JP2014137244A - Three dimensional composition processing system and three dimensional composition processing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To generate three dimensional shape data on an object structure with an efficient measurement operation.SOLUTION: A three dimensional composition processing system 1a of an embodiment comprises: a three dimensional measurement device 11 for measuring positions and a shape of the surface of a structure, at a plurality of measurement positions, to obtain a plurality of pieces of measurement data; an attitude measurement device 12 for measuring the altitude of the three dimensional measurement device 11; a position measurement device 13 for measuring a distance between a first measurement position at which the three dimensional measurement device 11 performs the measurement and a second measurement position different from the first measurement position, and measuring a direction from the second measurement position to the first measurement position; a three dimensional composition processing device 2a for performing three dimensional composition processing to the structure on the basis of first measurement data and second measurement data; and a display device 14 for displaying the result of the three dimensional composition processing performed to the structure.

Description

  Embodiments described herein relate generally to a three-dimensional synthesis processing system and a three-dimensional synthesis processing method based on non-contact measurement of a three-dimensional structure.

  In general, reverse engineering is a technique for creating shape and dimensional data necessary for remanufacturing and remodeling work by acquiring as-built data from ready-made products and existing buildings even in the absence of drawings. Such reverse engineering includes a three-dimensional CAD system that obtains a three-dimensional CAD model from point cloud data representing a three-dimensional shape.

  In the three-dimensional shape measurement system, a surface shape measuring device that measures the three-dimensional surface shape of the object to be measured, an inner surface shape measuring device that measures the three-dimensional inner surface shape of the object to be measured, and a measurement object A nondestructive measuring device for measuring the internal state of the structural material, and a point cloud data conversion input synthesizer for inputting and synthesizing three-dimensional point cloud data measured by the surface shape measuring device, the inner surface shape measuring device, and the nondestructive measuring device A three-dimensional shape conversion processing device for creating a three-dimensional shape from point cloud data synthesized by the point cloud data conversion input synthesis device is known (for example, see Patent Document 1).

JP 2010-66169 A

  In the technique as described above, a plurality of markers are installed around the target structure and its periphery, and measurement data is synthesized based on the plurality of markers installed. In order to use a plurality of markers as a reference, it is necessary to perform the work of installing the marker, and it takes time to work such as aligning the marker to an appropriate position, and there is a problem that the time of the measurement work becomes long.

  Further, after all measurement work (measurement work at a plurality of measurement positions) is completed, the obtained measurement data is subjected to a three-dimensional synthesis process to obtain shape data representing the entire target structure. For this reason, an operator who has confirmed the combined result has to perform the work of re-acquisitioning measurement data in a position range that has been overlooked, resulting in poor work efficiency.

  A problem to be solved by an embodiment of the present invention is to provide a three-dimensional synthesis processing system and a three-dimensional synthesis processing method capable of generating three-dimensional shape data of a target structure by an efficient measurement work. .

  In order to solve the above-described problem, the three-dimensional synthesis processing system of the embodiment is a three-dimensional synthesis processing system that measures a structure to be measured and displays the structure so that it can be observed in three dimensions. The three-dimensional synthesis processing system includes a three-dimensional measurement device that acquires a plurality of measurement data by measuring the position and shape of the surface of the structure at a plurality of measurement positions, and a posture that measures the posture of the three-dimensional measurement device A distance between a measurement device and a first measurement position where the three-dimensional measurement device performs measurement and a second measurement position where the three-dimensional measurement device different from the first measurement position performs measurement; and A position measurement device that measures a direction from the second measurement position to the first measurement position, a three-dimensional synthesis processing device that performs a three-dimensional synthesis process on the structure based on the plurality of measurement data, And a display device for displaying the result of the three-dimensional synthesis processing of the structure. The three-dimensional synthesis processing device generates posture measurement information based on the posture measured by the posture measurement device, and generates position measurement information based on the distance and the direction measured by the position measurement device. A measurement state acquisition unit; a plurality of measurement positions; a plurality of measurement data; a posture measurement information; a data storage unit that stores the position measurement information; and a coordinate system based on any position. The coordinate data is converted into the same coordinate system, and the plurality of measurement data is converted into the same coordinate system based on the posture measurement information and the position measurement information. As a result of the three-dimensional synthesis process for the structure, the coordinate conversion unit converts the coordinate system into the same coordinate system. Wherein the plurality of the coordinates of the measurement data arranged in the same coordinate system and having a data synthesizing output unit for outputting to the display device.

  In order to solve the above problem, the three-dimensional synthesis processing method of the embodiment measures the position and shape of the surface of the structure to be measured at a plurality of measurement positions and acquires a plurality of measurement data. An apparatus, an attitude measurement apparatus that measures the attitude of the three-dimensional measurement apparatus, a position measurement apparatus that measures distances and directions at different measurement positions, and a three-dimensional synthesis of the structure based on the plurality of measurement data A three-dimensional synthesis processing device for processing, and a display device for displaying a result of three-dimensional synthesis processing for the structure, and displaying the structure in a three-dimensional manner by measuring the structure This is a three-dimensional synthesis processing method used in the synthesis processing system. In the three-dimensional synthesis processing method, the three-dimensional synthesis processing device generates posture measurement information based on the posture measured by the posture measurement device, and sets the distance and the direction measured by the position measurement device. A measurement state acquisition step for generating position measurement information based on the information, and the three-dimensional synthesis processing device stores the plurality of measurement positions, the plurality of measurement data, the posture measurement information, and the position measurement information. The data storage step and the three-dimensional synthesis processing device use a coordinate system based on any position as the same coordinate system, and reference each of the plurality of measurement positions based on the posture measurement information and the position measurement information. A coordinate conversion step for converting the plurality of measurement data into coordinates based on the same coordinate system, using coordinate conversion for converting the coordinate system into the same coordinate system; As a result of the three-dimensional synthesis processing performed on the structure by the three-dimensional synthesis processing device, the plurality of measurement data coordinate-transformed by the coordinate transformation step are arranged in the same coordinate system and output to the display device And a data synthesis output step.

  According to the embodiment of the three-dimensional synthesis processing system and the three-dimensional synthesis processing method according to the present invention, it is possible to generate the three-dimensional shape data of the target structure by an efficient measurement work.

