JP2018128364A - Measurement device, position calculation device and alternative moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a measurement device capable of sharing a measurement device in a mobile mapping system among plural kinds of moving bodies.SOLUTION: A measurement device 10 includes a sharing part capable of sharing among plural kinds of moving bodies. The sharing part outputs a piece of data of target points acquired by sensors such as laser scanner while associating with moving body identifiers each representing sorts of installed moving bodies. The position calculation device 80 calculates the position of the target points represented by the data using an algorithm corresponding to the moving body identifier associated with the data of the target points.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for sharing a measuring device in a mobile mapping system among a plurality of types of mobile objects.

  The measuring device of the mobile mapping system has been developed on the assumption that it is mounted on an automobile (see Patent Document 1). However, the places where automobiles can run are limited, and measurements such as indoors have not been possible. Later, in order to enable indoor measurements, a cart-type measuring device with a measuring device mounted on the cart was developed.

JP 2012-242317 A

However, the measurement device mounted on the automobile is a measurement device dedicated to the automobile, and the measurement device mounted on the vehicle is a measurement device dedicated to the vehicle. Therefore, for example, in order to perform both outdoor and indoor measurements, it has been necessary to prepare both a measurement device dedicated to an automobile and a measurement device dedicated to a carriage. Therefore, a large cost burden is imposed on the user.
An object of the present invention is to make it possible to share a measuring device in a mobile mapping system among a plurality of types of mobile objects.

The measuring device according to the present invention is
It is a measuring device installed on a moving body,
A shared section that can be shared by multiple types of mobile units
The shared part is
An output unit is provided that outputs data of the target point acquired by the sensor in association with a moving body identifier indicating the type of the installed moving body.

  In the present invention, at least a part of the measuring device is a shared unit that can be shared by a plurality of types of moving bodies. Thereby, when measuring both outdoors and indoors, at least a part of the measuring apparatus can be shared and used.

1 is a configuration diagram of a mobile mapping system 1 according to Embodiment 1. FIG. 1 is a configuration diagram of a measurement apparatus 10 according to Embodiment 1. FIG. 1 is a configuration diagram of an electronic device 21 according to a first embodiment. The figure which shows the state by which the measuring apparatus 10 which concerns on Embodiment 1 was installed in the four-wheeled motor vehicle. The figure which shows the state in which the measuring apparatus 10 which concerns on Embodiment 1 was installed in the trolley | bogie. 1 is a configuration diagram of a position calculation device 80 according to Embodiment 1. FIG. 5 is a flowchart of measurement processing according to the first embodiment. The figure which shows the information memorize | stored in the identifier memory | storage part 74 which concerns on Embodiment 1. FIG. FIG. 4 is a diagram showing information stored in a recording PC 26 according to the first embodiment. 4 is a flowchart of position calculation processing according to the first embodiment. The figure which shows the information memorize | stored in the algorithm memory | storage part 93 which concerns on Embodiment 1. FIG. FIG. 10 is a configuration diagram of an electronic device 21 according to Modification 3. The block diagram of the position calculation apparatus 80 which concerns on the modification 3. FIG. FIG. 6 is a configuration diagram of an electronic device 21 according to a second embodiment. 10 is a flowchart of measurement processing according to the second embodiment. 10 is a flowchart of position calculation processing according to the second embodiment. The figure which shows the information memorize | stored in the algorithm memory | storage part 93 which concerns on Embodiment 2. FIG. The figure which shows the state in which the measuring apparatus 10 which concerns on Embodiment 3 was installed in the bicycle 52. The figure which shows the state in which the measuring apparatus 10 which concerns on Embodiment 3 was installed in the tricycle. The figure which shows the state in which the measuring apparatus 10 which concerns on Embodiment 3 was installed in the ship 55. FIG. The figure which shows the state in which the measuring apparatus 10 which concerns on Embodiment 3 was installed in the freight car 57. FIG. The figure which shows the state in which the measuring apparatus 10 which concerns on the modification 5 was installed in the trolley | bogie 50. FIG.

Embodiment 1 FIG.
*** Explanation of configuration ***
With reference to FIG. 1, the structure of the mobile mapping system 1 which concerns on Embodiment 1 is demonstrated.
The mobile mapping system 1 includes a measurement device 10 and a position calculation device 80. The measuring device 10 is a device that is installed on a moving body and collects surrounding point cloud data by a sensor when the moving body is moving. The position calculation device 80 is a computer that calculates the position of the point cloud data collected by the measurement device 10.
In FIG. 1, a state in which the measuring device 10 is installed in the automobile 4 is shown.

