JP2018025553A5 - - Google Patents

Description

Shape measurement method, device, and program of 3D measurement object

The present invention is a method and an apparatus for measuring the shape of a three-dimensional object to be measured, which can three-dimensionally capture the object to be surveyed, for example, a road surface crack investigation, a rut investigation, a longitudinal investigation, etc., such as a road scratch or damage. , And about the program.

For example, Patent Document 1 describes a technique for measuring three-dimensional coordinates at an arbitrary position using a surveying instrument such as a total station brought to the site.

According to the technique described in Patent Document 1, a reflecting member such as a prism or a reflected light is placed at two reference positions whose coordinates are known, and light for measurement is projected from the total station toward the reflecting member and reflected. The distance to each reference position is measured based on the phase difference of the light, and the horizontal angle and the vertical angle of the light projection direction for measurement are measured. Then, the three-dimensional coordinates of the measurement position can be obtained by performing a geometric calculation based on the measured distance, the horizontal angle, the vertical angle, the position coordinates of the known reference position, and the like.

Japanese Unexamined Patent Publication No. 2013-32983

By the way, in the civil engineering and construction industry, survey data is required to be more and more accurate. For example, accurate surveying that three-dimensionally captures a three-dimensional object to be measured, such as a crack survey on the road surface such as scratches and damage on the road, a rut survey, and a longitudinal survey (volume of cutting amount), allows people to actually go to the site. It is necessary to visit and visually check, collect data on the survey points with a survey meter, and prepare a survey result report. In addition, the work is carried out by specialized companies. For this reason, the time required for the work and the human cost are high. Therefore, in order to realize a series of work from the actual survey to the preparation of various reports in one stop, and to reduce the time and human cost. The appearance of tools was expected.

The present invention has been made to solve the above-mentioned problems, and realizes a series of operations from the surveying of a three-dimensional surveying object to the preparation of various reports accurately in one stop, and saves time and manpower. It is an object of the present invention to provide a method, an apparatus, and a program for measuring the shape of a three-dimensional measurement object with a reduction.

In order to solve the above-mentioned problems, the present invention is a method for measuring the shape of a three-dimensional measurement object, in which the reflection point from the three-dimensional measurement object is irradiated with a laser beam by a three-dimensional scanning device. The first step of acquiring the point group data in which each point is converted into three-dimensional coordinates and the acquired point group data are analyzed by an analysis device to generate shape confirmation data of the three-dimensional measurement object, and the shape thereof. It has a second step of outputting confirmation data to an output device, and the second step is characterized in that the shape confirmation data is generated using color information based on an image acquired by UAV. And.
In the second step of the present invention, the observation result for electronic marking by the total station is reflected in the point cloud data, and the shape confirmation data is generated using the point cloud data to which the electronic marking is added. It is characterized by that.

The present invention is a method for measuring the shape of a three-dimensional measurement object, and is a group of points in which each point at a reflection point from the three-dimensional measurement object is converted into three-dimensional coordinates by a laser beam emitted by a three-dimensional scanning device. The first step of acquiring data and the second step of analyzing the acquired point group data with an analysis device, generating shape confirmation data of the three-dimensional measurement object, and outputting the shape confirmation data to an output device. In the first step, after spraying the reflective material on the unsuitable surface of the laser beam of the three-dimensional measurement object, the three-dimensional coordinated point group data of the three-dimensional measurement object is obtained. It is characterized by acquiring.
In the present invention, the shape confirmation data is used for any of a crack investigation, a rut investigation, and a longitudinal investigation of a road surface.

The present invention is a shape measuring device for a three-dimensional measurement object, and obtains point group data in which each point at a reflection point from the three-dimensional measurement object is converted into three-dimensional coordinates by irradiating with a laser beam. The analysis device includes a three-dimensional scanning device, an analysis device that analyzes the acquired point group data, generates shape confirmation data of the three-dimensional measurement object, and outputs the shape confirmation data to an output device. , The shape confirmation data is generated by using color information based on an image acquired by UAV .
In the present invention, the analysis device reflects the observation result for electronic marking by the total station in the point cloud data, and generates the shape confirmation data using the point cloud data to which the electronic marking is added. It is a feature.

The present invention is a shape measuring device for a three-dimensional measurement object, and obtains point group data in which each point at a reflection point from the three-dimensional measurement object is converted into three-dimensional coordinates by irradiating with a laser beam. The three-dimensional scanning device is provided with an analysis device that analyzes the acquired point group data, generates shape confirmation data of the three-dimensional measurement object, and outputs the shape confirmation data to an output device. The apparatus is characterized in that the three-dimensional coordinated point group data of the three-dimensional measurement object is acquired in a state where the reflective material is sprayed on the surface unsuitable for the laser light of the three-dimensional measurement object.
In the present invention, the shape confirmation data is used for any of a crack investigation, a rut investigation, and a longitudinal investigation of a road surface.

The present invention is a program for a shape measuring device for a three-dimensional measurement object, which is point group data acquired by irradiating the shape measuring device with laser light by a three-dimensional scanning device, and is the three-dimensional. The point group data in which each point at the reflection point from the measurement object is converted into three-dimensional coordinates is analyzed, and the shape confirmation data of the three-dimensional measurement object is obtained by using the color information based on the image acquired by the UAV. It is characterized in that a process of generating and outputting the shape confirmation data to an output device is executed.

