JP2017058142A - Projection device and projection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a projection device and a projection system that make alignment to a projection plane easy and improve workability.SOLUTION: A projection device comprises: a ranging light emitting unit for emitting ranging light 8; a ranging unit for measuring the position of a reference point target 4 and obtaining point group data on a projection plane 7 by using the ranging light 8 for scan; a projection image projection unit for projecting a projection image 11 on the projection plane 7; and a control arithmetic unit 3 including a storage unit storing design data on the projection plane. The control arithmetic unit 3 modifies the design data on the basis of the point group data, and projects the projection image 11 on the projection plane 7 on the basis of the modified design data.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a projection apparatus and a projection system that project design data onto a projection surface such as a wall surface or a floor surface under construction.

  Design data that indicates the mounting position of various structures on the projection surface such as the floor or wall surface by the projection device when building a wall or installing various structures such as a door frame on the wall at a construction site. Are constructed and walls are constructed and various structures are attached based on the projected image.

  When projecting design data, if the projection plane is not a uniform plane, the projection image projected on the projection plane is distorted. For this reason, it is necessary to obtain a three-dimensional shape of the projection surface in advance and project design data corresponding to the shape of the projection surface.

  In this case, it is necessary to align the installation position of the projection apparatus with the projection plane, and it takes time to install the projection apparatus, and the workability is poor.

  The present invention provides a projection apparatus and a projection system that facilitate alignment with a projection plane and improve workability.

  The present invention relates to a distance measuring light emitting unit that emits distance measuring light, a distance measuring unit that measures the position of a reference point target, scans the distance measuring light, and acquires point group data of a projection surface, and the projection surface. A projection image projection unit that projects a projection image on the screen, and a control calculation unit having a storage unit that stores design data of the projection plane. The control calculation unit modifies the design data based on the point cloud data. The projection apparatus is configured to project the projection image based on the modified design data onto the projection plane.

  The projection image projection unit may be a point light source that emits point light, and the projection apparatus projects the projection image by scanning the projection surface with the point light.

  According to the present invention, the projection image projection unit is a projector that projects a projection image, and the control calculation unit creates the projection image based on the modified design data, and the projection image is projected onto the projection surface of the projector. The present invention relates to a projection device for projecting.

  According to the invention, the distance measuring light is visible light, and the distance measuring light emitting unit relates to a projection apparatus that also serves as the projection image projection unit.

  According to another aspect of the present invention, there is provided a projection system comprising: a laser scanner that scans distance measuring light to acquire point cloud data; an arithmetic processing unit that has design data of a projection plane; and at least two reference point targets. And at least two reference point targets at predetermined positions with respect to the projection plane, and the laser scanner scans the reference point target and the projection plane to acquire the point cloud data, and performs the calculation. The processing apparatus calculates an installation position of the laser scanner with respect to the reference point target, corrects the design data based on the obtained installation position of the laser scanner and the point group data, and projects based on the corrected design data The present invention relates to a projection system configured to project an image onto the projection plane.

  The laser scanner may further include a point light source that emits point light via the same optical axis as the distance measuring light, scans the projection surface with the point light, and projects the projection onto the projection surface. The present invention relates to a projection system that projects an image.

  The present invention also relates to a projection system in which the laser scanner has a projector that projects a projection image through the same optical axis as the distance measuring light, and causes the projector to project the projection image onto the projection surface. .

  The present invention further includes a projector that projects a projection image, the laser scanner measures an installation position and a projection direction of the projector, and the arithmetic processing unit includes the point cloud data, the installation position of the projector, and the like. The present invention relates to a projection system that modifies the design data based on a projection direction, creates a projection image based on the modified design data, and causes the projector to project the projection image onto a projection plane.

  Furthermore, the present invention relates to a projection system in which the distance measuring light is visible light, the projection surface is scanned with the distance measuring light based on the modified design data, and a projection image is projected.

  According to the present invention, a ranging light emitting unit that emits ranging light, a position measuring unit that measures a position of a reference point target, scans the ranging light, and acquires point cloud data on a projection plane; A projection image projection unit that projects a projection image on the projection plane; and a control calculation unit having a storage unit that stores design data of the projection plane, the control calculation unit based on the point cloud data And the projection image based on the corrected design data is projected onto the projection plane, so that the projection image without distortion can be projected regardless of the surface shape of the projection plane, and the projection plane can be projected onto the projection plane. On the other hand, the laser scanner can be installed at an arbitrary position, and the alignment with respect to the projection surface is facilitated, the installation time is shortened, and the workability can be improved.

