JP2000131063A - Surveying method and system employing flying object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make measurable the 3D position or the attitude of an object, e.g. a topography, conveniently at a high speed and to make describable the solid figure of the object easily by obtaining 3D information added with optical information on the object in a measuring region. SOLUTION: Assuming a coordinate fixed to a flying object, i.e., a helicopter 10, is Q-xyz, the helicopter 10 advanced in the direction of y-axis and performs canning with laser light 21 in the direction of x-axis perpendicular to a flight path 25 on the ground surface 20 while picking up the image of the ground surface by means of line sensor. Assuming the moving distance of the flying object 10 during single scanning with the laser light 21 is D and the scanning width is E, the diagonal of a rectangle defined by D and E represents the irradiation path 22 on the ground surface 20. The time Δt to be elapsed after emission of the laser light 21 before reception thereof is measured and the distance L between the emitting point W of the laser light 21 and the irradiating point S on the object is measured from the Δt. Subsequently, the irradiating point S is determined three-dimensionally from the distance L, and the position and the attitude of the helicopter 10 and the cross-sectional view of topography is obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for measuring topography and the like to which information relating to the intensity of light in a predetermined wavelength range by a flying object is added. The present method and apparatus can accurately obtain three-dimensional information such as terrain with information related to intensity information of a predetermined wavelength range of light in a measurement region,
It can be used to easily create a bird's-eye view, cross section, contour map, and temperature map of the surface of the terrain.

[0002]

2. Description of the Related Art Conventionally, in order to obtain a topographic map having three-dimensional numerical values, walking measurement is performed in which the user goes to a site and actually measures the latitude, longitude, and height at that position. In addition, a top view of the terrain is obtained by aerial photography as telemetry. Further, in order to add intensity information of a predetermined wavelength range of light to the topographic map, for example, information of color and brightness,
Information on color and brightness obtained from aerial photographs is manually added to each measurement point. Further, with respect to the temperature distribution map, information on the temperature distribution is manually added to each measurement point from an aerial photograph using far infrared rays.

[0003]

However, there is a problem that it takes enormous effort and time to obtain detailed information of a topographic map by walking measurement. Therefore, for example, when it is desired to urgently obtain the appearance and degree of the landslide, the walking measurement cannot be used. In some cases, it is not possible to approach the site and the measurement itself is impossible. Furthermore, in order to accurately obtain a topographic map from an aerial photograph, a reference point is required in the photographed image, and in order to establish the reference point, it is necessary for people to go to the site, which is also a huge It took effort and time.

On the other hand, an aerial photograph can obtain a topographic map relatively easily, but the information obtained is plane information, and it is difficult to obtain three-dimensional information. Further, in order to add information on light intensity such as color and brightness, it is necessary to associate the aerial photograph with the obtained topographic map on a one-to-one basis, which requires a great deal of manpower and accuracy. There was a problem. It is also possible to obtain altitude information from photographs taken from a plurality of angles, but this altitude analysis takes time and has problems in accuracy.

Accordingly, the present invention provides a simple and high-speed measurement of a three-dimensional position or orientation to which information relating to the intensity of light in a predetermined wavelength range of light of a measurement object such as a terrain by a flying object is added from a completely new viewpoint. It is an object of the present invention to make it possible to easily draw a three-dimensional view of a measurement object to which information related to the intensity of light in a predetermined wavelength range is added.

[0006]

According to a first aspect of the present invention, in a flying object, values related to the current position and attitude of a reference point set on the flying object are measured using time as a variable, and the flying object is fired from the flying object. By changing the optical axis direction of the laser beam to be measured with time as a variable, the laser beam is scanned over the object to be measured, the laser beam is irradiated on the object to be measured, and the reflected laser beam is detected. An imaging device is arranged to measure a value related to a distance from the object to be measured to time as a variable, and to image a laser scanning area substantially along a scanning line of laser light on the object to be measured. The light information, which is a value related to the intensity information of the light of the target object in a predetermined wavelength range, is measured by the imaging device using time as a variable, and is related to the position and orientation of the reference point corresponding to each identical value of the time variable. Values and distances related to the optical axis direction and distance The irradiation point position of the laser light on the measurement object is calculated based on the value to be measured, and a value related to the light information of the measurement object corresponding to each identical value of the time variable is calculated as the light at the irradiation point position of the laser light. And three-dimensional information to which information on the light of the measurement object in the measurement area is added is obtained from a set of values related to the position of the irradiation point and the information on the light.

According to a second aspect of the present invention, in the surveying method, the imaging device is capable of imaging at least a length range of an orthographic projection of a scanning line of the laser beam on the measurement object in a length direction of the line sensor. Characterized in that it is a line sensor arranged at According to a third aspect of the present invention, in the surveying method, the predetermined wavelength range of the light is intensity information of a wavelength range related to three primary colors of red, blue, and green light. According to a fourth aspect of the present invention, in the surveying method, a predetermined wavelength range of the light is intensity information in an infrared range. The invention according to claim 5 is characterized in that, in the surveying method, a predetermined wavelength range of light is intensity information in a far-infrared region.

According to a sixth aspect of the present invention, in a flying object, values relating to the current position and attitude of a reference point set on the flying object are measured using time as a variable, and light of laser light emitted from the flying object is measured. By changing the axial direction as a variable of time, the laser light is scanned over the object to be measured, the laser light is irradiated on the object to be measured, and the reflected laser light is detected. The value related to the distance is measured with time as a variable, and the reflection intensity of the laser beam applied to the measurement object is detected to detect the reflection intensity of the irradiation point with respect to the irradiation laser light of the measurement object. Irradiation of laser light on the object to be measured based on a value related to the position and orientation of the reference point, a value related to the optical axis direction, and a value related to the distance corresponding to each identical value of the time variable Calculate the point position, A value related to the reflection intensity of the laser light of the object to be measured corresponding to each identical value of the variable is calculated as information of the reflection intensity of the laser light at the irradiation point position of the laser light, and the position of the irradiation point and the reflection intensity of the laser light are calculated. Is obtained from a set of values related to the three-dimensional information to which information on the reflection intensity of the laser light of the measurement object in the measurement area is added.

According to a seventh aspect of the present invention, in the surveying method, the laser beam for obtaining the reflection intensity information is installed in addition to the first laser beam irradiation device installed on the flying body for obtaining the position information. And a second laser light having a predetermined wavelength different from the wavelength of the first laser light emitted from the second laser light irradiation device for obtaining the reflected intensity information.

[0010] The invention of claim 8 is characterized in that, in the above-described surveying method, values relating to the position and orientation of the reference point are obtained at least by GPS. According to a ninth aspect of the present invention, in the surveying method, the scanning direction by the first laser beam is perpendicular to the flight path of the flying object on the measurement target. According to a tenth aspect of the present invention, in the surveying method, the first and second laser beams scan in a direction perpendicular to the flight path of the flying object on the measurement target.

According to an eleventh aspect of the present invention, when the flying object is in flight, the value relating to the position and attitude of the reference point, the value relating to the optical axis direction, and the measured distance are determined by using time as a variable in the flying object. Measure and store the related value, and further, in the value related to the light information that is the value related to the intensity information of the predetermined wavelength range of the light of the measurement object measured by the imaging device, time is used as a variable. After the end of the flight, the irradiation point position is calculated based on each stored value corresponding to the same value of the time variable in each stored value using time as a variable, and the value related to the light information is time. Is calculated for each irradiation point position based on each storage value corresponding to the same value of each time variable of the irradiation point position, and a value related to the light information of the measurement target is added to Specially for obtaining dimensional information To.

