Optical fiber distance measurement

Abstract

A method for measuring, using the inherent time for distance measurement light to travel along an optical fiber, a distance by receiving the distance measurement light that has traveled through a space after being discharged from a tip end of the optical fiber along which the distance measurement light traveled after being emitted and incident thereto, said tip end being a position where the light emission time therefrom is the same; a method for measuring positions at a plurality of distances by receiving distance measurement light, which has been discharged and has traveled through a space, at a plurality of positions for which the times for said light to travel along an optical fiber and be emitted are the same; and a method for measuring the distance of distance measurement light that has been emitted, made incident to an optical fiber, traveled therealong, and subsequently has been discharged from a tip end thereof and traveled through a space, using the inherent time for the distance measurement light to travel along the optical fiber and using light emission positions with the same light discharge time.

Description

Fiber optic distance measurement

[0001] Distance measuring device

[0002] Optical distance measurement

[0003] Patent No. 5508308, Patent No. 5547605, Patent No. 5547670, Patent No. 6719494, Patent No. 7195093, Patent Application No. 2022-148672

[0004] Patent application 2022-148668

[0005] Using optical fibers, distances in three-dimensional space that share the same light emission and radiation times are measured.

[0006] The optical distance measurement method of the present invention simplifies distance measurement using optical fiber, improving measurement accuracy and constructing a three-dimensional space that can be grasped by a computer. Explanation of Equipment and Terminology: The television camera and laser distance measurement device are commercially available products. The numerically controlled television camera, numerically controlled laser distance measurement device, numerically controlled distance measurement receiver, and drive mechanism and robot equipped with the receiver drive the numerically controlled drive mechanism using drive values ​​to determine the direction of shooting, the direction of measurement, the direction of receiving distance measurement light, and the robot's working position. High-speed distance measurement is performed at a measurement speed of approximately 100 to 1,000 times per second. Multi-optical fiber is a bundle of several optical fibers arranged to emit, input, or receive light at each tip. Identification is performed using a television screen captured by the television camera, and images identified as needed using methods such as image recognition, including images detected from the television screen.

[0007] Distance measurement and tracking robot Walking robot Controlling a robot with numerical values ​​in 3D space Surveying Digital map creation Internet digital map Digitization of existing maps Digitization of existing satellite images

[0008] Building digital map infrastructure.