1 is a block diagram showing a configuration of a first embodiment of a three-dimensional synthesis processing system according to the present invention. The figure which shows the relationship of the local coordinate system for every measurement position. The figure which shows the relationship between the local coordinate system for every measurement position, and a global coordinate system. The flowchart which shows the three-dimensional synthetic | combination processing flow used for the three-dimensional synthetic | combination processing system of 1st Embodiment. The flowchart which shows the coordinate transformation processing flow used for the three-dimensional synthetic | combination processing system of 1st Embodiment. The flowchart which shows the data display processing flow used for the three-dimensional synthetic | combination processing system of 1st Embodiment. The figure which shows an example of the point cloud data of a structure. The figure which shows another example of the point cloud data of a structure. The figure which shows an example of the three-dimensional synthetic | combination process of a structure. The block diagram which shows the structure of 2nd Embodiment of the three-dimensional synthetic | combination processing system which concerns on this invention. The flowchart which shows the three-dimensional synthetic | combination processing flow used for the three-dimensional synthetic | combination processing system of 2nd Embodiment. The flowchart which shows the measurement position presentation process flow used for the three-dimensional synthetic | combination processing system of 2nd Embodiment. The figure which shows an example of the block division | segmentation in evaluation space. The figure which shows an example of the selection block in evaluation space. The block diagram which shows the structure of 3rd Embodiment of the three-dimensional synthetic | combination processing system which concerns on this invention. The flowchart which shows the three-dimensional synthetic | combination processing flow used for the three-dimensional synthetic | combination processing system of 3rd Embodiment.

  Hereinafter, a three-dimensional synthesis processing system and a three-dimensional synthesis processing method according to embodiments of the present invention will be specifically described with reference to the drawings. Here, the same or similar parts are denoted by common reference numerals, and redundant description is omitted. Each of the following embodiments described here will be described by taking an example of a three-dimensional synthesis processing system using non-contact measurement such as laser measurement.

[First Embodiment]
FIG. 1 is a block diagram showing a configuration of a first embodiment of a three-dimensional synthesis processing system according to the present invention. FIG. 2 is a diagram showing the relationship between the local coordinate system for each measurement position, and FIG. 3 is a diagram showing the relationship between the local coordinate system and the global coordinate system for each measurement position.

  FIG. 4 is a flowchart showing a three-dimensional composition processing flow used in the three-dimensional composition processing system of the first embodiment. 5 is a flowchart showing a coordinate conversion processing flow used in the three-dimensional synthesis processing system of FIG. 1, and FIG. 6 is a flowchart showing a data display processing flow used in the three-dimensional synthesis processing system of FIG. is there. 7 and 8 are diagrams showing an example of point cloud data of a structure and another example. FIG. 9 is a diagram illustrating an example of a three-dimensional synthesis process of a structure.

  As shown in FIG. 1, the three-dimensional synthesis processing system 1a according to the first embodiment includes a three-dimensional synthesis processing device 2a, a three-dimensional measurement device 11, an attitude measurement device 12, a position measurement device 13, a display device 14, and an input. A device 15 is provided.

  In the three-dimensional synthesis processing system 1a, measurement data is acquired by changing the measurement position of the non-contact measurement device (three-dimensional measurement device 11) with respect to the target structure 5 (shown in FIG. 2). Convert the acquired measurement data to the same coordinate system (including the global coordinate system). Thereby, the three-dimensional shape data of the target structure 5 can be generated by synthesizing the measurement data converted based on the same coordinate system.

The three-dimensional measuring device 11 is a device that acquires measurement data for calculating the position and shape of the surface of the target structure 5 by non-contact measurement of the surface of the target structure 5. The three-dimensional measuring device 11 measures the distance on the surface of the target structure 5 based on its own reference position by non-contact measurement, and obtains measurement data (for example, point cloud data). These correspond to (x ₁ , y ₁ , z ₁ ) in the local coordinate system. Note that contact-type measurement using a contact probe or the like is also applicable to the three-dimensional measurement apparatus 11.

  A user (for example, an operator or the like) changes the measurement position of the three-dimensional measuring device 11 and scans the target structure 5, so that the three-dimensional synthesis processing device 2a synthesizes the entire shape data of the target structure 5. To do. For this purpose, the three-dimensional measurement apparatus 11 generates three-dimensional measurement information for each measurement position based on non-contact measurement. The three-dimensional measurement information includes at least a measurement position identifier indicating which measurement position is measured, a coordinate system, and measurement data.

  The measurement position identifier is given an identification code uniquely determined so that the measurement position can be specified. For example, as shown in FIG. 2, the measurement position identifier that is the measurement position POS # 1 is uniquely determined # 1, and the measurement position identifier that is the measurement position POS # 2 is # 2. .

  The coordinate system indicates any local coordinate system or global coordinate system. The coordinate system is, for example, the local coordinate system # 1 shown in FIG. 2 or the local coordinate system # 2. Alternatively, the global coordinate system shown in FIG. Here, the local coordinate system is a coordinate system based on relative positions, and the global coordinate system is a coordinate system based on absolute positions.

  The measurement data is recorded according to the local coordinate system based on the measurement position / orientation of each three-dimensional measurement device 11. In order to connect (synthesize) the respective measurement data, as shown in FIG. 3, for example, a relative relationship between the respective local coordinate systems is obtained in accordance with the global coordinate system as the same coordinate system.

  That is, it is only necessary to convert measurement data acquired at each measurement position from each local coordinate system to the same coordinate system (for example, global coordinate system) without installing a marker for confirming the collation at each measurement position. .

  The measurement data is initially coordinate data in the local coordinate system. For example, when the measurement data includes a plurality of point group data, it is a plurality of coordinate data.

  The three-dimensional measuring device 11 includes, for example, a three-dimensional laser scanner or a stereo vision. When the three-dimensional measuring apparatus 11 has a three-dimensional laser scanner, the three-dimensional laser scanner irradiates the target structure 5 around it with the laser, and the three-dimensional measuring apparatus 11 acquires measurement data based on the reflected wave. To do. The three-dimensional measuring device 11 installed at one measurement position scans the periphery of the target structure 5 while rotating around the reference axis, and acquires, for example, point cloud data.

  The acquired measurement data is, for example, point cloud data, line data, or surface data. The measurement data is based on the measurement position and orientation measured by installing the three-dimensional measurement apparatus 11, and is acquired or converted as coordinates based on the local coordinate system or the global coordinate system.

  Hereinafter, the case where the measurement data acquired by the three-dimensional measurement apparatus 11 is point cloud data will be described as an example.

  The posture measuring device 12 is a device that measures the posture of a target. For example, the posture of the target is acquired by installing the posture measuring device 12 on the posture measurement target and performing measurement. The posture measuring device 12 measures the posture of the three-dimensional measuring device 11 shown in FIG. 1, for example. The attitude of the three-dimensional measuring device 11 is, for example, how much the X-axis of the coordinate is displaced from a predetermined direction (for example, the north direction) with respect to the local coordinate system that is the reference by the three-dimensional measuring device 11 (how many times from the north direction). A direction indicating whether the laser beam is transmitted from the three-dimensional measuring device 11 (e.g., an inclination angle from the horizontal direction with reference to the XY plane).