With reference to FIG. 2, the structure of the measuring device 10 which concerns on Embodiment 1 is demonstrated.
The measuring apparatus 10 includes a shared unit 20 that can be shared by a plurality of types of moving bodies, and a non-shared unit 30 that can be installed only by a specific type of moving body. That is, the shared unit 20 is a part that is commonly used by a plurality of types of mobile objects. On the other hand, the non-shared unit 30 is a part provided for each type of mobile body, and is a dedicated product for each type of mobile body.

The shared unit 20 includes an electronic device 21, a camera 22, a laser scanner 23, an IMU 24 (Internal Measurement Unit), a receiving antenna 25, and a recording PC 26 (Personal Computer). In FIG. 2, the shared unit 20 includes three cameras 22, two laser scanners 23, and three reception antennas 25.
The electronic device 21 is a computer that outputs data acquired by the sensor to the recording PC 26. The recording PC 26 is connected to a display device 261 such as an LCD (Liquid Crystal Display) and an input device 262 such as a keyboard.
The camera 22 is a device that acquires image data. For example, the camera 22 acquires about 10 pieces of image data per second.
The laser scanner 23 is a sensor that irradiates the laser and receives the laser reflected at the target point. The position of the target point can be measured from the time from when the laser is irradiated until the reflected laser is received and the laser irradiation angle.
The IMU 24 is a device that detects an angle or angular velocity and acceleration in a triaxial direction of a moving body. The data detected by the IMU 25 can identify the position with high accuracy even when the positioning signal cannot be received.
The receiving antenna 25 is an antenna that receives a positioning signal transmitted from a positioning satellite such as a GPS (Global Positioning System). The receiving antenna 25 may not be necessary depending on the application of the measuring device 10. Therefore, the measurement device 10 may not include the reception antenna 25.
The recording PC 26 is a computer for storing data acquired by the camera 22, the laser scanner 23, the IMU 24, the receiving antenna 25, an odometer 31 described later, and the like.

The non-shared unit 30 includes an odometer 31 and a battery 32.
The odometer 31 is a device that is installed on a wheel of a moving body and measures the moving distance of the moving body. The data acquired by the odometer 31 can accurately identify the position even when the positioning signal cannot be received.
The battery 32 supplies power to devices included in the shared unit 20 and the non-shared unit 30.

  The non-shared unit 30 may further include additional sensors such as a camera, a laser scanner, and a receiving antenna. The additional sensor is added when loading is possible according to the type of the moving body. Or an additional sensor is added as needed according to the place to measure.

With reference to FIG. 3, the structure of the electronic device 21 which concerns on Embodiment 1 is demonstrated.
The electronic device 21 includes hardware of a processor 61, a memory 62, a storage 63, and a communication interface 64. The processor 61 is connected to other hardware via a signal line, and controls these other hardware.

The electronic device 21 includes an output unit 71, a reading unit 72, and a receiving unit 73 as functional components. The functions of the output unit 71, the reading unit 72, and the receiving unit 73 are realized by software.
The storage 63 stores programs that realize the functions of the output unit 71, the reading unit 72, and the receiving unit 73. This program is read into the memory 62 by the processor 61 and executed by the processor 61. Thereby, the function of the output part 71, the reading part 72, and the reception part 73 is implement | achieved.
The storage 63 implements the function of the identifier storage unit 74.

A specific configuration example of the measuring apparatus 10 will be described with reference to FIGS. 4 and 5.
In FIG. 4, a state in which the measuring device 10 is installed in the four-wheeled vehicle 40 is shown. FIG. 5 shows a state in which the measuring device 10 is installed on the carriage 50.

  As shown in FIGS. 4 and 5, the shared unit 20 is divided into the sensor unit 27 other than the electronic device 21 and the recording PC 26, and the electronic device 21 and the recording PC 26. The sensor unit 27 is fixed on the pedestal 28.