[0009] Distance measurement light emitted by a distance measurement light emitter 4 incorporated in distance measurement instrument 2 passes through an optical fiber 5 arranged in the drive mechanism of robot 19 where it is incident, and is emitted into space at a light emission position 6 at a working position 8 of robot 19 at the end. The distance measurement light emitted into space flies the nearest measurement distance 7 in space and is received by a distance measurement light receiver 3A incorporated in distance measurement instrument 2. The reflected light of a reflected wave generated at the light emission position at the end where it passes through an optical fiber 5 arranged in the drive mechanism of robot 19 where it is incident travels back through fiber 5 and is received by a distance measurement light receiver 3B provided at the tip of the incident optical fiber 5, and the emission time at light emission position 6 is calculated from the round trip time through fiber 5. 1 is an explanatory diagram for calculating the measurement distance 7 traveled in the space using the light reception time of the distance measuring light receiver 3A from the light emission time calculated at the light emission position 6. The measurement distance light 7 emitted by the distance measuring light emitter 4A incorporated in the working position 8 of the robot 19 and traveling in the space is received by the distance measuring light receiver 3A incorporated in the distance measuring device 2. The emitted measurement distance light passes through an optical fiber 5 arranged in the drive mechanism of the robot 19 and is received by the distance measuring light receiver 3B at the position of the distance measuring light receiver 3A incorporated in the distance measuring device 2 at the tip thereof. The measurement distance light emitted by the distance measurement light emitter 4B incorporated in the distance measuring device 2 passes through an optical fiber 5 arranged in the drive mechanism of the robot 19 and is reflected by a reflected wave generated at the tip of the distance measurement light emitter 4A at the working position 8. The reflected light travels back through the fiber 5 and is received by the distance measurement light receiver 3B provided on the distance measurement light emitter 4B at the tip of the incident optical fiber 5, and the time it took to pass through the fiber 5 is calculated from the time it took 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 light receiver 3B incorporated in the distance measuring device 2 travels back through the fiber 5 and is received by the distance measuring light 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 round trip time it took to travel through the fiber 5. The time at which the distance measuring light emitter 4A emitted light is calculated backward from the time at which the light was received by the distance measuring light receiver 3A and the calculated time at which the light passed through the fiber 5. An explanatory diagram for calculating the measurement distance light 7 from the work position 8 to the distance measuring device 2 using the back-calculated time at which the light was emitted by the distance measuring light emitter 4A and the time at which the light was received by the distance measuring light receiver 3A. The distance measurement light emitted from the distance measurement light emitter 4 of the distance measurement device 2 passes through an optical fiber 5 arranged in the drive mechanism of the robot 19 and is emitted at a light emission position 6 at a working position 8 of the robot 19. The light travels the nearest measurement distances 7A, 7B, 7C in space and is received by distance measurement receivers 3A, 3B, 3C at different positions incorporated in 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 a distance measurement receiver 3D incorporated in 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 took for the light to be emitted at the light emission position 6 at the working position 8. 1 is an explanatory diagram showing how the robot 19 is driven to operate in a manner that associates a drive value for the work position 8 of the robot with a position consisting of the measurement distances 7A, 7B, and 7C measured by the distance measurement receivers 3A, 3B, and 3C at different positions of the distance measurement 2, using the time of light emission at the light emission position 6 of the work position 8 and the times of light reception by the distance measurement receivers 3A, 3B, and 3C of the distance measurement 2. The robot 19 is driven in a manner that associates a drive value for the work position 8 of the robot 19 with a position consisting of the measurement distances 7A, 7B, and 7C measured by the distance measurement device 2, and the operation of the robot 19 is instructed using an external signal from an operation console 47 that instructs the distance and direction, and audio indicating the distance and direction from an audio indicator. The distance measurement light emitted by the distance measurement light emitter 4A incorporated in the work position 8 of the robot 19 and traveling through space is received by the distance measurement receivers 3A, 3B, and 3C incorporated in the distance measurement device 2.The emitted measurement distance light passes through optical fiber 5 arranged in the drive mechanism of robot 19 and is received by distance measuring light receiver 3D incorporated in distance measuring device 2 at the tip. The time it takes for distance measuring light emitter 4A to emit light and pass through optical fiber 5 is used to calculate the emission time of distance measuring light emitter 4A. An explanatory diagram for calculating a position consisting of measurement distances 7A, 7B, and 7C traveled through space using the calculated emission time and the reception time of light after traveling through space. The distance measurement light emitted by distance measuring light emitter 4 of distance measuring unit 35C incorporated in distance measuring device 2 passes through optical fiber 5 arranged in the drive mechanism of robot 19 where it is incident, and is emitted into space at light emission position 6 at the end of optical fiber 5 at working position 8 of robot 19. At the same time, the distance measurement light that has been incident and passed through the optical fiber 5 is received by distance measurement light receivers 3D and 3E of distance measurement units 35A and 35B that are separate from each other and incorporated in the distance measurement instrument 2, and the emission times of the distance measurement light emitters 4 of the distance measurement units 35A, 35B and 35C are shared. The distance measurement light that has been emitted and is traveling through space is received by distance measurement light receivers 3A, 3B and 3C that share the emission times of the distance measurement units 35A, 35B and 35C that are incorporated in the distance measurement instrument 2. 1 is an explanatory diagram illustrating how a position consisting of measured distances 7A, 7B, 7C from light emission position 6 of a work position 8 of a robot 19 to distance measuring receivers 3A, 3B, 3C of distance measuring units 35A, 35C of a distance measuring device 2 is associated with the position of an image 58 of the work position displayed on a television screen captured by a television camera incorporated in the distance measuring device 2, using the time obtained by subtracting the time the light travels through the optical fiber 5 from the time the distance measuring light is emitted by the distance measuring light emitter 4 and the time the light is received by distance measuring receivers 3A, 3B, 3C. The measurement distance light 1, which passes through optical fiber 5 into which the distance measuring light emitted by the distance measuring light emitter 4 incorporated in the distance measuring device 2 is incident, is emitted at light emission position 6 of the pointer 9 at the tip, and travels through a three-dimensional space 52, and is received by a numerically controlled distance measuring receiver 37 of a drive mechanism incorporated in the distance measuring device 2, which is associated with the position of an image 30 of the emission position of the distance measuring light displayed on a television screen 26 captured by a television camera 24 incorporated in the distance measuring device 2.An explanatory diagram for calculating and measuring the distance from a distance measuring device 2 to a light emission position 6 of an arbitrary pointing device 9 in three-dimensional space 52 using measurement distance light 1 measured by a numerically controlled distance measuring receiver 37. The distance measuring light or photography light emitted by a distance measuring light emitter 4 incorporated in the distance measuring device 2 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 pointing device 9 at the tip and travels through three-dimensional space. The drive mechanism incorporated in the distance measuring device 2 drives a numerically controlled television camera 59, which drives the drive mechanism, so that an image 30 of the emission position or photography light appears in the center of the television screen 40. A distance measuring receiver 3 is attached to the drive mechanism so as to receive the distance measuring light 1 from the direction of the center position of the numerically controlled television camera 59. The distance measuring light 1 from the light emission position 6 of the pointing device 9 is received using the distance measuring receiver 3, the receiving range of which is narrowed. An explanatory diagram for calculating and measuring the distance from a distance measuring device 2 to a light emission position 6 of an arbitrary pointing device 9 in three-dimensional space 52 using a distance measurement 1 measured by a distance measuring receiver 3. The distance measuring light emitted by a distance measuring light emitter 4 incorporated in the distance measuring device 2 passes through an incident optical fiber 5, is emitted at a light emission position 6 of the pointing device 9 at the tip, flies the closest measurement distance 7 in three-dimensional space, and photographs an image 30B of the emission position of the distance measuring light at the center 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 incorporated in the distance measuring device 2, and measures the distance measuring light in the direction of the center of the television screen 40. The distance measurement light emitted from the distance measurement light emitter 4 of the distance measuring instrument 2 passes through the optical fiber 5 into which the distance measurement light is incident, and the distance measurement light emitted from the light emission position 6 of the pointer 9 at the tip flies through the three-dimensional space 52 for the nearest measurement distances 7A, 7B, 7C, and is received by the distance measurement light receivers 3A, 3B, 3C at different positions incorporated in the distance measuring instrument 2. The distance measurement light emitted by the distance measurement light emitter 4 is received by the distance measurement light 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.1 is an explanatory diagram illustrating the calculation and measurement of the position of an arbitrary distance in a three-dimensional space 52, which is made up of measurement distances 7A, 7B, and 7C measured by distance measuring receivers 3A, 3B, and 3C at different positions, from a distance measuring device 2. The distance measuring light emitted by a distance measuring light emitter 4 incorporated in the distance measuring device 2 passes through an incident optical fiber 5 and is emitted at a light emission position 6 of a pointer 9 at the tip, and the distance measuring light traveling the most recent measurement distances 7A, 7B, and 7C in the three-dimensional space 52 is associated with the position of an image 30 of the emission position of the distance measuring light displayed on a television screen 26 captured by a television camera 24 incorporated in the distance measuring device 2. The distance measuring light is received by distance measuring receivers 37A, 37B, and 37C by driving a drive mechanism having a drive value at a different position incorporated in the distance measuring device 2. This is an explanatory diagram showing how the position of the distance consisting of measurement distances 7A, 7B, and 7C measured by numerically controlled distance measuring receivers 37A, 37B, and 37C at different positions is calculated and measured to determine the position of the distance from the measuring device 2 to an arbitrary light emission position 6 in three-dimensional space 52. In the robot's workspace 45, a pointing device 9A is used to measure a position of even the measurement distances 7A, 7B, and 7C from the distance measuring device 2 at a work position 8A where the robot 19 is driven. Next, a pointing device 9B is used to measure a position of even the measurement distances 7D, 7E, and 7F from the distance measuring device 2 at a work position 8B where the robot 19 is driven. Next, a pointing device 9C is used to measure a position of even the measurement distances 7G, ​​7H, and 7I from the distance measuring device 2 at a work position 8C where the robot 19 is driven. The position of the distance consisting of measurement distances 7A, 7B, and 7C, the position of the distance consisting of measurement distances 7D, 7E, and 7F, and the position of the distance consisting of measurement distances 7G, ​​7H, and 7I are successively measured. An explanatory diagram for acquiring the positional relationship of the distance from working position 8A to working position 8C via working position 8B in the working space 45 of the robot 19. In the working space 45 of the robot 19, working position 8A of the robot 19 is processed into a position of the distance consisting of the measured distances 7A, 7B, and 7C from the distance measuring device 2 measured in Figure 4, and then the robot 19 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 Figure 4. The robot 19 then 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 Figure 4.An explanatory diagram showing that distance measurement light 1A, 1B, 1C from work position 8A is received and confirmed by distance measurement receivers 3A, 3B, 3C, measurement is continued during movement from work position 8A to work position 8B, distance measurement light 1D, 1E, 1F from work position 8B is received and confirmed by distance measurement receivers 3A, 3B, 3C, and distance measurement light 1G, 1H, 1I from work position 8C is received and confirmed by distance measurement receivers 3A, 3B, 3C. 10 is an explanatory diagram showing how light emission positions 6A, 6B, 6C, 6D, 6E, 6F connected to optical fibers 5A, 5B, 5C, 5D, 5E, 5F from distance measurement light emitter 4ABCDEF are provided at the positions of walking feet 13A, 13B, 13C, 13D, 13E, 13F of walking legged robot 20, and how distance measurement light 1A, 1B, 1C, 1D, 1E, 1F emitted by distance measurement light emitter 4ABCDEF are received with shifted periods using distance measurement light receivers 3A, 3B, 3C provided at the bottom of distance measurement robot 20, and the positions of walking feet 13A, 13B, 13C, 13D, 13E, 13F are calculated and measured. Using a pointer 9 to specify the position to be measured, a light emission position 6 at the tip of the end of an optical fiber 5 passing through the pointer 9 is attached to a measurement position 11 on a distance measurement object 10, and distance measurement light is emitted 12 into space from the measurement position 11 to measure a measurement distance 7. An explanatory diagram of a display that displays the measurement operation and measured distance using a switch built into the pointer 9. Distance measurement light emitted by a distance measurement light emitter 4 of a distance measuring instrument 2 is passed through an optical fiber 5 into which distance measurement light is injected, and distance measurement light 1D is focused using an optical lens and irradiated from light emission position 6 at the tip of the pointer 9 toward the measurement position 11. The reflected light of the distance measurement light 1D traveling from the measurement position 11 toward the light emission position 6 is received by a distance measurement light receiver 3 provided at the position of the distance measurement light emitter 4. The reflected light of the distance measurement light traveling backward through the optical fiber 5 re-injected from the tip of the optical fiber 5 at light emission position 6 is received by a distance measurement light receiver 3 provided at the position of the distance measurement light emitter 4. The flight distance of the distance measuring light 1D is calculated using the time obtained by subtracting the time it takes to pass through the known optical fiber 5 from the time it is emitted and the time it is received. An explanatory diagram showing how a measurement position 11 is photographed using a television camera 24 attached to the pointing device 9. The distance measuring light emitted from the distance measuring light emitter 4 of the distance measuring instrument 2 passes through the injected optical fiber 5 and is collected using an optical lens from the light emission position 6 at the tip, and is irradiated in the direction of the measurement position 11 as distance measuring light 1A.The reflected distance measurement lights 1B, 1C, and 1D irradiated onto the measurement position 11 are received by distance measurement light receivers 3B, 3C, and 3D of the distance measuring device 2. The distance measurement light emitted by the distance measurement light emitter 4 passes through an optical fiber 5 into which the distance measurement light is injected, is emitted from a light emission position 6 at the tip, passes through an optical fiber 5 into which reflected light of the distance measurement light 1A from the measurement position 11 is re-injected, and is received by a distance measurement light emitter 3A provided at the position of the distance measurement light emitter 4. The reflection time at 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 showing how the distance from the measurement position 11 to the distance measurement light emitters 3B, 3C, and 3D is calculated from the reflection time and the light reception time by the distance measurement light emitters 4B, 4C, and 4D. Distance measurement light emitted by the distance measurement light emitter 4 of the distance measuring instrument 2 passes through the injected optical fiber 5A and is collected using an optical lens from the light emission position 6A of the pointing tool 9A at the tip, and distance measurement light 1A is irradiated in the direction of the measurement position 11A. The distance measurement light receiver 3A receives the light emitted by the distance measurement light emitter 4 of the distance measuring instrument 2 and the reflected light from the measurement position 11A that travels backward through the optical fiber 5 and is re-injected from the tip of the optical fiber 5A. The reflection time at the measurement position 11A is back-calculated using the light emission time of the distance measurement light emitter 4 and the light reception time of the distance measurement light receiver 3A. The three-dimensional distance position from the measurement position 11A to the distance measurement light receivers 3B, 3C, and 3D of the distance measuring instrument 2 is calculated using the back-calculated reflection time at the measurement position 11A and the times when the reflected distance measurement lights 1B, 1C, and 1D are received by the distance measurement receivers 3B, 3C, and 3D of the distance measuring instrument 2. Similarly, distance measurement light emitted from distance measurement light emitter 4 of distance measuring instrument 2 passes through injected optical fiber 5B and is collected using an optical lens from light emission position 6B of 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 light receivers 3B, 3C, 3D of distance measuring instrument 2 is calculated using the time it takes for distance measurement light 1F, 1G, 1H reflected from measurement position 11B to be received by distance measurement light receivers 3B, 3C, 3D of distance measuring instrument 2.1 is an explanatory diagram illustrating the calculation of the positional relationship of the distance between the three-dimensional measurement position 11A and the three-dimensional measurement position 11B using the distance position from the three-dimensional distance measuring device 2 to the three-dimensional measurement position 11A and the distance position from the three-dimensional distance measuring device 2 to the three-dimensional measurement position 11B. FIG. 1 is an explanatory diagram illustrating the calibration of the length of the optical fiber 5 by attaching the light emission position 6 of the pointing device 9 of the optical fiber 5 to the distance measuring receiver 3A and measuring the time it takes for the distance measurement light to pass through. The distance measurement light A emitted from the distance measurement light emitter 4A of the distance measuring device 2 passes through the incident optical fiber 5A, and the distance measurement light 1A, 1B, 1C emitted from the light emission position 6A of the measurement position 11A of the engine 21 is directly received by the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 to measure the distance position. With a time lag, distance measurement light B emitted from distance measurement light emitter 4B of distance measuring instrument 2 passes through incident optical fiber 5B and is emitted from light emission position 6B arranged at drive position 8 of drive mechanism of robot 19. Distance measurement light beams 1D, 1E, 1F are directly received by distance measuring light receivers 3A, 3B, 3C of distance measuring instrument 2 to measure the distance position. An explanatory diagram showing how drive position 8 of the drive mechanism of robot 19 is driven to measurement position 11A of engine 21 while measuring the distance positions of distance measurement light beams 1D, 1E, 1F from distance measuring instrument 2 so as to align drive position 8 of drive mechanism of robot 19 with the distance position of measurement position 11A measured on engine 21. Distance measurement light 1A, 1B, 1D emitted from light emission position 6 arranged at drive position 8 of the drive mechanism of robot 19 passes through optical fiber 5A into which distance measurement light 1 emitted from distance measurement light emitter 4A of distance measuring instrument 2 is incident, and the distance measurement light is directly received by distance measurement light receivers 3A, 3B, 3C of distance measuring instrument 2 to measure the distance position. 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, passes through optical fiber 5B into which distance measurement light 2 emitted from distance measurement light emitter 4B of distance measuring instrument 2 is incident, and the distance measurement light 1D, 1E, 1F of reflected light irradiated to irradiation position 42 of engine 21 is received by distance measurement light receivers 3A, 3B, 3C to measure the distance position. FIG. 10 is an explanatory diagram illustrating driving a position at a distance of a drive position 8 consisting of distance measurement light beams 1A, 1B, and 1D to a position at a distance of an irradiation position 42 consisting of distance measurement light beams 1D, 1E, and 1F.Distance measurement light 1 emitted from distance measurement light emitter 4A provided at the drive position of the drive mechanism of robot 19 is received by distance measurement light receiver 3D of distance measuring instrument 2 through incident optical fiber 5A. Distance measurement light 1A, 1B, 1D emitted from distance measurement light emitter 4A is directly received by distance measurement receivers 3A, 3B, 3C of distance measuring instrument 2 to measure the distance position. After a time lag, distance measurement light 2 emitted from distance measurement light emitter 4B provided at the drive position of the drive mechanism of robot 19 is received by distance measurement light receiver 3E of distance measuring instrument 2 through incident optical fiber 5B. Distance measurement light 1G emitted by distance measurement light emitter 4B is collected using an optical lens, and distance measurement light 1D, 1E, 1F of the reflected light is irradiated onto irradiation position 42 of engine 21 and received by distance measurement light receivers 3A, 3B, 3C to measure the distance position. 1 is an explanatory diagram illustrating driving the drive position 8 to a distance position of an irradiation position 42 consisting of distance measurement light 1D, 1E, and 1F. Distance measurement light A emitted from a distance measurement light emitter 4A of a distance measuring instrument 2 passes through an incident optical fiber 5A, and distance measurement light 1A, 1B, and 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 light receivers 3A, 3B, and 3C of the distance measuring instrument 2 to measure the distance position of the work position 8 consisting of distance measurement light 1A, 1B, and 1C. After a time lag, distance measurement light B emitted from a distance measurement light emitter 4B of the distance measuring instrument 2 passes through an incident optical fiber 5B, and distance measurement light 1G is collected using an optical lens from the tip of an indicator 9 attached to the work position 8 of the robot 19 and irradiated near a processing position 41 of an engine 21. 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 in the center of the television screen 26A, and so that 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 in the position of the image 44B of the irradiation position on the television screen 26B. The distance measuring light receivers 3A, 3B, 3C of the distance measuring instrument 2 receive the distance measuring light beams 1D, 1E, 1F, which are reflected light beams irradiated onto the processing position 41 by the distance measuring light 1G, and measure the position of the distance consisting of the distance measuring light beams 1D, 1E, 1F.19 is used to calculate the distance from the indicator 9 to the processing position 41, and to drive the drive mechanism of the robot 19 so as to subtract the calculated distance. The distance measurement light emitted from the distance measurement light emitter 4 of the distance measuring device 2 incorporated in the distance measurement unit 35 and emitted from the work position 8 of the robot 19 at the tip of the optical fiber 5 is received by the distance measurement light receivers 3A, 3B, and 3C of the distance measuring device 2, and the distance position consisting of the distance measurement light 7A, 7B, and 7C from the distance measurement light receivers 3A, 3B, and 3C of the distance measuring device 2 to the light emission position 6 of the work position 8 of the robot 19 is calculated. The television camera 24 incorporated in the distance measurement unit 35 is used to capture an image of the drive range of the work position 8 of the robot 19 within the television camera's shooting range 32. The unique image 30 of the emission position of the distance measurement light, which appears in the work position image 58 on the television screen 26, is identified. 1 is an explanatory diagram illustrating the two-dimensional position of the identified work position image 58 on the television screen 26, and the measured distance position is assigned to the two-dimensional position of the identified work position image 58, which is then expanded into three-dimensional space grasped by a computer. The drive numerical value of the laser distance measuring device 55, which is driven by a numerically controlled drive mechanism and incorporated in the distance measuring unit 35 and is associated with the position of the workpiece image 57 identified by the image recognition method on the television screen 26 captured by the television camera 24, is used to irradiate the workpiece 54 shown in the image with a distance measurement laser beam, thereby measuring the distance and direction from the laser distance measuring device 55 of the distance measuring unit 35 to the workpiece 54. The distance measurement light 1 emitted from the distance measurement light emitter 4 of the distance measuring device 2 incorporated in the distance measuring unit 35 is incident on an optical fiber 5, which is then emitted into space at a light emission position 6 at the end of the optical fiber 5, which is positioned at the work position 8 driven by the robot 19. The emitted distance measurement light flying through space is received by distance measurement receivers 3A, 3B, and 3C of distance measurement device 2, and the distance position consisting of measurement distances 7A, 7B, and 7C from distance measurement device 2 of distance measurement unit 35 to work position 8 driven by robot 19 is measured. Work position 8 is driven to the position of workpiece 54 using the drive numerical value of robot 19 associated with the distance and direction to workpiece 54 that corresponds to the measured distance position from distance measurement device 2 of distance measurement unit 35 to work position 8.1 is an explanatory diagram illustrating a machining operation performed on a workpiece 54 at a 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, and 7C matches the distance and direction measured by the laser distance measuring device 55. The drive numerical value of the numerically controlled television camera 59, which is driven by the numerically controlled drive mechanism incorporated in the distance measuring unit 35 and is associated with the position of the image 57A of the workpiece identified by an image recognition method on the television screen 26 captured by the television camera 24 incorporated in the distance measuring unit 35, is used to capture an image 57B of the workpiece that appears in the center of the numerically controlled television camera screen 40. 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 that appears on the numerically controlled television camera screen 40 so as to irradiate the distance measurement laser light 56 ​​at the center position. Distance measurement light emitted from distance measurement light emitter 4 of distance measurement device 2 incorporated in distance measurement unit 35 is incident on optical fiber 5, which is then emitted into space at light emission position 6 at the end of optical fiber 5 arranged at work position 8 driven by robot 19. The emitted distance measurement light traveling through space is received by distance measurement receivers 3A, 3B, 3C of distance measurement device 2, and a 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 showing how a drive value associated with the position of the distance consisting of measured distances 7A, 7B, 7C, which corresponds to the distance and direction measured by laser distance measurement device 60, is used to drive the drive mechanism of robot 19 to drive workpiece 54 to work position 8 for processing. Using the drive numerical value of the laser distance measuring device 55, which is built into the distance measuring unit 35 and driven by a numerically controlled drive mechanism, and which is associated with the position of the image 57A of the workpiece identified by an image recognition method on the television screen 26 captured by the television camera 24, a laser light 56 ​​for distance measurement is irradiated onto 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 is measured.At the same time, the drive numerical value of the numerically controlled television camera 59, which is associated with the position of the workpiece image 57A and drives the shooting direction of the numerically controlled drive mechanism incorporated in the distance measurement unit 35, is used to capture the workpiece image 57B, which appears at the center position on the numerically controlled television camera screen 40A. The measured distance and direction are used to drive the zoom mechanism for the angle of view of the numerically controlled drive mechanism, and an enlarged workpiece image 57C is captured on the numerically controlled television camera screen 40B. The workpiece image 57C appearing on the television camera screen 40B is again identified using the image recognition method. At the same time, the irradiation position image 44A appearing on the television camera screen 40B is identified. The drive position of the drive mechanism of the laser distance measurement device 55 is corrected so that the identified irradiation position image 44A appears at the position of the workpiece image 57C. It is then determined that the irradiation position image 44B is irradiated at the position of the workpiece image 57D appearing on the television camera screen 40C. The distance and direction from the laser distance measuring device 55, whose drive position has been corrected, to the image 57D of the workpiece are measured again. An optical fiber 5, onto which 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, is placed at a work position 8 driven by the robot 19, and the light is emitted into space at a light emission position 6 at the end of the optical fiber 5. The emitted distance measuring light traveling through space is received by the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2, and a distance position consisting of 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. This is an explanatory diagram of driving the drive mechanism of the robot 19, which is associated with the distance position consisting of the measured distances 7A, 7B, and 7C corresponding to the distance and direction measured again by the laser distance measuring device 55, to drive the work position 8 to the workpiece 54 and perform processing. An image 57A of the workpiece that appears on the television screen 26 and is photographed by the television camera 24 incorporated in the distance measurement unit 35 is identified by an image recognition method. A drive numerical value associated with the position of the identified workpiece image 57A on the work table 36 is used to drive the drive mechanism of the numerically controlled laser distance measuring device 55, thereby measuring the distance and direction to the workpiece 54A.Using the drive numerical values ​​of the robot 19 associated with the distance position corresponding to the distance and direction, the work position 8 is driven to the position of the workpiece 54A on the work table 36 to acquire the workpiece 54A. Next, using the drive numerical values ​​associated with the position of the processing position image 43A identified by image recognition from the image displayed on the television screen 26, the drive mechanism of the numerically controlled laser distance measuring device 55 is driven to measure the distance and direction from the processing position 41. This is an explanatory diagram showing how the drive numerical values ​​of the robot 19 associated with the distance position corresponding to the distance and direction are used to drive the work position 8 to match the distance and direction measured using the numerically controlled laser distance measuring device 55, thereby processing the workpiece 54B at the processing position 41. The distance measurement light emitted by the distance measurement light emitter 4 of the distance measuring device 2 incorporated in the distance measurement unit 35 is incident on the optical fiber 5, which is positioned at the work position 8 driven by the robot 19, and is emitted into space at the light emission position 6 at the end of the optical fiber 5. The emitted distance measurement light traveling through space is received by distance measurement receivers 3A, 3B, and 3C of distance measurement device 2, and the distance position consisting of measurement distances 7A, 7B, and 7C from distance measurement device 2 of distance measurement unit 35 to work position 8 driven by robot 19 is measured. A drive numerical value associated with the distance and direction corresponding to the measured distance position is used to drive the drive mechanism of numerically controlled television camera 59, and an image 58 of the work position is taken at the center position on numerically controlled television screen 40C, and an image 57C of the workpiece is taken on a nearby television screen 26 using television camera 24 attached to work position 8. Distance measurement light 1 emitted from distance measurement light emitter 4 of distance measurement device 2 incorporated in distance measurement unit 35 is incident on optical fiber 5, and the light is emitted into space at light emission position 6 at the end of optical fiber 5 arranged at work position 8 driven by robot 19 in three-dimensional space. The emitted distance measurement light flying through space is received by distance measurement 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 work position 8 driven by the robot 19 is measured.1 is an explanatory diagram illustrating how a numerically controlled television camera 59 is driven using the drive values ​​of the drive mechanism and the drive values ​​of the zoom drive mechanism, which are associated with the distance and direction corresponding to the position of the measured distance, to track and capture an image 58C of the work position at the center position on a numerically controlled television screen 40C. Distance measurement light emitted from a distance measurement light emitter 4 of a distance measuring device 2 is incident on an optical fiber 5, which is then emitted into space at a light emission position 6 at the end of the optical fiber 5, which is located at a work position 8 driven by a robot 19. The emitted distance measurement light traveling in space is received by distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2, and the distance position is measured as 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. Using the drive numerical value of the numerically controlled television camera 59 associated with the measured distance and direction corresponding to the position of the measured distance, a drive mechanism for changing the shooting direction of the numerically controlled television camera 59 and a drive mechanism for changing the shooting angle of view are driven to shoot an image 58C of the work position so that it appears in the center position on the numerically controlled television screen 40C. An explanatory diagram of shooting the work position 8 driven by the robot 19 using the numerically controlled television camera 59 so that the work position image 58C appears in the center position on the numerically controlled television screen 40C. A work position 8 where a numerically controlled drive mechanism robot 19 is driven in three-dimensional space is measured as a distance position consisting of measurement distances 7A, 7B, 7C measured by directly receiving, using distance measuring light receivers 3A, 3B, 3C of distance measuring device 2, distance measuring light emitted from the tip of pointing tool 9 attached to work position 8 of robot 19, through optical fiber 5 to which distance measuring light emitted from distance measuring light emitter 4 of distance measuring device 2 incorporated in distance measurement unit 35 is incident, via Internet network 77. The drive mechanism of numerically controlled laser distance measuring device 58 is driven using the related drive numerical values ​​in the distance and direction corresponding to the distance position to measure the distance to work position 8 of robot 19, and the drive mechanism of numerically controlled television camera 59 is driven using the related drive numerical values ​​and the measured distance to capture image 58C of the work position at the center of numerically controlled television screen 40C.At a location where the robot 19 and worker 86 collaborate, an image 87A of the worker captured by the television camera 24 and displayed on the television screen 26 is tracked and recognized using an image recognition method. Using a drive value of the numerically controlled laser distance measuring device 55 associated with the position of the identified image 87A of the worker displayed on the television screen 26, a distance measuring laser beam 56A is irradiated onto the worker 86 to track and measure the distance and direction from the worker 86. At the same time, a 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 displayed on the television screen 26 and a drive value for changing the shooting angle are used to capture an enlarged image 87B of the worker on the numerically controlled television screen 40. The distance position of the driving position of the robot 19 at the collaboration location is continuously measured using an optical fiber of the distance measuring device disposed at the driving position of the driving mechanism of the robot 19. The measured distance and direction of the worker 86 and the driving position of the robot 19 are continuously expanded into a three-dimensional space constructed on a computer built into 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 space. An explanatory diagram of monitoring the movement of the worker 78B, enlarged on a numerically controlled television screen 40 captured by a numerically controlled television camera 59, using a learning function such as AI to monitor the approach of the driving mechanism of the robot 19. The distance measuring light emitted by the distance measuring light emitter 4 passes through an optical fiber 5 and is emitted from a light emission position 6 at the tip of the indicator 9A, which is attached to a measurement position 11 on the engine 21. The most recent measured distances 7A, 7B, and 7C traveled to the distance measuring receivers 3A, 3B, and 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 measurement light emitted by the distance measurement light emitters 4A, 4B, 4C, and 4D with a time lag and passing through the incident optical fibers 5A, 5B, 5C, and 5D is emitted with a time lag from light emission positions 6A, 6B, 6C, and 6D provided near the pointing device 9A, and the flying distance to the distance measurement receivers 3A, 3B, and 3C is measured to measure the positional relationship of the distance between the distance measuring device 2 and the light emission positions 6A, 6B, 6C, and 6D provided near the pointing device 9A.The distance between the indicator 9A and the measurement position 11 is measured, and the machining direction of the tool attached to the work position 8 where machining work is performed at the measurement position 11 of the engine 21 is obtained by measuring the distance position of the light emission positions 6A, 6B, 6C, and 6D provided near the indicator 9A. An explanatory diagram for storing the measured distance to the distance measuring receivers 3A, 3B, and 3C using the work tool or a jig for the work tool to be used to determine the machining direction of the tool attached to the work position of the robot. The tip of the distance measuring indicator 9 is attached to the measurement position 11 of the engine 21, and the distance measurement light emitted by the distance measurement light emitters 4A, 4B, 4C, and 4D with a time lag and incident thereon passes through the optical fibers 5A, 5B, 5C, and 5D and is emitted with a time lag from the light emission positions 6A, 6B, 6C, and 6D provided near the indicator 9. The distance measuring light beams that have traveled the closest distance in space from the emitted light emission positions 6A, 6B, 6C, and 6D are received by distance measuring light receivers 3A, 3B, and 3C. The positional relationship of the distance between the distance measuring light receivers 3A, 3B, and 3C of the distance measuring instrument 2 and the light emission positions 6A, 6B, 6C, and 6D provided at the hand of the pointing tool 9 is measured. The direction of the pointing tool 9 to be attached to the measurement position 11 of the engine 21 is calculated using the positional relationship of the distance between the distance measuring light receivers 3A, 3B, and 3C of the distance measuring instrument 2 and the light emission positions 6A, 6B, 6C, and 6D of the pointing tool 9. 1 is an explanatory diagram showing how the distance position from the distance measuring device 2 to a measurement position 11 on an engine 21 is measured via light emission positions 6A, 6B, 6C, and 6D of the pointing device 9, using the calculated direction of the pointing device 9, the known distance to the tip of the pointing device 9, and the distance positions between distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2 and light emission positions 6A, 6B, 6C, and 6D. Distance measurement light 7G emitted and collected from a distance measurement light emitter 4 provided at the tip of the distance measuring pointing device 9 is irradiated onto the 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 pointing device 9, thereby measuring the distance from the tip of the pointing device 9 to the measurement position 11. Distance measurement light emitted by distance measurement light emitters 4A, 4B, 4C, and 4D of the distance measuring instrument 2 with a time lag and incident thereon, passing through optical fibers 5A, 5B, 5C, and 5D, is emitted with a time lag from light emission positions 6A, 6B, 6C, and 6D provided at the hand of the pointing tool 9.Each distance measurement light beam that has traveled the closest distance in space from the emitted light emission positions 6A, 6B, 6C, 6D is received by distance measurement receivers 3A, 3B, 3C, and the positional relationship of the distance between the orientation of the pointing device 9 and the distance measurement 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 pointing device 9 is measured. An explanatory diagram for calculating the distance position from the distance measuring device 2 to the measurement position 11 using the measured distance from the tip of the pointing device 9 and the measured orientation of the pointing device 9 and the positional relationship of the distance between the distance measurement receivers 3A, 3B, 3C, and the light emission positions 6A, 6B, 6C, 6D. Distance measurement light 7G emitted from a distance measurement light emitter 4 provided at the tip of a distance measurement pointing tool 9 and collected using an optical lens is irradiated onto a measurement position 11 on the engine 21, and the light reflected from the measurement position 11 is incident from the tip of the pointing tool 9, passes through optical fiber 5, and is received by distance measurement light receiver 3 of the distance measuring instrument 2. The distance from the tip of the pointing tool 9 to the measurement position 11 is calculated by subtracting the time it took for the light to pass through the known pointing tool 9. The distance measurement light emitted by distance measurement light emitters 4A, 4B, 4C, and 4D of the distance measuring instrument 2 with a time lag and passed through optical fibers 5A, 5B, 5C, and 5D is emitted from light emission positions 6A, 6B, 6C, and 6D provided near the pointing tool 9 with a time lag. Each distance measurement light beam that has traveled the closest distance in space from the emitted light emission positions 6A, 6B, 6C, 6D is received by distance measurement receivers 3A, 3B, 3C, and the positional relationship of the distance between the distance measurement 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 pointing device 9, and the direction of the pointing device 9 are calculated and measured. 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 pointing device 9 to the measurement position 11, the measured direction of the pointing device 9, and the positional relationship of the distance between the distance measurement receivers 3A, 3B, 3C and the light emission positions 6A, 6B, 6C, 6D. An explanatory diagram showing a television camera 24 attached to the pointing device 9 so as to photograph an irradiation position 42 irradiated with distance measurement light emission 7G.The distance measuring light emitted by the distance measuring light emitter 4 incorporated in the distance measuring device 2 passes through the optical fiber 5 and is aligned with the welding tool jig at the light emission position 6 at the tip of the indicating device 9, which is attached to the processing position 41A where the workpieces 54A and 54B are welded and emits the light, measuring the position of the distance consisting of the most recent measured distances 1A, 1B, and 1C that have flown to the distance measuring receivers 3A, 3B, and 3C, and measuring the positional relationship of the distance between the distance measuring device 2 and the processing position 41A. The indicating device 9 is moved so as to trace the circumference from the processing position 41A to the processing position 41B where welding is to be performed, along the part to be welded. At the same time, the distance position consisting of the most recent measured distances 1D, 1E, and 1F that light emitted from light emission position 6A located close to the indicator 9 and flew to distance measuring receivers 3A, 3B, and 3C is measured, and the distance positional relationship between the distance measuring device 2 and light emission position 6A of the indicator 9 is measured. Similarly, light is emitted from light emission positions 6B, 6C, and 6D, and the most recent measured distances that light emitted from light emission positions 6B, 6C, and 6D and flew to distance measuring receivers 3A, 3B, and 3C are measured, and the distance positional relationship between the distance measuring device 2 and light emission positions 6B, 6C, and 6D is measured. The indicator 9 is moved along the welding location as if welding, and the consecutive distance positions are stored. The distance position of the welding location and the distance position in the welding direction are simultaneously measured and stored along the circumference from processing position 41A to processing position 41B. Next, to chamfer the workpiece 54A, the pointing tool 9 is moved in a tracing manner along the corner from processing position 41C to 41D. This is 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 a pointing tool 9 that is fitted to the chamfering tool jig so as to align with the chamfering work direction of the robot 19's work tool. The distance measuring light emitter 4 at the tip of the pointing tool 9 that is fitted to the welding tool jig is attached to the processing position 41A where the workpieces 54A and 54B are welded, and emits light to measure the distance position consisting of the most recent measurement distance light beams 1A, 1B, and 1C that have traveled to the distance measuring light 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 pointing tool 9 is moved in a tracing manner along the circumference from processing position 41A to processing position 41B where welding is to be performed.At the same time, the distance position consisting of the most recent measured distances 1D, 1E, and 1F emitted by the distance measuring light emitter 4A provided near the pointing device 9 with a time lag and flying to the distance measuring receivers 3A, 3B, and 3C is measured, and the distance positional relationship between the distance measuring device 2 and the distance measuring light emitter 4A of the pointing device 9 is measured. Similarly, the distance measuring light emitters 4B, 4C, and 4D emit light with a time lag and measure the most recent measured distances flying to the distance measuring receivers 3A, 3B, and 3C, and the distance positional relationship between the distance measuring device 2 and the distance measuring light emitters 4B, 4C, and 4D is measured. The consecutive distance positions of the positions to which the pointing device 9 is moved along the welding location as if welding are stored. An explanatory diagram showing how the welding distance position and the welding direction distance position of the circumference from processing position 41A to processing position 41B are simultaneously measured and stored. Distance measurement light emitted by a distance measuring light emitter 4E incorporated in the distance measuring device 2 and incident on it through an optical fiber 5 is emitted at a light emission position at the tip arranged at a working position 8 of the robot 19, and the latest measured distances 7G, ​​7H, 7I that have flown to the distance measuring receivers 3A, 3B, 3C are measured. The working position 8 of the robot 19 is driven in association with the distance position between the distance measuring device 2 that measured the distances 7G, ​​7H, 7I and the working position 8. The pointing device 9 matched to the jig of the welding tool shown in Figures 37 and 38 is moved in a tracing manner along the part to be welded, and the welding tool at the working position 8 of the robot 19 associated with the distance position from the distance measuring device 2 from the working position 41A to the working position 41B is driven to perform welding using the position of the stored distance. At the same time, the welding tool is driven so as to align the welding direction of the welding tool at the associated work position 8 with the stored 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 at hand of the pointing tool 9. The chamfering tool at the work position 8 of the associated robot 19 is continuously driven to perform chamfering at the continuous distance positions from the distance measuring device 2 from the processing position 41C to the processing position 41D, which were measured and stored by continuously moving the pointing tool 9 matched to the jig of the chamfering tool from the processing position 41C to the processing position 41D of the workpiece 54B in a tracing manner along the corner.At the same time, the chamfering tool at the associated work position 8 is driven to align its machining direction with the stored distance position measured using light emission positions 6A, 6B, 6C, and 6D provided at the hand of the pointing tool 9A from the distance measuring device 2 to the light emission positions 6A, 6B, 6C, and 6D. An explanatory diagram showing how the robot 19 is made to work from machining position 41C to machining position 41D using the chamfering tool at work position 8 of the robot 19 from the direction measured and stored in advance. A television camera 24 is attached to the welding tool at work position 8 of the robot 19, and the pointing tool 9 is used to move it in a tracing manner along the location to be welded, and the measured and stored distance position is used to drive the work position 8 in accordance with the memory, and light for photography is emitted from light emission position 6 to the location to be welded, and photography is performed using the television camera 24. Using the image 57 of the welding position and the image 44 of the irradiation position captured on the television camera screen 26A of the television camera 24, the welding location is driven and confirmed according to the memory. After the confirmation, the work position 8 is driven according to the memory, and the welding operation is performed using the welding tool. After the welding operation, the work position 8 is again driven according to the memory, and an image 43 of the welding position after welding captured on the television camera screen 26B of the television camera 24 attached to the welding tool and an image 44 of the identified position captured on the camera screen 26A before welding are inspected. The welding operation is associated with the position of the image 75A of the measurement position on the television screen 26A of the television camera 24A. The distance measurement laser light is then emitted to the measurement position 74, and the distance and direction from the distance measurement unit 35 to the measurement position 74 are measured. Using the measured distance and direction, the drive mechanism of the numerically controlled television camera 59 associated with the position of the image 75A of the measurement position is driven to capture an enlarged image 75B of the measurement position on the television screen 40A. The captured image 75B of the measurement position is identified. The drive mechanism of the distance measurement robot 19A 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 measurement jig of the distance measurement robot 19A to the measurement position 74.A television camera 24B attached to the distance measurement robot 19A is used to take an image 75C of the approaching measurement position on a television screen 26B, and the welding position is confirmed. The distance measurement light emitter 4D of the distance measurement device 2 emits light, which passes through an optical fiber 5D and enters the tip of the indicator 9A of the distance measurement jig, which is attached to the measurement position 74 and emits reflected light. The reflected light is received by the distance measurement light receivers 3A, 3B, and 3C of the distance measurement device 2, and the distance from the distance measurement device 2 to the measurement position 74 is measured. The tip of a distance measuring jig indicator 9A is attached to a measurement position 74, and the light emitted from the distance measuring light emitters 4A, 4B, and 4C of the distance measuring instrument 2 passes through optical fibers 5A, 5B, and 5C and is reflected from the jig indicator 9A. The reflected light is received by distance measuring receivers 3A, 3B, and 3C of the distance measuring instrument 2, and the distance position from the distance measuring instrument 2 to the jig indicator 9A is measured. An explanatory diagram for storing, via an internet network 77, 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 measurement 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 optical fibers, and the distance position from the distance measuring instrument 2 to the jig indicator 9A measured using optical fibers. Via an internet network 77, the stored and associated image of television screen 26A shown in FIG. 40, the identified image of television screen 40A, the confirmed television screen 26B, the distance and direction from distance measuring unit 35 of numerically controlled laser distance measuring device 55 to measurement position 74, the position of the distance from distance measuring device 2 measured using optical fiber to measurement position 74, and the position of the distance from distance measuring device 2 measured using optical fiber in the direction of the hand of jig indicating device 9A are confirmed. Using the drive numerical value associated with the position of the previous distance from distance measuring device 2 to measurement position 74, a welding machine 78 of a drive mechanism of welding robot 19B is driven to welding position 80. An image 81C of the welding position on television screen 26C, which is an image of welding position 80 taken using television camera 24C attached to welding machine 78, is compared with the stored image.By the comparison and reference, the welding robot 19B is driven using the drive value associated with the stored distance position to perform welding processing at the welding position 80. After the welding processing, the welding robot 19B is driven again using the stored distance position, and a television camera 24C attached to the welding machine 78 is used to inspect a television screen 26C photographing the welding position 80. An explanatory diagram showing how a pointer 9A is attached to an approximate known position 15 on the ground surface 22 to obtain the positional relationship of the distance between the approximate known position 15 and a distance measuring device 2, and how a pointer 9B is attached to an unknown position 16 to obtain the positional relationship of the distance between the unknown position 16 and a distance measuring device 2, thereby calculating the positional relationship of the distance from the approximate known position 15 to the unknown position 16. An indicator 9A is attached to a known position 15A on the ground surface 22 to maintain the positional relationship of the distance between the known position 15A and the distance measuring device 2, and an 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. This is an explanatory diagram showing how the shape of the unknown position 16C is measured from the known position 15A. The distance measuring light emitted from the distance measuring light emitter 4 of the distance measuring device 2A is received by the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2A and emitted from the light emission position 6 at the tip of the optical fiber 5A connected to the drone 14 flying in the sky. The distance position of the flying drone 14 is measured using the measurement distance light 1A, 1B, and 1C measured by the distance measuring light emitter 3M of the distance measuring device 2B. At the same time, the distance measuring light emitted from the distance measuring light emitter 4 is received by the optical fiber 5B and received by the distance measuring receiver 3M of the distance measuring device 2B, and the time of emission of the distance measuring light emitter 4 is shared. The distance position is measured using distance measurement receivers 3D, 3E, and 3F of distance measurement device 2B, and is composed of measurement distance light 1D, 1E, and 1F received and measured. An explanatory diagram showing how measured distance 7 from distance measurement device 2A to distance measurement device 2B is calculated based on the distance position composed of measurement distance light 1A, 1B, and 1C from distance measurement device 2A to the flying drone 14 and the distance position composed of measurement distance light 1D, 1E, and 1F from distance measurement device 2B to the flying drone 14.The distance measurement light emitted from the distance measurement light emitter 4 of the distance measuring instrument 2A passes through the incident optical fiber 5A and is stably emitted from the light emission position 6 at the tip of the optical fiber 5A connected to the drone 14 that is connected to the winder 88 and flying and staying in the sky, and the distance position consisting of the measurement distance lights 1A, 1B, and 1C is received and measured using the distance measurement light receivers 3A, 3B, and 3C of the distance measuring instrument 2A. At the same time, the distance measurement light emitted from the distance measurement light emitter 4 passes through the incident optical fiber 5B and is received using the distance measurement light receiver 3M of the distance measuring instrument 2B, and the emission time of the distance measurement light emitter 4 is shared. The distance position consisting of the measurement distance lights 1D, 1E, and 4F that are received and measured using the distance measurement light receivers 3D, 3E, and 3F of the distance measuring instrument 2B is measured. 1 is an explanatory diagram for calculating a measured distance 7 from a distance measuring device 2A to a distance measuring device 2B based on the position of the distance consisting of measurement distance lights 1A, 1B, and 1C from the distance measuring device 2A to a drone 14 that is connected to a winder 88 and flying and staying in the sky, and the position of the distance consisting of measurement distance lights 1D and 1E from the distance measuring device 2B to the flying drone 14. The distance measuring light emitted from the distance measuring light emitter 4 of the distance measuring device 2A passes through the incident optical fiber 5A, and the distance measuring light emitted from the light emission position 6A at the tip of the optical fiber 5A connected to the drone 14 flying in the sky is received by the distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2A, and the position of the distance consisting of measurement distance lights 1A, 1B, and 1C is measured. At the same time, the measurement distance light emitted by the distance measurement light emitter 4 passes through the incident optical fiber 5B and is emitted into the sky from the light emission position 6B of the pointing device 9, and is received by distance measurement receivers 3D, 3E, and 3F that share the emission time of the drone 14 flying in the sky, and the position of the distance consisting of the measured measurement distance lights 1D, 1E, and 1F is measured. An explanatory diagram showing the calculation of the measured distance 7 from the distance measuring device 2A to the pointing device 9 via the position of the distance consisting of the measurement distance lights 1A, 1B, and 1C from the distance measuring device 2A to the flying drone 14 and the position of the distance consisting of the measurement distance lights 1D, 1E, and 1F from the flying drone 14 to the pointing device 9.The distance measurement light A emitted from a distance measurement light emitter 4A at a known position 15 on the ground passes through an incident optical fiber 5A and is 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 measurement receivers 3A, 3B, 3C attached to a drive mechanism 84 that are associated with receiving the distance measurement 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 drone 14 passes through optical fiber 5B into which distance measurement light B emitted from distance measurement light emitter 4B at unknown position 16 is incident, and distance measurement light B emitted from light emission position 6B at the tip of optical fiber 5B connected to drone 14 flying overhead is received by distance measurement receivers 3D, 3E, and 3F attached to numerically controlled television camera 59, which captures image 85B of the drone flying overhead at the center of television screen 40B of numerically controlled television camera 59, and the distance position consisting of measured measurement distance lights 1D, 1E, and 1F is measured. An explanatory diagram for calculating measured distance 7 from approximate position 15 to unknown position 16 using the distance position consisting of measurement distance lights 1A, 1B, and 1C from approximate position 15 to flying drone 14 and the distance position consisting of measurement distance lights 1D, 1E, and 1F from unknown position 16 to flying drone 14. 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 an approximate position 15 of an intersection to be measured is photographed using a television camera incorporated in a smartphone 34 attached to the pan head 33. After obtaining the positional relationship of the distance between the approximate position 15 and the distance measuring device 2, an indicator 9 is attached to the position of a right corner 17 of the road intersection, and the positional relationship of the distance between the right corner 17 of the road intersection and the distance measuring device 2 is obtained. The right corner 17 of the intersection is related to the approximate position 15.Alternatively, the GPS positioning value of the right corner 17 of the intersection is calculated using the positioning value measured using the GPS positioning function built into a smartphone 34 attached to a pan head 33 and the measured distance position, and then photographed using a television camera built into the smartphone 34. 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 at the right corner 17 and the left corner 18 of the intersection are calculated. This is an explanatory diagram of photographing the approximate position 15, right corner 17, and left corner 18 of the intersection from which the distance is to be measured using a smartphone attached to a pan head 33. 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 between the absolute orientation value of the approximate position 15 and the distance of the distance measuring device 2 is obtained. An explanatory diagram showing light for distance measurement projecting an image 27 of the approximate position and an image 28 of the indicator on a television screen captured by a television camera 24 attached to the pan head 33. Using a distance measuring device 2 attached to the pan head 33, the positional relationship between the absolute orientation value of the approximate position 15 and the distance of the distance measuring device 2 is obtained. An indicator 9 is attached to the positions of a crosswalk 25 at an intersection on the travel path 23, a curb 65 at a corner near the intersection, a street corner 62 near the intersection, and a street tree 63 near the intersection, and the positional relationship of the distances from the crosswalk 25, curb 65, street corner 62, and 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 roadside tree 63 are calculated and obtained. An image recognition method is used to identify an image 27 of the absolute direction value, an image 29 of the crosswalk, an image 67 of the curb 67, an image 66 of the street corner, and an image 68 of the roadside tree, which appear on a television screen captured by a television camera 24 attached to a panoramic head 33. An explanatory diagram showing how the identified images are assigned numerical values ​​of the absolute direction value associated with them and pasted onto an existing map and existing satellite image on a computer for storage. Using a distance measuring device 2 incorporated in a tracking system 31, a pointer 9 is attached to the approximate position 15 near an intersection on the road 23, and the positional relationship of the distance between the approximate position 15 and the distance measuring device 2 is obtained.Pointing device 9 is attached to approximate position 15, and the emitted light is photographed using television camera 24 at approximate position 15 where pointing device 9 is attached, to obtain image 44 of the irradiation position. Using the drive numerical value associated with the position of image 44A of the irradiation position of image 27 of approximate position shown on television screen 26, numerically controlled television camera 59 is driven to photograph image 44A of the irradiation position of image 27 of approximate position at the center of numerically controlled television screen 40A. Similarly, measurements are performed, and images 44B, 44C, 44D, and 44E of the irradiation position are photographed at the centers of numerically controlled television screens 40B, 40C, 40D, and 40E of street corner image 62, road sign image 63, roadside tree image 64, and curb image 65. The images of the approximate location image 27, street corner image 62, road sign image 63, roadside tree image 64, and curbstone image 65, which are enlarged and displayed on numerically controlled television screens 40A, 40B, 40C, 40D, and 40E, are identified, and the measured absolute direction values ​​are attached to the images, pasted and stored in the positions on the television screen 26. This is an explanatory diagram showing how the pasted and stored television screen 26 is used to convert an existing map into a digital map showing absolute direction. Using a distance measuring device 2 incorporated in a tracking system 31, a pointer 9 is attached to the approximate location 15 near an intersection on the roadway 23, and the positional relationship of the distance between the approximate location 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 is captured at the center of the television screen 40, projected onto the approximate location image 27. The images displayed on the television screen 40 are identified using an image recognition method. The angle of view of the numerically controlled television camera 59 is narrowed to capture the image 27 of the roughly known position identified above at the center of the television screen 40A as an image 44A of the irradiation position on the image 27 of the roughly known position. Similarly, the pointing device 9 is attached, and images 44B, 44C, 44D, and 44E of the irradiation position are captured on 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 curb at the centers of the numerically controlled television screens 40B, 40C, 40D, and 40E.The images 44B, 44C, 44D, and 44E of the identified irradiation positions are enlarged onto numerically controlled television screens 40A, 40B, 40C, 40D, and 40E, and the measured absolute orientation values ​​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 curb, which are displayed on the screen, and are pasted and stored at the screen position displayed on the television screen 40. An explanatory diagram showing how an existing map is made into a digital map with absolute orientation display using the pasted and stored images of the television screens 40A, 40B, 40C, 40D, and 40E. The measurement distance light 1A, 1B, 1C that travels through three-dimensional space after passing through an optical fiber 5 on which the distance measurement light emitted by a distance measurement light emitter 4 incorporated in a pan head 33 is incident and emitted at a light emission position 6 where a pointer 9 at the tip is attached to an approximate position 15 is received by a numerically controlled distance measurement receiver 37A, 37B, 37C at a different position incorporated in the pan head 33, the range of reception of which is narrowed and associated with the position of an image 44 of the emission position of the distance measurement light that appears on a television screen 26 captured by a television camera 24 incorporated in the pan head 33. 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. The distance measurement light 1A, 1B, 1C traveling through three-dimensional space is emitted from an optical fiber 5 into which distance measurement light emitted from a distance measurement light source 4 incorporated in a pan head 33 is incident, and is emitted at a light emission position 6 where a pointer 9 at the tip is attached to an approximate position 15. The measurement distance light 1A, 1B, 1C is photographed using numerically controlled television cameras 59A, 59B, 59C incorporated in the pan head 33. The photographs are taken so that the positions of the images 27A, 27B, 27C of the approximate position displayed on the photographed television screens 40A, 40B, 40C are displayed in the center positions on the television screens 40A, 40B, 40C. Using distance measurement receivers 3A, 3B, and 3C attached to numerically controlled television cameras 59A, 59B, and 59C so as to measure the direction of the centers of television screens 40A, 40B, and 40C, a pointer 9 is attached to a known position 15 shown in the center position on television screens 40A, 40B, and 40C, and the emitted measurement distance light 1A, 1B, and 1C is measured.This diagram illustrates measuring distance light 1A, 1B, and 1C using distance measuring receivers 3A, 3B, and 3C, which narrow the receiving range and measure toward an approximate location 15 photographed by numerically controlled television cameras 59A, 59B, and 59C. Images 44, 44A, 44B, 44C, 44D, and 44E of the projected position are stored via the Internet on television screen 26 and numerically controlled television screens 40, 40A, 40B, 40C, 40D, and 40E. These stored images are then distributed to satellite map images and other sources on the Internet. These images are used to convert an existing map into a digital map with absolute orientation. Images captured by a driver of a vehicle 98 traveling along a roadway 23, captured using a line-of-sight television camera worn by the driver, are stored. The stored gazed image is expanded and displayed to match the image of the roadway 23 on the television screen 26 captured by the television camera 24. While viewing the numerically controlled television screens 40A, 40B, 40C, 40D, and 40E that display the gazed image captured using the drive values ​​of the numerically controlled television camera 59 associated with the position of the expanded gazed image on the television screen 26, the pointing device 9 of the distance measuring device 2 is attached to the subject in the gazed image, and the distance position to the subject in the gazed image is measured from the distance measuring device 2. The distance measuring light 1 emitted by the distance measuring light emitter 4 attached to the measurement position 11 of the measurement object 10 is received by the distance measuring light receiver 3B of the distance measuring device 2. At the same time, the emitted distance measuring light is received by the distance measuring light receiver 3A of the distance measuring device 2 through the optical fiber 5 into which it was incident, and the approximate time it took to pass through the optical fiber 5 is measured to calculate the distance measuring light 1 that has traveled through space. The distance measurement light emitted by the distance measurement light emitter 4 incorporated in the pointing tool 9 is irradiated onto the measurement position 11 of the measurement object 10, and the reflected light is received by the distance measurement receiver 3B of the distance measuring device 2 as the flight distance measurement light 1 that has traveled through space. At the same time, the reflected light irradiated onto the measurement position 11 is received by the distance measurement receiver 3A of the distance measuring device 2 through the incident optical fiber 5, and the distance measurement light 1 that has traveled through space is calculated from the estimated time it has traveled through the measured optical fiber 5.A distance measurement light emitter 4 incorporated in a pointing tool 9 is attached to a measurement position 11 of the object to be measured, and the reflected light of the distance measurement light that is emitted and irradiated travels through space as distance measurement light 1A, 1B, 1C, which is received by distance measurement receivers 3A, 3B, 3C of the distance measuring device 2. At the same time, the light that is irradiated to the measurement position 11 is received by distance measurement receiver 3D of the distance measuring device 2 through optical fiber 5 that receives the light. The emission time of the distance measurement light emitter 4 is calculated backward from the approximate time that the light was received through fiber 5, and the light reception time of the distance measurement light receivers 3A, 3B, 3C is used to calculate the distance from the position of the distance measurement light emitter 4 to the measurement position 11, thereby explaining how the distance from the position of the distance measurement light emitter 4 to the measurement position 11 is calculated. Distance measurement light emitted by a distance measurement light emitter 4 incorporated in a pointing device 9 is irradiated onto a measurement position 11 of a measurement object 10, and the reflected light is received as flight distance measurement light 1A, 1B, 1C that has traveled through space using distance measurement receivers 3A, 3B, 3C of a distance measuring device 2. At the same time, the reflected light irradiated onto the measurement position 11 is received using distance measurement receiver 3D of the distance measuring device 2 through optical fiber 5 that is incident on the light. At the same time, the light is received using distance measurement receiver 3E incorporated in the pointing device 9. An explanatory diagram illustrating how the time that measurement distance light 7A, 7B, 7C has traveled through space is calculated from the estimated time it has traveled through optical fiber 5 and the time it was received using distance measurement receiver 3E, and the distance from the position of the distance measurement light emitter 4 to the measurement position 11 is calculated. An explanatory diagram in which the light emission position 6 of the distance measurement light emitted by the distance measurement light emitter 4 incorporated in the pointing tool 9 is attached to the distance measurement light receivers 3A, 3B, 3C of the distance measuring device 2, and the approximate time it takes to pass through the optical fiber 5 from the light emission position 6 is measured and corrected. An explanatory diagram in which the distance measurement light emitted at different times by the distance measurement light emitters 4A, 4B, 4C of the distance measuring devices 2A, 2B, 2C incorporated in the distance measurement light emitter unit 35 passes through multiple optical fibers 5A, 5B, 5C into which the distance measurement light is incident, and the distance measurement light 1A, 1B, 1C emitted at different times at the same light emission position 6 is received at different times by the distance measurement light receivers 3A, 3B, 3C at the positions of the distance measuring devices 2A, 2B, 2C.Distance measurement light 1A, 1B, 1C emitted with time lag from distance measurement light emitters 4A, 4B, 4C at the tip of the pointing tool 9 and traveling into space are received by distance measurement light emitters 3A, 3B, 3C incorporated in distance measurement light emitter unit 35. The light is emitted with time lag from the positions of distance measurement light emitters 4A, 4B, 4C, passes through optical fibers 5A, 5B, 5C into which it enters, and is received with time lag by distance measurement light receivers 3D, 3E, 3F at the positions of distance measurement light emitters 3A, 3B, 3C. The travel time of distance measurement light 1A, 1A, 1C is calculated by subtracting the estimated times for travel through fibers 5A, 5B, 5C from the time differences between the times at which light is emitted with time lag from the distance measurement light emitters 4A, 4B, 4C and the times at which light is received with time lag from the distance measurement light receivers 3D, 3E, 3F. 1 is an explanatory diagram illustrating how the distance from a distance measurement light emitter unit 35 to a measurement position 11 is accurately measured using the times at which the distance measurement light is emitted with a time lag and the times at which the distance measurement light 1A, 1A, 1C is received with a time lag by distance measurement light emitters 3D, 3E, 3F. The distance measurement light that passes through optical fibers 5A, 5B, 5C to which distance measurement light emitted with a time lag by distance measurement light emitters 4A, 4B, 4C of distance measuring devices 2A, 2B, 2C incorporated in the distance measurement light emitter unit 35 is incident is combined into an optical fiber 5 using an optical mixer 70, and the distance measurement light 1A, 1B, 1C emitted from light emission position 6 at the tip of the pointing tool 9 is received with a time lag by distance measurement light receivers 3A, 3B, 3C of the distance measuring devices 2A, 2B, 2C. Distance measurement light 1A, 1B, 1C, 1D, and 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, and 3E of distance measuring devices 2A, 2B, 2C, 2D, and 2E. An explanatory diagram showing that distance measurement light 1A, 1B, 1C, 1D, and 1E emitted from light-emitting position 4 from multiple directions that share the same emission time are received at the positions of distance measurement light emitters 2A, 2B, 2C, 2D, and 2E. Distance measurement light emitted at different times by distance measuring devices 2A, 2B, 2C, and 2D incorporated in distance measurement light emitter unit 35 and incident through optical fibers 5A, 5B, 5C, and 5D is emitted at different times from light-emitting positions 6A, 6B, 6C, and 6D of different drive mechanisms of the robot.The distance measuring light beams 7A, 7B, 7C, 7D, 7E, 7G, and 7F at the drive positions of different drive mechanisms of the robot are measured by receiving the emitted distance measuring light beams 7A, 7B, 7C, 7D, 7E, 7G, and 7G at different times using distance measuring light receivers 3A, 4B, 4C, and 4D at the positions of distance measuring light emitters 4A, 4B, 4C, and 4D in distance measuring devices 2A, 2B, and 2C with a time lag. The distance measuring light beams emitted at different times by distance measuring light emitters 4A, 4B, 4C, and 4D incorporated in distance measuring light emitter unit 35 and incident thereon are emitted from different measurement positions 11A, 11B, 11C, and 11D where an athlete 72 is moving, which are arranged through optical fibers 5A, 5B, 5C, and 5D, and are received at different times using distance measuring light receivers 3A, 4B, and 4C in distance measuring devices 2A, 2B, 2C, and 2D. An explanatory diagram showing how the positions of the distances 7A, 7B, 7C and 7D, 7E, 7F of an athlete's movements are continuously and rapidly measured from different measurement positions 11A, 11B, 11C, 11D, where light is emitted at different times and flies through the space where it is measured.