  The posture measuring device 12 is an electronic compass including a three-dimensional magnetic sensor, for example. The posture measurement device 12 measures the geomagnetism using a three-dimensional magnetic sensor, and is determined, for example, by the rotation angle around the X axis, the rotation angle around the Y axis, and the rotation angle around the Z axis as the posture. Information can be acquired.

  Further, the attitude measurement device 12 may include a gyro sensor instead of the electronic compass. Specifically, a gyro sensor is installed in the three-dimensional measuring device 11, and the posture measuring device 12 measures angular acceleration data output from the gyro sensor. The attitude may be calculated by integrating and calculating in which direction and how much the three-dimensional measuring apparatus 11 has rotated using the angular acceleration data measured by the attitude measuring device 12.

  The posture measurement device 12 sequentially outputs the posture measurement results to the measurement state acquisition unit 21 of the three-dimensional synthesis processing device 2a.

  The position measuring device 13 is a device for performing position measurement. As a method of position measurement, for example, a method of measuring the position of an object between two points (relative position measurement), or a method of measuring an absolute position at each measurement position of the three-dimensional measurement apparatus 11 (absolute position) Measurement) is used.

  The position measurement device 13 has a configuration in which, for example, a device for measuring a direction (orientation) is attached to a laser distance meter, an ultrasonic distance meter, stereo vision, or the like. Further, the position measuring device 13 may have a GPS (Global Positioning System) sensor.

  The direction measurement by the position measurement device 13 is performed by, for example, a direction measurement function (direction measurement meter) included in the attached position measurement device 13. The relative measurement position of the three-dimensional measurement apparatus 11 is calculated from the measured distance and measurement direction information.

  In addition to this method, an acceleration sensor, a gyro sensor, or the like is attached to the three-dimensional measuring device 11 and measurement is continued, and the angular acceleration up to the current measurement position of the three-dimensional measuring device 11 is integrated in a three-dimensional manner. The measurement position of the measurement device 11 may be calculated. However, this method only knows the relationship between the relative measurement positions, so the point cloud data is set to the same coordinate system as the same coordinate system based on the local coordinate system when the three-dimensional shape measurement is first performed. It will be converted to. Further, the local coordinate system may be converted to the global coordinate system.

  The position measurement device 13 sequentially outputs the result of position measurement to the measurement state acquisition unit 21 of the three-dimensional synthesis processing device 2a.

  The display device 14 displays point cloud data stored in the 3D synthesis processing device 2a, other data, and the like. The display device 14 is, for example, a monitor.

  The input device 15 is a device for performing setting input, input operation, and the like of the three-dimensional synthesis processing device 2a. The input device 15 includes a keyboard and a mouse, for example, and may include an input operation device such as a touch panel.

  As illustrated in FIG. 1, the three-dimensional synthesis processing device 2 a includes a measurement state acquisition unit 21, a coordinate conversion unit 22, a coordinate conversion matrix correction unit 23, a data storage unit 24, and a data synthesis output unit 25.

  The measurement state acquisition unit 21 acquires the posture (result of posture measurement) and the position (result of position measurement) where the three-dimensional measurement device 11 is installed from the posture measurement device 12 and the position measurement device 13. The measurement state acquisition unit 21 generates posture measurement information and position measurement information based on the acquired posture measurement and position measurement results. When the point cloud data is measured by the three-dimensional measuring device 11 at the position where the three-dimensional measuring device 11 is installed, the position becomes one measurement position.

  The data storage unit 24 stores a plurality of point group data, posture measurement information, and position measurement information in association with each measurement position.

  For each measurement position, the measurement state acquisition unit 21 stores the point cloud data in the data storage unit 24 in association with information (posture measurement information and position measurement information) related to the posture and position of each three-dimensional measurement device 11. That is, coordinate data is stored according to the local coordinate system.

  For example, when the point cloud data Data # 1 (shown in FIG. 7) is acquired by the three-dimensional measuring apparatus 11 with reference to the local coordinate system # 1 at the measurement position POS # 1 shown in FIG. 21 associates the three-dimensional measurement information including these data and the posture measurement information, and stores them in the data storage unit 24.

  Further, when the point cloud data Data # 2 (shown in FIG. 8) is acquired by the three-dimensional measuring apparatus 11 with reference to the local coordinate system # 2 at the measurement position POS # 2 shown in FIG. 21 associates the three-dimensional measurement information including these data and the posture measurement information, and stores them in the data storage unit 24. Note that point cloud data measured at an arbitrary measurement position POS # n and based on the local coordinate system #n is written as Data # n (n corresponds to a plurality).

  When the position measurement device 13 performs position measurement based on the measurement position POS # 1 and the measurement position POS # 2, the measurement state acquisition unit 21 associates the above-described three-dimensional measurement information with the posture measurement information. In addition, the position measurement information is associated and stored in the data storage unit 24.

  As described above, the data storage unit 24 stores the point cloud data Data # 1 in the local coordinate system # 1 at the measurement position POS # 1, the point cloud data Data # 2 in the local coordinate system # 2 at the measurement position POS # 2, and the like. 3D measurement information including, and posture measurement information and position measurement information associated with each of them are stored.

  The coordinate conversion unit 22 calculates a coordinate conversion matrix F for conversion to the same coordinate system based on the posture measurement information and the position measurement information for each measurement position, and converts point group data of different local coordinate systems into the same coordinate system. Convert to point cloud data. That is, the coordinate conversion unit 22 performs coordinate conversion on the same coordinate system for a plurality of point group data stored in the data storage unit 24.

  The coordinate transformation matrix correction unit 23 corrects the coordinate transformation matrix F calculated by the coordinate transformation unit 22. The correction method by the coordinate transformation matrix correction unit 23 will be described later in detail.

  The data composition output unit 25 arranges point group data based on the same coordinate system based on the conversion of the point group data into the same coordinate system by the coordinate conversion unit 22.

  The plurality of point group data after the conversion is three-dimensionally arranged by the data synthesis output unit 25 based on the same coordinate system. The data composition output unit 25 outputs the arranged point cloud data to the display device 14. As a result, an image obtained by subjecting the target structure 5 to the three-dimensional synthesis process is displayed on the display device 14. The data synthesis output unit 25 may store the result of the three-dimensional synthesis process in the data storage unit 24.

Here, as one method of coordinate transformation by the coordinate transformation unit 22, for example, the local coordinate system # 1 (origin O ₁ ) based on the measurement position POS # 1 shown in FIG. This is a method of performing coordinate conversion on the local coordinate system # 2 (origin O ₂ ) based on the above. As shown in FIG. 2, coordinate conversion is performed from the relative relationship of each local coordinate system in accordance with the local coordinate system # 1 as the same coordinate system. Orientation measurement information including information on posture (such as displacement amounts in the X axis from the reference direction), by using the position measurement information including the distance L ₁₂ and the direction of the measurement position POS # 1 and the measuring position POS # 2, the coordinates Convert. The distance _{L 12} between the measuring position POS # 1 and the measuring position POS # 2 corresponds to the relative distance between the origin _{O 1} and the origin _{O 2} of the local coordinate system # 2 of the local coordinate system # 1.