According to a twelfth aspect of the present invention, during flight of the flying object, values relating to the position and attitude of the reference point measured by using time as a variable in the flying object, values relating to the optical axis direction, and the measured values are measured. A value related to the distance is stored, and a value related to the reflection intensity of the laser light of the measurement object measured using time as a variable is stored.After the flight, the irradiation point position is stored using time as a variable. The value is calculated based on each stored value corresponding to each identical value of the time variable, and the value related to the reflection intensity of the laser light is, for each stored value using time as a variable, the value of each time variable of the irradiation point position. Calculate for the irradiation point position based on each stored value corresponding to the same value,
It is characterized in that three-dimensional information to which a value related to the reflection intensity of the laser light of the measuring object is added is obtained.

[0013] The invention of claim 13 relates to an apparatus for realizing a surveying method using the above-mentioned imaging apparatus. In the flying body,
A position and orientation measurement device that measures values related to the current position and orientation of the reference point set on the flying object using time as a variable, a laser device that irradiates a laser beam onto an object to be measured, and a laser beam that is measured A scanning device that changes the value related to the optical axis direction of the laser light as a variable so that it scans over the object, and a reference that detects the reflected laser light by irradiating the measurement object with the laser light A distance measuring device that measures a value related to the distance from a point to a measurement target as time as a variable, an imaging device that measures a value related to light information of the measurement object as time as a variable, and measurement by the imaging device. A recording device that records the value related to the information of the extracted light as a variable of time, a value related to the position and orientation of the reference point, a value related to the optical axis direction, and a light corresponding to each identical value of the time variable. Information related to values and distances An irradiation position calculation device for calculating the irradiation point position of the laser light on the object to be measured based on the consecutive values, and optical information addition for calculating a value related to the light information at the irradiation point position and adding the light information And an arithmetic unit.

According to a fourteenth aspect of the present invention, in the above device, the imaging device measures a wavelength range for three primary colors of red, blue, and green light. According to a fifteenth aspect of the present invention, in the above-mentioned device, the imaging device measures a wavelength range related to an infrared range. According to a sixteenth aspect of the present invention, in the above-mentioned device, the imaging device measures a wavelength region related to a far-infrared region. A seventeenth aspect of the present invention is characterized in that the imaging device is a line sensor.

The invention according to claim 18 relates to an apparatus for implementing a surveying method for measuring the reflection intensity of a laser beam emitted from a flying object and adding it as information relating to the light. In the flying object, a position and orientation measurement device that measures a value related to the current position and orientation of the reference point set in the flying object as a time variable, and a laser device that irradiates a laser beam onto the measurement target, A scanning device that changes the value related to the optical axis direction of the laser beam as a variable so that the laser beam scans over the measurement target, and detects the reflected laser beam by irradiating the measurement target with the laser beam A distance measuring device that measures a value related to the distance from the reference point to the measurement target using time as a variable, and measures a value related to the reflection intensity of laser light applied to the measurement target using time as a variable A value related to the position and orientation of the reference point, a value related to the optical axis direction, a value related to the reflection intensity of the laser beam, and a value related to the distance, which correspond to the same value of the time variable and the same value of the reflection intensity measuring device. And based on the measurement An irradiation position calculation device for calculating the irradiation point position of the laser light on the object; and an optical information addition calculation device for calculating a value related to the reflection intensity information of the laser light at the irradiation point position and adding the reflection intensity information of the laser light. It is characterized by having.

The invention of claim 19 is the surveying device, wherein in the flying object, a second laser device for irradiating the object to be measured with a second laser beam having a predetermined wavelength different from the position information, A second scanning device that changes a value related to the optical axis direction of the second laser light with time as a variable so that the second laser light emitted from the second laser device scans over the object to be measured. And a reflection intensity measurement device that scans and measures a value related to the reflection intensity information of the second laser light emitted from the second laser device using time as a variable.

According to a twentieth aspect of the present invention, in the above-mentioned surveying device, the irradiation position calculated by the irradiation position calculation device and the light information addition calculation device is added with the light information of the object to be measured. Characterized by further comprising an information display device for obtaining three-dimensional information to which information on the light of the measurement object in the measurement region is added from the set of. The invention of claim 21 is the surveying device, wherein the position and orientation measuring device is a GPS.
At least a GPS device that obtains the position and orientation of the reference point according to. According to a twenty-second aspect of the invention, in the surveying apparatus, the first and second scanning devices are arranged so that the first and second scanning devices are arranged in a direction perpendicular to a flight path of the flying object on the measurement target object.
It is characterized by scanning with a second laser beam.

The above-mentioned reference point means a point provided at an arbitrary position of the flying object. However, if the reference point for obtaining the position and attitude of the flying object and the reference point of the optical system for obtaining the distance to the object to be measured are set to different positions, the three-dimensional position of the irradiation point is kept unchanged while the reference point is different. When the calculation is performed, the three-dimensional position includes an error by the displacement between the reference points. Such a measurement is also possible if the error is a type of measurement that is recognized as an allowable range. However, for precise measurement, it is necessary to match both reference points.

The meaning of the reference point described in the claims has these two meanings. That is, when the flying object itself is approximated by a point, the point becomes a reference point, which corresponds to a case where the above-described error is allowed. In addition, if the flying object is an object having a predetermined size, the reference point means any point fixed in the coordinate system of the flying object. For example, a reference point for measuring values related to the position and attitude of the vehicle (eg,
A reference point of a GPS antenna), a reference point of an optical system for measuring a distance-related value (for example, a laser beam emission point and a reception point), and other third points are conceivable. Therefore, the reference point for obtaining the position and attitude of the flying object is different from the reference point for measuring the distance, and if each data is a value for each reference point, the three-dimensional laser light irradiation point on the measurement object is obtained. At any stage before the position is obtained, correction due to the difference in the reference point is required. This correction can be made at any stage. Therefore, Claims 1, 6, 11, 1
The concept of “measurement of values related to the current position and attitude of a reference point set on an air vehicle using time as a variable” in 2, 13, and 18 has a unique relationship with the measurement value for this common reference point. The value is the meaning of the measurement obtained. Therefore,
The concept of the value obtained by measuring the claim is, for example, GP
It includes the raw numerical value obtained for the reference point of the S antenna and the numerical value obtained by converting the raw numerical value to a common reference point. Similarly, claims 1, 6, 11, 1
The concept of “measure the value related to the distance from the reference point to the object to be measured using time as a variable” in 2, 13, and 18 is that a value that is uniquely associated with the measurement value for this common reference point is obtained. Measurement. Therefore, the concept of the value obtained by measuring the distance in the claims is, for example, a raw numerical value obtained with respect to a reference point of a laser light emitting point or a light receiving point, and the raw numerical value as a common reference point. Includes numerical values converted to

Further, the position and orientation, the optical axis direction, and the distance can be represented by using various physical quantities and variables having a unique relationship with those values. Conversion to the final target value described above is also possible. For example, the attitude can be represented by a trigonometric function such as an angle formed by a reference vector fixed to the flying object and each coordinate axis fixed to the ground and a cosine of the angle. In the optical axis direction, the angle can be expressed by a trigonometric function such as an angle formed by the optical axis and a certain axis fixed to the flying object or a cosine thereof. In addition, the distance can be represented not only by the direct distance but also by the time that the laser light reciprocates. Furthermore, as described above, if there is a displacement between the position of the reference point in each measurement system and the position of the common reference point in the claims, the raw measurement value obtained in each measurement system will be the position relative to the common reference point. And a value related to the posture or the distance. “Related values” in the claims are a concept integrating these circumstances, and mean not only values that directly represent position and orientation, optical axis direction, distance, etc., but also all related values that can be converted to those values. I do.