  According to the invention, there is provided a projection system comprising a laser scanner that scans distance measuring light and acquires point cloud data, an arithmetic processing unit having design data of a projection plane, and at least two reference point targets. And at least two reference point targets are installed at predetermined positions with respect to the projection surface, and the laser scanner scans the reference point target and the projection surface to obtain the point cloud data, The arithmetic processing unit calculates an installation position of the laser scanner with respect to the reference point target, corrects the design data based on the obtained installation position of the laser scanner and the point group data, and converts the design data into the corrected design data. The projection image based on the projection plane is configured to be projected onto the projection plane, so that the projection image without distortion can be projected regardless of the surface shape of the projection plane. The laser scanner can be installed at an arbitrary position with respect to the projection surface, and the positioning with respect to the projection surface is easy, the installation time is shortened, and the workability can be improved. Demonstrate.

It is a schematic block diagram of the projection system which concerns on a 1st Example. It is explanatory drawing explaining the projection of the projection image which concerns on this 1st Example. It is a schematic block diagram of the laser scanner used for this 1st Example. It is a block diagram which shows the control system of this laser scanner. It is a schematic block diagram of the laser scanner used for a 2nd Example. It is explanatory drawing explaining projection of the projection image which concerns on a 3rd Example.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of a projection system according to the first embodiment.

  The projection system 1 mainly includes a laser scanner 2 which is a projection apparatus, an arithmetic processing unit 3 represented by a PC (hereinafter referred to as PC3), and a reference point target 4. The PC 3 has an integrated display unit or a separate display unit. In FIG. 1, reference numeral 5 denotes a floor surface as a projection surface for projecting preset design data.

  Next, with reference to FIG. 2, the outline of the projection of the projection image in a present Example is demonstrated.

The laser scanner 2 is installed in the vicinity of the projection surface 7 of the floor surface 5 via a tripod 6.
The installation position of the laser scanner 2 is an arbitrary position capable of laser scanning the planned measurement range (projection surface 7).

  The reference point target 4 is installed at a plurality of known points on absolute coordinates, at least two known points. The known point is obtained from position data of the projection plane 7 obtained from preset design data, and is separated from the projection plane 7 by a predetermined distance.

  The reference point target 4 has a reflective surface having retroreflectivity, and the reflective surface has a known shape. The shape of the reflecting surface is, for example, a circle, and the center of the figure, that is, the center of the circle is the reference point of the reference point target 4. The reference point target 4 is installed so that the reference point matches a known point.

  As will be described later, the laser scanner 2 scans the measurement range while irradiating the pulsed ranging light 8 (laser scanning), and performs ranging, angle measurement (horizontal angle measurement, vertical angle measurement) for each pulsed light. ) To obtain point cloud data of the measurement range. The laser scanner 2 irradiates the measurement range with point light 9 which is projection light described later while scanning the projection surface 7 to project design data. Further, the laser scanner 2 has an imaging function and can acquire an image of the measurement range.

  The laser scanner 2 performs laser scanning of the two reference point targets 4 and measures the position (three-dimensional coordinates) of the reference point target 4 with respect to the laser scanner 2. Measurement data and image data acquired by the laser scanner 2 are transmitted to the PC 3.

  The PC 3 calculates the position (three-dimensional coordinates) of the laser scanner 2 with respect to the reference point target 4 installed at a known point based on the measurement results of the two reference point targets 4. The PC 3 stores data necessary for measurement and construction, such as design data that is drawing data expressed in an absolute coordinate system.

  Next, the laser scanner 2 scans the projection surface 7 to acquire point cloud data (unevenness) on the entire projection surface 7. For each measurement point of the point cloud data, distance measurement is performed and the emission direction (horizontal angle, vertical angle) of the distance measuring light 8 is measured. Each measurement point of the point cloud data has three-dimensional coordinates with the installation point of the laser scanner 2 as the origin in the projection plane 7. Point cloud data is transmitted to the PC 3.

  Each measurement point of the point cloud data has a horizontal angle and a vertical angle, respectively, and the position of each measurement point in the projection plane 7 is also known. Therefore, the unevenness of the projection plane 7 is detected by measuring the three-dimensional coordinates for each measurement point.

  The PC 3 corrects the design data based on the detected unevenness of the projection surface 7 and creates projection data according to the surface shape (unevenness) of the projection surface 7. The created projection data is projected onto the projection plane 7 by the laser scanner 2, and a projection image 11 with corrected distortion is projected onto the projection plane 7. The scanning cycle of the projection surface 7 by the laser scanner 2 is set so as to be within the afterimage time of the point light 9. By setting a scan cycle within the afterimage time of the point light 9, the projected image 11 can be confirmed visually.