As another method of coordinate conversion by the coordinate conversion unit 22, for example, a local coordinate system # 1 based on the measurement position POS # 1 and a local coordinate system # 2 based on the measurement position POS # 2 shown in FIG. This is a method of performing coordinate conversion using the same coordinate system based on the global coordinate system. As shown in FIG. 3, the distance L _g1 between the origin Og of the global coordinate system and the origin O ₁ of the local coordinate system # 1, and the distance L _g2 between the origin Og of the global coordinate system and the origin O ₂ of the local coordinate system # 2. The deviation of each posture is used for coordinate conversion.

  When a GPS sensor is used as the position measuring device 13, the GPS sensor is provided in the three-dimensional measuring device 11. When this GPS sensor receives GPS radio waves from GPS satellites, the position of the three-dimensional measurement device 11 can be measured. With this method, it is possible to obtain the absolute position (position in the global coordinate system) of the three-dimensional measuring apparatus 11.

  Next, a three-dimensional composition processing flow used in the three-dimensional composition processing system 1a shown in FIG. 4 will be described with reference to FIG.

  First, after the three-dimensional measurement device 11 is installed at a measurement position where the target structure 5 can be measured, posture measurement is performed by the posture measurement device 12, and position measurement is performed by the position measurement device 13 (step S1).

  Next, when measurement is started by the three-dimensional measurement apparatus 11, the target structure 5 is scanned, and the measurement state acquisition unit 21 acquires point cloud data from the three-dimensional measurement apparatus 11 (step S2).

  Next, the measurement state acquisition unit 21 acquires the attitude of the three-dimensional measurement apparatus 11 from the attitude measurement apparatus 12 (step S3). Note that the order of step S2 and step S3 may be interchanged as long as the orientation of the three-dimensional measurement apparatus 11 can be measured.

Next, the measurement state acquisition unit 21 acquires the measurement position of the three-dimensional measurement device 11 from the position measurement device 13 (step S4). For example, when a laser distance meter or stereo vision is used as the position measurement device 13, the current measurement position (for example, the measurement position (for example, measurement position POS # 1) of the previous three-dimensional measurement apparatus is determined from the measurement position (for example, measurement position POS # 1). measuring positions POS # 2) the distance _{L 12} and that direction until is obtained.

  Next, the coordinate conversion unit 22 calculates a coordinate conversion matrix F for converting the measured point group data into the same coordinate system (for example, the global coordinate system), and performs coordinate conversion of the point group data (step S5).

Here, the coordinate conversion method of the point cloud data in step S5 will be described in detail. First, when the coordinates in the local coordinate system at an arbitrary measurement position are (x ₁ , y ₁ , z ₁ ) and the coordinates in the global coordinate system are (x _g , y _g , z _g ), (Equation 1) F is a coordinate transformation matrix to be obtained.

Here, the coordinate transformation matrix F is (Equation 2).

で表される４×４行列（ｆ_１１〜ｆ_３４等は、行列の要素である）とする。

4 × 4 matrix (f _{11 to} f ₃₄ etc. are elements of the matrix).

ここで、Ｒを回転行列、ｔを並進ベクトルとすると、座標変換行列Ｆは、（数３）のように表される。

Here, when R is a rotation matrix and t is a translation vector, the coordinate transformation matrix F is expressed as (Equation 3).

  Hereinafter, a detailed flow of the coordinate conversion processing in step S5 will be described with reference to FIG. Further, in the following description, an example of the point cloud data of the structure shown in FIGS. 7 and 8 and another example, and an example of the three-dimensional synthesis process of the structure shown in FIG. 9 will be used.

  First, the coordinate conversion unit 22 calculates a rotation matrix R for converting the local coordinate system into the same posture as the global coordinate system, using posture measurement information for each measurement position (step S501).

  Next, the coordinate conversion part 22 calculates the translation vector t using position measurement information for every measurement position (step S502).

  Accordingly, the coordinate conversion unit 22 calculates a coordinate conversion matrix F based on the calculated rotation matrix R and translation vector t for each measurement position, and using this coordinate conversion matrix F, the coordinates of the measured point cloud data are calculated. Conversion is performed (step S503).

  For example, the coordinate conversion unit 22 uses the coordinate conversion matrix F to coordinate-convert point cloud data based on the local coordinate system into point cloud data based on the global coordinate system. Thus, the point cloud data Data # 1 and # 2 with reference to the local coordinate systems # 1 and # 2 shown in FIGS. 7 and 8 are coordinated with the point cloud data GData with reference to the global coordinate system shown in FIG. Can be converted.

  That is, the point cloud data Data # 1 to #n (n corresponds to a plurality) measured at a plurality of measurement positions can be converted into coordinates based on the same coordinate system (in this example, the global coordinate system). Therefore, as shown in FIG. 9, three-dimensional synthesis processing can be easily performed using the point cloud data GData based on these same coordinate systems.

  Above, the coordinate conversion process of step S5 is complete | finished.

  Next, the data composition output unit 25 displays the point cloud data GData converted into coordinates based on the same coordinate system on the display device 14 (step S6).

  Here, a detailed flow of the point cloud data display process in step S6 will be described with reference to FIG.

  First, point cloud data GData to be displayed is selected from the input device 15 (step S601). For example, the user can obtain from the acquired point cloud data GData such as the point cloud data GData acquired at the first measurement position and the point cloud data GData acquired at the second measurement position via the input device 15. The point cloud data GData to be displayed is selected.

  Next, the display method of the point cloud data GData selected from the input device 15 is selected (step S602).

  Next, the display device 14 displays the point cloud data GData according to the selected display method (step S603).

  For example, the user projects the acquired point cloud data GData on a two-dimensional plane via the input device 15 and displays the acquired point cloud data GData, or the acquired point cloud data GData is viewed three-dimensionally (observation). 3D display method can be selected.

  When the two-dimensional display method is selected, the data composition output unit 25 extracts point cloud data GData existing at an arbitrary height (Z coordinate) position, and for example, converts the point cloud data GData to a two-dimensional plane (XY). An image projected onto a plane, XZ plane, etc.) is displayed on the display device 14. The height position to be displayed may be arbitrarily changed in accordance with a user input.

  When the three-dimensional display method is selected, the data composition output unit 25 sets an arbitrary viewpoint in the global coordinate system and displays an image obtained by observing the point cloud data GData from the viewpoint on the display device 14. . At this time, the newly measured point group data GData can be confirmed instantaneously by setting the position of the first viewpoint to the position of the origin of the local coordinate system of the newly measured point group data GData. Further, the position of the viewpoint and the line-of-sight direction may be arbitrarily changed according to the user input.

