the description thereof will not be repeated.

[0036] [Usage environment for the Displacement Measurement System 100A] The measurement object T may be displaced due to sinking or other factors in a horizontal direction perpendicular to the first direction, in a direction in which the surface of the measurement object T facing the laser rangefinder 1 widens (a direction along the Y-axis direction in FIG. 1 , hereinafter referred to as the second direction). The displacement measurement system 100A according to the second embodiment measures the displacement of the measurement object T in the second direction.

[0037] [Configuration of displacement measurement system 100A] 3 and 7, the displacement measurement system 100A includes one or more second reflectors 2A and a control unit 31A in addition to the laser rangefinder 1 similar to that of the displacement measurement system 100 according to the first embodiment. The displacement measurement system 100A according to the second embodiment also includes a control unit 31 in a displacement calculation device 3A included in the displacement measurement system 100A.

[0038] [Second reflector 2A] The orientation of the second reflecting surfaces 21A of one or more second reflectors 2A according to the second embodiment is different from that of the first reflector 2 according to the first embodiment. Specifically, as shown in the upper part of FIG. 7, the one or more second reflectors 2A are fixed so that the azimuth angle component of the second angle θ2 formed between the direction perpendicular to the second reflecting surfaces 21A and the propagation direction of the laser light L is a predetermined value other than 0°. The second reflectors 2A according to the second embodiment are fixed so that the azimuth angle component is 45°. Furthermore, as shown in the middle part of FIG. 7, the one or more second reflectors 2A according to the second embodiment are fixed so that the elevation / depression angle component of the second angle θ2 is 0°. Note that the middle part of FIG. 7 illustrates a case in which the orientations of the second reflecting surfaces 21A are not uniform due to the positional relationship between the laser rangefinder 1 and each second reflector 2A. However, as shown in the lower part of FIG. 7, the orientations of the second reflecting surfaces 21A may be uniform. In this case, the azimuth components of the second reflectors 2A may be different from each other.

[0039] [Laser Rangefinder 1] As shown in FIG. 3 , the laser rangefinder 1 according to the second embodiment is configured similarly to the laser rangefinder 1 according to the first embodiment. The distance measurement unit 16 of the laser rangefinder 1 according to the second embodiment measures the distance between the laser light source 12 of the laser rangefinder 1 and the second reflecting surface 21A of the second reflector 2A. The operation of the laser rangefinder 1 when measuring this distance is the same as when measuring the first distance d1; however, it is necessary to distinguish this distance from the first distance d1 used to calculate the amount of displacement in the first direction. For this reason, the distance between the laser light source 12 of the laser rangefinder 1 and the second reflecting surface 21A of the second reflector 2A measured by the laser rangefinder 1 according to the second embodiment will be referred to as the second distance d2 for convenience in the following description, and will be distinguished from the first distance d1.

[0040] [Displacement calculation device 3A] The displacement amount calculation device 3A according to the second embodiment includes a control unit 31A, as well as an interface unit 32, a storage unit 33, and an output unit 34 similar to those of the displacement amount calculation device 3 according to the first embodiment.

[0041] (control unit 31A) The control unit 31A of the second embodiment includes a rotation control unit 314, an elevation / depression angle calculation unit 315, an attitude control unit 316, and a registration unit 317 similar to those of the control unit 31 of the first embodiment, as well as a second acquisition unit 311A, a second reference distance setting unit 312A, and a second displacement amount calculation unit 313A.

[0042] ·Second acquisition part 311A The second acquisition unit 311A ​​acquires the second distance d2 measured by the laser rangefinder 1. The second acquisition unit 311A ​​according to the second embodiment acquires the second distance d2 received by the interface unit 32 from the laser rangefinder 1.

[0043] ·Second reference distance setting section 312A The second reference distance setting unit 312A sets the second distance d2 at the reference timing as the second reference distance d2'. The reference timing can be any timing between the installation of the displacement amount measurement system 100A and the start of an operation (such as excavation) that may cause displacement of the measurement object T. When multiple second reflectors 2A are fixed to the measurement object T, the second reference distance setting unit 312A sets the second reference distance d2' for each second reflector 2A.