  Next, an example of the laser scanner 2 will be described with reference to FIG.

  As shown in FIG. 3, the laser scanner 2 includes a leveling part 12 attached to the tripod 6 (see FIG. 1), a base part 13 provided in the leveling part 12, and a horizontal rotation on the base part 13. There is a rack part 15 provided rotatably through the part 14, and a scanning mirror 17 provided on the rack part 15 so as to be rotatable in the vertical direction (the height direction) about the vertical rotation shaft 16. doing.

  The leveling unit 12 includes, for example, three adjustment screws 18, and the adjustment screw 18 is adjusted so that an inclination sensor (not shown) provided in the rack unit 15 detects the horizontal direction. Leveling of the leveling unit 12 is performed.

  The horizontal rotating portion 14 has a horizontal rotating shaft 21 that is rotatably supported by the base portion 13 via a bearing 19 and is vertically supported. The frame 15 is supported on the horizontal rotation shaft 21, and the frame 15 rotates integrally with the horizontal rotation shaft 21.

  The horizontal rotation unit 14 houses a horizontal drive unit 23 including a horizontal drive motor 22 and a horizontal angle detector (for example, an encoder) 24 that detects the rotation angle of the horizontal rotation shaft 21. The horizontal drive motor 22 rotates the rack portion 15 about the horizontal rotation shaft 21, and the rotation angle of the horizontal rotation shaft 21 with respect to the base portion 13, that is, the rotation angle of the rack portion 15 is It is detected by the horizontal angle detector 24.

  The detection result (horizontal angle) of the horizontal angle detector 24 is input to a control calculation unit 25 (described later), and the drive of the horizontal drive motor 22 is controlled by the control calculation unit 25 based on the detection result. It is like.

  The rack portion 15 has a recess 26 formed at the center, and chambers are formed on the left and right sides of the recess 26. One chamber (the left chamber in the figure) houses the vertical drive unit 27 and the vertical angle detector 28, and the other chamber (the right chamber in the diagram) houses the distance measuring light emitting unit 29, the common optical path unit 31, the measurement unit. The distance part 32, the point light emission part 33, the imaging part 34, etc. are accommodated. Further, the control calculation unit 25 and the like are accommodated at a required position inside the rack unit 15. Further, a display unit 35 and an operation unit 36 are provided at a required portion of the rack unit 15.

  The operation unit 36 may be separated from the laser scanner 2 and portable, and the laser scanner 2 may be remotely operated by the operation unit 36.

  The vertical rotation shaft 16 is rotatably supported by the rack portion 15 via a bearing 37. One end of the vertical rotation shaft 16 protrudes into the recess 26, and the scanning mirror 17 is provided at a protruding end of the vertical rotation shaft 16 in a state inclined by 45 ° with respect to the axis of the vertical rotation shaft 16. ing. The scanning mirror 17 is supported in the recess 26 by the vertical rotation shaft 16 and is rotatable in the vertical direction around the vertical rotation shaft 16.

  The vertical drive unit 27 includes a vertical drive motor 38, and the scanning mirror 17 is rotated by the vertical drive motor 38 via the vertical rotation shaft 16. The vertical rotation shaft 16, the scanning mirror 17, the vertical drive motor 38, and the like constitute an operation unit 39.

  The vertical rotation shaft 16 is provided with the vertical angle detector 28, for example, an encoder, and the vertical angle detector 28 detects the rotation angle of the vertical rotation shaft 16 with respect to the rack portion 15. The detection result (vertical angle) is input to the control calculation unit 25, and the drive of the vertical drive motor 38 is controlled by the control calculation unit 25 based on the detection result.

  The distance measuring light emitting unit 29 includes a light emitting unit 41, an optical path dividing member 42 such as a half mirror or a beam splitter, a light projecting optical unit 43 including an objective lens, and a mirror 44. The light emitting unit 41 is, for example, a semiconductor laser, and emits a pulse laser beam of infrared light that is invisible light on the distance measuring optical axis 45 as the distance measuring light 8. The distance measuring light emitting unit 29 is controlled by the control calculation unit 25 so that pulse light is emitted in a required state such as a required light intensity and a required pulse interval.