  This completes the point cloud data display process in step S6.

  Next, the coordinate transformation matrix correction unit 23 corrects the calculated coordinate transformation matrix F (step S7).

  For example, the data measured by the attitude measurement device 12 or the position measurement device 13 may include an error due to positional deviation. If an error due to misalignment is included, the coordinate conversion unit 22 may not be able to calculate a correct coordinate conversion matrix F. Therefore, when the positional deviation between the result of coordinate conversion of the measured point cloud data Data # n and the point cloud data GData measured so far is large, alignment between the respective data is performed, and the global coordinate system is obtained. It is necessary to correct the coordinate transformation matrix F.

  The user checks the display screen of the point cloud data GData, and if a positional deviation is confirmed, the user performs alignment in step S7 and corrects the coordinate transformation matrix F. As a confirmation method of the positional deviation, for example, the display color of the newly acquired point cloud data GData and the point cloud data GData measured so far are changed and displayed on the display device 14.

  For the alignment of the point cloud data, for example, an alignment technique called an ICP (Iterative Closest Point) method, which is a well-known technique, can be used. In the ICP method, alignment is performed by minimizing (converging) the square sum of the distances between nearest vertices for each point cloud data to be aligned by iterative calculation. When the position shift of each point cloud data is large, the calculation process of the iterative calculation is large, and it takes a very long calculation time to converge. If the position shift is large, there is a problem that it easily falls into a local solution. . On the other hand, when the positional deviation of each point cloud data is small, it converges to the optimal solution in a short calculation time.

  After the process of step S7 is completed, steps S1 to S7 shown in FIG. 4 are repeatedly executed. In addition, after the end of the measurement work for acquiring the point cloud data, a measurement end process (not shown) is performed, and the three-dimensional synthesis process flow is ended.

  In the first embodiment, since the positional deviation between the point cloud data due to the coordinate transformation is small, it converges to the optimal solution in a short calculation time, and the coordinate transformation matrix can be corrected. That is, even if the measurement positions where the point cloud data are measured are separated, the local solution can be obtained without causing a local solution. Further, by adding some constraint conditions, it is possible to further shorten the calculation time until convergence by the ICP method.

For example, when the floor surface is an XY plane, when the three-dimensional measuring device 11 is installed horizontally on the floor surface, the rotation matrix R is a problem for obtaining the rotation amount θ around the Z axis, that is, the coordinate conversion shown in (Expression 4). This is equivalent to obtaining the matrix Fb, and the calculation time can be shortened. Note that the elements f ₁₄ , f ₂₄ , and f ₃₄ of the matrix shown in (Expression 4) are corresponding elements of the matrix shown in (Expression 2).

  In addition, since it can be simplified to the problem of obtaining only the rotation matrix R when the translation vector t is a correct solution and to the problem of obtaining only the translation vector t when the rotation matrix R is a correct solution, Calculation time can be further reduced.

  As described above, according to the first embodiment, the measurement operation can be performed without installing a marker in order to confirm the measured shape data by the three-dimensional synthesis process at the site.

  Further, according to the first embodiment, the point cloud data measured at a new measurement position is instantaneously converted into the same coordinate system at the site where measurement work is being performed, and measurement is already performed at a different measurement position. Using the data obtained by converting the obtained point cloud data into the same coordinate system, a three-dimensional synthesis process can be immediately performed. Thereby, the shape data synthesized immediately after the measurement work is performed on the target structure can be confirmed in a short time. Since the operator can immediately confirm the acquisition status of the point cloud data on the spot, the measurement data can be omitted.

  Since the three-dimensional synthesis process can be sequentially performed for each measurement operation at one measurement position, the measurement operation can be performed while confirming the shape data of the entire target structure. Thereby, since a measurement work can be advanced efficiently, the shape data of the whole desired target structure can be acquired in a shorter work time.

[Second Embodiment]
FIG. 10 is a block diagram showing a configuration of the second embodiment of the three-dimensional synthesis processing system according to the present invention. FIG. 11 is a flowchart showing a three-dimensional composition processing flow used in the three-dimensional composition processing system according to the second embodiment. Furthermore, FIG. 12 is a flowchart showing a measurement position presentation processing flow used in the three-dimensional synthesis processing system of the second embodiment. FIG. 13 is a diagram illustrating an example of block division in the evaluation space, and FIG. 14 is a diagram illustrating an example of a selected block in the evaluation space.

  A three-dimensional synthesis processing system 1b shown in FIG. 10 includes a visible image capturing device 16 in addition to the configuration of the three-dimensional synthesis processing system 1a shown in FIG. 1, and the three-dimensional synthesis processing device 2b includes a measurement position presentation unit 26 and The configuration further includes a density evaluation unit 27.

  The measurement position presentation unit 26 can present the measurement position where the three-dimensional measurement apparatus 11 is installed to the user by a manual or automatic method. A manual method is that the user sets a desired measurement position via the input device 15. The automatic method is a case where density evaluation by the density evaluation unit 27 described later is used.

  The density evaluation unit 27 classifies a predetermined space (an evaluation space 100 described below) for each block 101 based on measurement data (for example, point cloud data GData) arranged in the same coordinate system, and performs point cloud data. Gdata density is evaluated. The density evaluation is an index for determining whether the point cloud data GData measured for the target structure 5 is a sufficient data amount for observing the shape of the target structure 5 three-dimensionally, for example.

  Hereinafter, a three-dimensional synthesis processing flow used in the three-dimensional synthesis processing system of the second embodiment shown in FIG. 11 will be described.

  The measurement position presentation unit 26 of the three-dimensional synthesis processing apparatus 1b presents the measurement position where the three-dimensional measurement apparatus 11 is installed (Step S20). Specifically, the user sets a setting position (measurement position) where the three-dimensional measurement apparatus 11 is installed via the input device 15. The setting position of the three-dimensional measuring device 11 can be set by, for example, placing the mouse cursor of the input device 15 on the point corresponding to the position to be installed on the screen displaying the point cloud data GData on the display device 14 and clicking. Is set.

  In addition, after acquiring the point cloud data GData at several measurement positions, the density evaluation of the point cloud data GData obtained by measuring with the three-dimensional measuring device 11 is performed and the density evaluation is performed as described below. The measurement position 112 can be set to the presentation measurement position of the three-dimensional measurement apparatus 11 based on the above.

  Hereinafter, the measurement position presentation processing flow used in the three-dimensional synthesis processing system of the second embodiment shown in FIG. 12 will be described with reference to FIGS. 13 and 14.

  First, the evaluation space 100 of the target structure 5 is set from the input device 15 (step S901).

  For example, when the user knows the approximate size of the target structure 5 via the input device 15, the user designates the size, and when the user does not know, designates the size of the space to be measured as the size from a certain reference point. And so on. Thereby, as shown in FIG. 13, the density evaluation unit 27 sets the evaluation space 100 as a region on the two-dimensional map or a three-dimensional space according to the designated size.