According to the present invention, a series of operations from surveying a three-dimensional survey object to creating various reports can be performed accurately in one stop, and the time and human cost can be reduced. Shape measuring methods, devices, and programs can be provided.

It is a block diagram which shows the structure of the shape measuring apparatus of the 3D measurement object which concerns on embodiment of this invention. It is a flowchart which shows the processing operation of the shape measuring apparatus of the 3D measurement object which concerns on embodiment of this invention. It is a flowchart which shows the processing operation of the shape measuring apparatus of the 3D measurement object which concerns on embodiment of this invention (continuation of FIG. 2). It is a figure which shows an example of the point cloud data which was coordinated and color-mapped generated by the shape measuring apparatus of the three-dimensional measurement object which concerns on embodiment of this invention. It is a figure which shows an example of the present state plane image of the 3D measurement object generated by the shape measuring apparatus of the 3D measurement object which concerns on embodiment of this invention. It is a figure which shows an example of the present state longitudinal cross-sectional view generated by the shape measuring apparatus of the three-dimensional measurement object which concerns on embodiment of this invention. It is a figure which shows the image at the time of spraying the reflective material on the road imaged by the image pickup unit. It is a figure which shows the composite image which combined the point cloud data acquired by the 3D scanning apparatus with the image shown in FIG. It is a block diagram which shows the structure of the shape measuring apparatus of the 3D measurement object which concerns on 3rd Example. It is a figure which shows a plurality of images including the road which imaged the same area at different time by the image pickup part of the UAV. It is a figure which shows the composite image which excluded the vehicle from the image shown in FIG. It is a figure which shows the 3D point cloud data which is generated by analyzing the composite image shown in FIG. 11 and contains color information. It is a figure which shows the point cloud data which the color information was corrected. It is a block diagram which shows the structure of the shape measuring apparatus of the 3D measurement object which concerns on 4th Example. It is a figure which shows the point cloud data to which electronic marking was added. It is a figure which shows the point cloud data of the enlarged electronic marking.

(Structure of the first embodiment)
Hereinafter, the shape measuring device for the three-dimensional measurement object according to the embodiment of the present invention (hereinafter referred to as the present embodiment) will be described in detail with reference to the drawings. In addition, the same element is given the same number or reference numeral throughout the description of the embodiment.

As shown in FIG. 1, the shape measuring device 100 for a three-dimensional measurement object according to the present embodiment is realized by, for example, a PC (Personal Computer) or the like, and includes an analysis device 30 which is a main body of the device and a keyboard, a mouse, or the like. It is composed of an input device 31 and an output device 32 such as an LCD (Liquid Crystal Display) monitor and a printer. In the analysis device 30, the three-dimensional scanning device (3D scanner) 10 and the total station (TS) 20 are connected offline.

The three-dimensional scanning device 10 irradiates a three-dimensional measurement object such as a road with a laser beam, and a group of points in which each point of a large number of reflection points of the laser beam is converted into three-dimensional coordinates (hereinafter, a point cloud). It is taken in as data) and output to the analyzer 30.

The total station 20 places a reflecting member at two reference positions (reference points) whose position coordinates are known, projects measurement light toward the reflecting member, and reaches each reference position based on the phase difference of the reflected light. The distance is measured to obtain the horizontal angle and the vertical angle, and the data is output to the analyzer 30 as SIMA (Surveying Instruments Manufacturers' Association) data known as a common format for survey data.

The analysis device 30 analyzes the point cloud data acquired from the three-dimensional scanning device 10 and / or the SIMA data acquired from the total station 20 by sequentially reading and executing a program (not shown), and generates road shape confirmation data. At the same time, it has a function of creating a vertical / cross-sectional view between any two points input by the input device 31, converting it into design data, and outputting (displaying or printing) to the output device 32, respectively.

Therefore, as shown in FIG. 1 in which the program structure is expanded into blocks, the analysis device 30 includes a point cloud data acquisition unit 301, a SIMA data acquisition unit 302, a SIMA integration unit 303, and a plane image synthesis unit. 304, a plane data creation unit 305, a linear creation unit 306, a route calculation unit 307, a triangular network longitudinal data acquisition unit 308, a finished product management unit 309, and a design data and delivery data creation unit 310. Consists of.

The point cloud data acquisition unit 301 acquires each point at the reflection point from the road, which is a three-dimensional measurement object, as three-dimensional coordinated point cloud data by the laser beam emitted by the three-dimensional scanning device 10, and SIMA. Output to the integration unit 303.

The SIMA data acquisition unit 302 converts the SIMA data (point number, point name, X, Y, Z) including the reference point output by the total station 20 into CSV (Comma Separated Values) format data that can be read by the analysis device 30. The file is converted, the XY coordinates are exchanged, and the data is output to the SIMA integration unit 303.

The SIMA integration unit 303 reflects the CSV data output from the SIMA data acquisition unit 302 in the point cloud data output from the point cloud data acquisition unit 301, and further, the point cloud PTS file generated by the color mapping process. X and Y are interchanged and read, integrated with the reference point CSV data, and output to the plane image compositing unit 304.