Further, the arrangement of the imaging device so as to image the scanning region of the laser beam on the object to be measured means that the imaging region of the imaging device is set at the same time.
Synchronization may be performed so that the scanning line on the measurement object by the irradiation of the laser light is imaged, or the current scanning line of the laser light precedes in time, that is, with respect to the traveling direction. , A region that is somewhat earlier, or a region that is delayed in time, that is, a region that is slightly delayed with respect to the traveling direction. In other words, this means that the imaging device is arranged so that the region to be scanned by the laser light is imaged in the imaging device. Further, by arranging the imaging device so as to image a region to be scanned by the laser light in the imaging device, the physical positional relationship between the imaging region and the scanning region by the laser light becomes clear, After the completion of the survey and the imaging by the imaging device, the imaging data can be associated with the irradiation point of the laser beam based on the time variable from the common reference time. Therefore, the imaging device may be a device that obtains a planar image or a line sensor that obtains a strip-shaped region having a predetermined width.

Further, the meaning of the time corresponding to the same value of the time variable described in the claims means that the measurement of each variable is not necessarily performed at the same time and at the same time interval. The timing and interval at which each variable is measured are predetermined and known. Therefore, by using a time variable that is greater than the common reference time, each measured variable
Even if they do not always match, the measured variables at each time interval are interpolated or uniquely determined by a predetermined rule.
The concept that they correspond to the same value of the time variable enables the association.

[0023]

According to the above invention, for example, a flying object such as a helicopter or a light aircraft is caused to fly on a measurement object such as a terrain, and a laser beam is irradiated from the flying object onto the measurement object. By detecting the reflected laser light, three-dimensional information of the measurement object is obtained. A laser beam is applied to the object to be measured and the object is scanned. Due to the movement of the flying object and the scanning of the laser beam, the laser beam scans a plane area on the measurement object. Then, by measuring the reflected laser light, the distance from the reference point set on the flying object to the measurement target can be obtained using time as a variable.

At the same time, the image pickup device is provided so as to obtain an image of a region where the image pickup device is scanned by a laser beam on the object to be measured.
By measuring information related to light, intensity information in a predetermined wavelength range of light at a point scanned by the laser light can be obtained with time as a variable. Since the light receiving element of the laser light, the camera position of the imaging device, and the imaging range are known in advance, the information of the light obtained using the time as a variable is associated with the ground point scanned by the laser on a one-to-one basis. And light information can be added to a point on the ground.

According to another aspect of the present invention, an image pickup apparatus comprises:
By using a line sensor arranged so as to be able to capture at least the length range of the orthogonal projection of the scanning line of the laser beam on the measurement object in the length direction of the line sensor, information on the captured light and the laser beam can be obtained. Can be more accurately associated with the scanning points.

According to another aspect of the present invention, the imaging device and the line sensor can measure the intensity information in the wavelength range for the three primary colors of red, blue, and green light. Information about brightness can be obtained. According to another aspect of the present invention, it is possible to measure intensity information in a wavelength region in an infrared region by the imaging device and the line sensor. According to another aspect of the present invention, the imaging device and the line sensor can measure the intensity information in the wavelength range of the far-infrared region, so that the information on the temperature distribution of the measurement target can be obtained. Become.

According to another aspect of the present invention, by measuring the reflection intensity of the laser beam irradiated for position measurement, the reflection coefficient of the irradiation point of the laser beam can be obtained. Information about the surface can be obtained. According to another aspect of the present invention, a second laser irradiating device is installed separately from the laser irradiating device for position measurement on the flying object, and a second laser irradiating device having a wavelength different from the wavelength of the irradiation laser light for position measuring is provided. By irradiating the second laser light and measuring the reflection intensity of the second laser light, information on the laser light of a predetermined wavelength can be obtained.

On the other hand, the position and orientation of the reference point set on the flying object may be, for example, one of a three-dimensional positioning system using a satellite (global positioning system) or a positioning system using inertial navigation using a gyro. , Or both. When both are used, for example, since the position and orientation obtained by GPS can be provided with a time interval, the position and orientation during the time interval can be obtained by interpolation using inertial navigation. The obtained position and orientation of the reference point are measured using time from the reference time as a variable. Also, the direction from the same reference time can be obtained as a variable in the optical axis direction of the laser light. Further, using a time variable from the same reference time, at a predetermined time interval,
An image of the scanning region of the laser beam is captured by an imaging device or a line sensor.

In the first three variables using the time from the same reference time as a variable, ie, the position and orientation of the reference point, the optical axis direction, and the measured distance, they correspond to the same value of each time variable. The three-dimensional position of the irradiation point of the laser on the measurement object is obtained using the calculated value. Next, since the light information obtained by the imaging device or the line sensor is the region where the imaging region of the imaging device or the line sensor is scanned with the laser light on the measurement target, the same reference time is used. The imaging position is determined by the variable and the installation position of the imaging device or the camera of the line sensor. Therefore,
Data acquired by the imaging device or the line sensor can be associated with each irradiation point of the laser, and the three-dimensional position of the irradiation point of the laser on the measurement target to which the light information is added can be obtained. .

The set of the three-dimensional positions of the irradiation points gives the three-dimensional information to which the light information of the object to be measured in the measurement area is added. Using a set of three-dimensional positions of irradiation points, it is possible to express a terrain cross section that represents the height of the terrain, three-dimensionally represent the terrain, and obtain a perspective view, bird's eye view, isoheight curve map, etc. with light information added. it can. Further, since the irradiation point is obtained discretely in the measurement object, the three-dimensional position of the point between them and the light information can be obtained by interpolation calculation.

Further, by measuring the reflection intensity of the laser light irradiated for position measurement using the time from the same reference time as a variable, the reflection coefficient of the irradiation point of the laser light can be easily reduced to one. Can be associated with further,
Separately from the laser irradiation device for position measurement on the flying object
A laser irradiation device is installed, and a second laser light having a wavelength different from the wavelength of the irradiation laser light for position measurement is irradiated,
By measuring the reflection intensity of the second laser light also using the time from the same reference time as a variable, information about the laser light of a predetermined wavelength is obtained, and a known first laser irradiation device;
From the relation of the installation position of the second laser irradiation device, the reflection intensity of the second laser light can be easily associated with one body with respect to the irradiation point of the first laser light.

As described above, the scanning of the flying object and the laser beam,
By imaging with the imaging device or the line sensor, it is possible to obtain the three-dimensional position information to which the light information of the measurement target is added extremely easily, at high speed, and with high accuracy. Furthermore, the three-dimensional position information added as the light information can also be obtained from the reflection intensity information of the laser light for position irradiation and the reflection intensity information of the laser light by the second laser light irradiation device.