  The direction of the distance measuring optical axis 45 is detected by the horizontal angle detector 24 and the vertical angle detector 28, and the direction of the distance measuring optical axis 45 is determined by the horizontal angle detector 24 and the vertical angle detector 28. An angle detection unit for detection is configured.

  Part of the distance measuring light 8 output from the light emitting unit 41 is transmitted through the optical path dividing member 42, is incident on the mirror 44 through the light projecting optical unit 43, and is reflected by the mirror 44. The light is guided to the common optical path unit 31. The remaining ranging light 8 is reflected by the optical path dividing member 42 as internal reference light, and the internal reference light is guided to the ranging unit 32 via an internal reference optical path 46 described later.

  The common optical path unit 31 includes a first beam splitter 47 and a second beam splitter 48. The distance measuring light 8 reflected by the mirror 44 enters the first beam splitter 47, is sequentially reflected by the first beam splitter 47 and the second beam splitter 48, and is guided to the scanning mirror 17. . The distance measuring light 8 that has passed through the first beam splitter 47 and the second beam splitter 48 is absorbed by an antireflection member (not shown).

  The scanning mirror 17 is a deflecting optical member. The scanning mirror 17 deflects the distance measuring light 8 incident from the horizontal direction at a right angle, and reflects the reflected distance measuring light incident on the scanning mirror 17 to the second beam splitter. It is deflected horizontally toward 48.

  The distance measuring light 8 is guided from the common optical path portion 31 to the scanning mirror 17, reflected by the scanning mirror 17, and irradiated to a measurement object (not shown). Further, the scanning light 17 is rotated about the vertical rotation shaft 16 so that the distance measuring light 8 is rotated and irradiated in the vertical plane. Further, the distance measuring light 8 is rotated and irradiated in the horizontal direction around the horizontal rotation shaft 21 by the horizontal rotation unit 14 rotating the frame unit 15 in the horizontal direction. Therefore, the entire measuring range can be scanned with the distance measuring light 8 by the cooperation of the rotation of the scanning mirror 17 in the vertical direction and the rotation of the rack portion 15 in the horizontal direction.

  The distance measuring light 8 is scanned within the measurement range and reflected by a measurement object (floor surface 5 in FIG. 1) existing in the measurement range. The reflected distance measuring light enters the scanning mirror 17, is reflected by the scanning mirror 17, and enters the common optical path portion 31. The reflected distance measuring light is reflected by the second beam splitter 48, further passes through the first beam splitter 47, and is guided to the distance measuring unit 32.

  The distance measuring unit 32 includes a light receiving optical unit 49 including a condenser lens, an optical path extending unit 51, an optical path coupling unit 52, and a light receiving element 53.

  The reflected distance measuring light transmitted through the first beam splitter 47 enters the light receiving optical unit 49, is collected by the light receiving optical unit 49, and enters the optical path extension unit 51. The reflected distance measuring light transmitted through the optical path extension 51 is received by the light receiving element 53 through the optical path coupling unit 52. The internal reference light that has passed through the internal reference optical path 46 is received by the light receiving element 53 via the optical path coupling unit 52.

  The light receiving element 53 converts the received reflected distance measurement light and the internal reference light into a reflected distance measurement photoelectric signal and an internal reference photoelectric signal, and sends them to the control calculation unit 25. It has become. The control calculation unit 25 obtains a light reception time difference between the reflected distance measurement photoelectric signal and the internal reference photoelectric signal for each pulse light, and measures the distance to the pulse light irradiation point (measurement point) based on the light reception time difference. It has become.

  Based on the measurement distance to the measurement point, the vertical angle detected by the vertical angle detector 28, and the horizontal angle detected by the horizontal angle detector 24, the coordinates of the measurement point are calculated. By recording the coordinate value of the measurement point for each pulsed light, it is possible to obtain point cloud data for the entire measurement range or for the measurement object.

  The point light emitting unit 33 includes a point light source 54 that is a projection image projection unit and a third beam splitter 55 disposed on the optical axis of the point light source 54, and is emitted from the point light source 54. The point light 9 is deflected by the third beam splitter 55 and irradiated on the imaging optical axis.

  The point light source 54 is, for example, a light emitting diode (LED), and emits the point light 9 of visible light. The control calculation unit 25 controls the light emission timing of the point light 9.

  The third beam splitter 55 and the imaging element 56 are provided on the imaging optical axis of the imaging unit 34. The imaging optical axis of the imaging unit 34 passes through the third beam splitter 55, then matches the optical axis of the point light source 54, and further passes through the second beam splitter 48, and then with the distance measuring optical axis 45. It matches. That is, the optical axis of the imaging optical axis, the distance measuring optical axis 45, and the point light source 54 are configured to match.

