JP7257326B2 - Surveying instrument, surveying system, surveying method and surveying program - Google Patents

Description

The present invention relates to surveying using a laser scanner.

A technique is known in which a surveying device such as a laser scanner is placed on a trolley or the like and surveyed while being moved (see, for example, Patent Documents 1 to 3).

Japanese Patent No. 5748566 JP 2014-173990 A Japanese Unexamined Patent Application Publication No. 2017-20972

When a laser scanner is mounted on a cart, the cart is alternately moved and stopped, and the laser scanner is used for surveying when the cart is stopped, it is important to control the stop position of the cart. If the stop position of the truck is not appropriate, there will be a lot of duplication of scans, which will increase the waste of the survey work, or there will be gaps in the scan range, resulting in lack of data. Therefore, when pursuing efficiency in surveying work, it is important to control the stop position of the cart.

In view of this background, the present invention aims to provide a technique that achieves high work efficiency in a technique in which a laser scanner is mounted on a mobile body, the mobile body alternately moves and stops, and laser scanning is performed when the mobile body stops.

The invention according to claim 1 is based on positioning data obtained by a laser scanner mounted on a moving body and having a first reflecting prism and positioning data obtained by a total station fixed on the ground and having a second reflecting prism. The moving body is guided to a predetermined stop position based on the positioning data of the first reflecting prism by the exterior orientation element calculation unit that calculates the exterior orientation elements (position and orientation) of the laser scanner, and the total station. A surveying instrument comprising a guidance processing unit that performs guidance processing for performing a guidance process for determining the second It is the positioning data of the reflecting prism, and the positioning data by the total station is the positioning data of the first reflecting prism.

According to a second aspect of the present invention, there is provided a surveying system comprising the surveying apparatus according to claim 1 and a leveling device for leveling the laser scanner. The invention according to claim 3 is characterized in that, in the invention according to claim 2, the positioning of the first reflecting prism is performed by the total station after the leveling operation of the laser scanner by the leveling device. and

The invention according to claim 4 is based on positioning data obtained by a laser scanner mounted on a moving object and having a first reflecting prism and positioning data obtained by a total station fixed on the ground and having a second reflecting prism. Surveying in which calculation of exterior orientation elements (position and attitude) of the laser scanner and guidance processing of guiding the moving object to a predetermined stop position based on positioning data of the first reflecting prism by the total station are performed. In this method, the exterior orientation elements (position and orientation) of the laser scanner are calculated based on the positioning data of the first reflecting prism by the total station and the positioning data of the second reflecting prism by the laser scanner. It is a surveying method based on

The invention according to claim 5 is a program to be read and executed by a computer. Calculation of the exterior orientation parameters (position and orientation) of the laser scanner based on positioning data from a total station equipped with two reflecting prisms, and a predetermined stop based on the positioning data of the first reflecting prism from the total station. and a guidance process for guiding the moving body to a position, and the calculation of the external orientation elements (position and attitude) of the laser scanner is based on the positioning data of the first reflecting prism by the total station and the positioning data by the laser scanner. It is a surveying program that is performed based on the positioning data of the second reflecting prism.

According to the present invention, high work efficiency can be obtained in the technique of mounting a laser scanner on a moving body, alternately moving and stopping the moving body, and performing laser scanning when the moving body stops.

1 is a conceptual diagram of an embodiment; FIG. 1 is a block diagram of a TS (total station); FIG. 1 is a block diagram of a laser scanner; FIG. 1 is a block diagram of a terminal; FIG. 4 is a flow chart showing an example of a procedure of processing; FIG. 4 is a conceptual diagram showing an example of laser scanning the wall surface of a tunnel;

1. First embodiment (outline)
FIG. 1 shows an outline of an embodiment using the invention. FIG. 1 shows a road surface 100, a truck 110 movable on the road surface 100, an automatic leveling table 120 installed on the truck 110, and a laser scanner 130 installed on the automatic leveling table 120. . Here, an example of performing laser scanning on a road surface is shown, but the target of laser scanning is not particularly limited. It is also possible to perform laser scanning on an object such as a wall surface in a room.