According to another aspect of the present invention, the scanning of the laser beam is performed perpendicularly to the flight path of the flying object on the object to be measured. The line sensor is arranged so that the length range of the orthogonal projection in the length direction of the line sensor can be photographed. By this scanning and imaging and the flight of the flying object, laser light can scan a two-dimensional area on the measurement object, and imaging by the line sensor can be performed together with the two-dimensional area, A three-dimensional position to which light information is added in a two-dimensional area can be obtained with high efficiency.

The present invention measures the position and attitude of the reference point of the flying object, the direction of the optical axis of the laser beam, and the distance from the reference point to the irradiation point on the measurement object during the flight of the flying object, and simultaneously captures the image. The light information of the measurement object is acquired by the device. From these variables, a three-dimensional position to which information of light at each irradiation point on the measurement object is added is calculated. May be performed, as in the other claimed inventions,
Each variable to be measured is stored with a common reference time as a variable, and after flight, light information of each irradiation point is added based on each stored value corresponding to the same value of each time variable.
The dimensional position may be calculated. The calculation of the three-dimensional position to which the light information is added as described above can be performed offline, thereby simplifying the equipment mounted on the flying object.

[0035]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described based on specific embodiments. First, as a first embodiment, an invention in which a survey area by laser light irradiation is imaged by an imaging device and light information is added to each survey point, and as a second embodiment, an irradiated laser for position measurement is used. As a modification of the second embodiment, a second laser light irradiation device different from the irradiated first laser light for position measurement is used for the invention in which light reflection intensity information is used as light information. Then, a case where laser light irradiation is performed and the reflection intensity information of the laser light is used as light information will be described. The present invention is not limited to the following examples.

The first embodiment will be described. FIG. 2 is a diagram showing the concept of the surveying method according to the present invention. The coordinate system fixed to the helicopter 10, which is the flying object, is defined as Q-xyz. The y-axis is set in the traveling direction of the helicopter 10, the x-axis is set in a direction parallel to the floor of the helicopter 10 and perpendicular to the y-axis, and the z-axis is set in the direction perpendicular to the floor of the helicopter 10. The helicopter pig 10 flies in a predetermined direction, and has a flight path 2 on the ground 20.
The laser beam 21 is scanned in the x-axis direction perpendicular to 5. At the same time, an image of the ground surface is taken by a line sensor as an image pickup device in the x-axis direction perpendicular to the flight path 25 on the ground surface 20. As shown in FIG. 2B, the flight of the helicopter 10 in the y-axis direction and the scanning of the laser beam 21 in the x-axis direction are performed by the distance that the flying object moves in a time required for performing one scan with the laser. Is D (y-axis direction) and the scanning width is E (x-axis direction)
Then, the diagonal line of the rectangle surrounded by D * E becomes the irradiation path 22 on the ground 20, and S (t _{i, j} ) is obtained. Here, (t _{i, j} ) is a time variable in the laser irradiation device from the common time T, and i is i in the laser device.
This means that scanning of the laser beam is started from the time t _i at the reference time T. j means the j-th irradiation point. Thus, t _i is
(T _{i, 0} ). In this embodiment, during one scan,
Obtain 800 points of irradiation data.

On the other hand, imaging of the ground surface by a line sensor
Is the range corresponding to the scanning width of the laser in the x-axis direction,
While moving in the direction, at predetermined time intervals parallel to the x-axis
Imaging is performed a plurality of times. In this embodiment, four times
, M (t_i,0), M (t_i,1), M (t_i,2), M
(T_i,3) is obtained. Where t_iIs (t_i,0)
And (t_i,0) is a common time t_iShooting from
This is the time in the imaging device, and indicates the time of the first imaging.
You. Each of the sections obtained by dividing the scanning width E into four is E₀,
E₁, E_Two, E_ThreeThen, the corresponding imaging area
Between the latest and the specified imaging data
You. In this embodiment, E₀In the section, M (t_i,0)
To get data₀, E₁M (t_i,1) than
M to get the data ₁, E_TwoM (t_i,2) yo
And get the data_Two, E_ThreeM (t_i,3)
M to get more data_Three, Are associated. What
In FIG. 2 (b), the image pickup area and the line
The user's scan lines are not overlapped for clarity,
At the time of actual measurement and imaging,
Without changing the position of the sensor.
Change the imaging timing of the line sensor for
By setting and scanning, the ground scanning line and the imaging line
It is also possible to change the positional relationship with. That is,
Common time t_iFrom (t _i,0), (t_i1), (t
_i,2), (t_i,It is good to change the setting of 3)
You. For example, as shown in FIG.
The setting area is set so that the imaging area of the
It is also possible to go.

As shown in FIG. 4, the laser light 21 is a pulse, the reflected light of which is received, and the time Δt from the emission of the laser light 21 to the reception of the light is measured. This time Δ
The emission point W of the laser beam and the irradiation point S on the object to be measured by t
Is measured. Many such distances L are obtained with the passage of time. The three-dimensional position of the irradiation point S can be obtained from the distance L and the position and orientation of the helicopter 10. Then, a cross-sectional view of the terrain can be obtained from the three-dimensional position as shown in FIG.

On the other hand, the line sensor of this embodiment receives an image of a linear area on the ground surface having a scanning width of the laser in the x-axis direction through the lens four times during one scanning of the laser. The light is separated into three primary colors of red, green, and blue (hereinafter, referred to as RGB) through a prism and has a resolution of 2048 pixels in one imaging, so that the intensity information of each light of RGB is stored for 2048 pixels using time as a variable. accumulate. The image information of the ground surface is captured and recorded by the line sensor using the time using the time of the laser beam emission and the common reference time as a variable, so after the end of the flight, the time is used as a variable and the irradiation point on the ground is Image information.

Next, a method for obtaining the three-dimensional position of the irradiation point S will be described in more detail. FIG. 1 is a diagram for explaining the concept of the surveying method of the present invention. The coordinate system fixed to the ground is O-αβh. The α axis is longitude, the β axis is latitude, and the h axis is altitude. Further, the coordinate system fixed to the helicopter pig 10 as described above is defined as Q-xyz. Point Q is a reference point for position and orientation measurement by GPS. Q by GPS
The time from the time when the position and orientation of the point are a common reference is measured as a variable. The position of the point Q is given by the following equation. Hereinafter, a time t that commonly represents a time variable from time is
This means the time (t _{i, j} ) for each irradiation point, but is abbreviated as t for simplicity of the equation.

[0041]

## EQU1 ## Q (t) = (α_Q(t), β_Q(t), h_Q(t)) (1) The attitude of the Q point is expressed by a unit vector in the x-axis, y-axis, and z-axis directions.
The angle between the α axis, β axis and h axis is θ_x1(t), θ_x2(t),
θ_x3(t), θ_y1(t), θ_y2(t), θ_y3(t), θ_z1(t), θ _z2(t), θ
_z3(t) is obtained by the following attitude matrix F.

(Equation 2)

In this embodiment, one second per second is used for the GPS.
Since the data is obtained one time, during the one second, the interpolation is performed ten times a second by the integral calculation of the acceleration of each axis by the inertial navigation by the gyro. The position and orientation of the point Q at each time are obtained. In the present embodiment, the position and orientation of the point Q having the time as a variable are obtained at intervals of 2.5 × 10 ⁻⁵ seconds at each irradiation point of the scanning by the laser beam, but at predetermined intervals (interpolation intervals). At 0.1 second intervals), the position and the posture are stored as variables of a time longer than the common time, so that after irradiation, each irradiation point, that is, 2.5 × 10
By calculating the position and attitude at an interval of ^-5 seconds, it is possible to simplify the device installed on the flying object. In this embodiment, it has been confirmed that the position measurement error is ± 20 cm and the posture error is ± 0.2 degrees in angle. The calculation of the position and attitude by GPS and the method of calculation of the position and attitude by inertial navigation are well known and will not be described.