  The image sensor 56 outputs a digital image signal. For example, it is configured by an aggregate of pixels (pixels) such as a CCD or a CMOS sensor, and the position of each pixel in the image sensor 56 can be specified.

  The point light 9 emitted from the point light emitting unit 33 is reflected on the scanning mirror 17 and is irradiated onto the distance measuring optical axis 45. Further, the point light 9 is applied to the entire measurement range by the cooperation of the vertical rotation of the scanning mirror 17 and the horizontal rotation of the rack portion 15.

  The background light of the measurement range and the point light 9 reflected by the measurement range are incident on the scanning mirror 17. The background light and the point light 9 reflected by the scanning mirror 17 pass through the second beam splitter 48 and the third beam splitter 55 and are received by the image sensor 56. A two-dimensional image is acquired by the image signal output from the image sensor 56.

  Since the distance measuring light 8 and the point light 9 are irradiated on the same optical axis, the distance measuring light 8 and the point light 9 are irradiated simultaneously, or alternatively, the measurement point Can be recognized.

  Next, the control system of the laser scanner 2 will be described with reference to FIG.

  The operation unit 36, the vertical angle detector 28, and the horizontal angle detector 24 are electrically connected to the control calculation unit 25, and angle detection signals from the vertical angle detector 28 and the horizontal angle detector 24 are connected. And a signal from the operation unit 36 are input by the operator's operation.

  The operator sets the conditions necessary for starting the measurement of the laser scanner 2 from the operation unit 36, for example, setting the measurement range, setting the density of point cloud data, or setting the imaging conditions at the time of photographing. Do. Further, a measurement start command or the like can be input from the operation unit 36 and can be confirmed by the display unit 35.

  As described above, the operation unit 36 or the display unit 35 may be provided on the rack unit 15 or separately provided, and remotely operated by a signal transmission medium such as wireless or infrared. It may be possible.

  The control calculation unit 25 drives the light emitting unit 41, the horizontal drive motor 22, the vertical drive motor 38, and the point light source 54, and drives the display unit 35 that displays work status, measurement results, and the like. . The control calculation unit 25 is provided with an external storage device 57 such as a memory card or HDD. The external storage device 57 may be fixedly provided in the control calculation unit 25 or may be detachably provided.

  Next, an outline of the control calculation unit 25 will be described.

  The control calculation unit 25 controls the calculation unit 58 represented by the CPU, the storage unit 59, the distance measuring light driving unit 61 for controlling the light emission of the light emitting unit 41, and the light emission of the point light source 54. A point light driving unit 62 for driving, the horizontal driving unit 23 for driving and controlling the horizontal driving motor 22, the vertical driving unit 27 for driving and controlling the vertical driving motor 38, and the distance measuring unit. 32, a distance data processing unit 63 for processing the distance data obtained by 32, an image data processing unit 64 for processing the image data obtained by the imaging unit 34, the design data is corrected based on the measurement result, and the projection data Is provided with a projection data creating unit 65 for creating the data and a communication unit 66 for transmitting and receiving data to and from the PC 3.

  The storage unit 59 includes a distance measurement, a vertical angle measurement, a sequence program for executing a horizontal angle measurement, an operation program for performing an operation such as a distance measurement operation, a measurement data processing program for executing measurement data processing, An imaging program for controlling the imaging state of the imaging unit 34, an image processing program for executing image processing, a projection data creation program for modifying design data based on measurement data and creating projection data, and data for the display unit 35 Stores programs such as image display programs, communication programs, etc. to be displayed on the monitor, or programs that integrate and manage these programs, as well as data such as measurement data, image data, design data, and created projection data To do.

  When the storage unit 59 has a sufficient capacity and can store measurement data, image data, design data, projection data, or the like, or the communication unit 66 enables data communication with the PC 3, If the PC 3 stores measurement data, image data, design data, projection data, etc., the external storage device 57 can be omitted.

  In the drawing, the distance data processing unit 63, the image data processing unit 64, and the projection data creation unit 65 are shown separately from the calculation unit 58, but the distance data processing unit 63, the image data processing unit, and the like. 64, the projection data creation unit 65 may be a part of the calculation unit 58.