  Here, the evaluation space 100 is a finite space in which the point cloud data GData is coordinate-transformed and arranged in the same coordinate system and is set so as to include the point cloud data GData. The density evaluation unit 27 divides the evaluation space 100 into a plurality of blocks 101 of a predetermined unit, and performs density evaluation of the point cloud data GData.

  Next, when the density lower limit value is designated from the input device 15, the density evaluation unit 27 sets the designated value as the density lower limit value (step S902). Note that the density lower limit value or the like may be stored in the data storage unit 24 in advance.

  Next, the density evaluation unit 27 divides the set evaluation space 100 into a plurality of blocks 101 (step S903).

  An evaluation space 100 illustrated in FIG. 13 includes, for example, a plurality of point group data GData and the current measurement position 111. FIG. 13 is a diagram in which the evaluation space 100 is divided into a plurality of blocks 101 and projected onto the XY plane (or an XZ plane or the like). Further, in FIG. 14, in addition to the evaluation space 100, a dotted line shown in the figure is shown as a target block 120.

  Next, the density evaluation unit 27 selects, for example, the block 101 including the current measurement position 111 and the peripheral block 101 located in the vicinity thereof as the target block 120 from among the plurality of divided blocks 101 (step S904). .

  Next, the density evaluation unit 27 calculates the density of the point cloud data GData in the target block 120 (step S905). For the density of the point cloud data GData, for example, a value obtained by dividing the area when the point cloud data GData is projected onto the two-dimensional plane by the area of the projected plane, or the volume of the block including the point cloud data GData is selected. For example, the value is divided by the volume of the target block 120.

  Next, the density evaluation unit 27 determines whether or not the density of the point cloud data GData is smaller than the set density lower limit value (step S906).

  When the density of the point cloud data GData is smaller than the set density lower limit value (YES in step S906), the density evaluation unit 27 advances the process to step S907. On the other hand, if the density of the point cloud data is greater than or equal to the set density lower limit, the process proceeds to step S908.

  The density evaluation unit 27 extracts a selection block 130 in which the density of the point cloud data GData is smaller than the set density lower limit value as an unacquired space (step S907). That is, the non-acquired space is the block 101 in which the density of the point cloud data GData is smaller than the density lower limit value. In FIG. 14, the selection block 130 indicating the unacquired space is indicated by hatching.

  The density evaluation unit 27 determines whether all the blocks 101 in the evaluation space 100 have been selected as the target block 120 (step S908). When all the blocks 101 are selected as the target block 120 (YES in step S908), the density evaluation unit 27 advances the process to step S909.

  When all the blocks 101 are not selected as the target block 120 (NO in step S908), the density evaluation unit 27 returns the process to step S904.

  Next, the density evaluation unit 27 selects (or extracts) a position in the block 101 where the density of the point cloud data GData is the lowest among the extracted unacquired spaces, and the measurement position presentation unit 26 The selected measurement position 112 is presented to the user (step S909).

  Thereby, the density evaluation unit 27 extracts the block 101 having a small density of the point cloud data GData based on the density evaluation of the point cloud data GData, and the coordinates in the range of the extracted block 101 are extracted from the three-dimensional measuring device. 11 is extracted as a measurement position 112 to be installed.

  In addition, the measurement position presentation unit 26 displays the position of the unacquired space extracted by these processes on the screen of the display device 14, and selects the measurement position 112 from the unacquired space according to a user input. Thus, the measurement position 112 may be set.

  For example, the measurement position presentation unit 26 displays a mark at the set measurement position 112 on the screen of the point cloud data GData displayed on the display device 14. When the display method of the point cloud data GData on the display device 14 is three-dimensional display, the user can change to any viewpoint and line-of-sight direction, and can check the position of the mark in detail.

  Further, the method is not limited to the method of displaying a mark on the display screen of the point cloud data GData, and the position where the three-dimensional measuring device 11 is installed may be photographed using the visible image photographing device 16 such as a camera. Then, on the photographed image, a mark may be displayed at a position on the screen corresponding to the set measurement position 112, and the measurement position of the three-dimensional measurement apparatus 11 may be presented. For example, the image data obtained by photographing with the visible image photographing device 16 is still image data or moving image data.

  The data composition output unit 25 performs three-dimensional measurement from the same line-of-sight direction by the display image when the measurement position 112 of the three-dimensional measurement device 11 is displayed, the image of the point cloud data GData being displayed, and the visible image photographing device 16. The position where the apparatus 11 is installed is associated with the captured image. The data composition output unit 25 outputs the associated image to the display device 14.

  Thus, the user can detect which pixel on the captured image corresponds to the measurement position 112 and display a mark at that position. At this time, the image of the point cloud data GData displayed on the display device 14 can be displayed so as to be superimposed on the captured image, and whether the captured image can be captured from the same direction by viewing the superimposed image. It is also possible to determine.

  Further, when the measurement position 112 of the three-dimensional measurement apparatus 11 is displayed on the image photographed by the photographing apparatus, it is detected that the user or the landmark has moved to the displayed measurement position 112, and the user The measurement position 112 may be presented by notifying. As a means for detecting that the user or the mark has moved to the measurement position 112, for example, the position of the user or the mark can be detected by using a well-known image processing technique to determine whether the user or the mark is at the same position as the measurement position 112. Good.

  As a user position detection means using a known image processing technique, for example, a user reference image is prepared, and the user position is detected by performing block matching between the reference image and the captured image. Alternatively, it is possible to detect a user's position by learning in advance a feature amount (for example, an HOG feature amount) representing the user and searching for a region that matches the learned feature amount.

  In addition, since the appearance of the user changes on the captured image, it may be impossible to detect by the method of directly detecting the user. Therefore, the user does not change the appearance on the image and can easily detect the object area rather than detecting the person area, such as a checkerboard or a stick, and the user can move the object. The position can be easily detected, and the position detection accuracy of the user can be increased.

  As a notification method to the user, for example, an alarm sound is made at regular intervals, and when the user approaches the measurement position 112, the interval is shortened, and conversely, when the user moves away from the measurement position 112, the interval is lengthened. Notify by.

  When the user moves to the measurement position 112, that is, when the difference between the detected person's position and the measurement position 112 on the image falls within the threshold, the user moves to the measurement position 112 by playing another alarm sound or sound. Notify you.

  The above is the description of the measurement position presentation process shown in step S20.

  After this step S20, after the three-dimensional measurement apparatus 11 is moved to the position (presentation measurement position) presented as the measurement position 112, a scan (measurement) for acquiring the point cloud data Data # n is started ( In step S21), steps S22 to S27 are performed in the same manner as steps S2 to S7 described above. Thereafter, steps S20 to S27 are repeatedly executed until the measurement work is finished.