Next, since the laser device is fixed to the helicopter 10, the reference point W, which is the emission point and the light receiving point of the laser beam, is a point fixed to the coordinate system Q-xyz. The displacement vector A for the point is known.
The following expression is obtained for the component expression of the displacement vector A.

[0044]

A = (A _x, A _y , A _z ) (3) The optical axis of the laser beam is always on a plane parallel to the xz plane, and the optical axis of this laser beam and the −z axis 22 An optical axis direction γ (t), which is an angle (hereinafter, referred to as a “reference axis”) and an angle (an angle taken in the x-axis direction is positive), is obtained with time as a variable. This γ (t) can be obtained from the rotation angle of the mirror provided at the launch point W of the laser device. Next, irradiate laser light in the optical axis direction γ (t), receive reflected laser light,
The distance L (t) is obtained from the time Δt required from emission to light reception using time as a variable. The distance L (t) is obtained from the time Δt by the following equation.

[0045]

L (t) = cΔt / 2 (4) where c is the speed of light.

Next, a method of calculating the position of the irradiation point S of the laser beam 21 on the ground 20 will be described. Laser light 2
The position of the launch point W (reference point) of 1 is obtained by the following equation.

W (t) = (α _Q (t), β _Q (t), h _Q (t)) + (A _x, A _y , A _z ) (5) Also, a unit in the optical axis direction Regarding the vector U, the component display U _Q in the Q-xyz coordinate system is represented by the following equation.

U _Q (t) = (sinγ (t), 0, -cosγ (t)) (6)

Therefore, the component representation U _O (t) of the unit vector U in the O-αβh coordinate system is calculated by the following equation.

(Equation 7)

Next, the irradiation point S of the laser beam on the ground 20 is calculated by the following equation.

S (t) = (α _s (t), β _s (t), h _s (t)) = W (t) + L (t) U _O (t) (8) Is obtained by the following equation.

[Equation 9] _{α S (t) = α Q} (t) + A x + L (t) (cosθ x1 (t) sinγ (t) - cosθ z1 (t) cosγ (t)) ... (9)

Β _S (t) = β _Q (t) + A _y + L (t) (cos θ _x2 (t) sin γ (t) −cos θ _z2 (t) cos γ (t) (10)

[Number 11] _{h S (t) = h Q} (t) + A z + L (t) (cosθ x3 (t) sinγ (t) - cosθ z3 (t) cosγ (t)) ... (11)

As described above, the three-dimensional position (α
_S (t), β _S (t), h _S (t)) can be obtained. In this embodiment, this set of points is obtained for the time variable t with reference to the time T which is a common reference. With this set of points, three-dimensional information of the ground 20 can be obtained. still,
Due to the shaking of the helicopter 10, etc., this set of points
At 0, the density is not always equal. Therefore, in the present embodiment, three-dimensional position information between points is obtained by an interpolation operation.

Next, a method for associating image information, which is information relating to the intensity of light in a predetermined wavelength range obtained by the line sensor, with an irradiation point on the ground will be described. Here, the three primary colors of RGB light, which is a general visible light wavelength range, will be described. However, the infrared, far-infrared, and other wavelength ranges do not require processing because of three-color spectroscopy. Since only the intensity information in the wavelength range will be recorded and processed as image information, a description will be given of visible light.

In the present embodiment, the input image passes through the spectral prism 38, is split into three colors, and the input values of each small area are aligned with their respective median values so that image data of 2048 pixels is obtained. Are recorded on the light receiving element in each wavelength range of the three primary colors RGB. The method of determining the pixel value, that is, the method of image processing is various, so methods other than the above embodiment, for example, a method of applying various filters to a small area, a method of taking a weighted average, or any other method good.

In this embodiment, when the angle of view is 60 degrees and the altitude of the flying object is about 300 m, the length of the image pickup range by one line sensor is about 340 m on the ground. This 340
m corresponds to 2048 pixels, and 1 per pixel
6 cm. As shown in FIG. 3, the emission point W of the laser beam and the camera position P of the line sensor are installed linearly in the y-axis direction and parallel to the x-axis direction. And the imaging direction of the line sensor are parallel to the xz plane, and the positional relationship is known in advance. The information related to the light obtained by the line sensor obtained by the above method, that is, the approximate position of each pixel on the ground surface can be easily obtained. At the same time, it is possible to perform imaging with a line sensor in a positional relationship as shown in FIG. Continuing the description with reference to FIG. 10C as an example, in the laser light irradiation in this embodiment, one scan can obtain 800 points of position information in 0.04 seconds. 800 points are sampled in 0.02 seconds, and the mirror for irradiation is returned to the irradiation start position in 0.02 seconds. The imaging by the line sensor is performed four times in 0.02 seconds using the time variable from the irradiation start time and the common reference time, and the imaging is paused for 0.02 seconds.
The imaging by the line sensor may be performed at the same time as the laser irradiation. However, in order to obtain a better imaging range, the imaging may be performed at a timing different from the laser irradiation. E ₀ , E ₁ , E ₂ , E
₃ When the M ₀ from the last M (t _i, 0) corresponding to each of the imaging section corresponding to _each, M (t i, 1)
The M ₁ from the M ₂ from M (t _i, 2), and to obtain the M ₃ from M (t _i, 3). (T _i, m): 0 ≦ m ≦ 3
This is a time variable from the common time T, and represents the imaging time of the m-th line sensor at the laser irradiation start time t _i .

M ₀ , M ₁ , M ₂ , and M ₃ are 51
It is composed of two pixels and can correspond to 200 irradiation points. Since an average of 2.56 pixels correspond to one irradiation point, the nearest two or three pixels are determined from the position information of each irradiation point obtained by the above method as shown in FIG. The average of each of the RGB values is taken as the pixel value of the irradiation point.

Further, as shown in FIG. 11, it is possible to perform denser position measurement by continuous bidirectional scanning in the x-axis direction without returning the reflection mirror. At the same time, continuous imaging is performed without taking a pause during imaging by the line sensor. Furthermore, since the distance between the flying object and the ground surface can be instantaneously obtained based on the obtained positional information by laser irradiation, the imaging width of the line sensor must be kept constant based on the distance. By attaching a zoom mechanism to the line sensor and controlling it with a servo mechanism, more accurate imaging information can be obtained.

For example, as shown in FIG. 15, it is possible to obtain a cross-sectional view of the ground 20 in a certain direction. Dam sedimentation volume,
The elevation, snow depth, tree height, etc. of the terrain can be represented in a diagram along with color information. Further, as shown in FIG. 16, it is possible to easily display a bird's eye view and a contour map which are colored perspective views.

Next, the surveying apparatus of this embodiment will be described in more detail. As shown in FIG. 5, four GPS antennas 12a, 12b, 1
2c and 12d are provided. With these four GPS antennas, GPS information transmitted from satellites is received, and data for calculating the position and attitude of the Q point described above is output from the 3D GPS device 70 shown in FIG.
The motion detection device 71 detects the acceleration by the gyro, and outputs data for interpolating the position and orientation from the integration of the acceleration twice. These values are
5 is input.