[0044] Second displacement amount calculation unit 313A The second displacement amount calculation unit 313A calculates a second displacement amount D2 of the measurement object T based on the difference between the second distance d2 at the measurement timing and the second reference distance d2'. The second displacement amount D2 is the displacement amount of the measurement object T in the second direction from the reference timing to the measurement timing. As described above, the second reflector 2A according to the second embodiment is fixed at the second angle θ1 so that the elevation / depression angle component is 0° and the azimuth angle component is 45°. Therefore, the difference between the second distance d2 and the second reference distance d2' is the second displacement amount D2 as it is. When multiple second reflectors 2A are fixed to the measurement object T, the second displacement amount calculation unit 313A calculates the second displacement amount D2 for each second reflector 2A.

[0045] [Modification of the displacement measurement system 100A] The displacement amount measuring system 100A may also have the function of measuring the first displacement amount D1 provided in the displacement amount measuring system 100 according to the first embodiment. That is, a first reflector 2 may further be fixed to the measurement object T. The control unit 31A of the displacement amount calculation device 3A may further include a first acquisition unit 311, a first reference distance setting unit 312, and a first displacement amount calculation unit 313.

[0046] [Effects of the Displacement Measurement System 100A] In the displacement measurement system 100A described above, the second reflector 2A is fixed so that the azimuth angle component of the second angle θ2 between the normal to the second reflecting surface 21A and the propagation direction of the laser light has a predetermined value other than 0°. Therefore, when the measurement object T is displaced in the second direction, the distance between the laser rangefinder 1 and the second reflector 2A calculated by the displacement amount calculation device 3A also changes. Because the second reflector 2A has a simple structure, it can be manufactured and grounded at low cost. Furthermore, a conventional laser rangefinder 1 can also be used. Therefore, the displacement measurement system 100A can measure the second displacement of the measurement object T at low cost and without human intervention.

[0047] <Embodiment 3> A third embodiment of the present invention will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the first and second embodiments, and the description thereof will not be repeated. [Usage environment for the displacement measurement system 100B] The measurement object T may be displaced due to sinking or other factors in a horizontal direction perpendicular to the first direction, in which the laser rangefinder 1 and the measurement object T are aligned (a direction along the X-axis in FIG. 1 , hereinafter referred to as the third direction). The displacement amount measuring system 100B according to the third embodiment measures the displacement amount of the measurement object T in the third direction.

[0048] [Configuration of displacement measurement system 100B] 3, the displacement measurement system 100B includes a laser rangefinder 1 similar to that of the displacement measurement system 100 according to the first embodiment, as well as a control unit 31B. On the other hand, the displacement measurement system 100B according to the third embodiment does not include either the first reflector 2 or the second reflector 2A. The displacement measurement system 100B according to the third embodiment also includes a control unit 31B in a displacement amount calculation device 3B included in the displacement measurement system 100B.

[0049] [Laser Rangefinder 1] The laser rangefinder 1 according to the third embodiment has the same configuration as the laser rangefinder 1 according to the first embodiment. The distance measurement unit 16 of the laser rangefinder 1 according to the third embodiment measures the distance between the laser light source 12 of the laser rangefinder 1 and the measurement object T by directly irradiating the measurement object T with laser light L. The operation of the laser rangefinder 1 when measuring this distance is the same as when measuring the first distance d1, but it needs to be distinguished from the first distance d1 used to calculate the amount of displacement in the first direction. For this reason, the distance between the laser light source 12 of the laser rangefinder 1 and the measurement object T measured by the laser rangefinder 1 according to the third embodiment will be described as a third distance d3 for convenience, distinguishing it from the first distance d1.

[0050] [Displacement calculation device 3B] The displacement amount calculation device 3B according to the third embodiment includes a control unit 31B, as well as an interface unit 32, a storage unit 33, and an output unit 34 similar to those of the displacement amount calculation device 3 according to the first embodiment.

[0051] (control unit 31B) The control unit 31B of the third embodiment includes a rotation control unit 314, an elevation / depression angle calculation unit 315, an attitude control unit 316, and a registration unit 317 similar to those of the control unit 31 of the first embodiment, as well as a third acquisition unit 311B, a third reference distance setting unit 312B, and a third displacement amount calculation unit 313B.

[0052] ·Third acquisition part 311B The third acquisition unit 311B acquires the third distance d3 measured by the laser rangefinder 1. The third acquisition unit 311B according to the third embodiment acquires the third distance d3 received by the interface unit 32 from the laser rangefinder 1.