[0010] Explanation of Equipment and Terminology: The television camera and laser distance measuring device are commercially available. The numerically controlled television camera, numerically controlled laser distance measuring device, numerically controlled distance measuring receiver, and drive mechanism equipped with the receiver drive the numerically controlled drive mechanism to control the shooting direction, measurement direction, distance measuring light receiving direction, and robot work position. The distance measurement speed is expected to be approximately 30 to 1,000 times per second. The multi-optical fiber bundles several optical fibers, and emits, inputs, or receives light at each tip. Identification is performed using a television screen captured by the television camera, and images identified as needed 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 incident on the optical fiber 5, passes through the drive 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 work position 8. 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 measured distance 7 from the distance measurement device 2 to the work position 8 is calculated using the time obtained by subtracting the time it takes for the light to travel through the optical fiber 5 from the difference between the time the light is emitted by the distance measurement light emitter 4 and the time the light is received by the distance measurement light receiver 3A. Alternatively, the measured distance 7 from the distance measurement device 2 to the work position 8 is calculated using the time from the time the light is emitted to the time the light is received.

[0011] Alternatively, the measured length of the optical fiber 5 is subtracted from the total length calculated using the difference between the time of light emission and the time of light reception to calculate the measured distance 7 from the distance measuring device 2 to the working position 8. The time spent traveling through the optical fiber 5 or the time spent emitting light from the tip of the optical fiber 5 is calculated using the method described below. The tip of the optical fiber 5 is processed so that the received and incident light passes through the optical fiber 5 and some reflected light is generated at the tip of the optical fiber 5. After the processing, some of the reflected light passes in the opposite direction through the optical fiber 5 and is received by the distance measuring light receiver 3B located at the position of the distance measuring light emitter 4, and the time spent going back and forth through the optical fiber 5 is used to back-calculate the time spent traveling through the optical fiber 5 or the time spent emitting light. Alternatively, the distance measuring light that is received and incident on the optical fiber 5 passes 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 again 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 took to pass through the optical fiber 5 or the time it was emitted.

[0012] Alternatively, the distance measurement light, which passes through the fiber 5 into which the light is received and incident, is emitted from the tip of the optical fiber 5, travels through space, and is irradiated onto the subject. The reflected light from the subject travels through the space, passes through the optical fiber 5 into which the light is incident in the opposite direction from the tip of the fiber 5, and is received and measured by the distance measurement light receiver 3B provided at the position of the distance measurement 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 measured separately, and the time taken for the light to travel back and forth through the optical fiber 5 is calculated, and the time taken to travel through the optical fiber 5 or the time taken for the light to be emitted is then calculated. The time taken for the light to be received by the distance measurement light receiver is the same as the time taken for the light to be emitted by the distance measurement light emitter and the time taken to travel through the optical fiber 5. Distance measurement using the optical fiber of the distance measuring device 2 enables high-speed and highly accurate measurements.

[0013] 2, distance measurement light emitted by a distance measurement light emitter 4A incorporated in the work position 8 of the robot 19 and traveling through space is received by a distance measurement light receiver 3A incorporated in the distance measuring device 2. The emitted distance measurement light passes through an optical fiber 5 arranged in the drive mechanism of the robot 19 to which it is incident and is received by a distance measurement light receiver 3B incorporated in the distance measuring device 2 at the tip thereof. In order to measure the time it takes for the distance measurement light to travel through the fiber 5, the distance measurement light emitted by the distance measurement light emitter 4B incorporated in the distance measuring device 2 passes through the optical fiber 5 arranged in the drive mechanism of the robot 19 to which it is incident and is reflected at the tip of the work position 8, or the distance measurement light re-entered from the tip thereof is made to travel backward through the optical fiber 5 and is received by the distance measurement light receiver 3B incorporated in the distance measuring device 2. The light emission time of the distance measuring light emitter 4A is calculated backward from the light emission time of the distance measuring light emitter 4B and the light reception time of the distance measuring light receiver 3B, using the time the light was emitted and entered and passed through the optical fiber 5. The measured distance 7 traveled through the space is calculated using the light emission time thus calculated and the light reception time after flying through the space.

[0014] 3 incorporated in the distance measuring device 2, the light is received and incident on the distance measuring light emitter 4, passes through an optical fiber 5 arranged in a drive mechanism driven by a drive value of the numerical control of the robot 19, is emitted from the robot's work position 8 at the tip into the robot workspace 45, and is scattered in three-dimensional space, travels the nearest measurement distances 7A, 7B, 7C in space, and is received by distance measuring receivers 3A, 3B, 3C which share the emission time at three or more different positions incorporated in the distance measuring device 2. Using the method described above, the distance position consisting 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 is measured. 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 the different positions can measure the distance position in 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 drive value for driving the drive mechanism of the robot 19 is associated with the working position 8, which is the distance position 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.

[0015] At work positions 8 at several different distance positions in three-dimensional space of the robot 19 measured from the positions of the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2, several drive values ​​for driving the drive mechanism of the robot 19 to the several different work positions 8 are used to obtain all of the drive values ​​related to driving the drive mechanism of the robot 19 at all of the work positions 8 at all of the distance positions in three-dimensional space of the robot 19 measured from the positions of the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2 using an interpolation formula. By continuously measuring the distance to the work positions 8 at which the robot 19 is continuously driven from the distance measuring device 2, it is possible to measure the distance position by tracking the work positions 8 at which the robot 19 is driven. Alternatively, the obtained drive values ​​can be used to track the work positions 8 at which the robot 19 is driven, and the work positions 8 at which the robot 19 is driven can be driven to track.

[0016] Unlike a method of calculating the operation of the work 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 mechanisms of the robot 19, the work position 8 of the robot 19 can be driven using all of the drive numerical values ​​of the drive mechanisms acquired in association with all of the work 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. By being able to drive the robot 19 using the numerical values ​​of the distance position in three-dimensional space, the operation of the robot 19 can be controlled using the operation console 47 by specifying the numerical values ​​of the distance position in three-dimensional space.

[0017] The robot 19 can also be operated using the audio indicator 48, which communicates numerical values ​​of distance positions or three-dimensional directions in three-dimensional space. It can also be operated using numerical values ​​of distance positions in three-dimensional space from an external device. The controller 46 compares the three-dimensional distance position of the working position 8 of the robot 19 calculated in response to the instruction received from the operation console 47, audio indicator 48, and external device with the distance position actually measured in three-dimensional space by the distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2. The working position 8 of the robot 19 is always compared with the working position 8 of the robot 19 calculated from the drive values ​​of the driving mechanism of the robot 19 and the working position 8 of the robot 19 actually measured as a distance position in three-dimensional space from the position of the distance measuring device 2.

[0018] 4 is emitted from a distance measuring light emitter 4A incorporated in a work position 8 of a drive mechanism driven by a drive value of the numerical control of the robot 19, and the distance measuring light is emitted from a light emission position 6 into the robot work space 45 and scattered in three-dimensional space, traveling the nearest measurement distances 7A, 7B, 7C in space and being received by distance measuring light receivers 3A, 3B, 3C incorporated in the distance measuring device 2. The light emitted by the distance measuring light emitter 4 incorporated in the work position 8 passes through an optical fiber 5 arranged in 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. A reflected wave emitted by the distance measuring light emitter 4B incorporated in the distance measuring device 2, passes through the optical fiber 5 and is received by the distance measuring light receiver 3D incorporated in the distance measuring device 2, and the time it takes to pass through the optical fiber 5 is calculated.

[0019] Using the calculated time for light to pass through the optical fiber 5, the emission time of the distance measuring light emitter 4 is calculated from the time of light reception by the distance measuring light receiver 3D. Using the calculated emission time of the distance measuring light emitter 4A and the light reception time by the distance measuring light receivers 3A, 3B, 3C, the distance position consisting of measurement distances 7A, 7B, 7C from the distance measuring light 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 at the working position 8 is associated with the distance position of the working position 8 in the three-dimensional robot working space 45 measured from the positions of the distance measuring light receivers 3A, 3B, 3C of the distance measuring device 2.

[0020] At the distance positions of several different work positions 8 in three-dimensional space of the robot 19 measured from the positions of the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2, several drive values ​​for driving the drive mechanism of the robot 19 to the several different work positions 8 are used, and at the distance positions of all work positions 8 in three-dimensional space of the robot 19 measured from the positions of the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2, all drive values ​​related to driving the drive mechanism of the robot 19 at all of the work positions 8 are obtained using an interpolation calculation 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 three-dimensional space is constructed. Using the constructed data table, the drive values ​​of the drive mechanism of the robot 19 associated with the numerical values ​​of the specified distance position in three-dimensional space are used to drive the work position 8 of the robot 19 to the specified distance position. Alternatively, the work position 8 of the robot 19 is grasped by the numerical value of the associated distance position in three-dimensional space.

[0021] 5 is incident on an optical fiber 5 disposed within the drive mechanism of a robot 19 driven by a drive value of a numerically controlled system, and is emitted into three-dimensional space at a light emission position 6 at the end of a working position 8 of the robot 19. At the same time, the incident distance measurement light 1 that has passed through the optical fiber 5 is received by distance measurement receivers 3D and 3E of distance measurement units 35A and 35B, which are separated from each other and incorporated into the distance measurement device 2, and the emission times of the distance measurement light emitters 4 of the distance measurement units 35A, 35B, and 35C are shared. The emitted distance measurement light 1 traveling through three-dimensional space is received by distance measurement receivers 3A, 3B, and 3C, which share the emission times of the distance measurement units 35A, 35B, and 35C, incorporated into the distance measurement device 2. The time obtained by subtracting the time it takes for the light to pass through the optical fiber 5 from the time the light is emitted by the distance measuring light emitter 4 and the time the light is received by the distance measuring receivers 3A, 3B, 3C is used to calculate the distance position consisting of the 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.

[0022] The television camera 24 incorporated in the distance measuring device 2 is used to photograph the working position 8 of the robot 19. The position of the distance consisting of the measured measurement distances 7A, 7B, and 7C in the three-dimensional space and the drive numerical value of the drive mechanism that drove the robot 19 to the working position 8 are correlated to the position of an image 44 of the radiation position of the distance measuring light 1 at the working position 8 of the robot 19 that appears on the television screen 26. The television camera 24 incorporated in 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 position 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 are obtained by calculating using an interpolation formula to all of the positions in the image 44 of the radiation position of the distance measurement light 1 at the working position 8 of the robot 19 displayed on the television screen 26.

[0023] 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. The distance position of the working position 8 of the robot 19 measured by the distance measuring device 2 is used to adjust the working position 8 of the robot 19 to work with a human. The working position 8 of the robot 19 is safely driven to work with a human using the distance position of the working position 8 of the robot 19 in three-dimensional space on the computer. The distance measuring light 1 includes light for shooting with a television camera.

[0024] Example: The distance measurement light 1 emitted from the distance measurement emitter 4 incorporated in the distance measuring device 2 in Figure 6 passes through an optical fiber 5 into which the distance measurement light 1 is incident, is emitted at a light emission position 6 of the pointer 9 at the tip, and travels through a three-dimensional space 52. An image 30 of the emission position of the distance measurement light 1 that appears on a television screen 26 is captured by a television camera 24 incorporated in the distance measuring device 2. A drive mechanism that changes the light receiving direction of a numerically controlled distance measuring receiver 37 with a narrowed light receiving range 88 is driven to receive the distance measurement light 1 emitted at the light emission position 6. The position of the image 30 of the emission position that appears on the television screen 26, which captures the emission position using the television camera 24, is associated with a drive numerical value that drives the drive mechanism that receives the distance measurement light 1 from the emission position.

[0025] Using the several different drive values ​​that drive the drive mechanism that receives distance measurement light 1 from the several different radiation positions at the several different positions in an image 30 of the radiation positions that appears on a television screen 26 that has photographed the several different radiation positions using a television camera 24, all of the associated drive values ​​that drive the drive mechanism that receives distance measurement light 1 from all of the radiation positions are calculated and acquired at all of the positions in an image 30 of the radiation positions that appears on a television screen 26 that has photographed all of the radiation positions using a television camera 24. Using the drive values ​​associated with the positions in the image 30 of the radiation positions that appears on the television screen 26, the drive mechanism of a distance measurement light receiver 37 that shares the emission time of the distance measurement light emitter 4 is driven to receive the distance measurement 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 indicator 9 at the tip through the optical fiber 5 is calculated by subtracting the time it takes for the light to pass through the optical fiber 5 from the difference between the time when the distance measuring light emitter 4 incorporated in the distance measuring instrument 2 emits light and the time when the light is received by the distance measuring receiver 37 which shares the time when the distance measuring light emitter 4 emits light.

[0026] The light receiving direction of the distance measuring light receiver 37 is calculated using the drive value of the drive mechanism of the distance measuring light receiver 37. Similarly, the position of the image 30 of the emission position of the distance measuring light 1 that appears on the television screen 26 photographed by the television camera 24 in relation to the light emission position 6 of the pointing tool 9, the drive value for driving to change the light receiving direction of the distance measuring light receiver 37, the calculated distance by receiving light using the distance measuring light receiver 37, and the calculated direction of the received light are correlated. The several different light emission positions 6 of the pointing tool 9 are obtained by an interpolation formula using images 30 of the several different emission positions of the distance measuring light 1 that appear on the television screen 26 photographed by the television camera 24, the several different drive values ​​that drive the drive mechanism that changes the light receiving direction of the distance measuring receiver 37, and the several different distances and several different calculated directions that are calculated by receiving light using the distance measuring receiver 37, and drive values ​​that relate to all of the light emission positions 6 of the pointing tool 9.

[0027] An 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 located at the position of the identified image 30 of the radiation position shown on the television screen 26 photographed by the television camera 24, and the distance measuring receiver 37 is driven using the associated drive numerical value to receive the distance measuring light 1. Using the method described in Examples 1 to 5, the distance measuring light 1 is calculated and measured using the difference between the time at which the distance measuring light 1 from the distance measuring light emitter 4 is emitted and the time at which the light is received by the numerically controlled distance measuring receiver 37 that shares the time at which the distance measuring light emitter 4 emitted the light, minus the time it travels through the known optical fiber 5. The distance from the distance measuring device 2 to the light emission position 6 of an arbitrary pointing device 9 in space is tracked and measured via the image 30 of the light emission position shown on the television screen 26 photographed by the television camera 24.

[0028] 7 incorporated in the distance measuring instrument 2 passes through an optical fiber 5 into which distance measuring light or light for photography is incident, and is emitted at a light emission position 6 of a pointer 9 at the tip, and the distance measuring light or light for photography travels through space. An image 30 of the emission position or an image of the light for photography is identified using an image recognition method on a numerically controlled television screen 40 of a numerically controlled television camera 59 incorporated in the distance measuring instrument 2. The drive mechanism is driven to photograph the identified image 30 of the emission position or the image of the light for photography so that it appears in the center of the television screen 40. The distance measuring receiver 3 is attached to the drive mechanism so that the light receiving range 88 is narrowed to receive the distance measuring light from the direction of the center position photographed by the numerically controlled television camera 59.

[0029] The drive mechanism is driven to capture an image 30 of the identified radiation position or an image of the light for photography that appears on a numerically controlled television screen 40 of a numerically controlled television camera 59 that captures the identified distance measurement light or photography light from light emission position 6 of the pointing tool 9, so that the image appears at the center position of the numerically controlled television screen 40. A distance measurement receiver 3 attached to the drive mechanism and narrowed to a light receiving range 88 is used to receive the distance measurement light that is emitted at light emission position 6 that appears at the center position of the numerically controlled television screen 40 and travels through space. The drive numerical value of the numerically controlled television screen 40 is 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 using the time obtained by subtracting the calculated approximate time for the light to travel through the optical fiber 5 from the difference between the time when the distance measuring light from the distance measuring light emitter 4 is emitted and the time when the light is received by the distance measuring light receiver 3, which shares the time of emission from the distance measuring light emitter 4. By identifying the light emission position 6 of the pointing device 9 displayed on the numerically controlled television screen 40, the position of the pointing device 9 is tracked to measure the distance, direction, and position of the distance.