The plane image synthesizing unit 304 synthesizes a current plane image having a fixed scale with the integrated data output by the SIMA integration unit 303, and outputs the composite TIFF (Tagged Image File Format) data to the plane material creation unit 305.

The plane material creation unit 305 creates a plane material based on the reference point SIMA data and the TIFF data output from the plane image composition unit 304, and outputs the plane material to the linear creation unit 306. The flat material creation unit 305 further converts the created flat material into a file in DWG (Drawing), which is a standard file format of PDF (Portable Document Format) and AutoCAD (registered trademark), and design data and delivery data creation unit 301. Output to.

The linear creation unit 306 creates an IP (Intersection Point) point based on the plane material output from the plane material creation unit 305, outputs the IP coordinates (SIMA data) to the route calculation unit 307, and outputs the SIMA data. Is converted into a PDF file and the PDF data is output to the design data and delivery data creation unit 310.

The route calculation unit 307 is based on the position coordinates of the main points of the alignment obtained by the route survey based on the alignment shown in the integrated data output from the SIMA integration unit 303 and the IP coordinates output from the alignment creation unit 306. , Executes route calculation to obtain three-dimensional coordinate values for the entire route using curve parameters, longitudinal elements, width, and arbitrary stations input from the input device 31, and outputs the result to the triangular network longitudinal data acquisition unit 308. To do.

The triangulated irregular network vertical crossing data acquisition unit 308 uses the vertical crossing data (vertical cross section) between any two designated points as SIMA data based on the three-dimensional coordinate values output from the route calculation unit 307 for design data and delivery. Output to the data creation unit 310.

The design data and delivery data creation unit 310 outputs the current state longitudinal crossing data to the output device 32 based on the crossing SIMA data output from the triangulated irregular network longitudinal crossing data acquisition unit 308.

The finished product management unit 309 uses the created basic design data to measure the finished product at the site, outputs the difference between the design and the finished product that can judge the quality of the finished product, and further, the basic design data and the measurement. The finished product measurement data is read, and the finished product form is created via the design data and delivery data creation unit 310.

The design data and delivery data creation unit 310 converts the cross-sectional SIMA data into linear data ALG (ER Mapper Algorithm Data), creates a vertical cross-sectional view for a 3D viewer, and displays it on the output device 32. The design data and delivery data creation unit 310 also creates an overview plan view and an area volume calculation sheet in a predetermined format from the PDF or DWG format plane material output from the plane material creation unit 305, and also creates a linear drawing. A PDF format route survey calculation sheet output from unit 306 is created and output to the route calculation unit 307, and further, cracks and ruts in a predetermined format are created based on the PDF and three-dimensional coordinate data output by the route calculation unit 307. Survey data is generated and output to each output device 32.

(Operation of the first embodiment)
Hereinafter, the processing operation of the shape measuring device 100 of the three-dimensional measurement object according to the present embodiment shown in FIG. 1 will be described with reference to the flowcharts of FIGS. 2 and 3 and the images shown in FIGS. 4 to 6. It should be noted that FIG. 2 shows the 3D pre-survey, and FIG. 3 shows the accuracy of the three-dimensional measurement object constructed based on the basic design data created by the 3D pre-survey with respect to the standard intended by the orderer. The flow of the finished product measurement process that manages the degree of construction technology is shown.

Here, a reference point is set in advance on the road, which is the object of three-dimensional measurement, and the total station 20 that integrates the laser rangefinder and the transit makes the results of die point and main point observation compatible with the SIMA data. Output as certain CAD data. Then, based on this CAD data and the reference point SIMA data, the main points are arranged in a polygonal line, and the traverse calculation is performed to obtain the position of the points by measuring the intersection angle (digestion angle) and the distance between the adjacent points at each point ( Step S101), generate SIMA data consisting of a point number, a point name, and X, Y, and Z.

On the other hand, the three-dimensional scanning device 10 irradiates the road with a laser beam, and generates point cloud data in which each point of a large number of reflection points of the laser beam is converted into three-dimensional coordinates. The three-dimensional scanning device 10 calculates the distance from the installation position to the reflection point based on the time from the irradiation of the laser to the light reception, and determines the three-dimensional coordinated positions (X, Y, Z) of the reflection points in the investigation range. It is calculated and output as point cloud data that summarizes each position of the reflection point in the survey range. From this point cloud data, it is possible to draw a road pattern of a three-dimensional measurement object.

The analysis device 30 executes the following processing based on the point cloud data acquired from the three-dimensional scanning device 10 and the SIMA data acquired from the total station 20. That is, the point cloud data acquisition unit 301 acquires the point cloud data scanned and output by the three-dimensional scanning device 10 and outputs it to the CSV integration unit 303, and the SIMA data acquisition unit 302 is observed and output by the total station 20. SIMA data is acquired, converted to a CSV format, a CSV file in which the X and Y coordinates are exchanged is generated, and output to the SIMA integration unit 303 (step S102).

The SIMA integration unit 303 reflects the CSV data output from the SIMA data acquisition unit 302 in the point cloud data output from the point cloud data acquisition unit 301, and further generates a point cloud PTS file by color mapping (step). S103). FIG. 4 shows an example of point cloud data.