The carriage 110 is movable on the road surface 100 . Movement is done manually by pushing. It is also possible to move the cart 110 by power such as a motor. The truck 110 stops at a predetermined position, and in this state, the laser scanner 130 scans the road surface 100 and, in the case of a tunnel, the wall surface and the ceiling. This laser scanning is used to check the flatness and slope of the road surface, and the displacement of the inner space of the tunnel. In addition, in the case of indoors, the current frame and interior are confirmed.

When obtaining the accuracy of the above laser scanning, the accuracy of the exterior orientation elements (position and orientation) of the laser scanner during laser scanning is important. When laser scanning a road surface, the maximum effective range is about 30 m due to the problem of the angle of incidence of the laser beam on the road surface, and it is necessary to stop the trolley every 20 m. Therefore, it is important to accurately grasp the stationary position of the carriage 110 in order to improve work efficiency. The above discussion of the effective range of the laser scanning light is just an example, and the actual range varies depending on the specifications of the laser scanner, the angle of incidence of the laser light on the target, and the state of the target. Possible.

In this embodiment, a TS (total station) 140 is used to guide the laser scanner 130 to the stop position and to precisely identify its position. Further, by measuring the position of the TS 140 with the laser scanner 130, the exterior orientation elements of the laser scanner 130 are specified with high accuracy.

The principle will be briefly described below (details will be described later). A total reflection prism 131 is fixed to the laser scanner 130, and a total reflection prism 141 is fixed to the TS140. The omni-reflection prisms 131 and 141 have an optical characteristic of changing the direction of incident light by 180° in the omni-circumferential direction and reflecting it. If the stop position of the laser scanner 130 is predetermined, that information is stored in the terminal 111 . It is also possible to use a spherical target, a reflection prism that is not a total reflection prism, or various targets used for surveying instead of the total reflection prism.

While the truck 110 is manually moved on the road surface 100, the TS 140 installed at a known position tracks the all-around reflection prism 131. FIG. The movement path of laser scanner 130 (total reflection prism 131 ) is accurately measured by the positioning function of TS 140 , and the data is sent to terminal 111 . Predetermined stop position data is input to the terminal 111 , and guidance information to the stop position of the truck 110 is displayed on the terminal 111 . Also, when the cart 110 reaches a predetermined position (or comes close to it), the terminal 111 outputs a notification signal (guidance information, notification display, notification sound, etc.). Thereby, the truck 110 can be stopped at the predetermined stop position.

When the carriage 110 stops at the predetermined stop position, the laser scanner 130 is leveled by the automatic leveling table 120, and then the TS 140 again precisely measures the position of the total reflection prism 141. FIG. After the laser scanner 130 has been leveled, the target (reflecting prism) positioning function of the laser scanner 130 performs positioning of the all-around reflecting prism 141 . The position of the all-around reflecting prism 141 in the absolute coordinate system is known, and by performing the positioning of the all-around reflecting prism 141 as seen from the laser scanner 130, the direction and distance of the all-around reflecting prism 141 as seen from the laser scanner 130 can be determined. I understand. Thereby, the exterior orientation element (orientation) in the absolute coordinate system of the laser scanner 130 is specified. Also, the position of the laser scanner 130 is accurately measured by the TS 140 after leveling processing as described above.

After identifying the exterior orientation elements of the laser scanner 130 at the stop position, a laser scan of the road surface 100 is performed by the laser scanner 130 to obtain laser scan data. After this laser scanning, the truck 110 is moved to the next stop position. The above processing is repeated from the first stop position→the second stop position→ . . .

According to the above method, first, the stop position of the laser scanner 130 is accurately specified by the TS 140 . This process is performed after the laser scanner 130 has been leveled, and since the positioning accuracy of the TS 140 is high, the stopping position of the laser scanner 130 can be determined accurately. In addition, by measuring the position of the total reflection prism 141 (TS140) with the laser scanner 130 that has been leveled and positioned accurately, the precise external orientation element of the laser scanner 130 at the stop position is obtained. be able to. Therefore, accurate laser scan data can be obtained. In addition, since the process (guidance process) related to notification of the stop position by the TS 140 is automatically performed, high work efficiency can be obtained.

In addition, by positioning the omnidirectional prism 141 from the laser scanner 130, the exterior orientation elements of the laser scanner 130 at the stop position can be obtained.