[0030] Example: The distance measuring light 1 emitted from the distance measuring light emitter 4 incorporated in the distance measuring instrument 2 of Figure 8 passes through the 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 the television screen 26 is taken using the television camera 24 incorporated in 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 the television screen 40 of a numerically controlled television camera 59 that drives by narrowing the range of the drive mechanism is taken. 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 correlated with the drive numerical value used to drive the drive mechanism that photographed the radiation position of the pointing device 9 at the 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 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 acquired using an interpolation formula for the positions of the images 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 that photographed the radiation position of the pointing device 9 at the central position on the numerically controlled television camera screen 40.

[0031] The drive numerical value associated with the position of the image 30A of the irradiation position displayed on the television screen 26 is used to drive the drive mechanism of the numerically controlled television camera 59, and an image 30B of the radiation position is captured at the central position on the numerically controlled television camera screen 40. The distance measurement light 1 from the radiation position 6 is received using a distance measurement light receiver 3 attached to the drive mechanism so as to receive the distance measurement light 1 in the direction of the center of the numerically controlled television camera screen 40. Using the method described in Examples 1 to 5, the distance from the light emission position 6 of the tip pointing tool 9 to the distance measuring device 2 through the optical fiber 5 is calculated using the difference between the time when the distance measurement light emitter 4 emits light and the time when the light is received by the distance measurement light receiver 3 that shares the same light emission time, minus the time it takes for the light to travel through the optical fiber 5. The image 30B of the radiation position displayed on the numerically controlled television screen 40 is identified using an image recognition method. The position of 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 position of the image 30A of the emission position displayed on the television screen 26 that has been identified.

[0032] 9, the distance measurement light emitted from the distance measurement light emitter 4 passes through the incident optical fiber 5 and is emitted into the three-dimensional space 52 at the light emission position 6 at the tip of the pointing tool 9, travels the nearest measurement distances 7A, 7B, 7C, and is received by the distance measurement light receivers 3A, 3B, 3C at different positions incorporated in the distance measuring device 2. The distance measurement light emitted from the distance measurement light emitter 4 passes through each incident optical fiber and is directly received by the nearest distance measurement light receivers 3D, 3E, 3F of the distance measurement light receivers 3A, 3B, 3C at different positions at the tip, and the estimated time passing through each optical fiber is subtracted to share the emission time of the distance measurement light receivers 3A, 3B, 3C. The distance position consisting of the traveled measurement distances 7A, 7B, 7C is calculated using the time obtained by subtracting the time it took for the light to pass through the optical fiber 5 calculated using the method described in 1 to 5 from 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. Alternatively, a reflected wave generated at the position of the tip of the optical fiber 5 into which the distance measuring light is incident travels backward through the optical fiber 5, and the reflected wave passes through the optical fiber 5. The reflected wave is received using distance measuring receivers 3D, 3E, 3F installed nearest to the distance measuring receivers 3A, 3B, 3C, and the time it took for the light to pass through the optical fiber 5 is calculated using the method described in 1 to 5, and the light emission time obtained by the reception of the light by the distance measuring receivers 3A, 3B, 3C is shared.

[0033] Alternatively, the reflected light of the distance measurement light emitted at light emission position 6 at the tip of optical fiber 5 is re-injected, and the reflected light that has passed through optical fiber 5 is received by distance measurement light receivers 3D, 3E, and 3F installed at the positions closest to distance measurement receivers 3A, 3B, and 3C, and the emission times of the distance measurement light of distance measurement receivers 3A, 3B, and 3C are shared. Using the difference in the light reception times of distance measurement receivers 3A, 3B, and 3C that share the light emission times, the distance positions consisting of the respective measurement distances 7A, 7B, and 7C are calculated using the light reception times of distance measurement receivers 3A, 3B, and 3C from light emission position 6 of pointing tool 9. The distance measurement light emitted by the pointing device 9 at any position in the three-dimensional space 52, which is incident from the distance measurement light emitter 4 of the distance measuring device 2 and passes through the optical fiber 5, is received by the distance measurement receivers 3A, 3B, and 3C, which share the time of emission, and the distance position in the three-dimensional space of the any pointing device 9 can be measured and calculated.

[0034] 10 , the distance measurement light emitted from the distance measurement light emitter 4 incorporated in the distance measuring instrument 2 passes 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 a three-dimensional space 52. The distance measurement light is photographed using a television camera 24 incorporated in the distance measuring instrument 2 at the position of an image 30 of the emission position of the distance measurement light displayed on a television screen 26. The distance measurement light is emitted at the light emission position 6 and travels the most recent measured distance through the three-dimensional space 52. The direction of the distance measurement light traveling through the three-dimensional space 52 is narrowed and received using numerically controlled distance measuring receivers 37A, 37B, and 37C that drive a drive mechanism incorporated in the distance measuring instrument 2 to change the light receiving direction. Using the method described in Example 6, the distance position in the three-dimensional space 52 from the light emission position 6 to the distance measuring receivers 37A, 37B, and 37C is measured. The position of the radiation position image 30 displayed on the television screen 26, the drive values ​​of the drive mechanisms of the distance measuring receivers 37A, 37B, and 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, and 37C of the distance measuring instrument 2 are associated using the method described in Example 6.

[0035] Using the positions of images 30 of the several different radiation positions that appear on a television screen 26 obtained by photographing the several different radiation positions 6 using a television camera 24, the several different drive numerical values ​​of the drive mechanisms of the distance measuring receivers 37A, 37B, and 37C that are driven to receive the distance measurement light, and the several different distance positions in a 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 all of the images 30 of the radiation positions that appear on a television screen 26 obtained by photographing all of the radiation positions 6 using the television camera 24, and the positions of all of the distances in a three-dimensional space 52 obtained by measuring from all of the light emission positions 6 to the distance measuring receivers 37A, 37B, and 37C using all of the drive numerical values ​​of the drive mechanisms of the distance measuring receivers 37A, 37B, and 37C that are driven to receive the distance measurement light, is acquired using an interpolation calculation formula.

[0036] The drive mechanisms of the distance measuring light receivers 37A, 37B, 37C are driven using the associated drive values ​​of the distance measuring light receivers 37A, 37B, 37C to receive the distance measuring light from the radiation position 6, and the distance position in the three-dimensional space 52 measured by the distance measuring light receivers 37A, 37B, 37C from the radiation position 6 is associated with the position of the image 30 of the radiation position displayed on the television screen 26. The spatial position of the pointing tool 9 can be measured via the position of the image 30 of the radiation position displayed on the television screen 26 by the distance measuring light receivers 37A, 37B, 37C receiving the distance measuring light emitted from the pointing tool 9, and the distance position in the three-dimensional space 52 of the pointing tool 9 can be measured using the time from the time the light is emitted to the time the light is received by the distance measuring light receivers 37A, 37B, 37C.

[0037] Using the method described in Example 10 of Fig. 11 , a pointing device 9A is used to measure and acquire a distance position consisting of measured distances 7A, 7B, and 7C from the distance measuring device 2 at an assumed work position 8A of the robot in the robot workspace 45. During movement from assumed work position 8A to the same assumed work position 8B, a continuously assumed measured distance 53 consisting of measured distances 7D, 7E, and 7F from the distance measuring device 2 is continuously measured and acquired with the pointing device 9B. After the movement, a pointing device 9C is used to measure and acquire a distance position consisting of measured distances 7G, ​​7H, and 7I from the distance measuring device 2 at an assumed work position 8C of the moved robot. Three-dimensional distance positions in the robot workspace 45 from work position 8A to work position 8B, including the distance position between the work position 8A where the robot 19 is to perform a work and the next work position 8B where the robot 19 is to perform a work, are continuously acquired and stored using the pointing device 9C.

[0038] Example: In Figure 12, the work position 8A, the position during movement of the continuously measured distance 53, and the work position 8B are set to the stored three-dimensional distance positions using the pointing devices 9A, 9B, and 9C in the work space 45. The drive value of the robot 19 associated with the method described in Examples 1 to 5 is used to drive the drive mechanism of the robot 19, causing the robot 19 to perform machining work at the work position 8A, machining work along the continuously measured distance 53 to the work position 8B, and machining work at the work position 8C. The machining work of the robot 19 is performed according to the time actually measured using the jig, or a separate machining work time is set. The direction values ​​of the three-dimensional distance position are used from the operation console 47 to correct the work position 8A of the robot 19, the continuously measured distance 53 from the work position 8A to the work position 8B, and the machining position of the work position 8B. The work position of the drive mechanism of the robot 19 is corrected by audio instructions using the three-dimensional distance position values ​​using the audio indicator 48. The robot work position 8A in the robot work space 45 is processed to correspond to the positions of the measured distances 7A, 7B, and 7C from the distance measuring device 2 stored in Example 11. Next, the position to which the continuous measured distance 53 moves is moved to match the position of the moving three-dimensional distance consisting of the measured distances 7A, 7B, and 7C from the distance measuring device 2 stored in Example 11. The work space 8B is processed to correspond to the position of the three-dimensional distance consisting of the measured distances 7D, 7E, and 7F from the distance measuring device 2 stored in Example 11.

[0039] Example: Light emission positions 6A, 6B, 6C, 6D, 6E, 6F connected to optical fibers 5A, 5B, 5C, 5D, 5E, 5F incident from distance measurement 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. Distance measurement light 1A, 1B, 1C, 1D, 1E, 1F emitted by distance measurement 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 Examples 1 to 5, the distance measuring light beams 1A, 1B, 1C, 1D, 1E, and 1F emitted with a shifted period are received by distance measuring light receivers 3A, 3B, and 3C, and the distance positions of walking feet 13A, 13B, 13C, 13D, 13E, and 13F are calculated and measured using the method described above.

[0040] 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 positions of the distance calculated from the time when 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, and 4F are provided at the positions of walking feet 13A, 13B, 13C, 13D, 13E, and 13F of walking robot 20, and distance-measuring light receivers 3A, 3B, and 3C are used to receive light at the bottom of walking robot 20. In this case, the distance positions are similarly measured, and walking feet 13A, 13B, 13C, 13D, 13E, and 13F are driven to walk.

[0041] Example: The distance measurement light emitted by the distance measurement light emitter 4 of the distance meter 2 in FIG. 14 passes through the optical fiber 5 and diffuses and emits light 12 from the light emission position 6 at the tip of the optical fiber 5 of the indicator 9 adhered to the measurement position 11 of the distance measurement object 10. The distance measurement light that is adhered and emits light 12, is diffusely reflected at the position of the measurement position 11 and scattered in space, is received by the distance measurement light receiver 3 provided at the position of the distance measurement light emitter 4 of the distance meter 2 that is on a straight line from the measurement position 11. Using the difference and phase difference between the emitted time and the received time, the distance that the distance measurement light reaches from the distance measurement light emitter 4 of the distance meter 2 to the distance meter 2 is calculated. By subtracting the distance of the generally known length of the optical fiber 5 from the calculated distance, the distance from the measurement position 11 to the distance measurement light receiver 3A of the distance meter 2 is measured.

[0042] The generally known distance of the optical fiber 5 to be subtracted is the actually measured length or the time and phase difference passing through the actually measured length of the optical fiber 5. Or, it is the time and phase distance obtained by adhering the light emission position 6 of the indicator 9 to the distance measurement light receiver 3 and calibrating the length of the fiber 5. Or, by adjusting the reflected light that returns through the optical fiber 5 derived at the end of the optical fiber 5 of the distance measurement light, it is received using the distance measurement light receiver 3B that shares the emitted time provided at the position of the distance measurement light emitter 4 in distance measurement, and it is the time and phase distance calculated using the round-trip time difference and phase difference of the fiber 5.

[0043] Or, the reflected light from the measurement position 11 to which the indicator 9 is adhered is incident on the optical fiber 5 in the reverse direction from the end of the optical fiber 5, passes through the optical fiber 5, and is received using the distance measurement light receiver 3B provided at the position of the distance measurement light emitter 4 in distance measurement, and it is the time and phase difference calculated using the round-trip 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. Operate at the hand of the switch 14 incorporated in the indicator 9, continuously measure the light emission position 6 along the shape of the distance measurement object 10 using the measurement position 11 using the indicator 9, and measure the three-dimensional shape of the distance measurement object 10 in detail by operating the distance meter 2 using the switch 14 at hand. Display the calculated distance on the display 89 provided on the indicator 9, and measure while displaying the distance of the position to be measured from the starting point of the distance measurement.

[0044] 15 passes through the injected optical fiber 5 and is focused by an optical lens from the light emission position 6 at the tip of the pointing tool 9 in the direction of the measurement position 11 to irradiate the distance measurement light 1D. The reflected light of the distance measurement 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 the distance measurement receiver 3 provided closest to the distance measurement light emitter 4 and sharing the emission time.

[0045] The distance from the light emission position 6 of the pointing device 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 light receiver 3, minus the time it takes for the light to pass through the known optical fiber 5. An image of the measurement position 11, which shows the irradiation position, is taken using a television camera 24 attached to the pointing device 9 and stored. The image taken by the television camera 24 is identified using an image recognition method using an application on a smartphone or the like. The measured distance is added to the identified image and stored.

[0046] 16 passes through the injected optical fiber 5 and is collected by an optical lens from the light emission position 6 at the tip of the pointing tool 9, and is irradiated in the direction of the measurement position 11. Distance measurement light 1B, 1C, 1D, which are reflected light from the measurement position 11 of the irradiated distance measurement light 1A, travels through space and is received by the distance measurement receivers 3B, 3C, 3D of the distance measuring device 2. The distance measurement light 1A, which is reflected light of the distance measurement light 1A irradiated from the light emission position 6 of the pointing tool 9 to the measurement position 11, travels toward the light emission position 6, and is received by the distance measurement receiver 3A provided at the position of the distance measurement light emitter 4.

[0047] The reflected light from the measurement position 11 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 receiver 4A provided at the original position through the optical fiber 5 that re-injects the reflected light from the light emission position 6. The reflection time of the measurement position 11 is calculated using the time taken for the distance measurement light to travel from the distance measurement light emitter 4 to the measurement position 11 and back. Using the received times of the distance measurement light receivers 3A, 3B, and 3C respectively from the calculated reflection time, the positions of the respective distances from the measurement position 11 to the distance measurement light receivers 3A, 3B, and 3C are calculated. The distance position of the measurement position 11 is measured as a three-dimensional position from the position of the distance measurement device 2 based on the distances from the three directions of the distance measurement light receivers 3A, 3B, and 3C.

[0048] Example: The distance measurement light 1A emitted from the light emission position 6A at the tip of the optical fiber 5A at the position of the indicator 9A of the distance measurement light that passed through the optical fiber 5A into which the distance measurement light emitted by the distance measurement light emitter 4 of the distance measurement device 2 in FIG. 17 was incident is condensed using an optical lens and irradiated onto the measurement position 11A. The reflected light from the irradiated measurement position 11A is received using the distance measurement light receiver 3A that shares the emission time provided at the nearest position to the distance measurement light emitter 4 and passes through the optical fiber 5 that re-entered from the tip of the optical fiber 5A. The reflection time of the measurement position 11A is calculated from the emission time of the distance measurement light emitter 4 and the round-trip time of the received distance measurement light of the distance measurement light receiver 3A. The distance measurement lights 1B, 1C, and 1D that have traveled through the space of the reflected light from the irradiated measurement position 11A are received using the distance measurement light receivers 3B, 3C, and 3D that share the emission time of the distance measurement device 2.

[0049] The time of flight of the distance measurement light 1B, 1C, and 1D that has traveled directly from the measurement position 11A to the distance measurement light receivers 3B, 3C, and 3D is calculated using the light reception times of the distance measurement light receivers 3B, 3C, and 3D provided at the positions closest to the distance measurement light emitter 4 from the calculated reflection time of the measurement position 11A. Using the time of flight of the distance measurement light 1B, 1C, and 1D, and the time of flight of the distance measurement light 1B, 1C, and 1D from the distance measuring device 2 to the measurement position 11A, the distance position from the distance measuring device 2 to the measurement position 11A is calculated. Similarly, the distance measurement light 1E that has been emitted from the distance measuring light emitter 4 of the distance measuring device 2 at the same position, passed through the optical fiber 5B, and is emitted from the light emission position 6B at the tip of the optical fiber 5B at the position of the pointer 9B, is irradiated to the measurement position 11B.

[0050] The reflected light of the irradiated distance measurement light 1E from measurement position 11B passes through optical fiber 5B where it re-enters from the tip of optical fiber 5B and is received by distance measurement light receiver 3A, which is provided at the position closest to distance measurement light emitter 4 and shares the emission time. The reflection time at measurement position 11B is calculated from the emission time of distance measurement light emitter 4 and the round trip time of the distance measurement light received by distance measurement light emitter 3A. The time of reception of the reflected light from measurement position 11B by distance measurement light receivers 3B, 3C, and 3D, which are provided at the positions closest to distance measurement light emitter 4, is used to calculate the time of flight of distance measurement light 1E, 1F, and 1G, which traveled directly from the reflection time at measurement position 11B to distance measurement light receivers 3B, 3C, and 3D. The time of flight of distance measurement light 1E, 1F, and 1G, as well as the time of flight of distance measurement light 1E, 1F, and 1G from measurement position 11B to distance measuring device 2, is used to calculate the distance from distance measuring device 2 to measurement position 11B.

[0051] The positional relationship between the distance position of measurement position 11A and the distance of measurement position 11B can be calculated via the position of the same distance measuring instrument 2 using the distance position of measurement position 11A calculated from the time when reflected light consisting of distance measuring light 1B, 1C, and 1D from measurement position 11A is received using multiple distance measuring receivers 3B, 3C, and 3D at different positions of the distance measuring instrument 2, and the distance position of measurement position 11B calculated from the time when reflected light consisting of distance measuring light 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.

[0052] 18, the distance measurement light emitted from the distance measurement light emitter 4 passes through the incident optical fiber 5, and the tip of the optical fiber 5 of the pointing device 6 is attached to the distance measurement light receiver 3A to emit the light and receive the distance measurement light. The time when the distance measurement light is emitted from the distance measurement light emitter 4 and the time when it is received by the distance measurement light receiver 3A are used to measure the time the distance measurement light has passed through the optical fiber 5. The light emission position 6 of the pointing device 9 connected to the optical fiber 5 can be attached to the distance measurement light receiver 3A to calibrate the time and distance measured for the length of the optical fiber 5. The time and length of the optical fiber 5 that are 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 the distance measurement light in the reverse direction, which is a portion of the reflected light from the measurement position 11 that enters from the light emission position 6 and passes through the optical fiber 5, are measured by the distance measurement light receiver 3B, which shares the emission time of the distance measurement light emitter 4 at the nearest position, to calibrate the round trip time and distance length through the optical fiber 5.

[0053] 19, distance measuring light 1A emitted from distance measuring light emitting device 4A of distance measuring instrument 2 passes through incident optical fiber 5A and is emitted at measurement position 11A indicated by pointing device 9 at the tip. Pointing device 9 is attached to measurement position 11A of engine 21, and distance measuring light 1A, 1B, 1C, which is reflected light from measurement position 11A of engine 21, is received by distance measuring light receivers 3A, 3B, 3C of distance measuring instrument 2. Using the method described in Examples 1 to 5, distance positions in three directions from measurement position 11A indicated by pointing device 9 of engine 21 to distance measuring light receivers 3A, 3B, 3C of distance measuring instrument 2 are calculated using each time obtained by subtracting the known time for passing through optical fiber 5A from the difference between the time of emission at the position of distance measuring light emitting device 4A of distance measuring instrument 2 and the time of reception at the positions of distance measuring receivers 3A, 3B, 3C of distance measuring instrument 2.

[0054] Similarly, distance measuring light 1B emitted with time lag from distance measuring light emitting device 4B of distance measuring device 2 is emitted at measurement position 11B at work position 8 of robot 19 at the tip through optical fiber 5B arranged within the drive mechanism of robot 19, which is driven by the injected drive numerical value of numerical control. The distance measuring light 1D, 1E, 1F emitted with time lag are received with time lag by distance measuring light receivers 3A, 3B, 3C of distance measuring device 2. Using the method described in Examples 1 to 9, the distance positions in three directions from measurement position 11B at work position 8 of robot 19 to distance measuring light receivers 3A, 3B, 3C of distance measuring device 2 are calculated using each time obtained by subtracting the known time for passing through optical fiber 5B from the difference between the time when the light was emitted with time lag at the position of distance measuring light emitting device 4B of distance measuring device 2 and the time when the light was received with time lag at the positions of distance measuring receivers 3A, 3B, 3C of distance measuring device 2.

[0055] The continuously emitted distance measurement light 1B is used to continuously measure the distance position of the working position 8 of the robot 19 from the distance measuring device 2. The drive mechanism of the robot 19 is driven so that the continuously measured distance position of the working position 8 of the robot 19 is aligned with the indicated measurement position 11A of the engine 21 using the pointing device 9, and the working position 8 of the robot 19 is driven to the indicated measurement position 11A using the pointing device 9. Measurement continues continuously while the distance measurement 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. 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 working position 8 of the robot 19 and continue to drive it to the measurement position 11A. Even if the distance measuring device 2 moves, by continuing to measure the measurement position 11B, it is possible to continue work at the working position 8 of the robot 19. The distance measurement light 1A emitted by the distance measurement light emitter 4A is switched with a shifted measurement period, and the distance measurement light 1A or the distance measurement light 1B is distributed using an optical mirror and passes through an optical fiber 5B to be continuously emitted at a light emission position 6B of a measurement position 11B of a work position 8 of the robot 19, thereby moving the work position 8 of the robot 19 to the measurement position 11A where the pointing tool 9 points.

[0056] 20 passes through the incident optical fiber 5A and the distance measurement light A emitted from the distance measurement light emitter 4A of the distance measuring device 2 passes through the incident optical fiber 5A, and the distance measurement light 1A, 1B, 1D emitted from the light emission position 6 arranged at the drive position 8 of the drive mechanism of the robot 19 is directly received by the distance measurement light receivers 3A, 3B, 3C of the distance measuring device 2. Using the method described in Examples 1 to 5, the distance position from the distance measuring device 2 to the drive position 8 is calculated using the time obtained by subtracting the known time for the distance measurement light A to travel through the optical fiber 5A from the difference between the time when the distance measurement light A is emitted and the time when it is directly received. After a time delay, the distance measurement light 1G emitted from the distance measurement light emitter 4B of the distance measuring device 2 passes through the incident optical fiber 5B and is collected using an optical lens from the light emission position 6 arranged at the drive position 8 of the drive mechanism of the robot 19, and the distance measurement light 1G is irradiated onto the irradiation position 42 of the engine 21.

[0057] The reflected light of distance measurement light 1D, 1E, and 1F from irradiation position 42 is received by distance measurement light receivers 3A, 3B, and 3C. Using the method described in Examples 1 to 5, the distance from distance measuring device 2 to irradiation position 42 of engine 21 is calculated using the time obtained by subtracting the time it takes for distance measurement light 1G to pass through known optical fiber 5B from the difference between the time when distance measurement light 1G is emitted and the time when the reflected light is received. The drive mechanism of robot 19 is driven to the position of distance from drive position 8 consisting of distance measurement light 1A, 1B, and 1D to the position of distance from irradiation position 42 consisting of distance measurement light 1D, 1E, and 1F using the measured distance.

[0058] 21 , distance measurement light beams 1A, 1B, and 1C emitted from a distance measurement light emitter 4A at a work position 8 of a drive mechanism of a robot 19 are directly received by distance measurement light receivers 3A, 3B, and 3C of a distance measuring device 2. The distance measurement light beam 1 emitted from the distance measurement light emitter 4A passes through an optical fiber 5A arranged in the drive mechanism of the robot 19 and is received by a distance measurement light receiver 3D of the distance measuring device 2. Using the method described in Examples 1 to 5, the emission time of the distance measurement light beam 1 is calculated from the known time it takes to pass through the optical fiber 5A. The distance from the distance measuring device 2 to the work position 8 is measured using the difference between the calculated emission time of the distance measurement light emitter 4A and the directly received time.

[0059] With a time lag, distance measurement light 1G emitted from distance measurement light emitter 4B at work position 8 is focused using an optical lens and irradiated onto irradiation position 42 on engine 21. Distance measurement light 1D, 1E, 1F, which is reflected light from irradiation position 42 on engine 21, is received by distance measurement light receivers 3A, 3B, 3C of distance measuring instrument 2. A portion of distance measurement light 1G, which is reflected light from irradiation position 42, passes through optical fiber 5B into which it is incident and is received by distance measurement light receiver 3E of distance measuring instrument 2. The reflection time of distance measurement light emitter 4B is calculated from the known time it takes to pass through optical fiber 5B and the time it takes for distance measurement light 1G to travel. The distance from distance measuring instrument 2 to irradiation position 42 is calculated using the difference between the calculated reflection time of distance measurement light emitter 4B and the time the reflected light is received. The drive mechanism of the robot 19 is driven to move the position of the measured distance at the drive position 8 consisting of the distance measurement light beams 1A, 1B, and 1C to the position of the measured distance at the irradiation position 42 consisting of the distance measurement light beams 1D, 1E, and 1F, using the position of the calculated and measured distance.

[0060] 22, distance measurement light B emitted from distance measurement light emitter 4B of distance measuring device 2 passes through optical fiber 5B arranged in the drive mechanism of robot 19, which is driven by numerical control, and is then collected using an optical lens from light emission position 6 arranged at work position 8 of robot 19, and the irradiation position of distance measurement light 1G is photographed by television camera 24. Robot 19 is attached to work position 8 so that image 44A of the irradiation position shown on television screen 26A is displayed at the central image coordinates. Image 43A of the processing position shown on television screen 26A photographed by television camera 24 is identified using an image recognition method. The drive mechanism of robot 19 is driven so that the image coordinate position of identified image 43A of the processing position on television screen 26A is displayed at the position of image 44B of the irradiation position at the central image coordinates on television screen 26B.

[0061] The distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2 receive distance measuring light 1D, 1E, and 1F, which are reflected light from the processing position 41 of the distance measuring light 1G irradiated onto the processing position 41 from the light emission position 6 of the working position 8 of the robot 19, at the position of the irradiation position image 44B that overlaps with the image 43B of the driven processing position. Using the methods described in Examples 1 to 5, the distance position from the distance measuring device 2 to the processing position 41 is measured.

[0062] After a time lag, distance measurement light A emitted from distance measurement light emitter 4A of distance measuring device 2 passes through optical fiber 5A arranged in the drive mechanism of robot 19, to which distance measurement light 1A, 1B, and 1C are incident from light emission position 6 of working position 8 of robot 19, and are directly received by distance measurement light receivers 3A, 3B, and 3C of distance measuring device 2. The position of the distance from distance measuring device 2 to working position 8 of robot 19 is measured using the method described in Examples 1 to 5. The drive mechanism of robot 19 is driven so that the position of the measured distance of working position 8 matches the position of the measured distance of processing position 41. Alternatively, the work position 8 of the drive mechanism of robot 19 is driven so that the position of the distance calculated by measuring distance measurement light 1G irradiated to processing position 41 is shortened, and processing work is performed at work position 8 of robot 19 at processing position 41.

[0063] 23 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 television camera's photographing range 32. The distance measurement light emitted by the distance measuring light emitter 4 of the distance measuring device 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.