The CPU 55 executes processing according to the flowchart shown in FIG. In step 102, a common reference time T is input. In step 104, T is set to the time variable t. This allows
Thereafter, in all data acquisition, this reference time will be used. In step 106, if t is the time to obtain data from the 3D GPS device 70 and the motion detection device 71, the data is input from the 3D GPS device 70 and the motion detection device 71. The input of data from the GPS and the motion detector is not always performed every time, but is performed at a predetermined interval, that is, every one second from the GPS, and every 0.1 second from the motion detector. Next, in step 108, it is determined whether laser irradiation is performed by the laser device at a time t set from the common time T. In other words, by the laser device,
It is determined whether or not to sample each point. When sampling is performed, all variables are stored using the time t. In step 110, the position Q (t) in equation (1) and the attitude F (t) in equation (2) are calculated by interpolation. Then, this value is recorded in the data recording unit 56 as the position and orientation of the point Q at the time t. That is, the above-mentioned Q (t) and F (t) are recorded in the data recording unit 56.

The surveying device 30 shown in FIG.
Laser radar head 4 disposed on the bottom 13 outside
0 and a signal processing unit 50 provided in the room 14 of the helicopter pig 10. The laser oscillator 45 is driven by an AOQ switch driver 46, and pulse laser light having a predetermined period is transmitted through a transmission / reception optical unit 47 to the scanner mirror unit 4.
2 is output. The pulse laser beam 21 is reflected by the mirror 60 (FIG. 8) of the scanner mirror section 42, and is reflected by the window 41.
Is irradiated toward the ground 20 via. The reflected laser light 23 from the ground 20 is transmitted through the window 41 to the scanner mirror unit 4.
The light is received by the second mirror 60 and detected by the photodetector 48 via the transmission / reception optical unit 47.

The distance measuring unit 51 controls the timing of laser pulse oscillation by the AOQ switch driver 46.
In the measurement of the distance, as shown in FIG. 7, a part of the pulsed laser light 21 to be emitted is branched and detected by the photodetector 48,
The emission timing of the pulse laser light is detected. The reflected laser light 23 is detected by the photodetector 48, and the light reception timing is detected. Then, the clock pulse of the clock 512 is measured by the counter 510 via the gate 511 from the emission time of the laser light to the light reception time. This measured value is the above-mentioned time Δt (t), and is measured using time as a variable. This value Δt (t) is determined in step 112 by the CPU 5
5 and is converted into a distance L (t) by equation (4).
The data is recorded in the data recording unit 56. Note that the clock 512,
The gate 511, the counter 510, and the like constitute the distance measuring unit 51.

The distance measuring section 51 gives the starting time of the scanning signal to the waveform generating section 52, and the scanning signal generated by the waveform generating section 52 is input to the scanner control section 53. Then, the scanner mirror unit 42 rotates the mirror 60 (FIG. 7) in synchronization with the scanning signal. The rotation signal of the mirror 60 is transmitted from the scanner control unit 53 to the angle measurement unit 5.
7, the CPU 55 calculates the optical axis direction γ (t) of the laser beam 21 from the rotation angle of the mirror 60 using time as a variable, and records it in the data recording unit 56 in step 114. From step 110, step 1
According to 14, one of 800 points is measured during one scan by the laser beam for distance measurement.

At step 116, at time t
The line sensor activation timing is determined by the distance measurement unit 51.
It is determined whether or not the
Then, the line sensor is activated and an image is taken. In this embodiment
Captures images at 0.005 second intervals, and the laser scans
4 times in synchronization with 0.02 seconds, and the laser pauses
For 0.02 seconds, the line sensor is also stopped. Toes
And t is M (t _i,0), M (t_i,1), M (t
_i,2), M (t_i,3), (t_i,m): 0 ≦ m ≦ 3,
It is determined whether or not_i,t is set to m)
The image is captured and stored at time t.

FIG. 8 is a diagram illustrating a line sensor device according to the present invention. Here, three primary colors of RGB light, which is a general visible light wavelength range, will be described.
Processing is unnecessary because of color spectroscopy, and only intensity information in a predetermined wavelength range is recorded and processed as image information. 37 is a lens. Generally, a wide-angle lens is used for imaging a laser scanning range, but a cylindrical lens may be used.
The line sensor control unit 32 to which the line sensor activation timing is given sends an image pickup signal to the line sensor camera unit 31. In the line sensor camera unit 31, a band-shaped region is cut out by a slit 36 from a captured image of the ground obtained through the lens 37. The input image is split into three primary colors of RGB light by the spectral prism 38,
The B light receiving element 39 acquires image information as the light intensity. The acquired image information is sent to the image data conversion unit 35, divided into 2048 small areas so as to become image data, and the input values of each small area are aligned with their respective median values and converted as 2048 pixel values. Then, the time t is recorded in the line sensor data recording unit 34 as a variable.

The CPU 55 determines in step 120
It is determined whether all surveys have been completed. If all surveys have not been completed, the process returns to step 102, and data input, calculation of the position, attitude, and distance at the next measurement time are performed, and those data are stored. Steps 102 to 120 are repeatedly executed at minute time intervals.

While the helicopter 10 is in flight, the position Q (t) and the attitude F
(t), the distance L (t), and the optical axis direction γ (t) are recorded as a function of time t. By inputting the data recorded in the data recording unit 56 to the ground apparatus shown in FIG. 9, the three-dimensional position of the reflection point S is calculated by the above equation. The data in the data storage unit 56 is input to the CPU 80 of FIG. 9 from the data input device 81, and the three-dimensional position of the reflection point S on the ground 20 is calculated. FIG. 14 is a flowchart showing the processing procedure of the CPU 80. In step 202, the position Q (t), posture F (t), optical axis direction γ (t), and distance L (t) are input. In step 204, the position W (t) of the expression (5) at the reflection point W of the laser beam is calculated. Then, in step 206, the component display U _Q of the unit vector U in the optical axis direction in the Q-xyz coordinate system is calculated by equation (6), and in step 208, the O-αβh of the unit vector U in the optical axis direction is calculated. The component display U _O (t) in the coordinate system is calculated by equation (7). Next, in step 210, the three-dimensional position of the irradiation point S of the laser beam on the ground 20 is calculated by the equations (8) to (11).
The line sensor data recorded in the line sensor data recording unit is sent to the line sensor data input device by 82.
It is input to the CPU 80, and in step 212, a pixel value is determined for each irradiation point by the method shown in FIGS. 10 and 12 as described above. In step 214, the values are stored in magneto-optical storage 82.

In step 216, the time t is set to a predetermined time (δ =
25 μsec), it is determined in step 218 whether or not the processing of all data has been completed, and the processing from step 202 is repeatedly executed until the processing of all data is completed. However, during the period corresponding to the pause time of the laser device, the data arithmetic processing is not performed. However, when continuous scanning is performed as shown in FIG.
Data calculation is performed every second.

Next, as a second embodiment, a case will be described in which reflection intensity information of a laser beam irradiated for position measurement is added as light information. The reflection intensity information of the laser light irradiated for position measurement is used for detecting the received light pulse, and in step 112, the intensity detection is performed at the same time.
By storing the reflection intensity as a variable of time, it is possible to associate one-to-one with each irradiation point, which can be easily realized.