  Further, the distance data processing unit 63, the image data processing unit 64, and the projection data creation unit 65 may be provided separately from the control calculation unit 25. For example, the PC 3 may be caused to execute the functions of the distance data processing unit 63, the image data processing unit 64, and the projection data creation unit 65. In this case, a communication means is provided in the PC 3 to transmit distance data, image data, design data, and projection data to the PC 3, and the PC 3 executes distance data processing, image data processing, and projection data creation processing. Also good. As communication means, required communication means such as optical communication, wireless communication, and LAN can be adopted.

  In the above description, the arithmetic processing device has been described as the PC 3, but a portable terminal device such as a smartphone or a tablet may be used as the arithmetic processing device. In this case, the arithmetic processing device can be used as the arithmetic processing device as well as a remote operation device (remote controller).

  Further, only the control calculation unit 25 can calculate the position of the laser scanner 2 with respect to the reference point target 4 and correct design data based on the projections and depressions of the projection plane 7 obtained from point cloud data. In some cases, the PC 3 may be omitted.

  Hereinafter, a method for projecting the projection image 11 onto the projection plane 7 using the projection system 1 of the present embodiment will be described. In the following description, the storage unit 59 has a sufficient capacity, the control calculation unit 25 can calculate a three-dimensional position alone, and can measure point cloud data on the projection plane 7. Projection data can be created.

  First, the control calculation unit 25 causes the distance measurement unit 32 to measure the reference point target 4 and calculates the position of the laser scanner 2 with respect to the reference point target 4.

  When the position of the laser scanner 2 is calculated, the projection surface 7 is set with respect to the floor surface 5 based on the design data. Next, the control calculation unit 25 scans the distance measuring light 8 over the set entire projection surface 7 and causes the distance measurement unit 32 to acquire point cloud data of the entire projection surface 7. Further, the three-dimensional coordinates for each measurement point of the point cloud data are calculated.

  The control calculation unit 25 detects unevenness or inclination of the projection plane 7 based on the three-dimensional coordinates for each measurement point of the point cloud data. In addition, the control calculation unit 25 corrects the design data stored in advance in the storage unit 59 based on the detected unevenness or inclination of the projection surface 7. That is, the projection position (horizontal angle, vertical angle) is corrected with respect to the unevenness and inclination at each measurement point, and projection data that does not cause distortion when projected onto the projection plane 7 is created. The projection data controls the blinking of the point light 9 in order to draw the irradiation position and line of the point light 9, and the horizontal angle and the vertical angle for each measurement point, the lighting of the point light 9, It has control information for turning off.

  By instructing the projection position via the operation unit 36, the control calculation unit 25 scans the point light 9 over the entire projection surface 7, and further, for each pulse light based on the created projection data. Blinks and controls the irradiation position. Thereby, the projection image 11 having no distortion corresponding to the unevenness of the projection surface 7 is projected onto the projection surface 7.

  The scanning of the distance measuring light 8 on the projection surface 7 and the projection of the projection image 11 onto the projection surface 7 are repeatedly performed. Therefore, since the design data stored in advance in the storage unit 59 is corrected and projected in real time corresponding to the projections and depressions on the projection surface 7, the projections and depressions on the projection surface 7 are changed by the work. However, it is possible to always project the projection image 11 without distortion.

  If the uneven state of the projection surface 7 does not change during the operation, the distance measuring light 8 is scanned on the projection surface 7 only once, and design data corresponding to the unevenness of the projection surface 7 is obtained. May be modified to create projection data. In this case, only the projection of the projection image 11 by the point light 9 is repeated.

  As described above, in this embodiment, the laser scanner 2 detects the projections and depressions on the projection surface 7, modifies the design data based on the projections and depressions, creates projection data, and uses the projection data as the projection plane 7. To project. Accordingly, since the measurement of the entire projection surface 7 and the creation of projection data are performed in real time and in parallel, the three-dimensional shape of the projection surface 7 can be obtained regardless of the uneven state (surface shape) of the projection surface 7. Can be projected without any distortion in advance.

  Further, since the reference point target 4 installed at a known point is measured and the position of the laser scanner 2 with respect to the reference point target 4 is measured, the laser scanner 2 measures the reference point target 4. If possible, it can be installed at any position. Therefore, the laser scanner 2 can be easily aligned with the projection surface 7, the installation time of the laser scanner 2 can be shortened, and workability can be improved.

  Next, a second embodiment of the present invention will be described with reference to FIG.

  The laser scanner used in the second embodiment has substantially the same configuration as the laser scanner 2 shown in FIGS. 5 that are the same as those in FIG. 3 are given the same reference numerals, and descriptions thereof are omitted.