As shown in FIG. 4, when the measuring apparatus 10 is installed in an automobile 4 40, the shared unit 20 includes a sensor unit 27 attached to a carrier 41 on the roof, and the electronic device 21 and the recording PC 26 are automatically installed. It is attached near the seat of the four-wheeled vehicle 40. The sensor unit 27 is attached to the carrier 41 by a fixture 29 provided at the lower portion of the base 28. In the non-shared unit 30, the odometer 31 is attached to the wheel of the automobile 40. As the battery 32 of the non-shared unit 30, a battery mounted on the automobile 40 for supplying power to the equipment of the automobile 40 is used.
Further, the non-shared unit 30 includes an additional sensor such as a reception antenna 33 in addition to the device shown in FIG. 2, and is attached to the carrier 41 on the roof. The reception antenna 33 is an antenna that receives a positioning signal, similarly to the reception antenna 25. The base 42 to which the additional sensor is attached and the base 28 of the sensor unit 27 are fixed with bolts or the like. In addition, the measuring device 10 is connected to the receiving antenna 33 and can acquire a positioning signal received by the receiving antenna 33.

As shown in FIG. 5, when the measuring apparatus 10 is installed on the carriage 50, the shared unit 20 has the sensor unit 27 mounted on the carriage 50, and the electronic device 21 and the recording PC 26 are attached to the handle 51 of the carriage 50. . The sensor unit 27 is attached to the carriage 50 by a fixture 29 provided at the lower part of the base 28. In the non-shared unit 30, the odometer 31 is attached to the lower part of the carriage 50, and the battery 32 is placed on the carriage 50.
In FIG. 5, the battery 32 is fixed on the carriage 50. Then, the sensor unit 27 is placed on the battery 32 and is attached and fixed to the attachment 34 provided on the upper part of the battery 32.

It is assumed that the measuring device 10 installed in the four-wheeled vehicle 40 is re-installed in the cart 50.
In this case, the sensor unit 27 is removed from the carrier 41. At this time, the pedestal 28 of the sensor unit 27 is also removed from the pedestal 42 of the additional sensor included in the non-shared unit 30. The sensor unit 27 is mounted on the battery 32 mounted on the carriage 50 and is attached to the attachment 34 by the attachment 29. Further, the electronic device 21 and the recording PC 26 are removed from the vicinity of the seat of the four-wheeled vehicle 40 and attached to the handle 51 of the carriage 50.

It is assumed that the measuring device 10 installed on the carriage 50 is installed on the automobile 4 again.
In this case, the reverse operation in the case where the measuring device 10 installed in the four-wheeled vehicle 40 is re-installed in the carriage 50 may be performed. That is, the sensor unit 27 is detached from the battery 32 placed on the carriage 50. And the sensor part 27 is attached to the carrier 41, and is also attached to the base 42 of the additional sensor with which the non-shared part 30 is provided. In addition, the electronic device 21 and the recording PC 26 are detached from the handle 51 of the carriage 50 and attached to the vicinity of the seat of the automobile 40.

With reference to FIG. 6, the configuration of position calculation apparatus 80 according to the first embodiment will be described.
The position calculation device 80 is a computer installed in a computer room or the like.
The position calculation device 80 includes hardware of a processor 81, a memory 82, a storage 83, and a communication interface 84. The processor 81 is connected to other hardware via a signal line, and controls these other hardware.

The position calculation device 80 includes an acquisition unit 91 and a position calculation unit 92 as functional components. The functions of the acquisition unit 91 and the position calculation unit 92 are realized by software.
The storage 83 stores a program for realizing the functions of the acquisition unit 91 and the position calculation unit 92. This program is read into the memory 82 by the processor 81 and executed by the processor 81. Thereby, the function of the acquisition part 91 and the position calculation part 92 is implement | achieved.
The storage 83 realizes the function of the algorithm storage unit 93.

  The processors 61 and 81 are ICs (Integrated Circuits) that perform processing. As specific examples, the processors 61 and 81 are a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a GPU (Graphics Processing Unit).

  The memories 62 and 82 are storage devices that temporarily store data. The memories 62 and 82 are, for example, SRAM (Static Random Access Memory) and DRAM (Dynamic Random Access Memory).

  The storages 63 and 83 are storage devices that store data. The storages 63 and 83 are HDDs (Hard Disk Drives) as a specific example. The storage 63 is a portable storage medium such as an SD (Secure Digital) memory card, a CF (CompactFlash), a NAND flash, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD (Digital Versatile Disk). May be.

  The communication interfaces 64 and 84 are interfaces for communicating with external devices. As specific examples, the communication interfaces 64 and 84 are Ethernet (registered trademark), USB (Universal Serial Bus), and HDMI (registered trademark, High-Definition Multimedia Interface) ports.