TS 140 and laser scanner 130 can automatically acquire, track, and position the all-reflection prism. Therefore, the entire work can be performed with high efficiency.

(TS (total station))
TS140 uses a commercially available model. TS is described in JP-A-2009-229192 and JP-A-2012-202821. The TS 140 has a base portion 144 fixed on a tripod 143, a horizontal rotation portion 142 capable of horizontal rotation on the base portion 144, and a vertical rotation (change in elevation angle and depression angle) with respect to the horizontal rotation portion 142. A vertical rotating section 145 and an all-around reflecting prism 141 fixed above the horizontal rotating section 142 are provided.

FIG. 2 shows a block diagram (configuration diagram) of the TS140. Horizontal rotation of the horizontal rotation section 142 in FIG. 1 is performed by the horizontal rotation motor 15 driven by the horizontal driving section 15a in FIG. The horizontal rotation angle of the horizontal rotation section 142 is detected by the horizontal angle encoder 16, and the angle data is output from the horizontal angle measurement section 16a. The rotation of the vertical rotation section 145 is performed by the vertical rotation motor 18 driven by the vertical drive section 18a. The rotation angle of the vertical rotation section 145 is detected by the vertical angle encoder 19 and the angle data is output from the vertical angle measurement section 19 .

In this example, an all-around reflecting prism 131 arranged in a laser scanner 130 is used as a target for positioning by the TS 140 . In this case, the tracking light irradiating unit 42 irradiates the omnidirectional reflecting prism 131 with the tracking light, and the tracking light receiving unit 43 receives the reflected light. The tracking light is irradiated in a certain range, and the horizontal rotation angle of the horizontal rotation section 142 and the vertical angle of the vertical rotation section 145 are adjusted so that the all-around reflection prism 131 is positioned in the center of the irradiation range.

The distance measurement from the TS 140 to the total reflection prism 131 is performed by the distance measurement light emitted from the distance measurement light irradiation unit 50 . The distance measuring light is a pulsed laser beam and is divided into two by an optical system (not shown). be irradiated. The distance measuring light reflected from the all-around reflection prism 131 is received by the distance measuring light receiving section 51 . On the other hand, the reference light is also received by the distance measuring light receiving section 51 . There is a difference in optical path length between the reference light and the distance measuring light reflected from the omnidirectional reflection prism 131 , and a difference in detection timing in the distance measuring light receiving section 51 occurs, resulting in an output signal from the distance measuring light receiving section 51 phase difference occurs. The distance from the TS 140 to the total reflection prism 131 is calculated from this phase difference.

The horizontal angle encoder 16 and the vertical angle encoder 19 measure the direction of the optical axis of the distance measuring light during the distance measurement. Based on the distance and direction to the all-around reflection prism 131, positioning of the all-around reflection prism 131 with reference to the TS 140 is performed. Calculations related to this positioning are performed by the control calculation unit 60 . The control calculation unit 60 is hardware that functions as a computer, and performs calculations related to operation control and operation of the TS 140 in addition to calculations related to positioning of the omnidirectional reflection prism.

A target device 135 with an all-reflecting prism 131 can also be used. The control in this case is described in JP-A-2009-229192. For example, in this case, the fan-shaped laser beam beam-shaped is emitted from the fan-shaped laser beam irradiation unit 13 . This irradiation light is emitted while being scanned in the horizontal direction, and is received by the fan-shaped laser light receiving body 6 of the target device 135 . The fan-shaped laser light has an N-shape or a W-shape when viewed from the optical axis direction, and the elevation angle from the TS 140 can be calculated from the light receiving timing. This calculation is performed by the control calculation unit 62, and the result and the previous light reception time are stored in the storage unit 70. FIG.

The previous elevation angle and light receiving time are transmitted from the wireless communication unit 63 to the wireless communication unit 64 of the TS 140. Based on the contents, the TS 140 calculates the direction of the target device 142 and aligns the optical axis in the direction of the target device 135. turn. As a result, the target device 135 is roughly collimated with respect to the all-around reflection prism 131, after which the all-around reflection prism 131 is collimated with the tracking light, and further, the all-around reflection prism 131 is positioned with the distance measuring light. is done.