Subsequently, the SIMA integration unit 303 replaces and reads the X and Y of the generated PTS file, integrates them with the reference point SIMA data, and further, the human hole, the road width, the crack shape, etc. obtained by the traverse calculation in step S101. The files obtained by converting the main point information of the above into DXF data and SIMA data are combined and output to the plane image compositing unit 304 (step S104).

The plane image compositing unit 304 is displayed on the screen of Rhinoceras (registered trademark), which is 3D CAD software for the commercial manufacturing industry specializing in free-form NURBS (Non-Uniform Rational Basis Spline) modeling. The construction range is defined and DXF data is output (step S105), the current plane image with a fixed scale is combined with the integrated data output by the SIMA integration unit 303, and output as composite TIFF data to the plane data creation unit 305. (Step S106). FIG. 5 shows an example of the current state plane image.

The plane material creation unit 305 creates a plane material based on the reference point SIMA data and the TIFF data output from the plane image composition unit 304, and outputs the plane material to the linear creation unit 306 (step S106). The flat material creation unit 305 further converts the created flat material into PDF and DWG files, and outputs the created flat material to the design data and delivery data creation unit 310.

Subsequently, the alignment creation unit 306 is based on the plane material output from the plane material creation unit 305, at the intersection of the extension lines of the two straight lines sandwiching the circular curve and the relaxation curve from both sides in the plane alignment of the road center line. A certain IP point is created (step S107), and the IP coordinates (SIMA data) are output to the route calculation unit 307. The linear creation unit 306 further converts the SIMA data into a PDF file and outputs the PDF data to the design data and delivery data creation unit 310.

The route calculation unit 307 sets the position coordinates of the main points of the alignment obtained by the route survey based on the alignment shown in the integrated data output from the SIMA integration unit 303 and the IP coordinates output from the alignment creation unit 306. Based on this, the route calculation for obtaining the three-dimensional coordinate values for the entire route is executed by the curve parameters, the longitudinal elements, the width, and the arbitrary stations input by the user via the input device 31, and the result is the triangular network longitudinal data. Output to the acquisition unit 308 (step S108). The route calculation unit 307 further investigates the damage on the road surface based on the alignment (road surface investigation), converts the result into PDF and 3D data for creating the investigation material for cracks and ruts, and delivers the design data and the delivery. Output to the data creation unit 310 (step S109). When the route calculation unit 307 converts the data into 3D data, the result of data processing by Rhinoceros (registered trademark) is reflected.

The triangulated irregular network longitudinal data acquisition unit 308 creates triangulated irregular network longitudinal SIMA data between arbitrary two points based on the three-dimensional coordinate values output from the route calculation unit 307 (step S110), and creates design data and delivery data. Output to unit 310. The design data and delivery data creation unit 310 outputs the current state longitudinal crossing data to the output device 32 based on the crossing SIMA data output from the triangulated irregular network longitudinal crossing data acquisition unit 308 (step S111). The current state longitudinal crossing data output here is also used in the finished product measurement whose details are shown in FIG. FIG. 6 shows an example of the current state vertical cross section created by the current state vertical crossing data.

The design data and delivery data creation unit 310 further converts the cross-sectional SIMA data into linear data ALG, creates basic design data including a vertical cross-sectional view for a 3D viewer, and outputs the basic design data to the output device 32. The design data and delivery data creation unit 310 also creates an overview plan view and an area volume calculation sheet in a predetermined format from the PDF or DWG format plane material output from the plane material creation unit 305, and also creates a linear drawing. A PDF format route survey calculation sheet output from unit 306 is created and output to the route calculation unit 307, and further, cracks and ruts in a predetermined format are created based on the PDF and three-dimensional coordinate data output by the route calculation unit 307. Survey data is generated and output to each output device 32.

Next, with reference to FIG. 3, the vertical cross-sectional plan finished shape measurement (from 3D preliminary survey to 3D finished shape measurement) will be described. Based on the design data and the basic design data output from the delivery data creation unit 310, the finished product management unit 309 analyzes the current cross-sectional data and performs a vertical cross-sectional plan for calculating the vertical cross-sectional curve quantities for each vertical vertical change point ( Step S201), based on the input reference point SIMA data, three-dimensional design data is created and an XML (Extensible Markup Language) format file is output (step S202).

Subsequently, the finished product management unit 309 performs the finished product measurement using the total station 20 based on the XML file (step S203), and reports the result to the PDF and XML files via the design data and delivery data creation unit 310. Output to the output device 32 in the format.

Further, the finished product management unit 309 observes and outputs the reference point SIMA data, the linear data (ALG) output from the triangular network longitudinal data acquisition unit 208, the three-dimensional scanning device 10, and the total station 20. Based on the 3D data, data analysis is performed in the same process as the 3D pre-measurement shown in the flowchart in FIG. 2 (step S204). Then, the finished form longitudinal data is output based on the input three-dimensional design data of the XML file, and the PDF or the PDF or the delivery data creation unit 310 is used to create the comparison data with the 3D pre-measurement longitudinal data. The DWG format 3D result data is output to the output device 32 (step S205).