  In FIG. 3, only one processor 61 is shown. However, the electronic device 21 may include a plurality of processors that replace the processor 61. The plurality of processors share the execution of programs that realize the functions of the output unit 71, the reading unit 72, and the receiving unit 73. Similarly, in FIG. 6, only one processor 81 is shown. However, the position calculation device 80 may include a plurality of processors that replace the processor 81. The plurality of processors share the execution of programs that realize the functions of the acquisition unit 91 and the position calculation unit 92. Each processor is an IC that performs processing in the same manner as the processors 61 and 81.

*** Explanation of operation ***
The operation of the mobile mapping system according to the first embodiment will be described with reference to FIGS.
The operation of the mobile mapping system according to Embodiment 1 is divided into measurement processing and position calculation processing.

With reference to FIG. 7, the measurement processing according to the first embodiment will be described.
The measurement process is executed by the measurement device 10.

(Step S11: Type reception process)
The accepting unit 73 of the electronic device 21 accepts input of the type of the moving object in which the measuring device 10 is installed.
Specifically, an input device such as a keyboard of the recording PC 26 is operated by the user, and the type of the moving body on which the measuring device 10 is installed is input. The accepting unit 73 accepts the input type of the moving object via the communication interface 64. The accepting unit 73 writes the accepted type of moving object in the memory 62.

(Step S12: identifier reading process)
The reading unit 72 of the electronic device 21 reads from the identifier storage unit 74 the mobile unit identifier corresponding to the type of mobile unit accepted in step S11.
Specifically, as shown in FIG. 8, the identifier storage unit 74 stores mobile identifiers corresponding to a plurality of types. The reading unit 72 reads the moving body identifier stored in association with the type of the moving body received in step S11 from the identifier storage unit 74. The reading unit 72 writes the read mobile object identifier in the memory 62.

(Step S13: Collection process)
While the moving body in which the measuring device 10 is installed is moving, the camera 22, the laser scanner 23, the IMU 24, the receiving antenna 25, and the odometer 31 of the measuring device 10 collect data. Further, when an additional sensor is provided in the non-shared unit 30, the additional sensor also collects data.

(Step S14: Data output process)
The output unit 71 of the electronic device 21 associates the data collected in step S13 with the mobile object identifier read in step S12, and outputs it to the recording PC 26. The recording PC 26 stores the output data.
As a specific example, as shown in FIG. 9, the output unit 71 is acquired by the positioning signals received by the receiving antenna 25 that is the data collected in step S <b> 13 and the sensors such as the camera 22 and the laser scanner 23. A mobile object identifier is associated with the data and output.

With reference to FIG. 10, the position calculation process according to the first embodiment will be described.
The position calculation process is executed by the position calculation device 80 after the measurement process is executed.

(Step S21: Data reception process)
The acquisition unit 91 acquires the data collected by the collection process together with the moving object identifier associated with the data.
As a specific example, the acquisition unit 91 reads data and a mobile unit identifier output from the recording PC 26 to a portable storage medium such as an SD memory card via the communication interface 84. Alternatively, the acquisition unit 91 is connected to the recording PC 26 via a communication interface 84 via a transmission path such as a wireless LAN or a wired LAN, and reads data and a mobile unit identifier via the transmission path.

(Step S22: position specifying process)
The position calculation unit 92 calculates the position of the target point indicated by the data acquired in step S21 by an algorithm according to the moving object identifier acquired in step S21.
Specifically, as shown in FIG. 11, the algorithm storage unit 93 stores an algorithm for position calculation corresponding to each of a plurality of mobile body identifiers. The position calculation unit 92 reads the algorithm stored in association with the mobile object identifier acquired in step S21. The position calculation unit 92 receives the data acquired in step S21 as an input, executes the read algorithm, and calculates the position of the target point indicated by the data.