[0064] The emitted specific distance measurement light or the emitted light for shooting by the television camera 24 is identified from the image 58 of the work position on the television screen 26. The distance position is added to and displayed on the image 30 of the light emission position that appears at the position of the identified image 58 of the work position. The image 30 of the light emission position is placed on the two-dimensional screen of the television screen 26 photographed by the television camera 24 at the distance position in the three-dimensional space grasped by the computer. The image 58 of the work position that has been placed at the distance position in the imaging range 32 of the television camera is grasped as the distance position in the three-dimensional space on the computer.

[0065] The positions to which the robot 19 will move to the several different work positions 8 are displayed on a screen captured by a television camera, and the measured distance positions of the several different work positions 8 are expanded in three-dimensional space on a computer. The images 58 of the arranged work positions are stored over the measured time period, and the moving range of the work positions 8 of the robot 19 in three-dimensional space is set. The computer grasps the work positions 8 of the robot 19 in three-dimensional space using the image 58 of the work position of the robot 19 on a two-dimensional television screen 26 captured by a television camera 24 and the distance positions measured by the distance measuring device 2. The work positions 8 of the robot 19 in three-dimensional space are displayed on the television screen 26.

[0066] 24 , the position of an image 57 of a workpiece 54 on a television screen 26 photographed using a television camera 24 incorporated in the distance measurement unit 35 is associated with a drive value used to drive the drive mechanism of the laser distance measurement device 55, which drives the irradiation direction of a numerically controlled drive mechanism incorporated in the distance measurement unit 35 using a drive value, and irradiates the workpiece 54 shown in the image with a distance measurement laser beam 56. The several different drive values ​​used to irradiate the laser beam 56 onto the workpiece 54 at several different positions are used to calculate and obtain all of the associated drive values ​​used to irradiate the laser beam 56 onto the workpiece 54 at all positions on the television screen 26 photographed at all positions of the workpiece 54.

[0067] The direction is calculated using the associated drive numerical value for the position of an image 57 of the workpiece on a television screen 26 captured by a television camera 24, and the drive mechanism for the distance measurement laser light 56 ​​is driven using the drive numerical value, and the laser light 56 ​​is irradiated onto the workpiece 54 shown in the image to measure the distance. The distance and direction from a laser distance measuring device 55 incorporated in a distance measuring unit 35 to the workpiece 54 are measured. The drive numerical value of the numerically controlled robot 19 associated with the position of the distance consisting of measured distances 7A, 7B, and 7C measured by the optical fiber distance measuring device 2 incorporated in the distance measuring unit 35 and described in Examples 1 to 5, which correspond to the distance and direction measured by the laser distance measuring device 55, is used to drive the drive mechanism of the robot 19, and the work position 8 of the robot 19 is moved to the workpiece 54 while tracking the distance and direction.

[0068] The image displayed on the television screen 26 is identified using a method such as image recognition, and the robot 19 is caused to perform work at the work position 8 on the object 54 displayed in the identified image. By specifying the position of the image 57 of the object on the television screen 26 using the image position 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 numerical value to irradiate the object displayed at the specified position with laser light 56, thereby measuring the distance and direction to the specified object. The drive numerical value of the robot 19 associated with the position of distance measured using distance measurement light emitted from the light emission position 6 at the end of the optical fiber 5 of the robot 19, which corresponds to the position of the measured distance and direction, is used to drive the work position 8 of the robot 19 to the position of the specified distance and direction, and the robot 19 can be caused to perform work on 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 are manipulated and corrected by authentication of the voice from the voice indicator 48. Also, the robot 19 can be made to perform a task remotely by instructing the task position 8 on the television screen 26 connected via the Internet.

[0069] 25, a television camera 24 incorporated in the distance measurement unit 35 is used to photograph a workpiece 54 so that an image 57B of the workpiece appears at the center of a numerically controlled television camera screen 40A of a numerically controlled television camera 59 driven by a numerically controlled drive mechanism for changing the photographing direction incorporated in the distance measurement unit 35 at the position of an image 57A of the workpiece that appears on a television screen 26 photographing the workpiece 54. The drive value for driving the drive mechanism, the drive value for driving a zoom function drive mechanism for changing the photographing angle of the numerically controlled television camera 59 that photographs the workpiece image 57B on the numerically controlled television camera screen 40B of the numerically controlled television camera 59, and the distance and direction from the distance measurement unit 35 to the workpiece 54 measured using a laser distance meter 60 attached at the driving position of the drive mechanism so as to measure the distance in the direction of the center on the numerically controlled television camera screen 40A are correlated.

[0070] The television camera 24 is used to photograph the workpiece 54 at several different positions, and at the position of the image 57A of the workpiece at several different positions that appears on the television screen 26, the several different drive values ​​are used to drive the drive mechanism to photograph the workpiece 54 at several different positions so that the image 57B of the workpiece appears at the center position on the numerically controlled television camera screen 40A, the several different drive values ​​are used to drive the drive mechanism of the zoom function to photograph 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 are measured using a laser distance measuring device 60. Using the above, all the drive numerical values ​​for driving the drive mechanism that shoots 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, all the drive numerical values ​​for driving the drive mechanism that shoots the workpiece 54 at all positions so that the image 57B of the workpiece appears at the center position on the numerically controlled television camera screen 40A, all the drive numerical values ​​for driving the drive mechanism of the zoom function that shoots the image 57B of the workpiece at the center position on the numerically controlled television camera screen 40B, and all the values ​​related to the distances and directions of the workpiece 54 at all positions measured using the laser distance measuring device 60 are calculated using an interpolation formula.

[0071] The laser distance measuring device 60 irradiates a laser beam 56 for distance measuring onto the workpiece 54 shown in the workpiece image 57B on the numerically controlled television camera screen 40A taken by the numerically controlled television camera 59, which is associated with the workpiece image 57A on the television camera screen 26 taken by the television camera 24, to measure the distance and direction from the distance measuring unit 35 to the workpiece 54. The drive numerical values ​​of the associated numerically controlled robot 19 are used to drive the drive mechanism of the robot 19 to move the workpiece 54 to track the position of the workpiece 54 at the corresponding distance and direction, at a distance consisting of measured distances 7A, 7B, and 7C measured by the distance measuring device 2 incorporated in the distance measuring unit 35 and explained in Examples 1 to 5. At the same time, the zoom driving mechanism is driven using the driving numerical values ​​of the zoom driving mechanism associated with the distance and direction of the numerically controlled television camera 59, and an enlarged image 57C of the workpiece is photographed on the television screen 40B. The photographed image 57C of the workpiece is identified using the image recognition method again.

[0072] The position of the associated workpiece image 57A shown in the image on the television camera screen 26 is corrected in association with the position of the re-identified workpiece image 57C or the indicated corrected image on the television screen 40B. Via the image position of the corrected workpiece image 57A, the drive mechanism of the robot 19 is moved to the position where the identified workpiece image 57C or the indicated corrected image appears, using the associated drive numerical value. 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 where the indicated corrected image appears, using the associated drive numerical value. 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 where the indicated corrected image appears, using the associated drive numerical value.

[0073] 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 distance-measuring laser beam 56 of a laser distance measuring device 55 incorporated in the distance measurement unit 35, which drives the irradiation direction of a numerically controlled drive mechanism using a drive value; the drive value used to drive the drive mechanism of the laser distance measuring device 55; the drive value used to drive the drive mechanism of the numerically controlled television camera 59, which drives the shooting direction drive mechanism using a drive value incorporated in the distance measurement unit 35, so that an image 57B of the workpiece appears in the center position on a numerically controlled television screen 40A; and the drive value used to drive the zoom mechanism of the numerically controlled television camera 59, which uses the measured distance and direction to enlarge and photograph an image 57C of the workpiece in the center position on a numerically controlled television screen 40B.

[0074] The television camera 24 photographs the workpiece 54 at several different positions on the television screen 26, and a distance measuring laser beam 56 is irradiated onto the workpiece 54 at several different positions to measure the several different distances and directions. The several different drive values ​​used to drive the drive mechanism of the laser distance measuring device 55 measured the several different distances and directions, the several different drive values ​​used to drive the drive mechanism for photographing the workpiece 54 so that the workpiece image 57B appears at the center position on the numerically controlled television screen 40A, and a numerical value relating the several different drive values ​​used to drive the zoom mechanism for photographing the workpiece image 57C on the numerically controlled television screen 40B by enlarging the several different distances measured are 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 onto 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 using the television camera 24, all the drive numerical values ​​used to drive the drive mechanism of the measured laser distance measuring device 55, all the drive numerical values ​​used to drive the drive mechanism to photograph so that the workpiece image 57B appears in 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 by enlarging it using all the measured distances are obtained.

[0075] The direction calculated using the drive numerical value of the laser distance measuring device 55 associated with the position of the workpiece image 57A on the television screen 26 of the television camera 24 is used to drive the drive mechanism using the drive numerical value, and the distance is measured by irradiating the distance-measuring laser beam 56 onto the irradiation position 42. Using the associated drive numerical value and the measured distance, the drive mechanism that changes the shooting direction of the numerically controlled television camera 59 is driven to photograph the workpiece image 57B at the center of the numerically controlled television screen 40A, and the zoom mechanism of the numerically controlled television camera 59 is driven to photograph an enlarged workpiece image 57C on the numerically controlled television screen 40B. The enlarged and photographed workpiece image 57C and an image 44A of the specific irradiation position of the distance-measuring laser beam irradiated onto the workpiece image 57B are identified. The numerical control of the distance-measuring laser beam of the numerically controlled laser distance measuring device 55 is corrected so that the position of the identified irradiation position image 44A is irradiated onto the position of the workpiece image 57C.

[0076] The distance and direction of the distance measuring laser light irradiated onto the workpiece 54 after the identification or correction is measured from the distance measuring device 2. The drive numerical value of the associated numerically controlled robot 19 is used to drive the drive mechanism of the robot 19 to drive the workpiece 8 to a position of the workpiece 54 that appears in a workpiece image 58 at the position of the workpiece image 57E on the numerically controlled television screen 40D, at a distance position consisting of measured distances 7A, 7B, and 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 drive numerical value related to the position of the wide-range workpiece image 57A appearing on the television screen 26 of the television camera 24 that photographs the wide-range position of the workpiece 54 is used to measure the distance and direction of the wide-range workpiece 54 using the laser distance measuring device 55.

[0077] Using the drive numerical value related to the position of workpiece image 57A and the measured distance, an enlarged workpiece image 57C and irradiation position 44A are photographed on a numerically controlled television screen 40B of a numerically controlled television camera 59 that photographs a narrow range of a wide range of workpiece 54. The photographed workpiece image 57C and irradiation position 44A are identified by image recognition, and the drive numerical value of the laser distance measuring device 55 is corrected so that irradiation position 44A of distance measurement laser light 56 ​​is irradiated at the position of the enlarged workpiece image 57C. The distance and direction to be measured by distance measurement laser light 56 ​​are measured for irradiation position 44A, which has been corrected to the position of workpiece image 57C. The drive mechanism of the associated numerically controlled robot 19 is driven using the drive numerical value of the associated numerically controlled robot 19 at the distance position consisting of measured distances 7A, 7B, 7C from the distance measuring device 2 to the working position 8 of the robot 19, which corresponds to the measured distance and direction, to drive the working position 8 to the position of the workpiece 54 shown in the working position image 58 at the position of the workpiece image 57E on the numerically controlled television screen 40D. The drive mechanism of the robot 19 is driven to accurately drive the working position 8 to a wide range of positions of the workpiece 54.

[0078] 27, the image captured by the television camera 24 incorporated in the distance measurement unit 35 on the television screen 26 is identified by image recognition using a drive value associated with the position of the workpiece image 57A by the method described in Examples 24, 25, and 26. The drive mechanism of the numerically controlled laser distance measuring device 55 is driven to irradiate the workpiece 54A on the workbench 36 that appears in the workpiece image 57A on the television screen 26 with a distance measurement laser beam 56A, thereby measuring the distance and direction to the workpiece 54A. At the same time, the drive 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 are used to drive the drive mechanism for changing the shooting direction of the numerically controlled television camera 59 and the zoom drive mechanism in accordance with the measured distance and direction, thereby capturing an enlarged image 57B of the workpiece and an image 44A of the irradiation position at the center of the numerically controlled television screen 40A.

[0079] The enlarged workpiece image 57B and the irradiation position image 44A are identified using an image recognition method. The drive value of the distance-measuring laser beam 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, and the distance and direction to the workpiece 54A on the work table 36 are measured again.

[0080] The distance measurement light emitted from the distance measurement light emitter 4 of the distance measuring device 2 incorporated in the distance measurement unit 35 passes through the incident optical fiber 5, 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 by the distance measurement light receivers 3A, 3B, and 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 associated with the position of the re-measured distance corresponding to the position of the distance consisting of the measurement distances 7A, 7B, and 7C calculated by the method described in Examples 1 to 5, and the workpiece 54A is acquired. Next, the drive mechanism of the numerically controlled laser distance measuring device 55 is driven using the drive numerical value associated with the position of the image 43A of the working position identified by the image recognition method for the image displayed on the television screen 26, and the distance and direction to the working position 41 are measured.

[0081] At the same time, the drive value associated with the position of the machining position image 43A and the measured distance are used to drive a drive mechanism that changes the shooting direction of the numerically controlled television camera 59, and drive the zoom mechanism to shoot an enlarged machining position image 43B at the center of the numerically controlled television screen 40B. The enlarged machining position image 43B and the irradiation position image 44B that appear on the numerically controlled television screen 40B are identified. The drive value of the numerically controlled laser distance measuring device 55 is corrected so that the irradiation position image 44B of the distance measurement laser light 56B appears in the machining position image 43B, and the distance and direction to the workpiece 54B are measured again.

[0082] 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 passes through the incident optical fiber 5, and the distance measuring light emitted from the tip located at the work position 8 of the robot 19 is directly received and measured by the distance measuring light receivers 3A, 3B, 3C of the distance measuring device 2, and the work position 8 is driven to the assumed processing position 41 and the workpiece 54B is placed thereon 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 photographed by the television camera 24 are measured using the numerically controlled laser distance measuring device 55.

[0083] While measuring the position of the distance using the optical fiber 5 of the distance measuring device 2, the working position 8 of the robot 19 is driven by the first distance and in the first direction to acquire the workpiece 54B on the work table 36. Next, while measuring the position of the distance using the optical fiber 5 of the distance measuring device 2, which measures the next distance and direction to the processing position 41 shown in the image 43A of the identified processing position captured by the television screen 26 by the television camera 24, the working position 8 of the robot 19 is driven by the next distance and in the next direction to place it at the processing position 41 and process the workpiece 54B.

[0084] Example: A workpiece image 57A shown on a television screen 40A is captured using a numerically controlled television camera 59, which is incorporated in the distance measurement unit 35 in Figure 28 and drives a drive mechanism for changing the shooting direction using a drive numerical value. The image is captured by driving the drive mechanism of the numerically controlled television camera 59 so that the identified workpiece image 57A on the television screen 40A is positioned at the same position as the central workpiece image 57B on the television screen 40B. A laser distance measuring device 60 is attached at a position where the drive mechanism of the numerically controlled television camera 59 drives the camera so that a distance measurement laser beam is emitted toward the center of the television screen 40B, and the distance and direction to the workpiece 54 shown in the identified workpiece image 57B are measured.

[0085] Using the drive numerical values ​​of the numerically controlled robot 19 related to the distance position consisting of measured distances 7A, 7B, and 7C measured by the distance measuring device 2 incorporated in the distance measuring unit 35 as described in Examples 1 to 5 and corresponding to the distance and direction measured by the laser distance measuring device 60, the drive mechanism of the robot 19 is driven to move the work position 8A to the work position 8B consisting of measured distances 7D, 7E, and 7F by the distance and direction. The movement and drive of the robot 19 causes the work position image 58 captured by the numerically controlled television camera 59 to appear on the television screen 40C, and the drive to the work position 8B causes the television camera 24, which is mounted so as to capture an image of the instruction sheet 39 attached to the workpiece 54, to capture an image 92 of the instruction sheet on the television screen 26. The image 92 of the instruction sheet attached to the enlarged image 57C of the workpiece displayed on the television screen 26 is read, and the robot 19 performs work at the work position 8B in accordance with the instructions.

[0086] 29 is driven in three-dimensional space by a drive numerical value to move the work position 8, which is identified by photographing it using a numerically controlled television camera 59 incorporated in the distance measurement unit 35 and which drives the drive mechanism using a drive numerical value. The drive mechanism is driven to change the shooting direction of the numerically controlled television camera 59 so that the position of the work position image 58A displayed on the numerically controlled television screen 40A is displayed at the position of the central work position image 58B on the numerically controlled television screen 40B. A laser distance measuring device 60 is attached to the driving position of the drive mechanism of the numerically controlled television camera 59 so as to irradiate a distance measurement laser beam 56 toward the center of the numerically controlled television screen 40B, and the distance and direction to the work position 8 displayed at the position of the central work position image 58B on the numerically controlled television screen 40B is measured.

[0087] A zoom drive mechanism that changes the angle of view of the numerically controlled television camera 59 is driven in accordance with the measured distance and direction, and an enlarged image 58C of the work position is taken at the center position on the numerically controlled television screen 40C. The work position 8 at which the robot 19 is driven in three-dimensional space is taken using the numerically controlled television camera 59 so that it appears in the enlarged image 58C of the work position at the center position on the numerically controlled television screen 40C, and the drive numerical value that drove the drive mechanism of the numerically controlled television camera 59, the drive numerical value that drove the zoom drive mechanism, and the distance and direction measured by the laser distance measuring device 60 are associated with each other.

[0088] The several different work positions 8 in the driven three-dimensional space were photographed so that they would appear in the enlarged image 58C of the work position at the center position of the numerically controlled television screen 40C, and using the several different drive values ​​that drove the drive mechanism of the numerically controlled television camera 59, the several different drive values ​​that drove the zoom drive mechanism, and the several different distances and directions measured by the laser distance measuring device 60, all of the work positions 8 in the driven three-dimensional space were photographed so that they would appear in the enlarged image 58C of the work position at the center position of the numerically controlled television screen 40C, and numerical values ​​relating all of the drive values ​​that drove the drive mechanism of the numerically controlled television camera 59, all of the drive values ​​that drove the zoom drive mechanism, and all of the measured distances and directions by the laser distance measuring device 60 are calculated using an interpolation formula.

[0089] Using the drive numerical value of the numerically controlled robot 19 associated with the distance position consisting of the measured distances 7A, 7B, and 7C from the distance measuring device 2 incorporated in the distance measuring unit 35 to the working position 8 of the robot 19 as described in Examples 1 to 5, the drive mechanism of the robot 19 is driven to track and photograph the working position 8A using the drive numerical value associated with the distance and direction corresponding to the distance position consisting of the measured distances 7D, 7E, and 7F measured by the distance measuring device 2, so that the enlarged working position image 58C appears at the center position of the numerically controlled television screen 40C.

[0090] Alternatively, the drive numerical value associated with the position of the image designated on the numerically controlled television screen 40A is used to drive the drive mechanism of the numerically controlled television camera 59, and the enlarged designated image is captured at the central position on the numerically controlled television screen 40C. The enlarged designated image is identified at the central position on the numerically controlled television screen 40C. The laser distance measuring device 60 attached to the numerically controlled television camera 59 measures the distance and direction to the subject shown in the designated image. The drive numerical value associated with the distance position corresponding to the measured distance and direction is used to drive the drive mechanism of the robot 19, and the work position 8 is driven to track and move to the position of the subject shown in the designated image.

[0091] Using the method described in Examples 1 to 5, an optical fiber 5 onto which distance measurement light emitted from a distance measurement light emitter 4 of a distance measurement device 2 incorporated in a distance measurement unit 35 in Fig. 30 is incident is emitted into space at a light emission position 6 at the end of the optical fiber 5, which is arranged at a work position 8 driven by the robot 19. The emitted distance measurement light traveling through space is received by distance measurement receivers 3A, 3B, and 3C of the distance measurement device 2, and the distance position is measured as 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. The work position 8 that drives the robot 19 of the numerically controlled drive mechanism in three-dimensional space is photographed by a drive mechanism that changes the shooting direction of the numerically controlled television camera 59 so that the position of the work position image 58A that is photographed by the numerically controlled television camera 59 that drives the drive mechanism by a drive numerical value incorporated in the distance measurement unit 35 and that appears 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 that changes the angle of view for shooting so that an enlarged work position image 58C is displayed in the center position on the numerically controlled television screen 40C.

[0092] The drive numerical value used to drive the drive mechanism of the robot 19 is associated with the position of the measured distance to the work position 8, the drive numerical value used to drive the drive mechanism of the numerically controlled television camera 59 so that the image 58B of the work position is displayed in the center position of the numerically controlled television screen 40B photographed 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 center position of the television screen 40C photographed using the distance position.

[0093] Using the several different drive numerical 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 numerical values ​​for driving the drive mechanism so that the work position image 58B is displayed in the center position of the numerically controlled television screen 40B, and the several different drive numerical values ​​for driving the zoom mechanism of the numerically controlled television camera 59 so that the enlarged work position image 58C is displayed in the center position of the numerically controlled television screen 40C, all of the drive numerical values ​​for driving the drive mechanism of the robot 19 to all of the measured distance positions to all of the work positions 8, all of the drive numerical values ​​for driving the drive mechanism so that the work position image 58B is displayed in the center position of the numerically controlled television screen 40B, and all of the related numerical values ​​for driving the zoom mechanism of the numerically controlled television camera 59 so that the enlarged work position image 58C is displayed in the center position of the numerically controlled television screen 40C are obtained using an interpolation calculation formula.

[0094] The drive numerical value acquired and associated with the distance position of the work position 8 in three-dimensional space measured using the distance measuring device 2 is used to drive the drive mechanism of the numerically controlled television camera 59, thereby capturing an image 58B of the work position at the center 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, thereby capturing an image 58C of the enlarged work position at the center position of the television screen 40C. The drive numerical value acquired using the interpolation formula is used to track the work position 8 that is driven in three-dimensional space, and track and capture the enlarged image 58C of the work position at the center position of the television screen 40C. The tracked and captured image 58C of the work position is identified, and work at the work position 8 is performed.

[0095] 31 is taken by a numerically controlled television camera 59 connected to an internet network 77. The position of the work position 8 shown in images 58A, 58B, and 58C8 of the work position of the robot 19 on numerically controlled television screens 40A, 40B, and 40C is measured using optical fiber from a distance measuring device 2 disposed at the work position 8, and the position on the numerically controlled television screens 40A, 40B, and 40C and the measured three-dimensional distance position are used for operation via the internet network 77. Using the method described in Examples 1 to 5, the distance position is calculated from measured distances 7A, 7B, and 7C measured by a distance measuring device 2 incorporated in a distance measurement unit 35 to the work position 8 of the robot 19. At the same time, a distance measuring laser beam 56 of a laser distance measuring device 55 incorporated in the distance measurement unit 35, which drives a drive mechanism using a drive numerical value, is irradiated onto the work position 8 of the robot 19 to measure the distance and direction.

[0096] 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 take an image of the work position 58B so that it appears in the center of the numerically controlled television screen 40B. The measured distance and direction are used to drive a zoom mechanism that changes the angle of view of the numerically controlled television camera 59, and an image of the work position 58C is taken in association with the zoom mechanism so that it appears 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 irradiating the working position 8 of the robot 19 with a distance-measuring laser beam 56 from the laser distance measuring device 55, 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 the numerically controlled television screen 40B, and the drive numerical value used to photograph using the measured distance and direction so that an enlarged image 58C of the working position is displayed in the center position on the television screen 40C are correlated.

[0097] The several different distance positions calculated by measuring several different work positions 8 for driving the robot 19 in the three-dimensional space, the several different drive values ​​used to drive 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 ​​used to drive 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.

[0098] The zoom mechanism of the numerically controlled television camera 59 is driven to take an image so that the enlarged image 58C of the work position is displayed at the center of the television screen 40C, and all the distance positions calculated by measuring all the work positions 8 for driving the robot 19 in the three-dimensional space using the several different drive values, all the drive values ​​used to drive all the work positions 8 in the three-dimensional space, and all the distances and directions measured by irradiating all the work positions 8 of the robot 19 with a distance measuring laser light 56 ​​of a laser distance measuring device 55, 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 the image 58B of the work position is displayed in 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 values ​​related to all of the drive values ​​photographed so that the enlarged image 58C of the work position is displayed in the center position on the television screen 40C using an interpolation formula.

[0099] The drive numerical values ​​of the drive mechanism of the robot 19 described in Examples 1 to 5, which are related to the distance positions corresponding to the distances and directions described and associated, are used to drive and operate the work position 8 of the drive mechanism to the position indicating the work position images 58A, 58B, 58C on the numerically controlled television screens 40A, 40B, 40C captured by the numerically controlled television camera 59, or to the position indicating the light emission position images 30A, 30B, 30C, using the numerical values ​​of the distance position. Alternatively, the drive numerical values ​​are used to drive and operate the work position 8 of the drive mechanism to the position indicating the work position images 58A, 58B, 58C on the numerically controlled television screens 40A, 40B, 40C captured by the numerically controlled television camera 59, or to the position indicating the light emission position images 30A, 30B, 30C.

[0100] 32 where the robot 19 and worker 86 work together, the distance position of the work 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 incorporated in the distance measuring device 2, and the work range of the robot 19 in a three-dimensional space is constructed on the computer of the controller 46. The distance position of the work position 8 of the robot 19 is constantly measured, and the distance position of the work position 8 in the constructed three-dimensional space is monitored. An image 87A of the worker and an image 58A of the work position are identified, which are displayed on a television screen 26 captured by a television camera 24 incorporated in the distance measuring device 2.

[0101] Using the method described in Examples 1 to 5, a distance-measuring laser beam 56A is irradiated onto the worker 86 to measure the distance and direction using the drive values ​​of the numerically controlled laser distance measuring device 55 associated with the position of the worker image 87A on the television screen 26. Using the measured distance and direction, the worker 86 is positioned in the three-dimensional space constructed on the computer at a distance corresponding to the measured distance and direction, and safety is monitored. Using the method described in Examples 1 to 5, an enlarged image 87B of the worker is captured on the numerically controlled television screen 40 using the drive values ​​for changing the shooting direction and the shooting angle of the numerically controlled television camera 59 associated with the position of the worker image 87A on the television screen 26.

[0102] An enlarged image 87B of the worker is displayed in the center of the numerically controlled television screen 40, and the distance between the image 58B of the work position that is reflected close to the image 87B and the image 58B of the work position that is displayed close to the image 87A is monitored on the numerically controlled television screen 40. Using the drive numerical value of the numerically controlled laser distance measuring device 55 associated with the position of the image 87A of the worker on the television screen 26, a distance measurement 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 position of the work position 8 are used to calculate the distance and direction between the worker 86 and the work position 8, ensuring the safety of the collaborating worker 86. By constantly and continuously measuring the distance position of the work position 8 that operates 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.

[0103] Example: The tip of a distance measuring pointing tool 9A in Figure 33 is adhered to the measurement position 11 of the engine 21, and distance measurement light emitted by a distance measurement light emitter 4 of a distance measuring instrument 2, which enters the pointing tool 9A and passes through an optical fiber 5, is emitted at a light emission position 6 of the pointing tool 9A. The distance measurement light that has traveled the closest distance in space from the emitted light emission position 6 is received by distance measurement light receivers 3A, 3B, and 3C of the distance measuring instrument 2. Using the methods described in Examples 1 to 5, the distance from the distance measuring instrument 2 to the measurement position 11 of the engine 21 is measured. The distance measurement light emitted by distance measurement light emitters 4A, 4B, 4C, and 4D of the distance measuring instrument 2 with time lags, which has entered the pointing tool 9A and passed through optical fibers 5A, 5B, 5C, and 5D, is emitted with time lags from light emission positions 6A, 6B, 6C, and 6D provided near the pointing tool 9A.