The TS 140 has an operation unit 65 , a storage unit 61 , a wireless communication unit 64 and a camera 52 . The operation unit 65 includes various buttons and switches for operating the TS 140, and a display on which various information is displayed. The storage unit 61 stores various data and operation programs relating to the operation of the TS 140 . The wireless communication unit 64 communicates with the terminal 111 and the laser scanner 130, and communicates with other external devices. The camera 52 has the same optical axis as the range-finding light, and shoots a moving image of the range-finding target.

(laser scanner)
A block diagram of the laser scanner 130 is shown in FIG. The basic configuration of the laser scanner 130 is the same as the TS140, although the appearance of the device is different. The laser scanner 130 includes a body portion 132 and an optical portion 133 that can horizontally rotate with respect to a base portion 134 . A rotating mirror capable of vertical rotation is arranged in the optical section 133 . Distance measuring light from a distance measuring light irradiation unit 50 (see FIG. 3) arranged in the main body 132 is irradiated to the rotating mirror that rotates vertically. Also, the distance measuring light reflected from the object is reflected by the rotating mirror and received by the distance measuring light receiving section 51 arranged in the main body 132 .

While the main unit 132 rotates horizontally and the rotating mirror in the optical unit 133 rotates vertically, the rotating mirror is irradiated with continuous pulses of distance measuring light, and the laser scanner 130 emits laser light to the surroundings (or to a specific range). A scan is performed.

Looking at the laser scanning in the laser scanner 130 as a single pulse, the laser positioning is based on the same principle as the TS140. Scan points are positioned while scanning at a speed of 10 points or more. In laser scanning, a plurality of distance-measuring beams are irradiated simultaneously, and positioning of a plurality of points is performed at the same time. Laser scanners are described in JP-A-2010-151682, JP-A-2008-268004, US Pat. No. 8,767,190, and the like. US Publication No. US 2015-0293224 also describes a laser scanner with electronic scanning direction switching.

The laser scanner 130 has a positioning function that targets the reflecting prism. This function first collimates the reflecting prism (in this example the all-around reflecting prism 141 of the TS140). This function is performed using a target (reflecting prism) acquisition function similar to that of the TS130. Next, laser scanning is performed with increased scanning density in the vicinity of the reflecting prism. At this time, by utilizing the fact that the intensity of the reflected light from the reflecting prism is relatively high, the positioning data of the reflecting prism is extracted from the scan data.

Terminal 111 is fixed to cart 110 . The terminal 111 is fixed at a position that is easy to see and operate for the operator who pushes the carriage 111 . FIG. 4 shows a block diagram of the terminal 111. As shown in FIG. The terminal 111 functions as a controller for the TS 140, a device for notifying the stop position of the cart 110 (laser scanner 130), and a device for calculating the exterior orientation factor (attitude) of the laser scanner 130 at the stop position.

The terminal 111 is hardware that functions as a computer, and is configured by a PC (personal computer), tablet, smart phone, or dedicated hardware capable of processing described below. The terminal 111 includes a display device such as a liquid crystal display, an operation interface such as a numeric keypad and a touch panel display, a communication device, and other hardware and functions that a typical PC or tablet has.

The terminal 111 includes an exterior orientation element calculation unit 66, a notification processing unit (guidance processing unit) 67, and a control unit 68 as functional units. These functional units are implemented by installing dedicated application software on the terminal 111 and executing it on the CPU of the terminal 111 . It is also possible to configure a dedicated arithmetic circuit for executing the functions described above using an FPGA or the like.

The exterior orientation factor calculator 66 calculates the exterior orientation factors of the laser scanner 130 (especially data of its attitude) based on the positioning data of the total reflection prism 141 performed by the laser scanner 130 .

A method of calculating the exterior orientation parameters (especially data of its attitude) of the laser scanner 130 will be described below. First, the position of the laser scanner 130 at the stop position is specified by positioning using the TS 140, and the position data is received by the wireless communication unit 69. FIG. Here, the attitude of the laser scanner 130 is obtained as follows.

In this case, the positioning of the total reflection prism 141 is performed by the laser scanner 130 . At this time, the direction of the all-around reflection prism 141 viewed from the laser scanner 130 is obtained. Thereby, a direction line from the position of the laser scanner 130 to the position of the TS 140 (the position of the reflecting prism 141) is obtained.