*** Effects of Embodiment 1 ***
As described above, in the mobile mapping system 1 according to the first embodiment, the measurement device 10 outputs the data acquired by the sensor in association with the mobile object identifier indicating the type of the installed mobile object. Thereby, the position calculation device 80 can calculate the position of the target point by an algorithm according to the type of the moving object in which the measurement device 10 is installed.
The behavior of the moving body varies depending on the type of the moving body. For example, in the case of the four-wheeled automobile 40, the vehicle body tilts when turning a curve. On the other hand, in the case of the carriage 50, the vehicle body does not tilt when turning a curve. In the case of the automobile 40, the vehicle turns gently. On the other hand, in the case of the carriage 50, since the operation of rotating around one of the rear wheels as an axis is possible, it is possible to bend suddenly. Therefore, an accurate position cannot be calculated unless the position calculation algorithm is changed according to the type of the moving object in which the measuring apparatus 10 is installed.
As in the conventional case, if the measuring device is made exclusively for each type of moving body, the data collected by the measuring device may use an algorithm for the type of moving body corresponding to the measuring device. On the other hand, the measuring apparatus 10 according to the first embodiment can share the shared unit 20 with a plurality of types of moving bodies. Therefore, the position calculation device 80 cannot calculate an accurate position unless the type of the moving object in which the measurement device 10 is installed is specified when data is collected. The measuring apparatus 10 according to the first embodiment outputs data by associating the moving object identifier with the data. Therefore, the position calculation device 80 can accurately calculate the position by an appropriate algorithm.

  Further, in the mobile mapping system 1 according to the first embodiment, devices that can be shared by a plurality of types of moving bodies are aggregated and arranged in the shared unit 20. Thus, for example, when both outdoor and indoor measurements are performed, one shared unit 20, a non-shared unit 30 for the automobile 40, and a non-shared unit 30 for the carriage 50 are prepared. That's fine. Therefore, the user's cost burden can be reduced.

*** Other configurations ***
<Modification 1>
In the first embodiment, as shown in FIG. 2, the shared unit 20 includes devices including an electronic device 21, a camera 22, a laser scanner 23, an IMU 24, a receiving antenna 25, and a recording PC 26. However, the shared unit 20 may be configured to include only some of the devices shown in FIG. In this case, the remaining devices are provided in the non-shared unit 30.
As a specific example, the shared unit 20 may include only the electronic device 21, and the non-shared unit 30 may include the camera 22, the laser scanner 23, the IMU 24, the recording PC 26, and the receiving antenna 25.

<Modification 2>
In the first embodiment, the non-shared unit 30 includes the odometer 31. This is because it is difficult to completely share the rotary encoder type odometer 31 between the four-wheeled vehicle 40 and the carriage 50. However, by preparing a dedicated wheel for the odometer 31 in the carriage 50, the encoder can be shared. Therefore, the encoder of the odometer 31 may be provided in the shared unit 20.
When the non-contact type odometer 31 is used, the odometer 31 may be provided in the shared unit 20. As a specific example, a change in Doppler frequency can be measured by irradiating a laser pulse perpendicularly to the ground from a moving body and receiving a reflected wave from the road surface. Then, the moving speed can be calculated from the Doppler frequency. The distance can be measured by integrating the calculated moving speed. Therefore, if it is such a laser type odometer 31, you may provide in the shared part 20. FIG.

<Modification 3>
In the first embodiment, the functions of the output unit 71, the reading unit 72, and the receiving unit 73 of the electronic device 21, and the functions of the acquisition unit 91 and the position calculation unit 92 of the position calculation device 80 are realized by software. However, as Modification 3, these functions may be realized by hardware. The third modification will be described with respect to differences from the first embodiment.

With reference to FIG. 12, the structure of the electronic device 21 which concerns on the modification 3 is demonstrated.
When the functions of the output unit 71, the reading unit 72, and the receiving unit 73 are realized by hardware, the electronic device 21 includes a processing circuit 65 instead of the processor 61, the memory 62, and the storage 63. The processing circuit 65 is a dedicated electronic circuit that realizes the functions of the output unit 71, the reading unit 72, and the receiving unit 73 and the functions of the memory 62 and the storage 63.

With reference to FIG. 13, the structure of the position calculation apparatus 80 which concerns on the modification 3 is demonstrated.
When the functions of the acquisition unit 91 and the position calculation unit 92 are realized by hardware, the position calculation device 80 includes a processing circuit 85 instead of the processor 81, the memory 82, and the storage 83. The processing circuit 85 is a dedicated electronic circuit that realizes the functions of the acquisition unit 91 and the position calculation unit 92 and the functions of the memory 82 and the storage 83.

The processing circuits 65 and 85 are a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA (Gate Array), an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable Gate Array). Is assumed.
The functions of the output unit 71, the reading unit 72, and the receiving unit 73 may be realized by a single processing circuit 65, or the functions of the output unit 71, the reading unit 72, and the receiving unit 73 are distributed to a plurality of processing circuits 65. May be realized. Similarly, the functions of the acquisition unit 91 and the position calculation unit 92 may be realized by one processing circuit 65, or the functions of the acquisition unit 91 and the position calculation unit 92 are distributed to a plurality of processing circuits 65. May be.