  In step S24, the measurement position of the three-dimensional measurement apparatus 11 is acquired. At this time, as in the first embodiment, the measurement position of the three-dimensional measurement apparatus 11 is acquired using the position measurement apparatus 13. Not only the method but also the presentation measurement position of the three-dimensional measurement apparatus 11 set by the measurement position presentation unit 26 may be acquired as the current measurement position. In this case, the work of measuring the measurement position of the three-dimensional measuring device 11 is not necessary, so that work efficiency is improved.

  According to 2nd Embodiment, the measurement position which should install a three-dimensional measuring apparatus can be shown to a user, and the efficiency of measurement work can be improved. In addition, the measurement position of the measurement data that is insufficient can be searched efficiently by the density evaluation of the acquired measurement data, and the missing of the measurement data can be reduced.

[Third Embodiment]
FIG. 15 is a block diagram showing a configuration of the third embodiment of the three-dimensional synthesis processing system according to the present invention. FIG. 16 is a flowchart showing a three-dimensional composition processing flow used in the three-dimensional composition processing system of the third embodiment.

  A three-dimensional synthesis processing system 1c shown in FIG. 15 includes an attitude automatic control device 17 in addition to the configuration of the three-dimensional synthesis processing system 1a shown in FIG. 1, and the three-dimensional synthesis processing device 2c includes a measurement position presentation unit 26 and The initial posture setting unit 28 is further included.

  The initial posture setting unit 28 sets the initial posture of the three-dimensional measurement apparatus 11. The initial posture is the posture of the 3D measurement device 11 immediately before scanning when the 3D measurement device 11 is installed at the measurement position. For example, in which direction is the reference axis (Z direction: gravity direction) of the rotation of the three-dimensional measurement apparatus 11 and the X axis orthogonal to the three-dimensional measuring apparatus 11 immediately before scanning. In this case, it is assumed that the attitude of the three-dimensional measurement apparatus 11 immediately before scanning is the same with respect to a predetermined reference.

  Hereinafter, the flow showing the three-dimensional synthesis processing method shown in FIG. 16 will be described with reference to FIG. Note that steps S31 to S33 and S35 to S39 in the flow shown in FIG. 16 are the same processes as steps S20, S21, S23, S22 and S24 to S27 shown in FIG. 11, respectively. Here, the description of the same processing steps shown in FIG. 16 is omitted.

  In step S <b> 30, an input from the user is received, and an initial posture when performing measurement with the three-dimensional measurement apparatus 11 is set. For example, the initial posture of the three-dimensional measuring device 11 is set to the north direction.

  In step S34, the posture automatic control device 17 adjusts the posture of the three-dimensional measurement device 11 to be the same as the initial posture set in step S30.

  After the coordinate conversion correction process in step S39, the process returns to step S31 to repeatedly perform measurement, or a step (not shown) or the like, but the measurement is terminated by the user's designation.

  The measurement state acquisition unit 21 acquires the posture measured from the posture measurement device 12 installed in the three-dimensional measurement device 11, and the reference axis between the initial posture set by the initial posture setting unit 28 and the measured posture. The angle deviation amount (for example, the X axis) is calculated.

  For example, the measurement state acquisition unit 21 outputs (notifies) the angle deviation amount of the reference axis to the display device 14. The user can adjust the attitude of the three-dimensional measurement apparatus 11 so that the amount of deviation falls within a predetermined threshold.

  In addition, the measurement state acquisition unit 21 is a direction in which the posture measured by the posture measurement device 12 coincides with the set initial posture, that is, a direction in which the amount of angular deviation is reduced (a direction approaching the initial posture). Notify that. Further, when the initial posture is matched, that is, when the amount of deviation between the current posture and the initial posture is within the threshold value, the fact that they are matched is notified.

  As these notification methods, not only the output to the display device 14, but also, for example, an alarm sound is sounded at regular intervals, and when the posture of the three-dimensional measuring device 11 approaches the set initial posture, that is, measurement is performed. When the amount of deviation between the posture and the initial posture becomes small, for example, the interval for sounding the alarm sound is shortened. On the contrary, when the attitude of the three-dimensional measuring apparatus 11 is far from the set initial attitude, that is, when the amount of deviation between the measured attitude and the initial attitude becomes large, the interval for generating the alarm sound is increased. .

  When the attitude of the three-dimensional measuring device 11 matches the initial attitude, that is, when the amount of deviation between the measured attitude and the initial attitude falls within the threshold, an auditory alarm such as notification by sending another alarm sound or sound Recognizable means may be used.

  Further, the attitude of the three-dimensional measuring apparatus 11 is not limited to the method of adjusting by the user, and the attitude automatic control apparatus 17 may be able to adjust the attitude to the initial attitude or the set attitude. In this case, the posture automatic control device 17 includes means for performing motor control on the rotation and movement of the three axes of the coordinate system of the three-dimensional measurement device 11.

  For example, the three-dimensional measuring device 11 can be mounted on the automatic posture control device 17. The posture automatic control device 17 calculates an angle shift amount between the initial posture and the posture measured by the posture measuring device 12. The posture automatic control device 17 adjusts the posture of the three-dimensional measurement device 11 to the initial posture by controlling the amount of rotation by which a predetermined coordinate axis is rotated in accordance with the angle deviation amount.

  In the present embodiment, the coordinate transformation matrix F calculated in step S37 by matching the initial posture at the measurement position of the three-dimensional measuring device 11 with the posture based on the global coordinate system is shown in (Expression 5). Can be simplified.

That is, when the initial posture for each measurement position of the three-dimensional measuring device 11 is measured in accordance with the posture with the global coordinate system as a reference, the point cloud data acquired by the coordinate conversion unit 22 is converted into the global coordinate system. For this, it is only necessary to calculate the translation vector t = (f ₁₄ , f ₂₄ , f ₃₄ ). Thereby, the point cloud data (measurement data) can be three-dimensionally synthesized at a higher speed.

  As described above, according to the third embodiment, since the attitude of the three-dimensional measurement apparatus can be adjusted to an arbitrary initial attitude, for example, each measurement position is adjusted to the initial attitude based on the global coordinate system. be able to. Thereby, coordinate conversion for each measurement position can be simplified, and measurement data can be three-dimensionally synthesized at higher speed.

[Other Embodiments]
As mentioned above, although some embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. For example, the features of the embodiments may be combined. Furthermore, these embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the invention described in the claims and equivalents thereof as well as included in the scope and gist of the invention. In addition, as an application example of the above-described embodiment, a three-dimensional synthesis processing system using non-contact measurement by laser measurement or the like has been shown as an example, but also when other contact / non-contact measurement such as ultrasonic measurement is used. Needless to say, the same applies.