[0104] The time-shifted distance measurement light that has traveled the most recent distance from the emitted light emission positions 6A, 6B, 6C, and 6D is received with the time shift using the distance measurement receivers 3A, 3B, and 3C of the distance measuring device 2. Using the method described in Examples 1 to 5, the positions of the distances between the light emission positions 6A, 6B, 6C, and 6D provided at the hand of the pointing device 9A and the distance measurement receivers 3A, 3B, and 3C of the distance measuring device 2 are measured. The position of the distance from the distance measuring device 2 to the measurement position 11 of the engine 21 is measured, and the position of the distance in the measurement direction of the pointing device 9A is measured using the positions of the distances measured from the distance measurement 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 measurement direction of the pointing device 9A are stored.

[0105] Example The tip of the distance measuring indicator 9 in Figure 34 is adhered 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 instrument 2 is emitted with a time lag and passed through the optical fibers 5A, 5B, 5C, and 5D that enter, and is emitted with a time lag from the light emitting positions 6A, 6B, 6C, and 6D provided near the indicator 9. The distance measuring light that has traveled with a time lag from the light emitting positions 6A, 6B, 6C, and 6D that have been emitted is received with a time lag by the distance measuring receivers 3A, 3B, and 3C of the distance measuring instrument 2 to measure the nearest distance in space.

[0106] Using the method described in Example 33, the relationship between the distance position 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 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 pointing device 9, the direction of the pointing device 9, and the approximate distance positions from the approximate light emission positions 6A, 6B, 6C, 6D to the tip of the pointing device 9, the distance position of the tip of the pointing device 9 attached to the measurement position 11 of the engine 21 is calculated via the distance positions from the distance measuring receivers 3A, 3B, 3C of the distance measuring device 2 to each of the light emission positions 6A, 6B, 6C, 6D of the pointing device 9. The distance position measured from the distance measuring device 2 to the measurement position 11 of the engine 21 and the distance position in the direction measured by the pointing device 9 are stored.

[0107] Example: Distance measurement light emitter 4 provided at the tip of distance measurement pointing device 9 in Figure 35 emits light, and distance measurement light emission 1G, which is collected using an optical lens, is irradiated to measurement position 11 on engine 21 in the direction of pointing device 9, and reflected light from measurement position 11 is received using distance measurement light emitter 3 provided on pointing device 9. The distance from distance measurement light emitter 4 at the tip of pointing device 9 to measurement position 11 is measured. Distance measurement light emitted by distance measurement light emitters 4A, 4B, 4C, and 4D of distance measuring device 2 at different times, enters, passes through optical fibers 5A, 5B, 5C, and 5D, and is emitted at different times from light emission positions 6A, 6B, 6C, and 6D provided near pointing device 9. Each distance measurement light that has traveled the closest distance in space from the emitted light emission positions 6A, 6B, 6C, and 6D is received by distance measurement light receivers 3A, 3B, and 3C.

[0108] Using the method described in Example 33, the relationship between the distance position between the distance measuring light receivers 3A, 3B, 3C of the distance measuring instrument 2 and the light emission positions 6A, 6B, 6C, 6D provided at the hand of the pointing tool 9, and the distance position in the direction of the pointing tool 9 are calculated. Using the known distance positions of the light emission positions 6A, 6B, 6C, 6D of the pointing tool 9 and the distance measurement light emitter 4 at the tip, the measured distance position from the distance measurement light emitter 4 of the pointing tool 9 to the measurement position 11 of the engine 21, and the direction of the pointing tool 9 measured using the method described in Example 33, the distance position from the distance measuring instrument 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 and measuring distance measurement light emission 1G from the pointing tool 9 along the shape of the engine 21, the distance position of the shape of the engine 21 can be measured. The measured shape, the position of the measuring distance of the pointing tool 9, and the position of the measuring direction distance are stored.

[0109] Example: The distance measurement light emitter 4 provided at the tip of the distance measurement pointing device 9 in Figure 36 emits light, and the light is collected using an optical lens to produce distance measurement light 1G, which is irradiated onto the measurement position 11 of the engine 21, and the reflected light from the measurement position 11 passes through an incident optical fiber 5 provided in the pointing device 9 and is received by the distance measurement light receiver 3 of the distance measuring device 2. The distance of the distance measurement light emission 1G is calculated using the time obtained by subtracting the time it took for the light to pass through the optical fiber 5 measured by the method described in Examples 1 to 5 from the time it was emitted by the distance measurement light emitter 4 and the time it was received by the distance measurement light receiver 3. The distance measurement light emitted by the distance measurement light emitters 4A, 4B, 4C, and 4D provided at the proximal end of the pointing device 9 is emitted with a time lag, released into space, and each distance measurement light that has traveled the most recent distance is received by the distance measurement light receivers 3A, 3B, and 3C.

[0110] The distance measurement light beams emitted by the distance measurement light emitters 4A, 4B, 4C, and 4D at different times and incident on the optical fibers 5A, 5B, 5C, and 5D are received at different times by the distance measurement light receivers 3D, 3E, 3F, and 3G of the distance measuring device 2. Using the method described in Example 33, the relationship between the distance position between the distance measurement light receivers 3A, 3B, and 3C of the distance measuring device 2 and the distance measurement light emitters 4A, 4B, 4C, and 4D provided near the pointing device 9, and the direction of the pointing device 9, are calculated. Using the estimated distance positions of the distance measurement light emitters 4A, 4B, 4C, and 4D of the pointing device 9 and the distance measurement light emitter 4 at the tip, the measured distance position from the distance measurement 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 measurement device 2 to the measurement position 11 of the engine 21 is calculated via the measured distance positions of the distance measurement light emitters 4A, 4B, 4C, and 4D of the pointing device 9. The distance position of the shape of the engine 21 can be measured by continuously irradiating and measuring distance measurement light emission 1G from the pointing device 9 along the shape of the engine 21. The irradiation position of the measurement position 11 is photographed using a television camera 24 attached to the pointing device 9. The measured shape, the measured distance position of the pointing device 9, and the measured direction are assigned to positions on the photographed image and stored.

[0111] Example 37: Distance measurement light emitted from a distance measuring light emitter 4 in Figure 37 travels through an incident optical fiber 5 and is emitted from a light emission position 6 at the tip of an indicator 9, which is attached to a processing position 41A where workpieces 54A and 54B are welded. Distance measurement light 1A, 1B, and 1C emitted from processing position 41A are received by distance measurement receivers 3A, 3B, and 3C of a distance measuring device 2. The distance position between the distance measuring device 2 and processing position 41A is measured using the method described in Examples 1 to 5. The indicator 9 is attached and moved in a tracing manner along the circumference from processing position 41A to processing position 41B where welding is performed, and the continuous distance position between the distance measuring device 2 and processing position 41A and processing position 41B is measured.

[0112] Simultaneously with the measurement, distance measurement light emitted with time lag from distance measurement light-emitting devices 4A, 4B, 4C, and 4D of distance measuring device 2 passes through injected optical fibers 5A, 5B, 5C, and 5D and is emitted with time lag from light-emitting positions 6A, 6B, 6C, and 6D provided near pointing device 9 at the tip of the optical fiber. Each distance measurement light 1D, 1E, 1F, ... emitted from light-emitting positions 6A, 6B, 6C, and 6D of pointing device 9 moving from welding processing position 41A to processing position 41B is linearly received with time lag by distance measurement light-receiving devices 3A, 3B, and 3C of distance measuring device 2. 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 by subtracting the estimated time at which the light passed through the injected optical fibers 5A, 5B, 5C, and 5D, and the time at which light was emitted from the light emission positions 6A, 6B, 6C, and 6D is shifted by the estimated time.

[0113] From the time when the emitted distance measurement light 1D, 1E, 1F, ... was emitted with each shift, the distance position of each light emission position 6A, 6B, 6C, 6D is calculated from the distance measurement device 2 using the difference in the time when the light was received with each shift at the positions of the distance measurement light receivers 3A, 3B, 3C that share the emission times of the distance measurement light emitters 4A, 4B, 4C, 4D of the distance measurement device 2. The distance position in the direction of the pointing device 9 is calculated using the calculated distance positions of the light emission positions 6A, 6B, 6C, 6D from the distance measurement device 2. The calculated continuous welding distance positions from the distance measurement device 2 to the pointing device 9 for welding from the processing position 41A to the processing position 41B and the calculated distance position in the direction of the pointing device 9 from the distance measurement device 2 are displayed on the display 89.

[0114] An indicator 9 matched to the jig of the welding machine 78 is attached to the welding location as if actually welding and moved, and the distance position of the welding location continuously measured along the welding location and the welding method of the orientation of the indicator 9 matched to the jig continuously measured are displayed on the display 89, confirmed, and memorized. Similarly, an operator skilled in chamfering work uses an indicator 9 matched to the jig of the chamfering machine to measure and memorize 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 indicator 9 matched to the jig of the chamfering machine 79 of the operator who performed the work is attached to the chamfering location, and the distance measurement light from the light emission position 6 is received by the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2, and the distance position of the chamfering processing position where the light was attached and emitted is calculated from the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2.

[0115] At the same time, distance measurement light beams emitted with a time lag from light emission positions 6A, 6B, 6C, and 6D near the pointing tool 9 attached to the chamfering location are received with a time lag by distance measurement receivers 3A, 3B, and 3C of the distance measuring device 2, and the distance positions from the distance measurement receivers 3A, 3B, and 3C of the distance measuring device 2 to the light emission positions 6A, 6B, 6C, and 6D near the pointing tool 9 are calculated. The distance position of the orientation of the pointing tool 9 is calculated using the calculated distance positions from the distance measurement receivers 3A, 3B, and 3C of the distance measuring device 2 to the light emission positions 6A, 6B, 6C, and 6D near the pointing tool 9. The orientation of the pointing tool 9 is calculated in the same manner even when the distance measurement light is emitted from several different positions of the pointing tool 9. The continuously measured directions of the orientation of the pointing tool for chamfering, synchronized with the continuously measured distance positions of the chamfering location, are stored.

[0116] 37, the distance measuring light emitter 4 at the tip of the pointing tool 9 fitted to the jig of the welding tool in Fig. 38 is attached to the processing position 41A where the workpieces 54A and 54B are welded and emits light, and the position of the distance consisting of the most recent measurement distance lights 1A, 1B, 1C that have traveled to the distance measuring light receivers 3A, 3B, 3C is measured to measure the positional relationship of the distance between the distance measuring device 2 and the processing position 41A. The pointing tool 9 is moved in a manner that traces the circumference from the processing position 41A to the processing position 41B where welding is to be performed, so as to weld the part to be welded. At the same time, the distance position of the most recent measurement distance light 1D, 1E, 1F that has traveled to the distance measurement receivers 3A, 3B, 3C and emitted with a time lag from the distance measurement light emitter 4A provided near the pointing device 9 is measured with the time lag, thereby measuring the relationship in distance position between the distance measuring device 2 and the distance measuring light emitter 4A of the pointing device 9. Similarly, the distance measuring light emitters 4B, 4C, 4D emit light with a time lag and measure the most recent measurement distance that has traveled to the distance measurement receivers 3A, 3B, 3C with the time lag, thereby measuring the relationship in distance position between the distance measuring device 2 and the distance measuring light emitters 4B, 4C, 4D.

[0117] 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 jig indicating tool 9 are stored as consecutive distance positions of the positions moved along the welding location so as to weld the jig indicating tool 9. The consecutive distance positions of the welding jig and the distance position of the direction of the welding jig are simultaneously measured and stored around the circumference from the processing position 41A to the processing position 41B.

[0118] Example: This is a numerically controlled robot 19 in which the distance measuring light emitted by the distance measuring light emitter 4E of the distance measuring device 2 in Figure 39 and passed 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 drove the work position 8 of the robot 19 in the manner described in Examples 3, 4, and 5. As described in Example 38, the circumference from processing position 41A to processing position 41B is moved in a tracing manner along the welding point using the indicating device 9 of the welding tool jig, 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 processing position 41A to processing position 41B, which have been stored as described above, and the circumference from processing position 41A to processing position 41B is welded using the welding machine 78 incorporated in the work position 8.

[0119] 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 of the indicator 9 of the jig of the welding machine 78 from the distance measuring device 2 to the light emission positions 6A, 6B, 6C, and 6D, measured using the light emission positions 6A, 6B, 6C, and 6D provided near the indicator 9 of the jig of the welding machine 78, as described and stored 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.

[0120] Example: In this robot 19, the distance measuring light emitted by the distance measuring light emitter 4E in Figure 40 passes through the optical fiber 5 and 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 traveled 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. Using the method described in Example 38, the workpiece 54B is moved from processing position 41C to processing position 41D using the pointing device 9A of the jig of the chamfering machine 80 in a manner tracing along the corner, and the workpiece 54B 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 position of the continuous distance from processing position 41C to processing position 41D, and the corner from processing position 41C to processing position 41D is chamfered using the chamfering machine 79 attached to the work position 8.

[0121] At the same time, using the light emission positions 6A, 6B, 6C, and 6D provided close to the pointing 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 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.

[0122] 41 shows a case in which the pointing tool 9A described in Example 37 is used to trace the welding location and continuously measure and store the distances, and the welding machine 78 attached to the working position 8 of the driving mechanism of the robot 19 is continuously driven at the distance positions stored in the memory using the drive numerical values ​​associated with the method described in 1 to 5 above. Light for photography is continuously irradiated onto the welding location 41 from the light emission position 6 at the tip of the welding machine 78, and images 44 of the irradiation position are continuously taken using the television camera 24. The successive images 57 of the workpiece to be welded and the successive images 44 of the irradiation position, which are captured on the television camera screen 26A of the television camera 24, are used to verify the successive positions before welding.

[0123] After the verification, 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 using the drive numerical value associated with the stored distance position, and the continuous welding is performed. After the welding work, the work position 8 is continuously driven 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 captured on the television camera screen 26B of the television camera 24 attached to the welding machine, are compared and inspected. The continuous images inspected by comparison are stored.

[0124] 42, a welding operation is performed using a distance measurement robot 19A and a welding robot 19B, whose numerically controlled drive mechanism is driven by a drive value, and the welding operation is photographed from a remote location using a television camera 24A. An image 75A of a measurement position captured by the television camera 24A and displayed on a television screen 26A is indicated via an internet network 77. Using the method described in Examples 24 to 29, a measurement laser beam 56 is irradiated onto a measurement position 74 using the drive value of a numerically controlled laser distance measuring device 55, whose drive mechanism is driven by a drive value, associated with the position of the indicated measurement position image 75 on the television screen 26A, to measure the distance and direction from the distance measuring device 2 to the measurement position 74. Using the method described in Examples 1 to 5, the drive value associated with the distance position corresponding to the measured distance and direction is used to drive the drive mechanism of the distance measurement robot 19A, and the indicating tool 9 attached to the work position 8 is attached to the measurement position 74. In the method described in Examples 25 to 29, an image 75B of the measurement position is captured on a numerically controlled television screen 40A using the drive numerical value of a numerically controlled television camera 59 that drives a drive mechanism with the drive numerical value, which is associated with the position of the indicated image 75A of the measurement position. The image 75A of the measurement position displayed on a television screen 26A via an internet network 77 and the image 75C of the measurement position displayed on a television screen 26B captured by a television camera 24B attached to an indicator 9 adhered to the measurement position 74 are visually confirmed.

[0125] The position and direction for welding the pointing tool 9 are assumed from the image, and the position of the distance is operated or the position to be welded is identified using the numerical value of the distance using an operation console 47B via an internet network 77. Distance measurement light 1A, 1B, 1C emitted from light emission position 6 of the pointing tool 9 placed in contact with position 74 for operation or identification and measurement, and each distance measurement light emitted from light emission positions 6A, 6B, 6C, 6D provided at the hand of the pointing tool 9 described above are received using distance measurement receivers 3A, 3B, 3C of the distance measuring device 2. Using the method described in Example 37, the position of the distance from the distance measuring device 2 to position 74 to be measured and the position of each distance from the distance measuring device 2 to the pointing tool 9 in the measurement direction are calculated using the received distance measurement light 1A, 1B, 1C. The image of the measurement position 75C captured by the television camera 24B on the television screen 26B is visually confirmed with the position and direction of the distance captured by the television camera 24B attached. The image of the measurement position 74 is created using the position of the distance and the direction of the distance position. The image is attached to the diagram and stored.

[0126] 43, a welding operation is performed using a distance measurement robot 19A and a welding robot 19B, whose numerically controlled drive mechanism is driven by a drive value, and the welding operation is photographed using a television camera 24A from a remote location. Via an internet network 77, an image 81A of the stored welding position on a television screen 26A, an image 81B of the stored welding position on a numerically controlled television screen 40A, which is photographed by a numerically controlled television camera 59 associated with the image 81A of the welding position, and an image 81C of the stored welding position photographed by a television camera 24C attached to a welder 78 of the welding robot 19B are viewed.

[0127] The position of the distance from the distance measuring device 2 and the position of the distance in the direction of the indicating device 9 from the distance measuring device 2, which have been measured and stored using the indicating device 9 of the welding jig, are used to drive the drive mechanism of the welding robot 19B, and the welding machine 78 is photographed using the television camera 24A, the numerically controlled television camera 59, and the television camera 24C. The driving numerical value of the numerically controlled television camera 59, which is associated with the position of the periphery of the image 81A of the welding position on the television screen 26A photographed by the television camera 24A, is used to photograph the periphery, and the periphery of the photographed image 81B of the welding position on the numerically controlled television screen 40A is confirmed.

[0128] An image 81D of the welding position is captured and confirmed on a television screen 26C captured by a television camera 24C attached to the welding machine 78. A measuring laser beam 56 is irradiated onto the welding position 80 using a drive value of a numerically controlled laser distance measuring device 55, which drives a drive mechanism with a drive value, associated with the image 81A of the welding position displayed on the television screen 26A. An image 44 of the irradiation position 42 irradiated onto the welding position 80 is confirmed on a numerically controlled television screen 40A. The distance and direction from the distance measuring device 2 to the welding position 80 are confirmed. The image 81B of the welding position on the numerically controlled television screen 40A captured by the numerically controlled television camera 59, which has been stored above, is confirmed, and an image 81D of the welding position is captured and confirmed on a television screen 26C captured by the television camera 24C.

[0129] The welding position is confirmed by driving the drive mechanism of welding robot 19B using the distance position from distance measuring device 2 and the distance position in the direction from distance measuring device 2 to pointing device 9, which are stored as described in Example 42. After the welding operation, the welding operation is inspected again via Internet network 77 using 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, all of which are linked to television screen 26A. The several distance measuring beams, which are measured by using pointing device 9 of the welding machine jig to move in a manner tracing the circumference from processing position 41A to processing position 41B, measure the distance using reflected light from the welded area, and whether the welding has been performed normally is confirmed using the distance measuring function built into distance measuring device 2, and this is communicated via Internet network 77 using a sound or the like. The position and direction of the distance photographed by the television camera 24C are added to the image 81C of the measurement position shown on the television screen 26C photographed by the television camera 24C and visually confirmed. Using the position and direction of the distance, the image of the welding position 80 is added to a three-dimensional spatial figure grasped by the computer as the position of the measured distance.

[0130] Example: Distance measurement light A, which passes through an optical fiber 5 receiving light emitted from a distance measurement light emitter 4 of a distance measuring device 2 in Figure 44, is emitted by adhering the tip of the optical fiber 5 of a pointer 9 to an approximate position 15 on the Earth's surface 22. The distance measurement light A is reflected from the approximate position 15 where the pointer 9 is adhered, and is received by distance measurement receivers 3A, 3B, and 3C of the distance measuring device 2. The positional relationship of distances consisting of measurement distances 7A, 7B, and 7C between the approximate position 15 and the distance measuring device 2 is obtained by subtracting the time that the light has traveled through the approximate optical fiber 5 from the time from when the light was emitted to when it 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 positional relationship of the distance consisting of measured distances 7D, 7E, and 7F between the unknown position 16 and the distance measuring device 2 is obtained by attaching the pointing device 9 to the unknown position 16, and the positional relationship of the distance between the approximate position 15 and the unknown position 16, the measured distance 7, is obtained via the distance position of the distance measuring device 2.

[0131] 45, a pointer 9A is attached to a known position 15A on the ground surface 22 to be measured, and distances 7A, 7B, and 7C between the known position 15A to be measured and a distance measuring device 2 are continuously measured using distance measuring light A emitted from the tip of an optical fiber 5A to which distance measuring light A emitted from a distance measuring light source 4A is incident. The pointer 9C is continuously moved and attached to unknown positions 16C of a continuous shape in accordance with the shape, and the continuously moved shape of the unknown positions 16C is measured via the distance measuring device 2. The unknown positions 16C of a continuous shape are measured from the position of the absolute orientation value of the known position 15A, and a digital map is created in which the detailed topography of the unknown positions 16C is associated with the known position 15A.

[0132] In the example shown in Figure 46, distance measurement light emitted by the distance measurement light emitter 4 of the distance measurement device 2A and incident on the optical fiber 5A is transmitted through the optical fiber 5A and emitted toward the ground from a light emission position 6 on the underside of the drone 14, which is connected to the drone 14 flying in the sky. The emitted distance measurement light 1A, 1B, and 1C are received by the distance measurement receivers 3A, 3B, and 3C of the distance measurement device 2A. Using the methods described in Examples 1 to 5, the distance position of the drone 14 flying in the sky, formed by the distance measurement light 1A, 1B, and 1C, is calculated from the distance measurement device 2A. At the same time, the distance measurement light emitted by the distance measurement light emitter 4 and incident on the optical fiber 5B is received by the distance measurement receiver 3M of the distance measurement device 2B on the ground surface, via the optical fiber 5B. The distance measurement light received by the distance measurement receiver 3M is used to share the emission time of the distance measurement light emitter 4 of the distance measurement device 2A at the position of the distance measurement device 2B.

[0133] Distance measurement light 1D, 1E, 1F emitted from a direction position 6 below the drone 14 flying in the sky toward the ground is received by distance measurement light receivers 3D, 3E, 3F of distance measurement device 2B. Using the time of emission of the shared distance measurement light emitter 4, the distance position of the drone 14 flying in the sky, which is formed by distance measurement light 1D, 1E, 1F, from distance measurement device 2B is calculated using the method described in Examples 1 to 5. The position of the measured distance from distance measurement device 2A to the drone 14 flying in the sky and the position of the measured distance from distance measurement device 2B to the drone 14 flying in the sky are measured using the position of the measured distance 7 from distance measurement device 2A to distance measurement device 2B. Similarly, using the position of the distance measured from the distance measuring devices 2C, 2D to the drone 14 flying in the sky, the position of the measured distance is recorded at the position of the image 75A, 75B, 75C, 75D of the measured position on the television screen 26 taken by the television camera 24 attached to the flying drone 14 that measures the position of the distance from the distance measuring device 2A to the distance measuring devices 2C, 2D, and is reflected on the general map and satellite image.

[0134] In Example 47, the distance measurement drone 14 of Example 46 described above is tethered to the ground using a fiber thread 90 and flies in a tethered manner in the sky. The drone 14, which is attempting to rise, is stabilized in the sky by the tension of the winding machine 88 on the ground, and the distance to the ground is measured. Alternatively, the flying drone 14 is tethered in the sky, and distance measurement light that passes through the optical fiber 5A connected to the drone 14 is emitted from the light emission position 6 toward the ground. By supplying power for flight from the ground to the drone 14 tethered in the sky, long-term optical fiber distance measurement becomes possible.

[0135] In the distance measuring device 2A shown in Figure 48, distance measuring light emitted from the distance measuring light emitter 4 and incident on the optical fiber 5A 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, which is connected to the drone 14 flying in the sky. The emitted distance measuring light 1A, 1B, and 1C are received by the distance measuring receivers 3A, 3B, and 3C of the distance measuring device 2A. Using the methods described in Examples 1 to 5, the distance position of the drone 14 flying in the sky, formed by the distance measuring light 1A, 1B, and 1C from the distance measuring device 2A, is calculated. At the same time, the distance measuring light emitted from the distance measuring light emitter 4 and incident on the optical fiber 5B is passed through the optical fiber 5B and emitted toward the sky by attaching the pointer 9 at the tip to the measurement position 11 on the ground.

[0136] The distance measurement light 1D, 1E, and 1F emitted toward the sky are received by distance measurement receivers 3D, 3E, and 3F below the drone 14 flying in the sky. Using the methods described in Examples 1 to 5, the distance position of the drone 14 flying in the sky, which is formed by the distance measurement light 1D, 1E, and 1F, from the measurement position 11 is calculated. The distance position from the distance measurement device 2A to the measurement position 11 is measured using the measured distance position from the distance measurement device 2A to the drone 14 flying in the sky and the measured distance position from the measurement position 11 to the drone 14 flying in the sky. The measured distance positions are drawn on the positions of images 75A and 75B of the measurement position on a television screen 26 captured by a television camera 24 attached to the flying drone 14, and are reflected in general maps and satellite images.

[0137] Example: A television camera 24B on the ground is used to capture an image 85A of a drone 14 flying in the sky in Figure 49 on a television screen 26B. From the ground, distance measurement light receivers 3A, 3B, and 3C attached to a drive mechanism 84 that drives the light receiving direction using a numerically controlled drive value are used to receive distance measurement light 1A, 1B, and 1C from the drone 14 flying in the sky. The position of the drone image 85A displayed on the television screen 26B is correlated with the drive value used to drive the drive mechanism 84 so as to receive distance measurement light 1A, 1B, and 1C from the drone 14 flying in the sky. Using the positions of images 85A of drones 14 flying in several different skies that appear on television screen 26B photographed using television camera 24B of the drones 14 flying in several different skies, and the several different drive values ​​obtained by driving drive mechanism 84 so as to receive distance measurement light 1A, 1B, 1C from drones 14 flying in several different skies, an interpolation formula is used to calculate the positions of images 85A of all drones flying in the skies that appear on television screen 26B photographed using television camera 24B of drones 14 flying in all positions, and all the related drive values ​​obtained by driving drive mechanism 84 so as to receive distance measurement light 1A, 1B, 1C from all drones 14 flying in the skies.

[0138] Distance measurement light emitted from a distance measurement light emitter 4A at an approximate 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 below the drone 14 connected to the 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, is displayed on a television screen 26B and identified using an image recognition method. The associated drive value is used to drive a drive mechanism 84 at the approximate position 15 to the position of the identified drone image 85A. Distance measurement receivers 3A, 3B, and 3C attached to the driven drive mechanism 84A receive the emitted distance measurement light beams 1A, 1B, and 1C. Using the methods described in Examples 1 to 5, the distance position of the drone 14 flying in the sky, consisting of the distance measurement light beams 1A, 1B, and 1C, from the approximate position 15 is calculated. At the same time, the light emission time is shifted from that of the distance measurement light emitter 4A, and the distance measurement light emitted by the distance measurement light emitter 4B at the unknown position 16 is incident on the optical fiber 5B, passes through the optical fiber 5B, and is 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.