<Modification 4>
As a fourth modification, some functions may be realized by hardware, and other functions may be realized by software. That is, some of the functions of the output unit 71, the reading unit 72, and the receiving unit 73 may be realized by hardware, and the other functions may be realized by software. Moreover, some functions may be implement | achieved by hardware among the acquisition part 91 and the position calculation part 92, and another function may be implement | achieved by software.

Embodiment 2. FIG.
The second embodiment is different from the first embodiment in that the position is calculated by an algorithm for position calculation corresponding to the sensor used when acquiring data. In the second embodiment, this different point will be described, and the description of the same point will be omitted.

*** Explanation of configuration ***
With reference to FIG. 14, the structure of the electronic device 21 which concerns on Embodiment 2 is demonstrated.
The electronic device 21 is different from the electronic device 21 shown in FIG. The sensor specifying unit 75 is realized by software or hardware, like other functional components.

*** Explanation of operation ***
With reference to FIG. 15, the measurement process according to the second embodiment will be described.
The processing from step S31 to step S33 is the same as the processing from step S11 to step S13 in FIG.

(Step S34: sensor identification process)
The sensor specifying unit 75 of the electronic device 21 specifies the type of sensor used in step S33 and the number of sensors for each type. The sensor used in step S33 is a sensor that was operating when the process in step S33 was executed.
The type of sensor indicates the type of camera, laser sensor, or IMU. The sensor type may indicate the model of the sensor. That is, the type of sensor may not only indicate that it is a camera but also indicate the model of the camera.

(Step S35: Data output process)
The output unit 71 of the electronic device 21 adds the moving body identifier read in step S32 and the sensor identifier corresponding to the sensor type and the number of sensors specified in step S34 to the data collected in step S33. Corresponding data are output to the recording PC 26. The recording PC 26 stores the output data.

The position calculation process according to the second embodiment will be described with reference to FIG.
(Step S41: Data reception process)
The acquisition unit 91 acquires the data collected in the collection process together with the moving body identifier and the sensor identifier associated with the data.

(Step S42: position specifying process)
The position calculation unit 92 calculates the position of the target point indicated by the data acquired in step S41 by an algorithm according to the moving object identifier and sensor identifier acquired in step S41.
Specifically, as shown in FIG. 17, an algorithm for position calculation corresponding to each of a plurality of moving body identifiers and a plurality of sensor identifiers is stored in the algorithm storage unit 93. The position calculation unit 92 reads out the algorithm stored in association with the moving object identifier and the sensor identifier acquired in step S41. The position calculation unit 92 receives the data acquired in step S41 and executes the read algorithm to calculate the position of the target point indicated by the data.

*** Effects of Embodiment 2 ***
As described above, in the mobile mapping system 1 according to the second embodiment, the measurement device 10 receives the mobile body identifier indicating the type of the installed mobile body and the data in the data acquired by the sensor. Are output in association with sensor identifiers indicating the sensors used. Thereby, the position calculation device 80 can calculate the position of the target point by an algorithm according to the type of the moving object in which the measurement device 10 is installed and the sensor used.
As described in the first embodiment, an additional sensor may be provided depending on the type of the moving body and the measurement location. Therefore, the sensor used when data is acquired may be different. The exact position cannot be calculated without changing the position calculation algorithm depending on the sensor used.
If it is a measuring device made exclusively for every kind of moving body like the past, measurement will always be performed using the same sensor. For this reason, the data collected by the measuring device may use an algorithm for the type of moving object corresponding to the measuring device. On the other hand, the measuring apparatus 10 according to the second embodiment can share the shared unit 20 with a plurality of types of moving bodies. Therefore, the position calculation device 80 cannot calculate an accurate position unless the sensor used when data is collected is specified. The measurement apparatus 10 according to the second embodiment outputs data in association with a sensor identifier. Therefore, the position calculation device 80 can accurately calculate the position by an appropriate algorithm.