[0053] ·Third reference distance setting section 312B The third reference distance setting unit 312B sets the third distance d3 at the reference timing as the third reference distance d3'. The reference timing can be any timing from the installation of the displacement amount measurement system 100B to the start of an operation (such as excavation) that may cause displacement of the measurement object T.

[0054] Third displacement amount calculation unit 313B The third displacement amount calculation unit 313B calculates a third displacement amount D3 of the measurement object T according to the difference between the third distance d3 at the measurement timing and the third reference distance d3'. The third displacement amount D3 is the displacement amount of the measurement object T in the third direction from the reference timing to the measurement timing. As described above, the displacement amount measuring system 100B according to the third embodiment does not include either the first reflector 2 or the second reflector 2A. Therefore, the difference between the second distance d3 and the second reference distance d3' is directly the third displacement amount D3.

[0055] [Modification of the displacement amount measuring system 100B] The displacement amount measuring system 100B may have at least one of the function of measuring the first displacement amount D1 provided in the displacement amount measuring system 100 according to the first embodiment and the function of measuring the second displacement amount D2 provided in the displacement amount measuring system 100A according to the second embodiment. That is, at least one of the first reflector 2 and the second reflector 2A may be further fixed to the measurement object T. The control unit 31B of the displacement amount calculation device 3B may further include at least one of a set of a first acquisition unit 311, a first reference distance setting unit 312, and a first displacement amount calculation unit 313, and a set of a second acquisition unit 311A, a second reference distance setting unit 312A, and a second displacement amount calculation unit 313A.

[0056] [Effects of the displacement measurement system 100B] According to the displacement amount measuring system 100B described above, the third displacement amount of the measurement object T can be measured at low cost and without manual intervention.

[0057] <Embodiment 4> A fourth embodiment of the present invention will be described below. For ease of explanation, the same reference numerals will be used to designate members having the same functions as those described in the first to third embodiments, and the description thereof will not be repeated.

[0058] [Displacement measurement system group 100C] The fourth embodiment is a displacement amount measurement system group 100C. As shown in Fig. 8, the displacement amount measurement system group 100C includes at least one set of the displacement amount measurement systems 100, 100A, and 100B according to the first to third embodiments, and a total station 4.

[0059] [Total Station 4] The total station 4 is fixed at a position independent of the measurement object T and the laser rangefinder 1 and spaced apart from each of the measurement object T and the laser rangefinder 1. The total station 4 measures the coordinates of one or more targets 15 provided on each laser rangefinder 1. This makes it possible to assign absolute coordinates to the position of the laser rangefinder 1 and the position where the laser light L is irradiated.

[0060] [Effects of the Displacement Measurement System Group 100C] When displacement measurement is continuously performed using the displacement measurement system 100, 100A, or 100C, sudden fluctuations in the displacement may occur. A possible main cause of this sudden fluctuation is displacement of the laser rangefinder 1. If the measurement target T is an underground structure and the laser rangefinder 1 is fixed to an earth-retaining wall W, the earth-retaining wall W may be displaced due to weather. A possible weather-related displacement of the earth-retaining wall W is when, for example, rising temperatures cause thermal expansion of the earth-retaining wall W (or its steel members), resulting in tilting of the wall. Rainfall may also cause the ground behind the earth-retaining wall W to absorb water and become heavier, increasing the load acting on the wall W and causing it to tilt. When the earth-retaining wall W is displaced, the emission direction of the laser light L changes upward or downward, and the laser rangefinder 1 is displaced in a third direction. As a result, the measured distance significantly increases or decreases. However, according to the displacement measurement system group 100C, the attitude adjustment mechanism 14 of the laser rangefinder 1 returns the emission direction of the laser light L, which has been changed to upward or downward, to the horizontal direction. Furthermore, because the total station 4 grasps the displacement of the laser rangefinder 1, it is possible to subtract the influence of the displacement of the laser rangefinder 1 from the measured first to third distances d1 to d3. Furthermore, by grasping the position of the laser rangefinder 1 before the emission direction is changed and the position of the laser rangefinder 1 after the emission direction is returned, the total station 4 can also grasp the amount of displacement of the retaining wall W.

[0061] <Modifications of Embodiments 1 to 4> The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims.