Next, the reflection intensity information of the laser light emitted from the second laser light irradiation device will be described as a third embodiment. The positional relationship between the second laser light irradiation device and the first laser light irradiation device is known in advance as shown in FIG. 3C. W1 is the emission position of the laser light of the first laser light irradiation device, and W2 is the emission position of the laser light of the second laser light irradiation device. In this embodiment, the laser light is installed so as to be parallel to the y-axis direction. And 2
The optical axis of the laser light from the two laser emitting devices is set to be parallel to the xz plane. However, the installation position is not limited to this embodiment as long as the positional relationship can be grasped. The second laser light irradiation device irradiates the first laser light irradiation device with the laser light in synchronization with the first laser light irradiation device.
The irradiation position of the second laser light can be obtained from the irradiation position of the laser light. By using the time variable from the common reference time, the reflection intensity information of the second laser light is
The first laser light irradiation point can be easily associated with the first laser light, and the first laser light reflection intensity information is added to the first laser light.
The three-dimensional position information obtained by the irradiation of the laser light is obtained. Furthermore, even when the operation is not performed synchronously, the irradiation position of the laser beam by the second laser device can be calculated by using the variable from the common time, so that the three-dimensional position by the first laser device can be calculated. For information
The reflection intensity information of the laser beam by the second laser device can be added.

From the set of the three-dimensional positions of the reflection points S on the ground 20 obtained in the first to third embodiments, the value between the data points is calculated by interpolation. Then, from these three-dimensional position data, it is possible to draw a drawing to which various kinds of light information are added as shown in FIGS. In particular, a sectional view, a bird's-eye view of a color, and the like can be drawn. In the event of a disaster such as a landslide or a landslide, the helicopter can easily obtain a perspective view of the helicopter and measure the amount of the landslide, which is very effective even in an emergency disaster. Furthermore, since the reflection coefficient of the laser light irradiation point is obtained from the laser light reflection intensity information, the state of the surface of the irradiation point can be known. Further, by irradiating a laser beam of a predetermined wavelength and obtaining its reflection intensity information, it can be used for grasping the state of a natural environment such as a green space and the state of air pollution.

In the above embodiment, the position / posture measuring device is a 3D GPS device 70, a motion detection device 71, a CPU
55 and its processing steps 106 and 110. The laser device of the claims is realized by a laser oscillator 45, an AOQ switch driver 46, and a transmission / reception optical unit 47 in the embodiment device. The scanning device in the claims is realized by a waveform shaping unit 52, a scanner control unit 53, a scanner mirror unit 42, and a mirror 60. The distance measuring device according to the claims includes a mirror 60, a light detector 48, and a distance measuring unit 5.
1. This is realized by the CPU 55 and its processing step 104. The irradiation position calculation device of the claims is realized by the CPU 80 and the processing steps of FIG. The line sensor in the claims is a line sensor camera unit 31, a line sensor control unit 32, a CPU 55, a line sensor data recording unit 34, and processing steps 116 and 118 thereof.
Has been realized. According to the recording device of the present invention, the line information data recording unit,
This is realized by the CPU 80 and the processing step 212. The reflection intensity measuring device according to the claims comprises a light detector 48 and
This is realized by the distance measuring unit 51. Furthermore, the second
This laser device is realized by the same configuration as the above-described first laser device.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing the concept of a measuring method according to a specific example of the present invention.

FIG. 2 is an explanatory diagram showing the concept of the measurement method.

FIG. 3 is an explanatory diagram showing the concept of the measurement method.

FIG. 4 is an explanatory diagram showing distance measurement.

FIG. 5 is an explanatory diagram showing a relationship between the surveying apparatus of the embodiment and a helicopter on which the surveying apparatus is mounted.

FIG. 6 is a block diagram showing an electrical configuration of a helicopter mounted device in the surveying device.

FIG. 7 is a block diagram showing a configuration of an optical system of the surveying device.

FIG. 8 is a block diagram showing a configuration of a line sensor of the surveying device.

FIG. 9 is a block diagram illustrating a configuration of a ground apparatus of the surveying apparatus according to the embodiment.

FIG. 10 is an explanatory diagram illustrating a relationship between a scanning point of a laser beam and an imaging range of a line sensor according to the present embodiment.

FIG. 11 is an explanatory diagram showing a relationship between a scanning point of a laser beam and an imaging range by a line sensor according to another embodiment.

FIG. 12 is an explanatory diagram showing a method of associating scanning points of laser light with acquired image information by a line sensor according to a specific example.

FIG. 13 is a flowchart showing a processing procedure of a CPU of the helicopter mounted device.

FIG. 14 is a flowchart illustrating a processing procedure of a CPU of the ground device.

FIG. 15 is a survey sectional view showing a section of the ground obtained by processing a set of measured three-dimensional positions of reflection points.

FIG. 16 is an explanatory diagram showing an output example of a cross section, a perspective model, contour lines, a composite image with a video image, and the like obtained by processing a set of a flight path according to a position and a three-dimensional position of a reflection point.

[Explanation of symbols]

Reference Signs List 20 ... ground 21 ... laser beam 22 ... reference axis 23 ... laser reflected light 24 ... line sensor imaging axis 25 ... flight path 60 ... mirror O-αβh Coordinate system fixed to the ground Q… reference position of the flying object Point S: Reflection point of laser light on the ground T: Common reference time U: Unit vector in the optical axis direction c: Light speed t: Time x: Direction parallel to the traveling direction of the helicopter and parallel to the floor y ... Helicopter pig traveling direction W ... Laser light emission point (common reference point)

 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Hiroshi Murakami 1st Kitago, Tsukuba City, Ibaraki Pref. MM22 NN08 QQ01 QQ14 QQ23 QQ31 QQ51 SS02 SS13 5J084 AA04 AA05 AB16 AC04 AD01 AD05 BA03 BA39 BA48 BB11 BB18 BB28 CA03 CA34 CA44 CA49 CA53 CA65 CA67 CA70 CA71 EA05 FA03

Claims (22)