Now consider the horizontal angle. The horizontal angle shall be measured in the clockwise direction with north as the reference. Here, assume that the direction of the direction line is 45° (northeast direction). In this case, the relationship between the reference direction of the horizontal angle in the laser scanner 130 and the direction of the direction line is obtained. As a result, the value of the horizontal angle of the laser scanner 130 at that position in the reference direction in the absolute coordinate system is known. Note that the laser scanner 130 is horizontally secured by the function of the automatic leveling table 120, so if the reference of the horizontal angle can be determined, the posture can be determined. Thus, the attitude of the laser scanner 130 at the specific stop position is calculated. The above processing is performed by the exterior orientation element calculator 66 .

The exterior orientation element calculator 66 may be arranged on the laser scanner 130 or TS 140 side. Also, it is possible to use a device such as a server that is remotely located to calculate the exterior orientation parameters of the laser scanner 130 .

The notification processing unit 67 performs processing related to guidance of the cart 110 to a predetermined stop position, and when the cart 110 (laser scanner 130) approaches or reaches the stop position, the display unit of the terminal 111 displays that fact. It performs processing such as displaying on the screen and generating notification sounds. The notification processing unit 67 is an example of a guidance device that guides the truck 110 to the stop position. For example, the notification processing unit 67 displays an arrow indicating the direction from the current location to the planned stop position and the distance therefrom on the display unit of the terminal 111 (for example, the liquid crystal display device of the tablet). This process can be regarded as a process of notifying information about the stop position as image information.

These notification processes are performed based on the difference between the position data of the predetermined stop position and the position data of the laser scanner 130 measured by the TS 140 . For example, the direction and distance to the next stop position are calculated within the terminal 111 and displayed on the display section of the terminal 111 .

The control unit 68 performs operation control (remote control) of the laser scanner 130 and the TS 140 . The terminal 111 also includes a wireless communication unit 69 . The wireless communication unit 69 communicates with the laser scanner 130 and TS 140, and further with other devices.

(Example of processing)
(Work before treatment)
FIG. 5 is a flow chart showing an example of the procedure of processing executed in the system of FIG. A program for executing the processing in FIG. 5 is installed in the terminal 111 and executed by the CPU of the terminal 111 . It is also possible to store the program in the TS 140, the storage unit 61 of the laser scanner 130, or an appropriate external storage medium.

In the process of FIG. 5, the operation of the laser scanner 130 and TS 140 is remotely controlled by the terminal 111 . 5 may be performed by the laser scanner 130 or the TS 140, or may be performed by a server or the like installed at a remote location.

Here, an inspection is performed by laser scanning using a laser scanner 130 to determine whether the surface condition (flatness and inclination condition) of the paved road surface 100 satisfies prescribed specifications.

As preparations for the work, a laser scanner 130 having an all-around reflection prism 131 and a TS 140 having an all-around reflection prism 141 are prepared. The relationship between the optical origin (reflection point) of the all-around reflection prism 131 and the optical origin of the laser scanner 130 (the position of the origin for calculating the position of the scan point), the optical origin of the all-around reflection prism 141 and the optical origin of the TS 140 (positioning origin) is obtained in advance as known data. As a result, the position (optical origin) of the laser scanner 130 is specified by performing positioning with the all-around reflection prism 131 as a target, and the position of the TS 140 is determined by performing positioning with the all-around reflection prism 141 as a target. (optical origin) is specified.

In addition, the data of the stop position on the road surface 100 is input to the TS 140 in advance. In this example, the effective range of laser scanning to the road surface is estimated to be 30 m, and the stop position of the truck 110 is set every 20 m in consideration of the overlapping portion. Also, the stop position is the center in the width direction of the road. The stopping interval is case-by-case in relation to the effective range of the scanning laser beam and the scanning density, and is set according to the scanning target. In addition, a predetermined stop position of the carriage 110 is marked on the road surface 100 .