[0062] For example, in the displacement measurement systems 100, 100A, and 100B according to the first to fourth embodiments, the laser rangefinder 1 measures the first to third distances d1 to d3, and the displacement calculation devices 3, 3A, and 3B calculate, store, and output the first to third displacement amounts. However, the displacement measurement systems 100, 100A, and 100B may be configured so that the laser rangefinder 1 calculates the first to third displacement amounts. Alternatively, the displacement measurement systems 100, 100A, and 100B may be configured so that the displacement calculation devices 3, 3A, and 3B measure the first to third distances d1 to d3 (the laser rangefinder 1 performs all the steps up to notifying the displacement calculation devices 3, 3A, and 3B of the incidence timing of the reflected light).

[0063] Furthermore, the functions of the displacement measurement systems 100, 100A, 100B, or the displacement measurement system group 100C including at least one of these, can be realized by a displacement measurement program that causes a computer to function as the control units 31, 31A, 31B of the systems 100, 100A, 100B, and that causes a computer to function as each control block of the systems 100, 100A, 100B (first acquisition unit 311, first reference distance setting unit 312, first displacement amount calculation unit 313, second acquisition unit 311A, second reference distance setting unit 312A, second displacement amount calculation unit 313A, third acquisition unit 311B, third reference distance setting unit 312B, third displacement amount calculation unit 313B).

[0064] In this case, the systems 100, 100A, and 100B each include a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the displacement amount measurement program. The control device and storage device execute the program, thereby realizing the functions described in each of the first to fourth embodiments.

[0065] The displacement measurement program may be stored non-transitory on one or more computer-readable storage media. The storage media may or may not be included in the device. In the latter case, the program may be supplied to the systems 100, 100A, and 100B via any wired or wireless transmission medium.

[0066] Furthermore, some or all of the functions of the control blocks can be realized by logic circuits. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of the control blocks can also be realized by, for example, a quantum computer.

[0067] Furthermore, embodiments obtained by appropriately combining the technical means disclosed in the different embodiments are also included in the technical scope of the present invention.

[0068] 〔summary〕 A displacement measurement system according to a first aspect of the present invention comprises a laser rangefinder fixed at a position independent of and spaced from an object to be measured, the laser rangefinder emitting laser light in one or more directions; one or more first reflectors fixed to the object to be measured, the one or more first reflectors fixed at a position where the laser light is incident on a first reflecting surface; and a control unit controlling the laser rangefinder, wherein the one or more first reflectors are fixed so that the elevation and depression angle components at a first angle formed by a normal to the first reflecting surface and the propagation direction of the laser light are predetermined values ​​other than 0°, and the control unit comprises a first acquisition unit that acquires a first distance to the first reflecting surface measured by the laser rangefinder; a first reference distance setting unit that sets the first distance at a reference timing as a first reference distance; and a first displacement amount calculation unit that calculates a first displacement amount of the object to be measured based on the difference between the first distance at the measurement timing and the first reference distance.

[0069] A displacement measurement system according to aspect 2 of the present invention may be configured in the above-mentioned aspect 1 such that the laser rangefinder comprises a rotation mechanism that rotates around a first rotation axis, and a laser light source fixed to the rotation mechanism so as to emit the laser light in a direction perpendicular to the first rotation axis, and the laser light source emits the laser light in the multiple azimuths as the rotation mechanism rotates, and the control unit further comprises a rotation control unit that controls the rotation of the rotation mechanism.

[0070] A displacement measuring system according to aspect 3 of the present invention may be configured in the above aspect 1 or 2 such that the one or more first reflectors are fixed so that the azimuth angle component at the first angle is 0°.

[0071] A displacement measuring system according to a fourth aspect of the present invention may be configured in the second aspect above such that the first rotation axis is an axis along the vertical direction, and the laser light source emits the laser light in one or more directions within a plane along a horizontal plane as the rotation mechanism rotates.

[0072] A displacement measurement system according to aspect 5 of the present invention may be configured such that, in any of aspects 1 to 4 above, the laser rangefinder further includes an attitude sensor that detects the attitude of the laser rangefinder and an attitude adjustment mechanism that adjusts the attitude, and the control unit further includes an elevation / depression angle calculation unit that calculates an elevation / depression angle, which is the angle between the horizontal plane and the propagation direction, based on the attitude, and an attitude control unit that controls the attitude adjustment mechanism so that the elevation / depression angle becomes 0° or so that the absolute value of the elevation / depression angle becomes small.