Embodiment 3 FIG.
In the third embodiment, a moving body for installing the measuring apparatus 10 will be described.
In the first embodiment, the four-wheeled vehicle 40 and the carriage 50 have been described as moving bodies for installing the measuring device 10. However, various moving bodies can be used as moving bodies for installing the measuring apparatus 10 other than the automobiles 40 and the carriages 50.
In view of the current application of the measuring device 10, the measuring device 10 is often installed in the automobile 40. Therefore, the measuring device 10 is developed on the premise that it is installed in the four-wheeled vehicle 40, and the measuring device 10 installed in the four-wheeled vehicle 40 is also installed in a moving body other than the four-wheeled vehicle 40. Is in the state of being considered. Therefore, here, a moving body other than the automobile 4 is referred to as an alternative moving body that replaces the automobile 4. Therefore, the carriage 50 described in the first embodiment is also one of the alternative moving bodies. Of course, in practice, the measuring device 10 may be installed mainly in an alternative mobile body.

With reference to FIG. 18, the bicycle 52 which is one of the alternative mobile bodies will be described.
The bicycle 52 having the loading platform 53 may be used as an alternative moving body. When the measuring apparatus 10 is installed on the bicycle 52, in the shared unit 20, the sensor unit 27 is placed on the loading platform 53 of the bicycle 52, and the electronic device 21 and the recording PC 26 are attached to the handle 54 of the bicycle 52. The sensor unit 27 is attached to the cargo bed 53 by a fixture 29 provided at the lower portion of the base 28. In the non-shared unit 30, the odometer 31 is attached to the lower part of the bicycle 52, and the battery 32 is placed on the loading platform 53. In FIG. 18, the sensor unit 27 is attached on the battery 32.
The bicycle 52 can travel faster than the carriage 50, and can also travel in places such as narrow roads and parks that cannot be traveled by the automobile 40. Therefore, the use range of the measuring device 10 can be expanded by using the bicycle 52 as an alternative moving body.

  A three-wheeled bicycle 52 is effective for placing the measuring device 10. Of course, it is not limited to three wheels but may be a two-wheeled bicycle 52. Further, as an alternative moving body, a motorcycle and a motor tricycle as shown in FIG. 19 can be used. Also in this case, as in the case of using the bicycle 52, the use range of the measuring device 10 can be expanded.

With reference to FIG. 20, the ship 55 which is one of the alternative mobile bodies is demonstrated.
When the measuring device 10 is installed on the ship 55, the shared unit 20 has the sensor unit 27, the electronic device 21, and the recording PC 26 placed on the deck 56 of the ship 55. The sensor unit 27 is attached to the ship 55 by a fixture 29 provided at the lower portion of the pedestal 28. The battery 32 is placed on the deck 56 in the non-shared unit 30. Since the odometer 31 cannot be used, it is necessary to receive a positioning signal by the receiving antenna 25.
The ship 55 can move on the water that cannot be traveled by the four-wheeled vehicle 40. Therefore, the use range of the measuring apparatus 10 can be expanded by using the ship 55 as an alternative moving body.

With reference to FIG. 21, the freight car 57 which is one of the alternative mobile bodies is demonstrated.
The freight car 57 is a vehicle that travels on a rail. The freight car 57 may be a handcart that travels on a rail.
When the measuring device 10 is installed in the freight car 57, the shared unit 20 is attached to the train where the sensor unit 27 is placed on the freight car 57 and the electronic device 21 and the recording PC 26 pull the freight car 57. It is done. The sensor unit 27 is attached to the freight car 57 by a fixture 29 provided at the lower part of the base 28. In the non-shared unit 30, the odometer 31 is attached to the lower part of the freight car 57, and the battery 32 is placed on the freight car 57.
The freight car 57 can travel on a rail that cannot be traveled by the automobile. Therefore, the use range of the measuring device 10 can be expanded by using the freight car 57 as an alternative moving body.

*** Effects of Embodiment 3 ***
As described above, in the mobile mapping system 1 according to Embodiment 3, various mobile bodies are used as alternative mobile bodies. Thereby, the utilization range of the measuring apparatus 10 can be expanded.

<Modification 5>
In FIG. 5, it is assumed that the battery 32 is placed on the carriage 50 and the shared unit 20 is attached thereon. However, as shown in FIG. 22, the shared unit 20 may be directly attached to the carriage 50.

<Modification 6>
5 and 22, the sensor unit 27 is attached to the battery 32 or the carriage 50 mounted on the carriage 50 by an attachment 29 for attaching to the carrier 41 of the four-wheeled vehicle 40. However, the sensor unit 27 may be attached to the battery 32 or the carriage 50 placed on the carriage 50 by another device such as a clamp.
Similarly, when the alternative moving body is the bicycle 52, the ship 55, and the freight car 57, the shared unit 20 may be attached by another device instead of the attachment tool 29.