(Effect of the first embodiment)
As described above, in the shape measuring device 100 of the three-dimensional measurement object according to the present embodiment, the analysis device 30 reflects the laser light emitted by the three-dimensional scanning device 10 from the three-dimensional measurement object such as a road. Each point at a point is acquired as three-dimensional coordinated point group data, the acquired point group data is analyzed, shape confirmation data of a three-dimensional measurement object is generated, and arbitrary input by the input device 31 is performed. A vertical / cross-sectional view between the two points is created, converted into design data, and output to the output device 32, respectively. As a result, a series of operations from the surveying of the three-dimensional surveyed object to the preparation of various reports can be realized accurately in one stop, and the time and human cost can be reduced.

Specifically, in the past, workers installed a surveying instrument such as a tape measure or a total station 20 and took time to measure, such as crack survey, rut survey, longitudinal survey (volume survey of cutting amount), etc. The field survey can be carried out in a short time by the shape measuring device 100 using the three-dimensional scanning device 10, and detailed survey data can be obtained by using it in combination with the survey data obtained by using the total station 20. As a result, it becomes possible to grasp the shape and change of the three-dimensional measurement object, which could not be grasped in the past, without going to the site many times. From this, it was confirmed that, for example, these surveys, which took about 3 days, can be shortened to about 2 hours. In addition, in the past, each specialized company conducted road ruts and longitudinal surveys, but now it is possible to do this in one stop, and the time and personnel burden of surveying work can be greatly reduced. In addition, since efficiency can be improved, it is possible to significantly reduce costs.

In the shape measuring device 100 of the three-dimensional measurement object according to the present embodiment, only the road is exemplified as the three-dimensional measurement object, but the application is not limited to the road, for example, for quantifying the form of a tree or the like in a forest. Alternatively, it can be applied to various uses such as construction planning, construction, area, and map creation.

(Method of measuring the shape of a three-dimensional object to be measured)
Further, the method for measuring the shape of the three-dimensional measurement object according to the present embodiment is realized by using at least the three-dimensional scanning device 10 shown in FIG. 1 and the analysis device 30 having the input device 31 and the output device 32. Will be done. Then, for example, as shown in FIG. 2, the method acquires as point cloud data in which each point at the reflection point from the three-dimensional measurement target is converted into three-dimensional coordinates by the laser beam emitted by the three-dimensional scanning device 10. The first step (S103) and the acquired point cloud data are analyzed by the analysis device 30, the shape confirmation data of the three-dimensional measurement object is generated, and between any two points input by the input device 31. It has a second step (S104 to S111) of creating vertical and cross-sectional views, converting them into design data, and outputting them to the output device 32, respectively.

Further, in the method for measuring the shape of a three-dimensional measurement object according to the present embodiment, the first step is to convert the observation result by the total station 20 into a file format that can be used by the analysis device 30 and reflect it in the point group data. The PTS file generated by the color mapping process and the reference point SIMA data may be integrated and input to the analyzer 30 (steps S101 to S104). In the second step, the route is calculated based on the position coordinates of the main points of the alignment obtained by the route survey based on the alignment and the captured intermediate coordinates, and based on the result of the route calculation, the vertical network is used. A cross section may be created (steps S105 to S111).

According to the shape measurement method of the three-dimensional measurement object according to the present embodiment, a series of operations from the measurement of the three-dimensional measurement object to the preparation of various reports can be realized accurately in one stop, and the time and human cost It is possible to provide a method for measuring the shape of a three-dimensional measurement object with the reduction of the above.

Further, the program according to this embodiment is a program for the shape measuring device 100 of the three-dimensional measurement object. The program causes the analysis device 30 to perform the same processing as each step in the method for measuring the shape of the three-dimensional measurement object according to the present embodiment described above, and describes each processing in the sense of avoiding duplication. Is omitted.

According to the program according to the present embodiment, the analyzer 30 accurately reads and executes the above-mentioned program according to the present embodiment to accurately perform a series of operations from surveying the object to be surveyed to creating various reports. It is possible to provide a shape measuring device 100 for a three-dimensional measurement object, which has been realized in a one-stop manner and has reduced time and human costs.

[Second Embodiment]
In the first embodiment, the three-dimensional scanning device 10 irradiates a three-dimensional measurement object such as a road with a laser beam, and converts each point of a large number of reflection points of the laser beam into three-dimensional coordinates to form a point cloud. It was generating data.
By the way, a glossy black surface is formed on a road immediately after construction or a road in rainy weather or immediately after rain stops due to the influence of rainwater or the like.

However, the three-dimensional scanning device 10 is not suitable for measuring such a glossy black surface.
That is, when the three-dimensional scanning device 10 tries to measure a place where rainwater remains on such a road, the laser beam is not reflected well, and as a result, each point of a small number of reflection points of the laser beam is generated. Since the number of points is reduced, the number of point cloud data converted into three-dimensional coordinates is also reduced, and there is a problem that sufficient point cloud data cannot be obtained.
In addition to rainwater, there is a similar problem when water is sprayed on the road or when a material that is originally difficult to obtain appropriate reflection is used.

Therefore, in the second embodiment, a method capable of obtaining point cloud data satisfactorily even in such a situation will be described below with reference to FIGS. 7 and 8.
In the following, the same points as those in the first embodiment will be omitted, and the points mainly different from those in the first embodiment will be described.
Further, in the following description, a portion where appropriate reflection of the laser beam cannot be obtained may be referred to as an unsuitable surface for the laser beam.
FIG. 7 is a diagram showing an image when the reflector 50 is sprayed on the road imaged by the imaging unit, and FIG. 8 is a composite of the point cloud data acquired by the three-dimensional scanning apparatus 10 with the image shown in FIG. It is a figure which shows the composite image.