[0073] A displacement measurement system according to aspect 6 of the present invention may be configured such that, in any of aspects 2 to 5 above, the laser rangefinder further includes one or more targets fixed so that their relative position with respect to the first rotation axis has a predetermined relationship.

[0074] A displacement measurement system group according to aspect 7 of the present invention may be configured such that, in any of aspects 1 to 6 above, the displacement measurement system comprises at least one set of displacement measurement systems and a total station fixed at a position independent of each of the measurement object and the laser rangefinder and spaced apart from each of the measurement object and the laser rangefinder, and measuring the coordinates of each of the one or more targets.

[0075] A displacement measurement system according to an eighth aspect of the present invention may be configured in any one of the first to seventh aspects above, further comprising: a second reflector fixed to the object to be measured, the second reflector being one or more second reflectors fixed at a position where the laser light is incident on a second reflecting surface, the second reflector being fixed so that an azimuthal angle component of a second angle formed by a normal to the second reflecting surface and the propagation direction of the laser light is a predetermined value other than 0°; and the control unit may further comprise: a second acquisition unit that acquires a second distance to the second reflecting surface measured by the laser rangefinder; a second reference distance setting unit that sets the second distance at the reference timing as a second reference distance; and a second displacement amount calculation unit that calculates a second displacement amount of the object to be measured based on the difference between the second distance at the measurement timing and the second reference distance.

[0076] A displacement measuring system according to a ninth aspect of the present invention may be configured in the eighth aspect above, wherein the one or more second reflectors are fixed so that the elevation and depression angle components at the second angle are 0°.

[0077] A displacement measurement system according to aspect 10 of the present invention may be configured such that, in any of aspects 1 to 9 above, the control unit further includes a third acquisition unit that acquires a third distance to the object to be measured measured by the laser rangefinder, a third reference distance setting unit that sets the third distance at the reference timing as a third reference distance, and a third displacement calculation unit that calculates a third displacement of the object to be measured based on the difference between the third distance at the measurement timing and the third reference distance.

[0078] A displacement measurement system according to aspect 11 of the present invention comprises a laser rangefinder fixed at a position independent of and spaced from the object to be measured, the laser rangefinder emitting laser light in one or more azimuths; one or more first reflectors fixed to the object to be measured, the one or more first reflectors fixed at a position where the laser light is incident on a first reflecting surface; and a control unit controlling the laser rangefinder, wherein the one or more first reflectors are fixed so that the azimuth angle component of a second angle formed by a normal to the first reflecting surface and the propagation direction of the laser light is a predetermined value other than 0°, and the control unit comprises a first acquisition unit that acquires a first distance to the first reflecting surface measured by the laser rangefinder, a first reference distance setting unit that sets the first distance at a reference timing as a first reference distance, and a first displacement amount calculation unit that calculates a first displacement amount of the object to be measured based on the difference between the first distance at the measurement timing and the first reference distance. [Explanation of symbols]

[0079] 100, 100, 100A, 100B, 100A, 100B Displacement measurement system 100C Displacement measurement systems 1 Laser rangefinder 11 Rotation mechanism 11a First rotation axis 12 Laser light source 13 Attitude sensor 14 Posture adjustment mechanism 15 Target 16 Distance measurement unit 2 1st reflector 21 1st reflective surface 2A 2nd reflector 21A 2nd reflective surface 3. Displacement calculation device 31 Control Unit 311 First Acquisition Department 311A 2nd Acquisition Department 311B 3rd Acquisition Department 312 1st reference distance setting section 312A 2nd reference distance setting section 312B 3rd reference distance setting section 313 First displacement calculation unit 313A Second displacement calculation section 313B Third displacement calculation unit 314 Rotation control unit 315 Elevation and depression angle calculation unit 316 Attitude Control Unit 317 Registration Department 32 Interface section 33 Storage section 34 Output section 4. Total Station d1 First distance d1' 1st reference distance D1 First displacement

Claims

1. a laser rangefinder that is fixed at a position independent of and spaced apart from the object to be measured, and that emits laser light in one or more directions; one or more first reflectors fixed to the measurement object, the first reflectors being fixed at positions where the laser light is incident on a first reflecting surface; a control unit for controlling the laser rangefinder, the one or more first reflectors are fixed so that an elevation / depression angle component at a first angle formed by a direction perpendicular to the first reflecting surface and a propagation direction of the laser light has a predetermined value other than 0°, The control unit a first acquisition unit that acquires a first distance to the first reflecting surface measured by the laser rangefinder; a first reference distance setting unit that sets the first distance at a reference timing as a first reference distance; a first displacement amount calculation unit that calculates a first displacement amount of the object to be measured based on a difference between the first distance at a measurement timing and the first reference distance.