[0139] Using a numerically controlled television camera 59 at an unknown position 16, a drone 14 flying in the sky is tracked and photographed using the method described above. An image 85B of the drone captured by the numerically controlled television camera 59 and displayed on a television screen 40A is identified using an image recognition method. The identified image 85B of the drone displayed on the television screen 40A is then photographed as an enlarged image 85C of the drone at the center of the numerically controlled television screen 40C by driving a drive mechanism that changes the shooting direction and a drive mechanism that changes the angle of view of the numerically controlled television camera 59. Distance measuring receivers 3D, 3E, and 3F are attached at different positions on the driving mechanism so as to receive the distance measuring light in the direction of the center of the numerically controlled television screen 40C. Distance measuring light 1D, 1E, and 1F emitted from the light emission position 6B toward the ground surface are received by the distance measuring receivers 3D, 3E, and 3F.

[0140] Using the methods described in Examples 1 to 5, calculate the position of the distance from the unknown position 16 to the drone 14 that emits ranging lights 1D, 1E, and 1F. Using the position of the distance from the measured approximate position 15 to the drone 14 flying in the air and, substantially simultaneously, the position of the distance from the measured unknown position 16 to the drone 14 flying in the air, calculate the position of the distance from the approximate position 15 to the unknown position 16. Expand and describe the measured distance position at the positions of the image 27 of the approximate position and the image 75 of the measured position on the TV screen 26A captured by the TV camera 24A attached to the flying drone 14, draw it, and reflect it on a general map and satellite image. Reflect it on existing maps and satellite images via the Internet network.

[0141] Example: The ranging light incident on the optical fiber 5 of the ranging light emitter 4 of the rangefinder 2 incorporated in the pan-tilt 33 of FIG. 50 is emitted from the tip of the optical fiber 5 of the indicator 9 adhered to the approximate position 15 near the intersection of the travel path 23 through the optical fiber 5. The emitted ranging lights 1A, 1B, and 1C are received using the ranging light receivers 3A, 3B, and 3C of the rangefinder 2. Using the time obtained by subtracting the time taken through the approximate optical fiber 5 from the time from the emission to the reception, calculate the position of the distance from the approximate position 15 to the ranging light receivers 3A, 3B, and 3C of the rangefinder 2. Using the calculated position of the distance from the ranging light receivers 3A, 3B, and 3C of the rangefinder 2 to the approximate position 15, associate and store the position of the distance of the rangefinder 2 with the approximate position 15. Using the smartphone 34 attached to the pan-tilt 33, store the approximate position 15 of the measured intersection in the screen captured by lighting the ranging light and the measured distance position.

[0142] Example 50 of Figure 51 shows the relationship between the approximate position 15 and the distance measuring device 2, and the position of the distance measuring device 2 measured and stored is maintained. In the same manner as 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 used to attach the pointer 9 to the position of the right corner 17 of the road intersection, and distance measuring light beams 1D, 1E, and 1F from the right corner 17 of the intersection are received by the distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2. The time of flight of the distance measuring light beams 1D, 1E, and 1F is used to calculate the positional relationship of the distance between the distance measuring device 2 and the right corner 17 of the unknown intersection.

[0143] 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 described and associated 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 position from the distance measuring device 2 to the right corner 17 of the intersection from the GPS positioning value measured using the GPS positioning function built into the smartphone 34 attached to the 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 the television camera built into the smartphone 34 and stored.

[0144] Example: The positional relationship between the approximate position 15 and the distance measuring device 2 described above in Figure 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 light is emitted from the distance measuring light emitter 4 and incident, 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 acquired. The position of the left corner 18 of the road intersection is related to the approximate position 15 via the position of the distance measuring device 2. Using the methods described in Examples 1 to 5, the positions of the right corner 17 of the intersection and the left corner 18 of the road intersection are related to the approximate position 15, and the distance between the position of the right corner 17 of the intersection and the left corner 18 of the road intersection is calculated. Using a smartphone 34 attached to a pan head 33, photographs of the approximate position 15, the right corner 17, and the left corner 18 of the intersection to be measured are taken.

[0145] The measured approximate location 15, the associated right corner location 17, the associated left corner location 18, and the calculated distance from the right corner location 17 to the left corner location 18 are stored in the smartphone 34 along with the captured image. The approximate location 15, the right corner location 17, and the left corner location 18 are identified using an image recognition method incorporated in the smartphone 34. The approximate location 15, the right corner location 17, and the left corner location 18, measured using the method described above, and the identified image of the distance between the approximate location 15, the right corner location 17, the left corner location 18, and the right corner location 17 and the left corner location 18 are attached to a GPS positioning value measured using a GPS positioning function incorporated in the smartphone 34, and are stored along with the date and time of the measurement via connection to the Internet using the smartphone 34 or a device connected to the Internet. The image of the road intersection photographed by the smartphone 34 is used to create a map of the area around the intersection using the measured distance location. A digital map is created using the measured distance location.

[0146] Using a distance measuring device 2 attached to a pan head 33 in Figure 53, a pointer 9 at the tip of which light is emitted from a distance measuring light emitter 4 and passes through an optical fiber is used to attach the pointer 9 to an approximate position 15 near an intersection on a road 23, and the relationship between the distance position 15 and the distance measuring device 2 is obtained in the same manner as in Examples 1 to 5. An image 27 of the approximate position 24 and an image 44 of the irradiation position are identified by an image recognition method on a television screen 26 taken by a television camera 24 attached to the distance measuring device 2 so that the distance measuring light emitted by the pointer 9 is reflected. The identified image 27 of the approximate position and image 44 of the irradiation position are stored in a storage medium 61 with the relationship of the distance from the distance measuring device 2 attached.

[0147] Example: The GPS positioning function built into the pan head 33 of Figure 54 is used to measure the GPS positioning value of the pan head 33. Using the pointer 9 at the tip of the optical fiber through which light emitted from the distance measurement light emitter of the distance measuring device 2 attached to the pan head 33 passes, the pointer 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, and street tree 64 at the intersection of the travel path 23, or distance measurement light is emitted from the pointer 9 described above, and the distance positions of the crosswalk 25, street corner 62, road sign 63, street tree 64, and curb 65 are measured from the distance measuring device 2.

[0148] The distance measurement light from irradiation positions 6A, 6B, 6C, and 6D of the crosswalk 25, street corner 62, road sign 63, roadside tree 64, and curbstone 65, which are reflected by or attached to the pointing device 9, is photographed using a television camera 24 attached to a pan head 33. The pointing device 9 is attached to or irradiated on a television screen 26, and an image of the position at which the unique irradiation light of the distance measurement light appears is identified using an image recognition method. The measured time and the position of the measured distance are attached to the identified image and stored at the position of the image displayed on the television screen 26. Using the relationship between the distance positions of the crosswalk 25, street corner 62, road sign 63, roadside tree 64, and curbstone 65 and the distance measuring device 2, the distance positions of the crosswalk 25, street corner 62, road sign 63, roadside tree 64, and curbstone 65 are calculated and acquired via the distance measuring device 2 associated with the measured GPS positioning value.

[0149] The calculated GPS positioning values ​​are added to and stored on a television screen 26 captured by a television camera 24 attached to a pan head 33, along with 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 a pointing device, and images of irradiation positions 6A, 6B, 6C, and 6D reflecting the unique irradiation light of the distance measurement light.The calculated GPS positioning values ​​and the calculated GPS positioning values ​​of the crosswalk 25, the street corner 62, the road sign 63, the roadside tree 64, and the curb 65 are expanded on an existing map using the calculated GPS positioning values ​​and stored. The crosswalk image 29, street corner image 66, road sign image 67, street tree image 68, and curbstone image 69 to be added to the map are learned using AI with existing images of the travel path 22, and the GPS positioning values ​​are attached to the positions of the crosswalk image 29, street corner image 66, road sign image 67, street tree image 68, and curbstone image 69 that appear in existing satellite images and stored. The stored data is reflected on an Internet network. The distance from the GPS positioning values ​​(absolute orientation) of the street corner 62, road sign 63, street tree 64, and road curbstone 65 of the travel path 23 stored on the Internet network to the position of the GPS positioning values ​​(absolute orientation) measured by the autonomously driven vehicle is calculated, and the autonomously driven vehicle is driven.

[0150] 55 is incorporated into the tracking system 31, the distance measurement light emitted from the distance measurement light emitter of the distance measurement device 2, passes through an optical fiber, and is received by the distance measurement receivers 3A, 3B, and 3C of the distance measurement device 2. Using the method described in Examples 1 to 5, the distance position consisting of measurement distances 7A, 7B, and 7C from the positions of the distance measurement receivers 3A, 3B, and 3C to the approximate position 15 is measured. The position of the distance measurement device 2 is related to the distance position consisting of measurement distances 7A, 7B, and 7C of the approximate position 15. The television camera 24 of the tracking system 31 is used to capture an image 44A of the irradiation position light emitted from the light emission position 6, which appears at the position of an image 27A of the approximate position on a television screen 26A. An image 44A of the specific irradiation position of the distance measurement light projected on the television screen 26A is detected and identified.

[0151] The position of the detected and identified image 27A of the approximate position on the television screen 26A is associated using the method described in Examples 25 to 31. The drive numerical value of the numerically controlled television camera 59, which is driven by a numerically controlled drive mechanism that changes the shooting direction and is incorporated into the tracking system 31, is used to drive the zoom mechanism of the numerically controlled television camera 59 to a narrow angle in accordance with the measured distance, thereby enlarging the image 27B of the approximate position at the center of the television camera screen 40A, and capturing the image 44C of the specific irradiation light. Similarly, the pointer 9B of the distance measuring device 2 is attached to a street corner 62 to measure the distance position. The relationship between the distance position of the street corner 62 and the distance measuring device 2 is associated using the method described in Examples 25 to 31. The street corner 62 is photographed using the television camera 24 of the tracking system 31 to capture the unique emission of distance measurement light emitted at the light emission position 6A at 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 measurement light at the tip of the pointing tool 9A is photographed at the position of an image 66 of the street corner on a television screen 26B.

[0152] At the position of the image 44B of the irradiation position where the specific irradiation light of the distance measurement light is reflected on the television screen 26B, a street corner 62 is photographed using the numerically controlled television camera 59 associated by the above-described method, by driving the zoom mechanism of the numerically controlled television camera 59 to match the measured distance. Similarly, the pointing tool 9B of the distance measuring device 2 is attached to a road sign 63, a roadside tree 64, and a curbstone 65, and the position of the distance to each is measured. 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 photographed by a television camera 24 of the tracking system 31 are used to attach position numerical values ​​of the distance measured from the approximate position 15 via a distance measuring device 2 to the positions of images 44, 44A, 44B, 44C, and 44D of the irradiation position of the tip of the pointing device 9B appearing on an image 27B of the approximate position, an image 66B of a street corner, an image 67B of a road sign, an image 68B of a street tree, and an image 69B of a curb appearing on a numerically controlled television screen 40A, 40B, 40C, 40D, and 40E photographed by a numerically controlled television camera 59 with the pointing device 9 attached, and stored.

[0153] Via a distance measuring device (2) that calculates the distance position from an approximately known position (15) of absolute direction, the absolute direction of a street corner (62), road sign (63), road tree (64), and curbstone (65) calculated using the distance position is expanded at the position of an existing map and an image of the existing travel path, with the identified image and the image of the illumination position attached. A digital map is created by learning the expanded distance positions of the street corner image (66), road sign image (67), road tree image (68), and curbstone image (69) using an image of the travel path distance measured by a LIDAR distance measuring device attached to the autonomously driven vehicle and the expanded existing map of the travel path and the image of the illumination position taken on the existing image of the travel path. The autonomously driven vehicle travels at a distance actually measured using the LIDAR distance measuring device or the like, using the distance to the absolute direction positions of the expanded digital map of the street corner (62), road sign (63), road tree (64), and curbstone (65) of the travel path (23) that appear in the image of the travel path taken by the television camera of the autonomously driven vehicle.

[0154] Using a distance measuring device 2 incorporated in a tracking system 31 of Figure 56, a pointer 9A is attached to an approximate position 15 near an intersection on a travel path 23, and the 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 pointer 9 attached to the approximate position 15 is detected using a numerically controlled television camera 59 driven by a numerically controlled drive mechanism that changes the shooting direction, and an image 44 of the irradiation position of the unique flashing radiation of the distance measuring light is displayed on a numerically controlled television screen 40A. The detected image 44 of the irradiation position of the unique radiation light is driven by the drive mechanism of the numerically controlled television camera 59 so that it is displayed in the center of the television screen 40. The measured distance from the distance measuring device 2 to the approximate 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 enlarged image 27A of the approximate position is taken at the center position on the numerically controlled television camera screen 40B. An image 44A of the irradiation position that appears in the image 27A of the approximate position is identified.

[0155] Similarly, the pointing device 9B of the distance measuring device 2 is attached to a 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 the light emission position 6 of the tip of the pointing device 9 attached to the street corner 62 is aligned from the distance measuring device 2 to the measured distance position of the pointing device 9B, and the driving mechanism of the zoom function is driven using the numerically controlled television camera 59 of the tracking system 31 to capture an image 44B of the irradiation position of the radiation light emitted by the distance measuring light at the tip of the pointing device 9B, which appears at the position of the street corner image 66 enlarged at the center position on the numerically controlled television camera screen 40C. The image 44B of the irradiation position appearing in the street corner image 66 is identified.

[0156] Similarly, the distance positions are measured by adhering the pointer 9B of the distance measuring device 2 to a road sign 63, a roadside tree 64, and a curbstone 65. Images 44C, 44D, and 44E of the irradiation positions of the radiant light emitted from the tip of the pointer 9B that has measured the distances to the road sign 63, roadside tree 64, and curbstone 65 are taken using a numerically controlled television camera 59. Images 44C, 44D, and 44E of the irradiation positions shown in the road sign image 67, roadside tree image 68, and curbstone image 69 shown on the numerically controlled television screens 40D, 40E, and 40F are identified. Images 44A, 44B, 44C, 44D, and 44E of illumination positions reflected in an image 27 of an approximate location, 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 numerical values ​​of distance positions measured from the approximate location 15 via a distance measuring device 2 are added to the images 44A, 44B, 44C, 44D, and 44E of the identified illumination positions, and the image 27 of the approximate location, the image 66 of the street corner, the image 67 of a road sign, the image 68 of a roadside tree, and the image 69 of the curbstone are stored via an internet network.

[0157] 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 screen of the stored image 27 of the approximate location, image 66 of the street corner, image 67 of the road sign, image 68 of the roadside tree, and image 69 of the curb are used as reference, and a learning function such as AI is used to create the existing maps and satellite images into digital maps showing absolute orientations, which are then stored via the Internet.

[0158] Example: Distance measurement light emitted from a distance measurement light emitter 4 incorporated in a pan head 33 in Figure 57 passes through an incident optical fiber 5 and is emitted by adhering a light emission position 6 of a pointer 9 at the tip to an approximate position 15. The distance measurement light, which has been attached to the approximate position 15 and emitted, and which has flown through three-dimensional space, is photographed using a television camera 24 incorporated in the pan head 33. One of an image 27 of the approximate position, an image 28 of the pointer, and an image 44 of the irradiation position, which appear on the photographed television screen 26, is identified using an image recognition method.

[0159] The drive numerical value associated by the method described in Examples 24, 25, and 26 with any one of the identified image 27 of the approximately known position, image 28 of the pointing device, and image 44 of the irradiation position displayed on the television screen 26, which are acquired by 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 incorporated in the pan head 33, thereby narrowing the range in which each receives the distance measuring light 1A, 1B, and 1C from the radiation position 6 of the approximately known position 15. A distance position consisting of the distance measuring light 1A, 1B, and 1C received by the numerically controlled distance measuring receivers 37A, 37B, and 37C from the radiation position 6 of the approximately known position 15 can be calculated. The absolute orientation of the position of the camera platform 33 at the distance measured from the absolute orientation of the roughly known position 15 is used to measure and store the absolute orientations of street corners 62, road signs 63, road trees 64, and road curbs 65 around the travel path 23. Using the above-mentioned memories, the distance from the absolute orientations of the street corners 62, road signs 63, road trees 64, and road curbs 65 on the travel path 23 to the position of the GPS positioning value (absolute orientation) measured by the autonomous vehicle is calculated and traveled.

[0160] 58 is incorporated into the pan head 33, the distance measurement light emitted from the distance measurement light emitter 4 is passed through the incident optical fiber 5 and emitted at the light emission position 6 where the pointer 9 at the tip is attached to the approximate position 15. The emitted measurement distance light 1A, 1B, 1C flying through three-dimensional space is photographed by numerically controlled television cameras 59A, 59B, 59C driven by a drive mechanism incorporated into the pan head 33, and images 27A, 27B, 27C of the approximate position, images 28A, 28B, 28C of the pointer, and any of the unique measurement distance light 1A, 1B, 1C are displayed on television screens 40A, 40B, 40C, and the images are identified using an image recognition method.

[0161] Using the method described in Examples 28 to 31, the drive mechanisms of the numerically controlled television cameras 59A, 59B, and 59C are driven to capture an image of any of the images displayed on the identified numerically controlled television screens 40A, 40B, and 40C so that the image is displayed at the center of the numerically controlled television screens 40A, 40B, and 40C. Distance measuring light receivers 3A, 3B, and 3C attached to the drive mechanisms of the numerically controlled television cameras 59A, 59B, and 59C are used to receive distance measuring light beams 1A, 1B, and 1C emitted from a known position 15 displayed at the center of the numerically controlled television screens 40A, 40B, and 40C, so as to measure the direction of the center of the numerically controlled television screens 40A, 40B, and 40C.

[0162] Using the methods described in Examples 28 to 31, the shooting range of numerically controlled television cameras 59A, 59B, 59C is narrowed and distance measuring receivers 3A, 3B, 3C with narrowed measurement ranges toward approximate position 15 are used to receive measurement distance light 1A, 1B, 1C. The received measurement distance light 1A, 1B, 1C is used to calculate the distance from camera platform 33 to approximate position 15. Images 27A, 27B, 27C of the approximate position shown on television screens 40A, 40B, 40C shot by numerically controlled television cameras 59A, 59B, 59C are assigned the calculated distance position measured by receiving measurement distance light 1A, 1B, 1C from camera platform 33 to approximate position 15, and the calculated distance position is stored in an existing map.

[0163] 59 , a unique distance measurement light emitted from a distance measurement light emitter 4 of a distance measuring device 2 incorporated in a pan head 33 is incident on an optical fiber 5A, and the light emission position 6A of a pointer 9A at the tip is adhered to a known position 15 of the absolute orientation, where the light is emitted. The unique distance measurement light 1A, 1B, 1C of the emitted reflected light is received by distance measurement receivers 3A, 3B, 3C of the distance measuring device 2. In the same manner as in Examples 53 to 58, the distance from the distance measuring device 2 of the pan head 33 to the known position 15 is measured, and the absolute orientation of the pan head 33 is measured. Next, the unique distance measurement light is incident on an optical fiber 5B, and the light emission position 6B of a pointer 9B at the tip is adhered to a street corner 62, a road sign 63, a roadside tree 64, or a curbstone 65, where the light is emitted. The unique 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 light receivers 3A, 3B, and 3C of the distance measuring instrument 2.

[0164] Using the method described in Examples 53 to 58, the distance position from distance measuring device 2 on pan head 33 to street corner 62, road sign 63, street tree 64, and curbstone 65 is measured, and the absolute orientation of street corner 62, road sign 63, street tree 64, and curbstone 65 is measured via pan head 33. The peculiar distance measuring light that is attached to street corner 62, road sign 63, street tree 64, and curbstone 65 and emitted and travels through three-dimensional space is photographed using television camera 24 built into pan head 33. Using the method described in Example 55, the drive numerical values ​​of numerically controlled television camera 59 associated with the position of the photographed image displayed on television screen 26 are used to photograph street corner image 66B, road sign image 67, street tree image 68, and curbstone image 69 on 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 roadside tree, and image 69 of a curb are identified using an image recognition method.

[0165] Using the method described in Examples 24 and 25, the associated drive values ​​of the numerically controlled television camera 59 are used to photograph the identified street corner image 66A, road sign image 67A, road tree image 68A, and curbstone image 69A displayed on the television screen 26, and the numerically controlled television screens 40B, 40C, 40D, and 40E are used to photograph the street corner image 66B, road sign image 67B, road tree image 68B, and curbstone image 69B enlarged above. The image 27A of the approximate location, the image 66A of the street corner, the image 67A of the road sign, the image 68A of the road tree, and the image 69A of the curbstone, which are photographed and shown on the television screen 26, and the image 27B of the approximate location, the image 66B of the street corner, the image 67A of the road sign, the image 68A of the road tree, and the image 69 of the curbstone, 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 location 15 via the distance measuring device 2 and the date and time of the measurement, and are stored via the Internet network 77.

[0166] The image 27B of the roughly known position, the image 66B of the street corner, the image 67 of the road sign, the image 68 of the road tree, and the image 69 of the curbstone, which are associated with the absolute orientation around the roadway 23 and stored via the Internet network 77, are compared with a roughly known map and a roughly known satellite image for learning, and the measured absolute orientation is added to the positions shown on the roughly known map and the positions shown in the roughly known satellite image and stored. The added information on the absolute orientation attached to the area and the roughly known road map and satellite image is acquired using an autonomous vehicle, a computer, or a smartphone. The measured absolute orientations of the street corner 62, road sign 63, road tree 64, and curbstone 65 near the roadway 23 are used to create a map of the area around the intersection. The measured distance positions are used to create a digital map.

[0167] Example: A familiar driver is fitted with a line-of-sight television camera and is made to drive an automobile 97 along the roadway 23 shown in Figure 60. As the driver drives, the line-of-sight television camera is used to record an image of the area of ​​the roadway 23 that the driver gazes at. Using the image recorded by the line-of-sight television camera, the image that the driver gazes at is displayed on the television screen 26 captured by the television camera 24 mounted on the pan head 33, or an image of the area that the driver gazes at is detected by learning using AI from the image of the area around the roadway perimeter 23 on the television screen 26. The area that the driver gazes at is displayed on the television screen 26 as an absolute direction measurement indication position 93A, a road sign measurement indication position 95A, a roadside tree measurement indication position 96A, and a curb measurement indication position 97A. The numerically controlled television camera 59 is driven using the aforementioned associated drive numerical values ​​of the numerically controlled television camera 59 incorporated in the camera platform 33 to the displayed absolute orientation measurement instruction position 93A, road sign measurement instruction position 95A, road tree measurement instruction position 96A, and curb measurement instruction position 97A, and photographs of the absolute orientation measurement instruction position 93B, pedestrian crossing measurement instruction position 94B, road sign measurement instruction position 95B, road tree measurement instruction position 96B, and curb measurement instruction position 97B are taken on the numerically controlled television camera screens 40A, 40B, 40C, 40D, and 40E.

[0168] While viewing the images of the gazed-at locations photographed as related images on numerically controlled television camera screens 40A, 40B, 40C, 40D, and 40E, the indicator 9 of the distance measuring device 2 is adhered to the absolute bearing position 15, pedestrian crossing 25, road sign 63, roadside tree 64, and curbstone 65, which are the measurement and indication positions. Distance measurement light emitted from the distance measuring light emitter 4 of the distance measuring device 2 is passed through the incident optical fiber 5 and attached to the light emission position 6 of the indicator 9. The emitted reflected distance measurement light 1A, 1B, and 1C is received by the distance measuring light receivers 3A, 3B, and 3C of the distance measuring device 2 to measure the distance position. A skilled driver is equipped with a line-of-sight television camera, and using the extracted images of the gazed-at locations while driving along the road 23, the image of the extracted locations is deployed to align the position of the extracted images on the television screen of the television camera 24 photographing the road 23. While looking at the poured-out area displayed on the screen photographed by driving the 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 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.

[0169] 61 is attached to the measurement position 11 of the object 10, and the emitted distance measurement light is received by the distance measurement light receiver 3A of the distance measuring instrument 2 through the incident optical fiber 5. At the same time, the distance measurement light 1 emitted by the distance measurement light emitting device 4 attached to the measurement position 11 of the object 10 and traveling through space is received by the distance measurement light receiver 3B of the distance measuring instrument 2, which shares the most recent light reception time with the distance measurement light receiver 3B. From the reception time of the light by the distance measurement light receiver 3A at the same time, the time of emission at the measurement position 11 is calculated using the approximate time the distance measurement light took to travel through the optical fiber 5. From the back-calculated time, the time the distance measurement light 1 took to travel through space and be received by the distance measurement light receiver 3B is calculated. The calculated time the distance measurement light 1 took to travel through space is used to calculate the distance from the measurement position 11 to the distance measurement light receiver 3B of the distance measuring instrument 2.

[0170] 62 incorporates a distance measurement light emitter 4, and the distance measurement light is irradiated onto a measurement position 11 of an object 10. The reflected light is then transmitted through the optical fiber 5, and the reflected light of the distance measurement light is incident on the measurement position 11. The reflected light is then received by the distance measurement receiver 3A of the distance measuring device 2 using the distance measurement receiver 3B of the distance measuring device 2 located nearest to the distance measurement light receiver 3A. From the reception time by the distance measurement receiver 3A, the estimated time the distance measurement light travels through the optical fiber 5 and the estimated time the distance measurement light emitted by the distance measurement light emitter 4 travels to the emission position 6 are used to calculate the reflection time at the measurement position 11. From the reflection time, the time the distance measurement light 1 travels through space and is received by the distance measurement receiver 3B is calculated. The calculated time it travels through space is used to calculate the distance from the measurement position 11 to the distance measurement receiver 3B.

[0171] Example: Distance measurement light 1 emitted by a distance measurement light emitter 4 incorporated into the tip of the pointing tool 9 in Figure 63 is irradiated onto a measurement position 11 of a measurement object 10, and the reflected light travels through space as distance measurement light 1A, 1B, and 1C, which are received by distance measurement light receivers 3A, 3B, and 3C of a distance measuring device 2 incorporated into a pan head 33. At the same time, the reflected light irradiated onto measurement position 11 of the distance measurement light is received by distance measurement light receiver 3D of the distance measuring device 2 through an incident optical fiber 5. The emission time of the distance measurement light emitter 4 is calculated backward from the emission time of the distance measurement light emitter 4, using the estimated time the distance measurement light traveled through optical fiber 5. The time the distance measurement light 1A, 1B, and 1C traveled through space is calculated from the emission time of the distance measurement light emitter 4 thus calculated.

[0172] The calculated time for the distance measurement lights 1A, 1B, and 1C to fly through space is used to calculate the distance from the measurement position 11 to the distance measurement light receivers 3A, 3B, and 3C of the distance measuring device 2. The calculated distance from the measurement position 11 to the distance measurement light receivers 3A, 3B, and 3C of the distance measuring device 2 is used to calculate the distance position from the measurement position 11 to the distance measuring device 2. The distance measurement light emitted by the distance measuring light emitter 4 is photographed using a smartphone 34 built into the pan head 33.