As shown in FIG. 7, a reflective material 50 made of wheat flour or the like is sprayed on an unsuitable surface of the laser beam for which appropriate reflection of the laser beam cannot be obtained due to the influence of rainwater or the like.
The reflective material 50 is not limited to wheat flour or the like, and may be, for example, a liquid material made of a paint mixed with glass beads.

Then, when the three-dimensional scanning device 10 is used after the reflector 50 is sprayed in this way, the laser beam is well reflected by the reflector 50. Therefore, as shown in FIG. 8, a large number of laser beams are used. A reflection point can be obtained.
As a result, as shown in FIG. 8, a large number of point cloud data obtained by converting each point of the reflection point into three-dimensional coordinates can be obtained, and good point cloud data can be generated.
In addition, such a method of acquiring a point cloud of a surface unsuitable for laser light by spraying a reflective material may be called an MRP method.

[Third Embodiment]
In the first embodiment, the SIMA integration unit 303 reflects the CSV data output from the SIMA data acquisition unit 302 in the point cloud data output from the point cloud data acquisition unit 301, and further, the point cloud is subjected to color mapping. Although the PTS file was generated, in the third embodiment, the method of correcting the color information to the point cloud data in order to obtain the point cloud data with clearer colors is shown in FIGS. 9 to 13 below. It will be explained with reference to it.
In the description of the third embodiment, the description of the same points as those of the first embodiment may be omitted.

FIG. 9 is a block diagram showing a configuration of a shape measuring device 100 for a three-dimensional measurement object according to a third embodiment.
FIG. 10 is a diagram showing a plurality of images including roads in which the imaging unit of the UAV 40 imaged the same region at different times, and FIG. 10 (a) shows images including roads in which the same region was imaged at the first time. 10 (b) is a diagram showing an image including a road in which the same region is imaged at a second time after the first time.
FIG. 11 is a diagram showing a composite image in which the vehicle is excluded from the image shown in FIG.
FIG. 12 is a diagram showing three-dimensional point cloud data generated by analyzing the composite image shown in FIG. 11 and including color information.
FIG. 13 is a diagram showing point cloud data in which color information has been corrected.

As shown in FIG. 9, the shape measuring device 100 to be measured in three dimensions according to the third embodiment is composed of an analysis device 30, an input device 31, and an output device 32, and the analysis device 30 is three-dimensional. The scanning device 10, the total station 20, and the UAV (Unmanned Aerial Vehicle) 40 are connected offline.
The analysis device 30 and the UAV 40 are used to correct the color information of the point cloud data as described below.

The UAV 40 is an unmanned aerial vehicle that is offline connected to the analysis device 30 and can fly by remote control.
The UAV40 is provided with an imaging unit (not shown) for capturing an image of a three-dimensional measurement object such as a road.

The images captured by the imaging unit of the UAV 40 are shown in FIGS. 10 (a) and 10 (b).
Specifically, FIGS. 10A and 10B show a three-dimensional measurement object such as a road in which the same region including the effective range of the three-dimensional scanning device 10 is imaged at different times by the imaging unit of the UAV 40. It is an image including.
As described above, the UAV 40 is offline connected to the analysis device 30, and the plurality of images captured by the UAV 40 can be output to the image synthesizing unit 311 described later.

The analysis device 30 of the third embodiment has the same configuration as the analysis device 30 of the first embodiment except that the image synthesis unit 311, the image survey analysis unit 312, and the color information correction unit 313 are included. are doing.

The image synthesizing unit 311 generates a composite image excluding the non-three-dimensional measurement target vehicle as shown in FIG. 11 by synthesizing a plurality of images including a three-dimensional measurement target such as a road output from the UAV 40. Then, it is output to the image survey analysis unit 312.

The image survey analysis unit 312 analyzes the composite image output from the image synthesis unit 311 to generate three-dimensional point cloud data including color information as shown in FIG. 12, and outputs it to the color information correction unit 313. ..

Then, the color information correction unit 313 uses the three-dimensional point cloud data including the color information output from the image survey analysis unit 312 into the PTS file of the point cloud output from the SIMA engaging unit 303. The color information of the data is corrected, and the PTS file of the point cloud is output to the plane image synthesis unit 304 and the route calculation unit 307 as three-dimensional point cloud data having clearer color information.

Specifically, since the three-dimensional point cloud data including the color information of the PTS file of the point cloud output from the SIMA engaging unit 303 is based on the data acquired by the three-dimensional scanning device 10, it is on the road. While the color information such as the white lines drawn may be unclear, the 3D point cloud data including the color information based on the image acquired by the UAV40 contains the color information such as the white lines drawn on the road. Since it is clear, the color information correction unit 313 performs a process of correcting color information such as a white line on the road.

As described above, in the third embodiment, by correcting the color information in the PTS file of the point cloud by using the UAV 40 and the analysis device 30, it is possible to obtain the point cloud data with clearer colors. , As shown in FIG. 13, for example, the details such as the white line drawn on the road can be well confirmed.