2. The laser rangefinder a rotation mechanism that rotates around a first rotation shaft; a laser light source fixed to the rotation mechanism so as to emit the laser light in a direction perpendicular to the first rotation axis, and which emits the laser light in the plurality of azimuths as the rotation mechanism rotates; The displacement measurement system according to claim 1 , wherein the control unit further comprises a rotation control unit that controls the rotation of the rotation mechanism.

3. The displacement measurement system according to claim 1 , wherein the one or more first reflectors are fixed so that an azimuth angle component at the first angle is 0°.

4. the first rotation axis is an axis along a vertical direction, The displacement measuring system according to claim 2 , wherein the laser light source emits the laser light in one or more directions in a plane along a horizontal plane as the rotation mechanism rotates.

5. The laser rangefinder an attitude sensor for detecting the attitude of the laser rangefinder; and an attitude adjustment mechanism for adjusting the attitude, The control unit an elevation / depression angle calculation unit that calculates an elevation / depression angle that is an angle between the horizontal plane and the propagation direction based on the attitude; 5. The displacement measurement system according to claim 4, further comprising: an attitude control unit that controls the attitude adjustment mechanism so that the elevation / depression angles become 0° or so that the absolute values ​​of the elevation / depression angles become small.

6. The displacement measurement system according to claim 2 , wherein the laser range finder further comprises one or more targets fixed so that their relative positions with respect to the first rotation axis have a predetermined relationship.

7. 7. The displacement amount measuring system according to claim 6, comprising: at least one set of displacement amount measuring systems; A group of displacement measurement systems comprising: a total station that is fixed at a position independent of each of the measurement object and the laser rangefinder and spaced apart from each of the measurement object and the laser rangefinder, and that measures each coordinate of the one or more targets.

8. the measurement object further includes one or more second reflectors fixed to a position where the laser light is incident on a second reflecting surface, the one or more second reflectors being fixed so that an azimuth angle component of a second angle formed by a direction normal to the second reflecting surface and a propagation direction of the laser light is a predetermined value other than 0°; The control unit a second acquisition unit that acquires a second distance to the second reflecting surface measured by the laser rangefinder; a second reference distance setting unit that sets the second distance at the reference timing as a second reference distance; 2. The displacement amount measuring system according to claim 1, further comprising: a second displacement amount calculation unit that calculates a second displacement amount of the measurement object based on a difference between the second distance at the measurement timing and the second reference distance.

9. The one or more second reflectors are fixed so that an elevation / depression angle component is 0° at the second angle. The displacement measurement system according to claim 8 .

10. The control unit a third acquisition unit that acquires a third distance to the measurement object measured by the laser rangefinder; a third reference distance setting unit that sets the third distance at the reference timing as a third reference distance; 9. The displacement amount measuring system according to claim 1, further comprising: a third displacement amount calculation unit that calculates a third displacement amount of the object to be measured based on a difference between the third distance at the measurement timing and the third reference distance.

11. a laser rangefinder that is fixed at a position independent of and spaced apart from the object to be measured, and that emits laser light in one or more directions; one or more first reflectors fixed to the measurement object, the first reflectors being fixed at positions where the laser light is incident on a first reflecting surface; a control unit for controlling the laser rangefinder, the one or more first reflectors are fixed so that an azimuth angle component of a second angle formed by a direction perpendicular to the first reflecting surface and a propagation direction of the laser light has a predetermined value other than 0°, The control unit a first acquisition unit that acquires a first distance to the first reflecting surface measured by the laser rangefinder; a first reference distance setting unit that sets the first distance at a reference timing as a first reference distance; a first displacement amount calculation unit that calculates a first displacement amount of the object to be measured based on a difference between the first distance at a measurement timing and the first reference distance.

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