  In FIG. 5, reference numeral 68 denotes a projector as a projection image projection unit provided in the right chamber of the rack unit 15. The projector 68 has an optical axis that coincides with the optical axis of the distance measuring light 8, emits a projected image onto the distance measuring optical axis 45, and projects it onto the projection surface 7 (see FIG. 2). .

  In the second embodiment, the projection surface 7 is scanned with the distance measuring light 8 to acquire point cloud data. The control calculation unit 25 detects the unevenness of the projection surface 7 based on the three-dimensional coordinates of each measurement point of the point cloud data, and the design data stored in the storage unit 59 (see FIG. 4) based on the unevenness. To create projection data and create a projection image based on the projection data. The design data may be stored in the storage unit 59 as an image, and the projection data may be directly created by correcting the design data.

  The projection data is transmitted to the projector 68, and the projection image is projected by the projector 68, so that the projection image is projected onto the projection plane 7 via the third beam splitter 55 and the scanning mirror 17.

  When the projection image is projected, the scanning by the distance measuring light 8 is stopped, and the optical axis of the distance measuring optical axis 45 coincides with the center of the measurement range, that is, the projection surface 7 and the projection image. Are adjusted so that the horizontal rotation position of the frame 15 and the vertical rotation position of the scanning mirror 17 are adjusted. Further, the size of the projection image is the same as that of the projection surface 7, and the magnification of the projection image and the projection surface 7 is 1: 1.

  The point (or part) of the floor surface displayed in the projection image matches the point (or part) of the actual floor surface 5. Therefore, according to the projected image, the operator can accurately perform the construction of the wall surface and the attachment of various structures without depending on intuition, and the workability can be improved.

  In the second embodiment, the projection surface 7 is measured at predetermined time intervals by the laser scanner 2 and the projection image is updated on the basis of the measurement result, so that the state of the projection surface 7 is substantially real-time. Can be grasped and workability can be further improved.

  The third beam splitter 55 is a liquid crystal screen, and a projection light source is used in place of the imaging unit 34. A projection image is displayed on the liquid crystal screen based on image data, and projection light is irradiated through the liquid crystal screen. Thus, a projection image may be projected onto the projection plane 7.

  Further, both the projector 68 and the point light source 54 (see FIG. 3) may be provided to optically switch the optical path. Further, the projection of the projection image by the projector 68 and the indication of the measurement point by the point light 9 may be alternatively performed.

Next, with reference to FIG. 6, a projection system 1 according to a third embodiment of the present invention will be described.
In FIG. 6, the same components as those in FIG. 2 are denoted by the same reference numerals, and the description thereof is omitted.

  In the third embodiment, the laser scanner 2 and the projector 69 are separately installed.

  In the third embodiment, first, the projection position (projection plane 7) of the projector 69 is set via an operation unit (not shown). Next, the laser scanner 2 measures the installation position of the laser scanner 2 based on the position of the reference point target 4, and further measures the installation position of the projector 69 by the laser scanner 2. Next, the projection direction of the projector 69 is matched with the projection position of the projector 69. The laser scanner 2 scans the projection surface 7 and acquires point cloud data.

  Thereafter, the installation position of the projector 69 relative to the reference point target 4 is calculated by any one of the laser scanner 2, the projector 69, or a control calculation unit of the PC 3 (see FIG. 1), and the projection plane 7. The entire design data is corrected based on the projections and depressions and the installation position and projection direction of the projector 69 to create projection data. That is, the control calculation unit creates a projection image from the entire projection data based on the installation position and projection direction of the projector 69, and causes the projector 69 to project the projection image 11 on the projection plane 7.

  In the third embodiment, since the laser scanner 2 and the projector 69 are separately installed, the projector 69 can be installed at an arbitrary position with respect to the laser scanner 2, and the projector 69 is installed. The position can be changed, and the projector 69 can be easily installed.

  Next, a fourth embodiment of the present invention will be described.

  In the fourth embodiment, the point light source 54 and the like are removed from the laser scanner 2 (see FIG. 3) of the first embodiment, and visible light is used as the distance measuring light 8, and a projected image is generated by the distance measuring light 8. 11 (see FIG. 2) is projected.

  First, the projection plane 7 (see FIG. 2) is set via the operation unit 36 (see FIG. 4), a portion corresponding to the projection plane 7 is selected from the design data, and the distance measuring light 8 is used based on the design data. The projection plane 7 is scanned.