[Fourth Embodiment]
In the third embodiment, the case where the color information is corrected by using the UAV40 has been described, but the three-dimensional point cloud data is corrected by using the UAV40, that is, the laser beam of the three-dimensional scanning device 10 does not reach. For the above range, the point cloud at the place where the point cloud is insufficient may be supplemented with the three-dimensional point cloud data based on the data acquired by the three-dimensional scanning device 10. In the fourth embodiment, the following A method of supplementing the point cloud data by the three-dimensional scanning apparatus 10 by using the UAV 40 will be described with reference to FIG.

FIG. 14 is a block diagram showing a configuration of a shape measuring device 100 for a three-dimensional measurement object according to a fourth embodiment.
The fourth embodiment will be specifically described below with reference to FIG. 14, but the fourth embodiment may also omit the description of the same points as those of the first embodiment.
Further, with respect to the UAV 40, the contents already described in the third embodiment may be omitted.

As shown in FIG. 14, the shape measuring device 100 to be measured three-dimensionally according to the fourth embodiment is composed of an analysis device 30, an input device 31, and an output device 32, and the analysis device 30 is three-dimensional. The scanning device 10, the total station 20, and the UAV 40 are connected offline.
The UAV 40 and the analysis device 30 are used to supplement the point cloud data by the three-dimensional scanning device 10 as described below.

The UAV 40 is an unmanned aerial vehicle that is offline connected to the analysis device 30 and can fly by remote control, and also includes an imaging unit (not shown) for the UAV 40 to capture an image of a three-dimensional measurement object such as a road. This is as described in the third embodiment.
Then, as described in the third embodiment, the imaging unit of the UAV 40 includes a three-dimensional measurement object such as a road that images the same region including the region other than the effective range of the three-dimensional scanning device 10 at different times. The plurality of images are output to the image composition unit 311.

The analysis device 30 of the fourth embodiment has the same configuration as the analysis device 30 of the first embodiment, except that the image synthesis unit 311, the image survey analysis unit 312, and the point cloud data synthesis unit 314 are included. Have.

Similar to the third embodiment, the image synthesizing unit 311 synthesizes a plurality of images including a three-dimensional measurement object such as a road output from the UAV 40, thereby excluding vehicles to be non-three-dimensional measurement and tertiary. A composite image including an area other than the effective range of the original scanning device 10 is generated and output to the image survey analysis unit 312.

Then, the image survey analysis unit 312 analyzes the composite image including the region other than the effective range of the three-dimensional scanning device 10 output from the image survey analysis unit 312, so that the region other than the effective range of the three-dimensional scanning device 10 is analyzed. The three-dimensional point cloud data including the above is generated and output to the point cloud data synthesis unit 314.

Then, the point cloud data synthesizing unit 314 is a three-dimensional point output from the image survey analysis unit 312 so as to supplement the point cloud of the point cloud data output from the point cloud data acquisition unit 301. The point cloud of the group data is partially synthesized, and the three-dimensional point cloud data supplemented with the partial point cloud is output to the SIMA integration unit 303.

As described above, in the fourth embodiment, the point cloud of the part where the point cloud is insufficient in the three-dimensional point cloud data based on the data acquired by the three-dimensional scanning device 10 is supplemented by using the UAV 40. Complete 3D point cloud data can be generated.

[Fifth Embodiment]
The total station 20 described in the first embodiment may be used to make the boundary easy to understand in the three-dimensional point cloud data based on the data acquired by the three-dimensional scanning device 10. In the embodiment, a method of making such a boundary easy to understand by using the total station 20 will be described.

That is, since the amount of information is enormous in the current state observation by the point cloud, the boundary between the road and the sidewalk can be partially expanded in the 3D point cloud data based on the data acquired by the 3D scanning device 10. Although the boundaries of the point cloud and the manhole cannot be seen, it is possible to add electronic markings so that the boundaries can be seen by using the total station 20, and the electrons to the point cloud data will be referred to below with reference to FIGS. 15 and 16. The marking will be described.
Also in the fifth embodiment, the description of the same points as in the first embodiment may be omitted.

FIG. 15 is a diagram showing the point cloud data to which the electronic marking is added, and FIG. 16 is a diagram showing the point cloud data of the enlarged electronic marking.
For example, the total station 20 outputs the observation result of the marking point at the boundary between the roadway and the sidewalk (the boundary of the white line separating the roadway and the sidewalk) as SIMA data for electronic marking to the SIMA data acquisition unit 302 of the analysis device 30. ..

Then, the SIMA data acquisition unit 302 converts the SIMA data for electronic marking output by the total station 20 into CSV format data for electronic marking that can be read by the analysis device 30, replaces the XY coordinates, and integrates the SIMA. Output to unit 303.

Then, the SIMA integration unit 303 reflects the CSV data for electronic marking output from the SIMA data acquisition unit 302 in the point cloud data output from the point cloud data acquisition unit 301, and further, the electronic marking is performed by the color mapping process. Generate a PTS file for the added point cloud.