  DESCRIPTION OF SYMBOLS 1 Mobile mapping system, 10 Measuring apparatus, 20 Shared part, 21 Electronic device, 22 Camera, 23 Laser scanner, 24 IMU, 25 Receiving antenna, 26 Recording PC, 27 Sensor part, 28 Base, 29 Fixture, 30 Non-shared Part, 31 odometer, 32 battery, 33 receiving antenna, 34 mounting fixture, 40 automobile, 41 carrier, 42 pedestal, 50 carriage, 51 handle, 52 bicycle, 53 loading platform, 54 handle, 55 ship, 56 deck, 57 freight car, 61 processor, 62 memory, 63 storage, 64 communication interface, 65 processing circuit, 71 output unit, 72 reading unit, 73 receiving unit, 74 identifier storage unit, 75 sensor specifying unit, 80 position calculation device, 81 processor, 82 memory, 83 storage, 8 Communication interface 91 obtaining unit, 92 position calculator, 93 the algorithm storage unit.

Claims (16)

It is a measuring device installed on a moving body,
A shared section that can be shared by multiple types of mobile units
The shared part is
A measuring apparatus comprising an output unit that outputs data obtained by a sensor in association with a moving body identifier indicating a type of a moving body installed. The shared part further includes
An identifier storage unit that stores a mobile identifier corresponding to each of the plurality of types;
A reading unit that reads a mobile unit identifier corresponding to the type of mobile unit installed from the identifier storage unit;
The measuring apparatus according to claim 1, wherein the output unit outputs a moving body identifier read by the reading unit. The shared part further includes
A reception unit that receives an input of the type of the moving object from the user;
The measurement device according to claim 2, wherein the reading unit reads a moving body identifier corresponding to a type of moving body received by the receiving unit. The measurement device according to claim 1, wherein the output unit outputs the data in association with a sensor identifier indicating a sensor used when the data is acquired. The shared part further includes
The measurement apparatus according to claim 1, comprising at least one of a laser scanner, a camera, and an IMU (Internal Measurement Unit) as the sensor. The shared part further includes
The measuring apparatus according to claim 1, further comprising a computer that stores the data. The measuring device further includes:
A battery for supplying power to the common part;
The measuring apparatus according to claim 1, further comprising an odometer for measuring a moving distance. An acquisition unit that acquires data acquired by a sensor and a mobile body identifier that is associated with the data and indicates a type of mobile body;
A position calculation apparatus comprising: a position calculation unit that calculates a position of a target point indicated by the data by an algorithm according to a moving object identifier acquired by the acquisition unit. The acquisition unit acquires a sensor identifier associated with the data and indicating a sensor used when the data is acquired;
The position calculation device according to claim 8, wherein the position calculation unit calculates a position of a target point indicated by the data by an algorithm according to the moving object identifier and the sensor identifier. It is a measuring device installed on a moving body,
A shared section that can be installed on multiple types of mobiles;
It has a non-shared part that can be installed only on a specific type of moving body,
The shared unit is a measuring device that is removable from the moving body and the non-shared unit. The shared unit includes at least one of a laser scanner that is a sensor, a camera, and an IMU (Internal Measurement Unit), a computer that stores data acquired by the sensor, and an output unit that outputs data acquired by the sensor And
The measuring device according to claim 10, wherein the non-shared unit includes a battery that supplies power to the shared unit. The specific type of moving body is a four-wheeled vehicle,
The said common part is an attachment part which can be attached to the roof of the said four-wheeled vehicle, Comprising: The attachment part which can be attached also to the alternative moving body which is a classification | category moving body other than the said four-wheeled vehicle is provided. The measuring device described in 1. The alternative mobile body that is a mobile body other than the specific type is at least one of a carriage, a two-wheeled bicycle, a three-wheeled bicycle, a two-wheeled vehicle, a three-wheeled vehicle, a freight car, and a ship. The measuring device according to any one of the above. It is an alternative mobile body in which a common part in a measuring device for a mobile mapping system installed in a four-wheeled vehicle is installed,
A mounted part to which the shared part is attached;
An alternative mobile body comprising a battery for supplying electric power to the common unit. The alternative moving body according to claim 14, wherein the attached portion is provided in the battery. The alternative mobile body according to claim 14 or 15, wherein the alternative mobile body is at least one of a carriage, a bicycle, a two-wheeled vehicle, a three-wheeled vehicle, a freight car, and a ship.

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