  As the control for drawing a line, it is necessary to blink the distance measuring light 8, and the design data includes a horizontal angle and a vertical angle for each measurement point, as well as lighting for turning the distance measuring light 8 on and off. Control information is included. A projection image 11 (see FIG. 2) based on the design data is projected onto the projection plane 7. At this time, since the design data is not corrected based on the unevenness of the projection surface 7, the projection image 11 has a shape distorted by the unevenness of the projection surface 7.

  In parallel with the projection of the projection image 11, point cloud data on the projection plane 7, that is, point cloud data corresponding to the projection image 11, is acquired by the laser scanner 2, and each point cloud data is measured. Three-dimensional coordinates are measured for the points.

  The laser scanner 2 detects unevenness of the projection image 11 based on the measured three-dimensional coordinates, corrects design data based on the unevenness, and creates projection data.

  After the projection data is created, the projection surface 7 is scanned with the distance measuring light 8 based on the projection data, whereby the projection image 11 without distortion is projected onto the projection surface 7.

  By repeating the above process, even if the projections and depressions (surface shape) of the projection surface 7 change during the work, the design data is corrected in real time, and the projection image 11 without distortion is always projected. it can.

  In the fourth embodiment, the distance measuring light emitting unit 29 (see FIG. 3) that irradiates the distance measuring light 8 of visible light also serves as the projection image projecting unit.

  In the fourth embodiment, since the distance measuring light 8 is visible light and the point light source 54 is removed, the apparatus configuration can be simplified.

  In the first to fourth embodiments, design data is corrected by the control calculation unit 25 of the laser scanner 2, but the design data is corrected by the PC 3. Needless to say, it is good.

1 Projection System 2 Laser Scanner 3 PC
4 Reference Point Target 5 Floor 7 Projection Surface 8 Ranging Light 9 Point Light 11 Projected Image 23 Horizontal Driving Unit 24 Horizontal Angle Detector 25 Control Calculation Unit 27 Vertical Driving Unit 28 Vertical Angle Detector 29 Ranging Light Emitting Unit 32 Measuring Distance unit 33 Point light emitting unit 39 Operation unit 41 Light emitting unit 43 Light projecting optical unit 49 Light receiving optical unit 54 Point light source 59 Storage unit 63 Distance data processing unit 65 Projection data creating unit 66 Communication unit 68 Projector 69 Projector

Claims (9)

  A ranging light emitting unit that emits ranging light, a position of a reference point target, a distance measuring unit that scans the ranging light to acquire point cloud data of the projection surface, and a projected image on the projection surface A projection calculation unit for projecting, and a control calculation unit having a storage unit storing design data of the projection plane, the control calculation unit corrects the design data based on the point cloud data A projection apparatus configured to project the projection image based on design data onto the projection plane.   The projection apparatus according to claim 1, wherein the projection image projection unit is a point light source that emits point light, and projects the projection image by scanning the projection surface with the point light.   The projection image projection unit is a projector that projects a projection image, and the control calculation unit creates the projection image based on the modified design data, and causes the projector to project the projection image onto the projection plane. The projection apparatus according to 1.   The projection apparatus according to claim 1, wherein the ranging light is visible light, and the ranging light emitting unit also serves as the projection image projecting unit.   A projection system comprising: a laser scanner that scans distance measuring light to obtain point cloud data; an arithmetic processing unit that has design data of a projection plane; and at least two reference point targets. At least two targets are installed at predetermined positions with respect to the projection plane, the laser scanner scans the reference point target and the projection plane to acquire the point cloud data, and the arithmetic processing unit The installation position of the laser scanner with respect to the reference point target is calculated, the design data is corrected based on the obtained installation position of the laser scanner and the point group data, and a projection image based on the corrected design data is displayed on the projection surface. Projection system configured to project on the screen.   The laser scanner has a point light source that emits point light through the same optical axis as the distance measuring light, scans the projection surface with the point light, and projects the projection image on the projection surface. Item 6. The projection system according to Item 5.   The projection system according to claim 5, wherein the laser scanner includes a projector that projects a projection image through the same optical axis as the distance measuring light, and causes the projector to project the projection image onto the projection surface.   A projector for projecting a projection image, wherein the laser scanner measures an installation position and a projection direction of the projector, and the arithmetic processing unit is configured to perform the calculation based on the point cloud data, the installation position of the projector, and the projection direction. The projection system according to claim 5, wherein design data is modified, a projection image is created based on the modified design data, and the projection image is projected onto the projection plane by the projector.   The projection system according to claim 5, wherein the ranging light is visible light, and the projection surface is scanned with the ranging light based on the modified design data to project a projection image.

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