For example, an example of the point cloud data to which the electronic marking M is added so as to show the boundary of the white line is shown in FIG. 15, and the line connecting the electronic marking M is the boundary of the white line.
Then, when the periphery of the electronic marking M is enlarged, the state of the white line that was somehow visible in FIG. 15 becomes blurred, and as shown in FIG. 16, the state of the white line becomes unclear, but as described above. As described above, since the boundary of the white line exists on the line connecting the electronic marking M, as shown in FIG. 16, even if the state of the white line is unknown, the electronic marking M can know where the boundary is.

As described above, in the fifth embodiment, even when the boundary becomes unclear due to the enlargement by adding the electronic marking to the point cloud data, as shown in FIG. 16, the electronic marking M is used as a mark. It is possible to quickly and accurately distinguish the boundary between the roadway and the sidewalk.
Furthermore, if the distance between the added electronic marking and the boundary between the roadway and the sidewalk shown in the point cloud data exceeds a predetermined threshold value, it can be inferred that there is an error in the point cloud data.

Although the present invention has been described above using the embodiments, it goes without saying that the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. Further, it is clear from the description of the scope of claims that the form to which such a modification or improvement is added may be included in the technical scope of the present invention.

10 Three-dimensional scanning device 20 Total station 30 Analytical device 31 Input device 32 Output device 40 UAV
50 Reflective material 100 Shape measuring device 301 Point group data acquisition unit 302 SIMA data acquisition unit 303 SIMA integration unit 304 Plane image synthesis unit 305 Plane data creation unit 306 Linear creation unit 307 Route calculation unit 308 Triangular network longitudinal data acquisition unit 309 Shape management unit 310 Design data and delivery data creation unit 311 Image composition unit 312 Image survey analysis unit 313 Color information correction unit 314 Point group data composition unit M Electronic marking

Claims (9)

A method for measuring the shape of a three-dimensional object to be measured.
A first step of the laser beam to obtain data point cloud points are three-dimensional coordinates of the reflection point from the three-dimensional measurement object by being illuminated by the three-dimensional scanning device,
It has a second step of analyzing the acquired point cloud data with an analysis device, generating shape confirmation data of the three-dimensional measurement object, and outputting the shape confirmation data to an output device .
In the second step,
A method for measuring the shape of a three-dimensional measurement object, wherein the shape confirmation data is generated using color information based on an image acquired by the UAV. In the second step,
The first aspect of claim 1, wherein the observation result for electronic marking by the total station is reflected in the point cloud data, and the shape confirmation data is generated using the point cloud data to which the electronic marking is added. A method for measuring the shape of a three-dimensional measurement object. A method for measuring the shape of a three-dimensional object to be measured.
A first step of the laser beam to obtain data point cloud points are three-dimensional coordinates of the reflection point from the three-dimensional measurement object by being illuminated by the three-dimensional scanning device,
It has a second step of analyzing the acquired point cloud data with an analysis device, generating shape confirmation data of the three-dimensional measurement object, and outputting the shape confirmation data to an output device .
In the first step,
A three-dimensional measurement object characterized by acquiring three-dimensional coordinated point group data of the three-dimensional measurement object after spraying a reflective material on an unsuitable surface of the laser light of the three-dimensional measurement object. Shape measurement method. The method for measuring the shape of a three-dimensional measurement object according to any one of claims 1 to 3, wherein the shape confirmation data is used for any of a crack investigation, a rut investigation, and a longitudinal investigation of a road surface. A shape measuring device for a three-dimensional object to be measured
A three-dimensional scanning device that acquires point cloud data in which each point at a reflection point from the three-dimensional measurement object is converted into three-dimensional coordinates by irradiating a laser beam .
It is provided with an analysis device that analyzes the acquired point cloud data, generates shape confirmation data of the three-dimensional measurement object, and outputs the shape confirmation data to an output device .
The analyzer is
A shape measuring device , characterized in that the shape confirmation data is generated by using color information based on an image acquired by a UAV . The analyzer is
The fifth aspect of claim 5, wherein the observation result for electronic marking by the total station is reflected in the point cloud data, and the shape confirmation data is generated using the point cloud data to which the electronic marking is added. Shape measuring device. A shape measuring device for a three-dimensional object to be measured
A three-dimensional scanning device that acquires point cloud data in which each point at a reflection point from the three-dimensional measurement object is converted into three-dimensional coordinates by irradiating a laser beam .
It is provided with an analysis device that analyzes the acquired point cloud data, generates shape confirmation data of the three-dimensional measurement object, and outputs the shape confirmation data to an output device .
The three-dimensional scanning device is
A shape measuring device characterized in that a point cloud data converted into three-dimensional coordinates of the three-dimensional measurement object is acquired in a state where a reflective material is sprayed on an unsuitable surface of the laser beam of the three-dimensional measurement object. The shape measuring device according to any one of claims 5 to 7, wherein the shape confirmation data is used for any one of a road surface crack investigation, a rut investigation, and a longitudinal investigation. A program for a shape measuring device for a three-dimensional object to be measured.
In the shape measuring device,
The point cloud data obtained by irradiating the laser beam with the three-dimensional scanning device and in which each point at the reflection point from the three-dimensional measurement object is converted into three-dimensional coordinates is analyzed, and the three-dimensional A program characterized in that shape confirmation data of an object to be measured is generated using color information based on an image acquired by UAV, and a process of outputting the shape confirmation data to an output device is executed .

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