(Processing procedure)
First, the TS 140 is installed at a known position on the absolute coordinate system (step S101). Also, the attitude (azimuth angle) of the TS 140 at this installation position is specified. This is the same as the work of specifying exterior orientation elements when installing a TS (total station) which is usually performed. The absolute coordinate system is, for example, a world coordinate system used in GNSS, and is a coordinate system in which a position is specified by latitude, longitude, and altitude from the mean sea level. The position is specified, for example, by relative positioning using GNSS. Alternatively, the TS 140 may be installed at a point whose position is specified in advance. A local coordinate system set on site can also be used as the coordinate system.

Next, on the road surface 100, the TS 140 captures the all-around reflection prism 131 of the laser scanner 130 on the truck 110 (step S102). This is done by manual sighting, automatic sighting by the target search function of the TS 140, or a combination of manual rough sighting and automatic sighting.

The carriage is then manually pushed to move toward the first stop position. At this time, TS 140 continues to capture and position omni-reflection prism 131 . A terminal 111 serving as a controller for the TS 140 is fixed to the truck 110 (it may be held by a person who pushes the truck 110). The terminal 111 displays the direction and distance of the target stop position, and guides the truck 110 (step S103). This display is created based on the positioning data of the omnidirectional prism 131 by the TS 140 and the position data of the preset stop position.

The worker who pushes the truck 110 pushes the truck 110 to the stop position while looking at the display displayed on the terminal 111 . When the carriage reaches the stop position, the distance to the stop position on the display of the terminal 111 becomes 0, an information display to that effect is displayed, and an information sound is emitted from the terminal 111 . Upon receiving this notification process, the operator stops the truck 110 at a preset stop position.

Next, the tilt is corrected using the automatic canonical function of the automatic level table 120 so that the vertical axis of the laser scanner 130 is aligned with the vertical direction (step S104). As the automatic level table 120, a type is used in which the tilt is detected by various tilt sensors (for example, a method for optically detecting air bubbles) and the tilt is adjusted by an actuator or the like based on the detected tilt. Techniques related to the leveling stand are described in, for example, Japanese Patent Application Laid-Open No. 2009-14368. A form in which leveling is performed not automatically but manually or semi-automatically is also possible.

Next, the positioning of the total reflection prism 131 fixed to the laser scanner 130 is performed by the TS 140 (step S105). By this process, the precise position of the laser scanner 130 after the leveling process of the laser scanner 130 is specified. The positioning data of the all-around reflecting prism 131 is sent to the terminal 111 . Since the offset value (positional deviation) between the laser scanner 130 and the all-around reflection prism 131 is known, the laser scanner 130 is positioned by positioning the all-around reflection prism 131 . This is the same for the total reflection prism 141 and TS140.

Next, the positioning of the total reflection prism 141 (TS140) is performed using the laser scanner 130 whose position has been accurately specified (step S106). The positioning data of the total reflection prism 141 is sent to the terminal 111 .

Next, the exterior orientation parameters of laser scanner 130 are calculated based on the position of laser scanner 130 and the position of TS 140 specified on the absolute coordinate system (step S107). Here, the position of the exterior orientation element of the laser scanner 130 is positioned by the TS 140 and the positioning data is received by the terminal 111 . Therefore, the posture of the laser scanner 130 is calculated here. This processing is performed by the exterior orientation element calculation unit 66 of the terminal 111 .

After obtaining the exterior orientation elements of the laser scanner 130, laser scanning of the road surface 100 is performed using the laser scanner 130 (step S108). At this time, since the exterior orientation parameters of the laser scanner 140 have been calculated in step S107, the laser scan data of the road surface 100 can be obtained on the absolute coordinate system.

When the laser scanning of the road surface 100 at the stop position guided in step S103 is completed, the process returns to the previous step of step S103, movement to the next stop position by guidance by the TS 140 is performed, and the processing from step S104 onward is repeated. . In this way, a cycle of moving to a plurality of preset stop positions, stopping there, and laser scanning is repeated to acquire laser scan data of the road surface.

In the above process, the TS 140 guides the cart 110 to a predetermined stop position and positions the laser scanner 130 at the stop position. In addition, the exterior orientation factor of the laser scanner 130 at the stop position is calculated by the positioning of the total reflection prism 141 by the laser scanner 130 . At this time, no manpower other than pushing and moving the carriage 110 is required, and high work efficiency can be obtained.