  1a, 1b, 1c ... 3D synthesis processing system, 2a, 2b, 2c ... 3D synthesis processing device, 11 ... 3D measurement device, 12 ... attitude measurement device, 13 ... position measurement device, 14 ... display device, 15 ... Input device 16 ... Visible image capturing device 17 ... Automatic posture control device 21 ... Measurement state acquisition unit 22 ... Coordinate conversion unit 23 ... Coordinate transformation matrix correction unit 24 ... Data storage unit 25 ... Data composition output unit , 26 ... measurement position presenting section, 27 ... density evaluation section, 28 ... initial posture setting section, 100 ... evaluation space, 101 ... block, 111 ... current measurement position, 112 ... measurement position, 120 ... target block, 130 ... selection block

Claims (12)

A three-dimensional synthesis processing system that measures a structure to be measured and displays the structure in a three-dimensional observable manner,
A three-dimensional measurement device that measures the position and shape of the surface of the structure at a plurality of measurement positions to obtain a plurality of measurement data; and
A posture measuring device for measuring the posture of the three-dimensional measuring device;
A distance between a first measurement position at which the three-dimensional measurement apparatus performs measurement and a second measurement position at which the three-dimensional measurement apparatus different from the first measurement position performs measurement; and the second A position measurement device for measuring a direction from the measurement position to the first measurement position;
A three-dimensional synthesis processing device that performs a three-dimensional synthesis process on the structure based on the plurality of measurement data;
A display device for displaying the result of the three-dimensional synthesis process for the structure,
The three-dimensional synthesis processing device
A measurement state acquisition unit that generates posture measurement information based on the posture measured by the posture measurement device, and generates position measurement information based on the distance and the direction measured by the position measurement device;
A data storage unit that stores the plurality of measurement positions, the plurality of measurement data, the posture measurement information, and the position measurement information;
Coordinates that use the coordinate system based on any position as the same coordinate system and convert the coordinate system based on each of the plurality of measurement positions to the same coordinate system based on the posture measurement information and the position measurement information A coordinate conversion unit that converts the plurality of measurement data into coordinates based on the same coordinate system using conversion;
As a result of the three-dimensional synthesis process for the structure, data synthesis is performed by arranging the coordinates of the plurality of measurement data converted into the same coordinate system by the coordinate conversion unit and outputting the coordinates to the display device. And a three-dimensional composition processing system. The measurement state acquisition unit stores the plurality of measurement positions, the plurality of measurement data, the posture measurement information, and the position measurement information in association with each other in the data storage unit. 3D synthesis processing system described in 1. The posture measurement apparatus includes a three-dimensional magnetic sensor, and measures the posture of the three-dimensional measurement apparatus based on the direction measured by the three-dimensional magnetic sensor. 3D synthesis processing system. The three-dimensional synthesis process according to claim 2, wherein the posture measuring device includes a gyro sensor, and measures the posture of the three-dimensional measuring device based on angular acceleration measured by the gyro sensor. system. The position measuring device includes a GPS sensor, is installed so as to be integrated with the three-dimensional measuring device, and uses the GPS sensor between the first measurement position and the second measurement position. The distance and the direction are measured. The three-dimensional composition processing system according to any one of claims 2 to 4 characterized by things. The position measuring device includes a laser distance meter, and measures the distance and the direction between the first measurement position and the second measurement position using the laser distance meter. The three-dimensional synthesis processing system according to any one of claims 2 to 4. The three-dimensional synthesis processing device
Measurement that displays a mark at a position where the three-dimensional measurement device is installed on a screen displayed on the display device, and presents the position of the displayed mark as the second measurement position of the three-dimensional measurement device The three-dimensional composition processing system according to claim 1, further comprising a position presentation unit. The three-dimensional synthesis processing device
A density for setting a finite evaluation space in which the plurality of measurement data is coordinate-transformed and arranged in the same coordinate system, and dividing the evaluation space into a plurality of blocks of a predetermined unit and performing density evaluation of the measurement data It further has an evaluation part,
The measurement position presentation unit extracts the block whose density of the measurement data is lower than a predetermined threshold based on the density evaluation of the measurement data, and coordinates in the range of the extracted block as the tertiary The three-dimensional synthesis processing system according to claim 7, wherein the three-dimensional composition processing system is presented as a presentation measurement position which is a position where the original measurement device should be installed. Further comprising a visible image capturing device for capturing a position where the three-dimensional measuring device is installed;
The measurement position presentation unit displays the mark at the second measurement position where the three-dimensional measurement device is installed on the image, using the image captured by the visible image capturing device, The three-dimensional synthesis processing system according to claim 7 or 8, wherein the second measurement position is presented to the display. The three-dimensional synthesis processing device
An initial posture setting unit for setting an initial posture of the three-dimensional measuring apparatus;
The measurement state acquisition unit indicates that it matches the display device when the posture of the three-dimensional measurement device measured by the posture measurement device matches the initial posture set by the initial posture setting unit. The three-dimensional composition processing system according to any one of claims 1 to 9, wherein the three-dimensional composition processing system is displayed. A posture automatic control device that adjusts the posture of the three-dimensional measurement device so that the posture of the three-dimensional measurement device measured by the posture measurement device matches the initial posture set by the initial posture setting unit. The three-dimensional synthesis processing system according to claim 10, further comprising: The three-dimensional measurement device that measures the position and shape of the surface of the structure to be measured at a plurality of measurement positions to acquire a plurality of measurement data, and the posture measurement device that measures the posture of the three-dimensional measurement device are different from the above A position measurement device that measures the distance and direction at the measurement position, a three-dimensional synthesis processing device that performs a three-dimensional synthesis process on the structure based on the plurality of measurement data, and a result obtained by performing the three-dimensional synthesis process on the structure. A three-dimensional synthesis processing method for use in a three-dimensional synthesis processing system comprising a display device for displaying, displaying the structure in a three-dimensionally observable manner by measuring the structure,
The three-dimensional synthesis processing device generates posture measurement information based on the posture measured by the posture measurement device, and generates position measurement information based on the distance and the direction measured by the position measurement device. A measurement state acquisition step;
A data storage step in which the three-dimensional synthesis processing device stores the plurality of measurement positions, the plurality of measurement data, the posture measurement information, and the position measurement information;
The three-dimensional synthesis processing apparatus uses a coordinate system based on any position as the same coordinate system, and a coordinate system based on each of the plurality of measurement positions based on the posture measurement information and the position measurement information. A coordinate conversion step of converting the plurality of measurement data into coordinates based on the same coordinate system, using coordinate conversion for converting to the same coordinate system;
As a result of the three-dimensional synthesis processing performed on the structure by the three-dimensional synthesis processing device, the plurality of measurement data coordinate-transformed by the coordinate transformation step are arranged in the same coordinate system and output to the display device A three-dimensional composition processing method comprising: a data composition output step.

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