[0173] 64 is collected from the tip of the pointing device 9 using an optical lens to emit distance measurement light 1G, and the reflected light of the distance measurement light 1G from the measurement position 11 is received using a distance measurement receiver 3E incorporated in the pointing device 9. From the difference between the time when the distance measurement light emitter 4 incorporated in the pointing device 9 emitted light and the time when the light was received by the distance measurement receiver 3E, the flight time of the distance measurement light 1G from the light emission position 6 at the tip of the pointing device 9 to the measurement position 11 is calculated by subtracting the approximate time from the distance measurement light emitter 4 to the light emission position 6 and the approximate time from the light emission position 6 to the distance measurement receiver 3E. At the same time, the distance measurement light 1A, 1B, 1C that has traveled through the space of reflected light from the measurement position 11 is received using distance measurement receivers 3A, 3B, 3C of the distance measuring device 2 incorporated in the pan head 33. At the same time, the reflected light of the distance measuring light 1G irradiated onto the measurement position 11 of the distance measuring light is received by the distance measuring light receiver 3D of the distance measuring device 2 through the optical fiber 5 incident from the tip of the pointing tool 9.

[0174] The time at which the distance measuring light 1G was irradiated and reflected from the measurement position 11 is calculated backward from the time at which the light was received by the distance measuring light receiver 3D, using the known time it traveled through the optical fiber 5 and the calculated time at which the distance measuring light 1G flew. The distance from the distance measuring light receivers 3A, 3B, 3C of the distance measuring device 2 to the measurement position 11 is calculated and measured using the back-calculated time at which the light was reflected from the measurement position 11 and the calculated time at which the light was received by the distance measuring light receivers 3A, 3B, 3C. The distance measuring light focused by an optical lens incorporated in the pointing tool 9 is irradiated onto the measurement position 11 to be measured at a distance from the pointing tool 9, and the reflected light from the measurement position 11 to be measured at a distance is received by the distance measuring light receivers 3A, 3B, 3C at measurement positions that share the time at which the distance measuring light was emitted, using the optical fiber 5, to measure the distance from the measurement position 2 to the measurement position 11 to be irradiated at a distance. 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 light 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 light receivers 3A, 3B, and 3C is corrected.

[0175] 66, distance measurement light emitters 4A, 4B, 4C incorporated in distance measurement light emitter unit 35 emit light with time lags, and the light passes through multiple optical fibers incident from each of the distance measurement light emitters 4A, 4B, 4C to each of the optical fibers 5A, 5B, 5C, and the distance measurement light 1A, 1B, 1C emitted with time lags at the same light emission position 6 of the pointing tool 9 placed in contact with the measurement position 11 is received with time lags by each of the distance measurement light receivers 3A, 3B, 3C that share the emission time of the distance measurement light emitters 4A, 4B, 4C at the nearest positions of the distance measurement light emitters 4A, 4B, 4C in the distance measurement light emitter unit 35. The phase of the emitted light of the distance measurement light is compared with the phase of the light received by the distance measurement light emitters to accurately measure the distance from the distance measurement light emitter unit 35 to the measurement position 11.

[0176] 67 is a diagram showing an example in which distance measurement light emitter 4 at the tip of pointing tool 9 emits light with a time lag, is released into space, and distance measurement light 1A, 1B, 1C that travels with a time lag are received with a time lag by distance measurement light emitters 3A, 3B, 3C incorporated in distance measurement light emitter unit 35. Light is emitted with a time lag at the position of distance measurement light emitter 4, passes through multiple optical fibers 5A, 5B, 5C that enter, and is received with a time lag by distance measurement light receivers 3D, 3E, 3F that are disposed at the positions of distance measurement light receivers 3A, 3B, 3C incorporated in distance measurement unit 35. The travel time of each of distance measurement light 1A, 1A, 1C is calculated by subtracting the estimated times that the light traveled through fibers 5A, 5B, 5C from the time difference between the light emission time of distance measurement light emitter 4 and the light reception time of distance measurement light receivers 3D, 3E, 3F. The distance position from the unit 35 to the measurement position 11 is measured by using the time when the distance measurement lights 1A, 1A, 1C are emitted with a time lag and the time when the distance measurement lights 1A, 1A, 1C are received with a time lag by each distance measurement light emitter 3D, 3E, 3F, with the time lag.

[0177] The distance measurement light emitted at different times by the distance measurement light emitters 4A, 4B, and 4C incorporated in the distance measurement light emitter unit 35 in Figure 68 and incident thereon passes through the optical fibers 5A, 5B, and 5C of the multi-optical fiber, and is combined into the optical fiber 5 using an optical mixer, and the distance measurement light 1A, 1B, and 1C emitted at different times from the light emission position 6 at the tip of the pointing tool 9 are received at different times by the distance measurement light receivers 3A, 3B, and 3C that share the same emission time at the positions of the distance measurement light emitters 4A, 4B, and 4C. The phase of the emitted light of the distance measurement light is compared with the phase of the light received by the distance measurement light emitters, and the distances from the distance measurement light receivers 3A, 3B, and 3C of the distance measurement light emitter unit 35 to the measurement position 11 are measured by receiving the light at different times.

[0178] 69 is emitted from the distance measurement light emitter 4 at the tip of the pointing tool 9 and travels into space, and is received by distance measurement light emitters 3A, 3B, 3C, 3D, 3E incorporated in the distance measurement light emitter unit 35. The light is emitted at the position of the distance measurement light emitter 4, passes through each of the multi-optical fibers 5A, 5B, 5C, 5D, 5E, and is received by each of the distance measurement light receivers 3F, 3G, 3H, 3I, 3J at the positions of the distance measurement light emitters 3A, 3B, 3C, 3D, 3E incorporated in the distance measurement unit 35. The flight time of each of the distance measurement lights 1A, 1A, 1C, 1D, and 1E is calculated using the time obtained by subtracting the estimated times for the lights to pass through the optical fibers 5A, 5B, 5C, 5D, and 5E of the multi-unit from the time differences between the emission time of the distance measurement light emitter 4 and the reception times of the light by the distance measurement light receivers 3A, 3B, 3C, 3D, and 3E. The distance from the distance measurement light emitter unit 35 to the measurement position 11 is accurately measured using the emission time of the distance measurement light emitter 4 and the reception times of the distance measurement lights 1A, 1A, 1C, 1D, and 1E by the distance measurement light emitters 3F, 3G, 3H, 3I, and 3J.

[0179] The distance measurement light emitted from the distance measurement light emitter 4 and scattered in space is received by many distance measurement light emitters at several different positions using multiple optical fibers, so that even if any of the distance measurement light scattered in space cannot be received, the position of the distance can be measured as long as the distance measurement light at several other different positions can be received. 70, distance measurement light is emitted at different times from distance measurement light emitters 4A, 4B, 4C, and 4D incorporated in distance measuring devices 2A, 2B, 2C, and 2D of a distance measuring unit 35, and the emitted light passes through multiple optical fibers 5A, 5B, 5C, and 5D. The distance measurement light is then emitted from light emission positions 6A, 6B, 6C, and 6D at the tips of optical fibers arranged in different drive mechanisms of the robot, and the light is received at different times by distance measurement light receivers 3A, 4B, 4C, and 4D nearest to the distance measurement light emitters 4A, 4B, 4C, and 4D incorporated in the distance measuring devices 2A, 2B, 2C, and 2D, and the measurement distances 7A, 7B, 7C, 7D, 7E, 7G, 7F, ... of the drive positions of the different drive mechanisms of the robot are measured by comparing the phase of the light emitted by the distance measurement light emitters with the phase of the light received by the distance measurement light emitters.

[0180] The distance measurement light emitted at different times by distance measurement light...

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 that distance measuring light takes to fly through space and calculates the distance traveled, characterized in that the distance measuring light is attached to a subject at the tip position of the optical fiber that is emitted and introduced and is emitted and flies through the space, 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 is attached to a subject and is emitted and flies through the space, 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 the 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, is reflected from an illuminated subject and travels through the 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, or the distance measuring light that is emitted, flies through space, is reflected from an illuminated subject and travels through the 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, at the tip of the optical fiber that is emitted and input, is measured.

4. 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 generated and reflected at the tip of an optical fiber that has been emitted and introduced and returns through the optical fiber, or the distance measuring light is emitted through an optical fiber that has been emitted and introduced and the tip of the optical fiber is attached to a subject and the light is reflected from the subject and irradiated, and the distance measuring light is 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 of an optical fiber that has been emitted and introduced, travels through the space, reflects from the subject that has been irradiated, and travels through the space, and the distance measuring light is re-introduced from the tip of the optical fiber that has been emitted and returns through the optical fiber, at the position at which the light was emitted, or at a position that shares the time at which the light was emitted, or at a plurality of different positions that share the time at which the light was emitted.

5. 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, characterized in that the distance measuring light that travels through space with a time lag is emitted at several different positions and incident on several different optical fibers, and is emitted from the same tip position, and the distance measuring light that travels through space with a time lag is received with a time lag at several different light emission positions or several different positions that share the time of emission, or the distance measuring light that travels through space with a time lag is emitted and emitted with a time lag is received with a time lag at several different tip positions or several different positions that share the time of emission, 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 a plurality of 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 takes to travel 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 light reflected from a subject and 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 that distance measuring light travels through space and calculates the distance traveled, comprising the steps of: receiving the distance measuring light emitted into space at the tip position of an optical fiber where the light was emitted and entered, 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 emitted distance measuring light from the direction of the center of the television screen.

9. A distance measuring method in a distance measuring device which measures the time that distance measuring light travels through space and calculates the distance traveled, comprising the steps of: using a television camera which changes the shooting direction 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 in 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 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 that is emitted, emitted, and travels through 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 traveled that shares the time that the light was emitted, or at a plurality of different positions that share the time that the light was emitted.

12. A distance measuring device which measures the time it takes for distance measuring light to travel through space and calculates the distance traveled, characterized in that the distance measuring light is emitted at a driving position of a robot which drives a driving mechanism with a numerically controlled driving value, and the light passes through an optical fiber arranged in the driving mechanism, the tip of which is attached to the driving position to directly receive and measure the distance measuring light, 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 travel 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 method in which a distance measuring device measures the time that distance measuring light takes to fly through space and calculates the distance traveled, the distance measuring light being emitted and incident at a driving position of a robot which drives a driving mechanism with a numerically controlled driving value, the distance measuring light being emitted through an optical fiber arranged on the driving mechanism and having its tip glued, the reflected light from the adhesive being re-entered from the tip of the optical fiber and returning through the optical fiber, the distance measuring light being received and measured at the driving position where the light was emitted, and the time it took for the light to travel back and forth through the optical fiber being used to calculate the time that 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 travel through space and calculates the distance traveled, characterized in that the distance measuring light is emitted through an optical fiber that is illuminated and incident, and travels through space, 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 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 which a distance measuring device measures the time it takes for distance measuring light to travel through space and calculates the distance traveled, the distance measuring light being emitted, passing through an optical fiber into which it enters, and being emitted from the tip of the optical fiber positioned at a driving position of a robot driven by a numerically controlled driving value, and the reflected light irradiated as it travels 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 which measures the time it takes for distance measuring light to travel 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 travel through space and calculates the distance traveled, wherein 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 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 that distance measuring light takes to travel through space and calculates the distance traveled, wherein 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 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 traveled through the optical fiber is subtracted to measure the distance traveled through the space.

20. A distance measuring device that measures the time that distance measuring light takes to fly through space and calculates the distance traveled, wherein 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 from the irradiated subject 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, subtracting the time it took to pass through the optical fiber, and calculates the distance traveled through the space using the time it flew through the space, and a distance measuring method that drives 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, comprising: a distance measuring method in which 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 driven by a numerically controlled driving value, and reflected light from an irradiated subject is attached to the driving mechanism of the robot so that an image of the reflected light from the subject is displayed in 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 distance measuring light taken by the television camera is displayed in 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 that distance measuring light takes to fly through space and calculates the distance traveled, comprising: a distance measuring method in which 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 is irradiated with light reflected from a subject so that an image of the light reflected from the subject is displayed in 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 light reflected from the subject taken by the television camera is displayed in the center of the television screen, the distance measuring light reflected from the subject is received at the position where the light was emitted, or at a position sharing the time where the light was emitted, or at a plurality of different positions sharing the time where the light was emitted, and the distance from the subject to the position where the light was emitted, or the position sharing the time where the light was emitted, or at a plurality of different positions sharing the time where the light was emitted is measured, using the time obtained by subtracting the time it took to travel through the optical fiber from the time it took to fly through space to measure the distance from the subject to the position where the light was emitted, or the position where the light was emitted, or at a plurality of different positions sharing the time where the light was emitted.

23. A distance measuring device that measures the time that distance measuring light travels through space and calculates the distance traveled, wherein the distance measuring light is emitted and passes through an optical fiber into which it enters, and is arranged at a driving position of a driving mechanism driven by a driving value of the numerical control of the robot. The optical fiber is condensed and emitted from the tip of the optical fiber, and the light is flown through the space and irradiated at an irradiation position. The television camera is attached to a driving position of the robot so that the position of the image of the irradiation position taken by the television camera is reflected in the center of the television screen, and the position of the image of the subject taken by the television camera is reflected in the center of 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 device comprising: a plurality of different distance measuring lights emitted and incident with a time lag, passing through the plurality of 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 plurality of different optical fibers are arranged to emit the plurality of different distance measuring lights with a time lag from the tips of the plurality of different positions of the plurality of different optical fibers with a time lag; the plurality of different distance measuring lights are reflected from an irradiation position where the plurality of different optical fibers are focused and irradiated, and the distance measuring lights traveling through space with a time lag are received and measured at the emission position or at 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 which measures the time that distance measuring light travels through space and calculates the distance traveled, comprising the steps of: transmitting light, passing through an incident optical fiber, emitting light, and emitting the light from the tip of an optical fiber arranged at a drive position of a robot which drives a drive mechanism with a drive value of a numerical control, and traveling through the space; driving the drive mechanism so that the position of an image of the emitted distance measuring light is reflected in the center of a television screen using a television camera which changes the direction of shooting with a drive mechanism at the position of emission, or a position which shares the time of emission, or a plurality of different positions which share the time of emission; 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, thereby measuring the distance of the drive position of the robot.

26. A distance measuring method for a distance measuring device which measures the time that distance measuring light travels through a space and calculates the distance traveled, comprising the steps of: emitting the distance measuring light at a drive position of a robot which drives a drive mechanism with a drive value of a numerical control and travelling through the space, the distance measuring light being emitted at the drive position and passing through an incident optical fiber arranged at the drive position, and driving the drive mechanism so that the position of an image of the emitted distance measuring light is reflected at the centre of a television screen using a television camera which changes the direction of shooting with a drive mechanism at the light emitting position or a position sharing the time of light emission or a plurality of different positions sharing the time of light emission, and receiving the distance measuring light which has travelled through the space using a receiver attached to the television camera so as to receive the emitted distance measuring light from the direction of the centre 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 passes through an optical fiber into which it enters, is received by a light receiver at the position where the light was emitted or a light receiver that shares the same time of the light emission, the distance that the distance measuring light travels through space is calculated 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 the calculated distance is added to an image of the emitted distance measuring light that is displayed on a television screen captured by a television camera.

28. 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, the distance measuring light that is emitted and travels through space passing through an optical fiber into which it is emitted and enters, the distance measuring light that travels through space being received using a receiver that shares the same time of emission, the distance that the distance measuring light travels through space being calculated using the difference between the time of emission and the time of reception minus the time that the light traveled through the optical fiber, and the calculated distance being added to an image of the distance measuring light that is captured by a television camera and displayed on a television screen.

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, the distance measuring light flying through the space being received by multiple 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 a distance measuring method that measures the position of a distance consisting of the multiple distances at the several different positions 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 light being emitted and emitted by a flying drone and flying through the space, the distance measuring light being received by 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 was emitted and entered, the distance measuring light flying through the space being received, the plurality of distances being calculated from the flying drone using the plurality of optical receivers at the several different positions, and a distance position consisting of the plurality of distances at the several different positions being measured from the flying drone.

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 that has been 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, or receiving the distance measuring light being emitted from a flying drone and flying through the space using a plurality of optical receivers at several different positions that share the time of emission of the tip of an optical fiber arranged on a drone flying through the optical fiber that has been emitted and entered, 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 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 the measurement position of a measuring jig or a measuring device arranged in the distance measurement device, the light is received using 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 reception time of the light by 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 space and calculating the distance traveled, the distance measurement light that is emitted and radiated from a measuring position of a measuring jig or measuring instrument and travels through the space is received by a plurality of light receivers that share the light emission position or the light emission time at the tip through an optical fiber into which the light is emitted and incident, the time of light 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 measuring position of the measuring jig or measuring instrument to the plurality of light receivers is calculated using the calculated light emission time and the light reception time of the plurality of light receivers, and similarly, the distance measurement light that is emitted and radiated with a time lag from the plurality of different light emitters provided near the measuring jig or measuring instrument and travels through the space is received by the plurality of different light emitters provided near the measuring jig or measuring instrument and travels through the space through the plurality of different optical fibers that are emitted and radiated with a time lag from the plurality of different light emitters provided near the measuring jig or measuring instrument and incident thereon with a time lag. 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. 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 tip of an optical fiber that has been emitted and incident thereon is measured, and the distance measuring light emitted at several different positions is measured by associating 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 to different positions of a drive mechanism driven by a drive value of a numerical control with a position of an image of the emitted distance measuring light that is shown on a television screen captured by a television camera at the position of the light emission, or at the tip of an optical fiber that has been emitted and incident thereon. 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. 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 tip of an optical fiber that has been 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 that has been emitted and incident, and the distance measuring light emitted at several different positions is measured by associating a drive value that drives a drive mechanism to receive the emitted distance measuring light using a distance measuring receiver that drives a drive mechanism with a drive value of a numerical control to a position of an image of the emitted distance measuring light that is shown on a television screen captured by a television camera at the position of the light emission, or 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 space and calculates the distance traveled, the distance measuring light is emitted at the tip position of an optical fiber that has been emitted and incident, and the distance measuring light is emitted at the tip position of an optical fiber that has been emitted and incident, and the distance measuring light is emitted at several different tip positions by associating the drive value that drives the drive mechanism with the drive value of a numerical control to the position of an image of the distance measuring light that appears on a television screen that uses a television camera to capture the distance measuring light that is emitted at the center position of the television screen. 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. 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 at the tip position of an optical fiber that has been emitted and incident thereon is projected at the position where the light was emitted, or at the tip position of an optical fiber that has been emitted and incident thereon, the distance measuring light being projected at the tip position of an optical fiber that has been emitted and incident thereon is projected at the tip position of an optical fiber that has been emitted and incident thereon, and the distance measuring light being projected at several different tip positions is projected at several different positions of the tip position of the several different distance measuring light ... 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 space and calculates the distance traveled, wherein the distance measuring light is emitted through an optical fiber that is emitted from the tip of the optical fiber arranged at a driving position of a robot driven by a drive value of a numerically controlled drive, 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 of emission and the time of reception, and the distance to the driving position where the light was emitted from the tip is calculated using the time that the light flew through the space and was received from the time that the light was emitted from the tip at the driving position, or the distance measuring light is emitted at the driving position of a robot driven by a drive value of a numerically controlled drive, and travels through the space, and is received at the driving position, and the optical fiber that is emitted at the driving position and emitted and travels through the space is input to the optical fiber arranged at the driving mechanism of the robot. 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 that measures the time that distance measuring light travels through space and calculates the distance traveled, the distance measuring light is emitted from the tip of the optical fiber arranged at a driving position of a robot driven by a driving value of a numerically controlled drive mechanism through an optical fiber that emits light and enters the optical fiber, and the distance measuring light that travels 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 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 mechanism. 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 that measures the time it takes for distance measuring light to fly through space and calculates the distance traveled, the distance measuring light is emitted through an optical fiber into which it is incident, and emitted from the tip of the optical fiber arranged at the position of a walking leg driven by a driving mechanism of a multi-legged walking robot driven by a driving value of a numerical control, the distance measuring light that has flown 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 the 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 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 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 tip position of a different optical fiber where it is emitted and input at the point where it is emitted.

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

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

44. A distance measuring method for a distance measuring device which 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 position where it is emitted, or at the tip position of a different optical fiber where it is incident at the position 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 of the numerically controlled television screen, and driving a zoom mechanism of the numerically controlled television camera using the measured distance from the position where the light is emitted to the photographed position to enlarge and photograph the distance measuring light.

45. A distance measurement method as claimed in any one of claims 1 to 44, characterized in that it comprises driving a numerically controlled television camera drive mechanism to photograph an object on a numerically controlled television screen photographed with the numerically controlled television camera so that the object appears in a central position on the numerically controlled television screen, irradiating a measurement laser beam from a laser distance measuring device attached to the numerically controlled television camera 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 driving the drive mechanism of the robot 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 claimed in any one of claims 1 to 44, comprising the steps of: driving a numerically controlled television camera drive mechanism to photograph an object so that the object on a numerically controlled television screen photographed using the numerically controlled television camera appears in a central position on the numerically controlled television screen; irradiating a measurement laser beam from a laser distance measuring device attached to the numerically controlled television camera in the central direction to measure the central direction of the numerically controlled television camera, thereby measuring the distance and direction to the object; driving a drive mechanism of the robot 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. Any of claims 1 to 44, wherein a driving value for driving a driving mechanism of the laser distance measuring device that irradiates the subject with a laser beam for measuring distance, which is driven by a driving value of a numerical control from the measurement position, is associated with a position of an image of the subject on a television screen where the subject is photographed using a television camera from the measurement position, and the position of the image of the subject at several different positions on the television screen where the subject is photographed at several different positions is displayed on the television screen where the subject is photographed at all positions using several different driving values ​​that irradiate the laser beam for measuring distance to the subject at 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. Any one of claims 1 to 44, wherein a position of an image of a subject on a television screen photographed using a television camera is associated with a drive value for driving the numerically controlled television camera drive mechanism for 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 so that the image of the subject on the numerically controlled television screen photographed using the television camera appears in a central position on the numerically controlled television screen, and the image of the subject is displayed on the numerically controlled television screen at all positions of the image of the subject on the television screen photographed using the television camera by using the several different drive values ​​for driving the numerically controlled television camera drive mechanism for photographing the subject at several different positions so that the image of the subject appears in a central position on the numerically controlled television screen. 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. A distance measuring method according to any one of claims 1 to 44, further comprising providing a switch for emitting the distance measuring light at a position where the distance measuring light is emitted.

50. A distance measuring method according to any one of claims 1 to 44, characterized in that the position where the distance measurement light is emitted and the distance is measured is photographed using a television camera attached at the 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. 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 light emission position of a jig for measuring distance, the distance of the light emission position of the jig is measured by the method described and explained above, and the position of the jig for measuring distance is measured via the light emission position of the jig.

53. 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. A distance measuring method according to any one of claims 1 to 44, characterized in that the position at which the distance measuring light is emitted is photographed using a smartphone.

55. A distance measuring method according to any one of claims 1 to 44, characterized in that the position at which the distance measuring light is emitted is photographed by a television camera.

56. A distance measuring method as described in any one of claims 1 to 44, characterized in that the several different optical fibers into which the several different distance measuring light beams are emitted and incident are arranged at several different driving positions of a driving mechanism that drives in association with the several different optical fibers, the several different distance measuring light beams are emitted from the tips of the several different optical fibers, and the several different distance measuring 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 association with the several different optical fibers.

57. A distance measuring method as described in any one of claims 1 to 44, characterized in that the several different distance measuring light beams emitted from the light emission positions attached to several different moving positions on 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, to measure the distances at the several different moving positions on the human body.

58. A distance measuring method as described in 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 stored image of the gaze direction is projected onto a television screen captured by a different television camera, and the distance position between the image of the gaze direction and the subject of the projected image is measured.

59. A distance measuring method as described in any one of claims 1 to 44, characterized in that the distance measuring light is emitted or projected onto a television screen that captures the position to be measured by emitting or projecting the distance measuring light.

60. A distance measuring method according to any one of claims 1 to 44, characterized in that the distance measuring light or the light for photographing is projected onto the television screen and the numerically controlled television screen.

61. A distance measuring method according to any one of claims 1 to 44, characterized in that the position of the distance to be measured by the distance measuring light is arranged in a three-dimensional space constructed on a computer.

62. A distance measuring method according to any one of claims 1 to 44, characterized in that the distance measuring light is emitted, emitted or irradiated at the distance to be measured using a distance measuring robot.

63. A distance measuring method as described 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 distance positions at which the distance measuring light emitted from the plurality of light emission positions is measured.

64. A distance measuring method according to any one of claims 1 to 44, characterized in that the emitted distance measuring light is focused using an optical lens to measure the irradiation position.

65. 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. A distance measuring method as described in any one of claims 1 to 44, characterized in that the emitted distance measuring light is made incident on an optical fiber, the distance measuring light emitted into space is received at a position where the distance measuring light has passed through the optical fiber, and the distance from the position where the light is emitted to the position where the light is received is measured.

67. A distance measuring method as described in any one of claims 1 to 44, characterized in that the emitted distance measuring light is made incident on several different optical fibers, the distance measuring light emitted into space is received at the several different positions after passing through the several different optical fibers, and the distance from the emitted position to the several different received positions is measured.

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

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

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

71. A distance measuring method as described in any one of claims 1 to 44, characterized in that the tip of the optical fiber is processed so that some reflected light is generated at the tip of the optical fiber through which the distance measuring 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. A distance measuring method according to any one of claims 1 to 44, characterized in that a digital map is created using the measured distance.

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

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

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, to measure the working position of the robot at the position where the light is emitted, and the working position of the driving mechanism of the robot, which is associated with the measured distance position, is driven using a voice of the position numerical value converted into the associated distance position numerical value using the method described above.

77. A distance measurement method as claimed 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 the space, and a method is used to measure the distance position of the working position of the robot at the position where the light is emitted, and a method is used to drive the working position of the driving mechanism of the robot, which is recorded and associated with the measured distance position, using an external signal that converts the measured distance position into the associated distance position numerical value.

78. A distance measuring method according to any one of claims 1 to 44, characterized in that the distance measuring light emitted with a time lag is used for measuring with a time lag.

79. A distance measuring method according to any one of claims 1 to 44, characterized in that the distance measuring light emitted at a plurality of different positions with a time lag is measured with the time lag.

80. A distance measurement method as described in any one of claims 1 to 44, characterized in that the distance measurement 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.

81. A distance measuring method as described in 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, which drives the numerically controlled drive mechanism with a drive value, and the distance measuring light is emitted from the tip of the optical fiber and travels through the space, and is received at the light emission position that shares the same time of the light emission, thereby making the measurement.

82. A distance measuring method as described in any one of claims 1 to 44, characterized in that the distance measuring light emitted and radiated traveling through the space at the 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 measuring light traveling through the space at the tip position 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. A distance measuring method as described in 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 the drive mechanism of a robot with a drive value of a numerical control, and the distance measuring light is emitted from the 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. A distance measuring method according to any one of claims 1 to 44, characterized in that the measuring jig is used to drive the driving mechanism of a robot.

85. A distance measurement method as claimed in 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 robot's drive mechanism.

86. A distance measuring method according to any one of claims 1 to 44, characterized in that the spatial position is continuously measured.

87. A distance measuring method according to any one of claims 1 to 44, characterized in that the distances measured continuously for positions in the space are stored.

88. A distance measuring method according to any one of claims 1 to 44, characterized in that the stored distance is used to drive a drive mechanism of the robot associated with the distance.

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

90. 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. A method according to any one of claims 1 to 44, characterized in that the identified image is assigned the date and time of measurement and stored via an Internet network.

92. A method according to any one of claims 1 to 44, characterized in that a digital map is created on an Internet network using the measured distances and the captured images stored via the Internet network.

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

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