(Modification)
It is also possible to control overlapping laser scan ranges from adjacent laser scanner stops so as to obtain the required laser scan point cloud density. In the present invention, since the position of the laser scanner is accurately grasped by the TS, such work is easy.

It is also possible to use a TS to identify a portion of a plurality of predetermined planned stop positions. In this case, specifying the stop position without using TS is performed by shape matching. Shape matching is a technique that tracks changes in the path of travel of a laser scanner and exterior orientation elements by laser scanning over overlapping areas made from two different points.

For example, when there are a plurality of planned stop positions of the truck 110, the TS 140 is used to identify the first and last planned stop positions, and the above-mentioned shape matching is used to identify other planned stop positions.

In addition, in a state in which the laser scanner 130 and the TS 140 can see each other and are capable of mutual positioning, the stop position of the carriage 110 is specified using the principle of FIG. The planned stop position is specified by the position specifying process of 130 .

(Conclusion)
In the above-described technology, the positioning data obtained by the laser scanner 130 mounted on the trolley 110 and equipped with the all-around reflection prism 131 and the positioning data by the total station 140 fixed on the ground and equipped with the all-around reflection prism 141 are used. Guidance processing for guiding the carriage 110 to a predetermined stop position is performed based on the exterior orientation element calculation unit 66 that calculates the exterior orientation elements of the scanner 130 and the positioning data of the total reflection prism 131 by the total station 140. In the terminal 111 including the notification processing unit (guidance processing unit) 67, in calculating the exterior orientation elements of the laser scanner 130, the positioning data by the laser scanner 130 is the positioning data of the total reflection prism 141, and the total station It is disclosed that the positioning data by 140 is the positioning data of the all-around reflection prism 131 .

2. Second Embodiment FIG. 6 shows an example of laser scanning the inner walls (side walls and ceiling) of a tunnel. In this case, the TS 140 is installed in a tunnel, and laser scanning of the inner wall of the tunnel is performed by a laser scanner 130 mounted on a truck 110 . In this case, the process of FIG. 5 is executed inside the tunnel. Of course, laser scanning of the road surface is also possible in addition to the walls of the tunnel.

INDUSTRIAL APPLICABILITY The present invention can be used for a technique of alternately moving and stopping, and performing laser scanning when stopped.

DESCRIPTION OF SYMBOLS 100... Road surface, 110... Carriage, 120... Leveling table, 130... Laser scanner, 131... Total reflection prism, 132... Main body part, 133... Optical part, 134... Base part, 140... TS (total station), 141 142: Horizontal rotating portion 143: Tripod 144: Base portion 145: Vertical rotating portion.

Claims (5)

The external orientation element (position and attitude) , and
a guidance processing unit that performs guidance processing for guiding the moving body to a predetermined stop position based on the positioning data of the first reflecting prism by the total station, wherein
In calculating the exterior orientation elements (position and orientation) of the laser scanner,
The positioning data obtained by the laser scanner is positioning data of the second reflecting prism,
The surveying instrument, wherein the positioning data obtained by the total station is positioning data of the first reflecting prism. A surveying instrument according to claim 1;
and a leveling device for leveling the laser scanner. 3. The surveying system according to claim 2, wherein the positioning of the first reflecting prism is performed by the total station after the leveling operation of the laser scanner by the leveling device. An exterior orientation element (position and posture) , and
Guidance processing for guiding the moving body to a predetermined stop position based on the positioning data of the first reflecting prism by the total station, and
The calculation of the external orientation elements (position and orientation) of the laser scanner is performed based on the positioning data of the first reflecting prism by the total station and the positioning data of the second reflecting prism by the laser scanner. Method. A program that is read and executed by a computer,
Exterior orientation elements of said laser scanner based on positioning data from a laser scanner mounted on a mobile object and having a first reflecting prism and positioning data from a total station fixed on the ground and having a second reflecting prism. Calculation of (position and orientation) and
a guidance process for guiding the moving body to a predetermined stop position based on the positioning data of the first reflecting prism by the total station;
The calculation of the external orientation elements (position and orientation) of the laser scanner is performed based on the positioning data of the first reflecting prism by the total station and the positioning data of the second reflecting prism by the laser scanner. program for.

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