[Claims] 1. A flying object, wherein values relating to the current position and attitude of a reference point set on the flying object are measured with time as a variable, and the optical axis direction of laser light emitted from the flying object is measured with respect to time. By changing the variable as a variable, the laser light is scanned over the measurement target, from the reference point to the measurement target by irradiating the measurement target with the laser light and detecting the reflected laser light A value related to the distance is measured with time as a variable, and an imaging device is arranged so as to image a scanning region of the laser light on the measurement object, and the intensity of a predetermined wavelength range of the light of the measurement object. The information of light, which is a value related to information, is measured by the imaging device using time as a variable, and the value related to the position and orientation of the reference point corresponding to each same value of the time variable is related to the optical axis direction. Related to the distance and the distance Calculate the irradiation point position of the laser light on the measurement object based on the above, the irradiation point of the laser light the value related to the information of the light of the measurement object corresponding to each same value of the time variable Calculating as light information of a position, and obtaining three-dimensional information to which light information of a measurement object in a measurement region is added from a set of values related to the position of the irradiation point and the light information. Surveying method using body. 2. The image sensor according to claim 1, wherein the imaging device is a line sensor arranged so as to capture at least an orthographic length range of a scanning line of the laser beam on the measurement object in a length direction of the line sensor. The surveying method according to claim 1, wherein: 3. The surveying method according to claim 1, wherein the predetermined wavelength range of the light is intensity information of a wavelength range regarding three primary colors of red, blue, and green light. 4. The surveying method according to claim 1, wherein the predetermined wavelength range of the light is intensity information in an infrared range. 5. The surveying method according to claim 1, wherein the predetermined wavelength range of the light is intensity information in a far infrared region. 6. A flying object, wherein values relating to the current position and attitude of a reference point set on the flying object are measured using time as a variable, and the optical axis direction of laser light emitted from the flying object is measured with respect to time. By changing the variable as a variable, the laser light is scanned over the measurement target, from the reference point to the measurement target by irradiating the measurement target with the laser light and detecting the reflected laser light The value related to the distance of the time is measured as a variable, and the value related to the reflection intensity of the irradiation point with respect to the irradiation laser light of the measurement object by detecting the reflection intensity of the laser light applied to the measurement object Is measured using time as a variable, and based on a value related to the position and orientation of the reference point, a value related to the optical axis direction, and a value related to the distance, which correspond to the same value of the time variable. For the measurement object Calculating the irradiation point position of the laser light in the laser light, and calculating the value related to the reflection intensity of the laser light of the measurement object corresponding to each identical value of the time variable. Calculated as information of the reflection intensity, from the set of values related to the position of the irradiation point and the reflection intensity of the laser light, the three-dimensional information to which the information of the reflection intensity of the laser light of the measurement target in the measurement area is added A surveying method using a flying object characterized by obtaining. 7. A laser beam for obtaining reflection intensity information, a second laser beam for obtaining reflection intensity information installed in addition to the first laser beam irradiation device installed on the flying object for obtaining position information. 7. The surveying method according to claim 6, wherein the second laser light having a predetermined wavelength different from the wavelength of the first laser light emitted from the laser light irradiation device. 8. The surveying method according to claim 1, wherein values relating to the position and orientation of the reference point are obtained at least by GPS. 9. The scanning direction of the first laser beam is:
9. The surveying method according to claim 1, wherein scanning is performed in a direction perpendicular to a flight path of the flying object on the measurement object. 10. The apparatus according to claim 6, wherein the first and second laser beams are scanned in a direction perpendicular to a flight path of the flying object on the measurement target.
The surveying method according to any one of the above. 11. During the flight of the vehicle, values related to the position and attitude of the reference point measured on the vehicle are stored with time as a variable, and the values related to the optical axis direction are time. A value that is stored as a variable and the measured value related to the distance is stored as a time as a variable, and a light that is a value related to intensity information of a predetermined wavelength range of the light of the measurement object measured by the imaging device. The value associated with the information is stored with time as a variable. After the flight, the irradiation point position is calculated based on each of the stored values corresponding to the same value of the time variable among the stored values with time as the variable. The value related to the information of the light, in each stored value with time as a variable, is calculated for the irradiation point position based on each stored value corresponding to the same value of each time variable of the irradiation point position, The measurement The value related to the light information of the fixed object is added 3
10. A surveying method using a flying object according to any one of claims 1 to 5, or 8 or 9, wherein dimensional information is obtained. 12. During the flight of the vehicle, values relating to the position and attitude of the reference point measured on the vehicle are stored with time as a variable, and the values relating to the optical axis direction represent time. The value related to the measured distance is stored as a variable, the time is stored as a variable, and the value related to the measured reflection intensity of the laser light of the measurement object is stored as time to a variable. Later, the irradiation point position is calculated based on each stored value corresponding to the same value of the time variable in each stored value using time as a variable, and the value related to the reflection intensity of the laser light is a time based on the time. For each stored value to be a variable, the irradiation point position is calculated based on each stored value corresponding to the same value of each time variable of the irradiation point position, and is related to the reflection intensity of the laser light of the measurement object. 11. The method according to claim 6, wherein three-dimensional information to which a value to be added is added is obtained.
A survey method using the flying object described in the paragraph. 13. A position and orientation measuring device for measuring a value relating to a current position and orientation of a reference point set on the flight object using time as a variable, and irradiating a laser beam onto a measurement object. A laser device that scans the object to be measured,
A scanning device that changes a value related to the optical axis direction of the laser light as a time as a variable, from the reference point to the measurement object by irradiating the measurement object with the laser light and detecting reflected laser light A distance measuring device that measures a value related to the distance as a variable of time, an imaging device that measures a value related to light information of the object to be measured as a variable of time, and a light measuring device that measures the light measured by the imaging device. A recording device that records a value related to information as time as a variable, a value related to the position and orientation of the reference point, a value related to the optical axis direction, and a value of the light corresponding to each identical value of the time variable. An irradiation position calculation device that calculates an irradiation point position of the laser light on the measurement target based on a value related to information and a value related to the distance, and a value related to light information at the irradiation point position. To calculate the light A surveying device using a flying object, comprising: an optical information addition operation device for adding a report. 14. The surveying device according to claim 13, wherein the imaging device is an imaging device that measures a wavelength range for three primary colors of red, blue, and green light. 15. The imaging device according to claim 13, wherein the imaging device is a device that measures a wavelength range in an infrared region.
The surveying device according to item 1. 16. The imaging apparatus according to claim 1, wherein said imaging apparatus is an imaging apparatus for measuring a wavelength range in a far-infrared region.
The surveying device according to 3. 17. The surveying device according to claim 13, wherein the image pickup device is a line sensor. 18. A flying object, a position and orientation measuring device for measuring values relating to the current position and attitude of a reference point set on the flying object using time as a variable, and irradiating a laser beam onto a measuring object. A laser device that scans the object to be measured,
A scanning device that changes a value related to the optical axis direction of the laser light as a time as a variable, from the reference point to the measurement object by irradiating the measurement object with the laser light and detecting reflected laser light A distance measuring device that measures a value related to the distance as a time as a variable, a reflection intensity measuring device that measures a value related to the reflection intensity of the laser light applied to the measurement object as a time, and a time variable. Corresponding to the same value of, based on the value related to the position and orientation of the reference point, the value related to the optical axis direction, the value related to the reflection intensity of the laser light, and the value related to the distance. An irradiation position calculating device for calculating an irradiation point position of the laser light on the object to be measured; and a light for calculating a value related to the reflection intensity information of the laser light at the irradiation point position and adding the reflection intensity information of the laser light. information Pressure calculating device and a surveying apparatus using the flying body, characterized in that it comprises a. 19. A second laser device for irradiating a second laser beam having a predetermined wavelength different from position information onto a measurement object in the flying object, and irradiating from the second laser device. A second scanning device that changes a value associated with an optical axis direction of the second laser light with time as a variable so that the second laser light scans over the measurement target; and 19. The surveying method according to claim 18, further comprising: a reflection intensity measuring device that scans and measures a value related to the reflection intensity information of the second laser light emitted from the laser device using time as a variable. apparatus. 20. A method according to claim 1, wherein the irradiation position calculation device and the light information addition calculation device calculate the irradiation position from a set of irradiation point positions in which light information of the object to be measured is added to each of the irradiation point positions. 20. The surveying device using a flying object according to any one of claims 13 to 19, further comprising an information display device that obtains three-dimensional information to which information on light of a measurement target is added. 21. The flying object according to claim 13, wherein said position and orientation measuring device includes at least a GPS device for obtaining the position and orientation of said reference point by GPS. Surveying equipment. 22. The first and second scanning devices scan the first and second laser beams in a direction perpendicular to a flight path of the flying object on the object to be measured. A surveying apparatus using the flying object according to any one of claims 13 to 21.