JP2019035685A - Three-dimensional surveying apparatus, three-dimensional surveying method and three-dimensional surveying program - Google Patents

Abstract

To provide a three-dimensional surveying apparatus, a three-dimensional surveying method and a three-dimensional surveying program which enable further accurate three-dimensional surveying.SOLUTION: Three-dimensional coordinate data of a measurement target 1 acquired by a three-dimensional surveying apparatus 100 can be corrected by a weighted residual method based on at least one of information on distance to the measurement target 1, information on a color of the measurement target 1 and light reception sensitivity information of return light, among information associated with the three-dimensional coordinate data, so that further accurate three-dimensional surveying can be performed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a three-dimensional survey apparatus, a three-dimensional survey method, and a three-dimensional survey program that enable more accurate three-dimensional surveying.

In railway facilities, dimensional management defined in the implementation standards such as building limits is implemented for each facility. For example, in a station yard, the dimensions are measured and managed in terms of the height of the platform, the distance from the center of the track to the end of the platform, the inclination of the platform, and the like.
Until now, the above dimensions have been subject to a large amount of work because separate measurements have been performed for each item using a measuring device such as a total station, home master, and tape measure for each item.
Therefore, the present inventors considered to measure a plurality of locations at once with a three-dimensional surveying device.

Conventionally, a three-dimensional laser scanner is known as a surveying device for acquiring a large number of three-dimensional data (three-dimensional point cloud data) of a measurement object in a short time.
For example, applying 3D surveying with a 3D laser scanner to road surface shape measurement, measuring the road shape without restricting the traffic on the road to be repaired, and calculating the amount of paving material required for repair It is utilized. In addition, it is also used to calculate the amount of soil transport, excavation, landfill, etc. in civil engineering work, and three-dimensional surveying with a three-dimensional laser scanner is performed in various fields.

  As one of techniques for accurately acquiring 3D point cloud data with a 3D laser scanner, a technique for making the installation position of a 3D laser scanner by a target known is known. When acquiring 3D point cloud data with a 3D laser scanner, it is necessary to make the installation position of the 3D laser scanner known. For example, a technique is known in which a target is installed at a known point, the target is measured by a three-dimensional laser scanner, and the installation position of the target and the installation position of the three-dimensional laser scanner are known based on the measurement result of the target. (For example, refer to Patent Document 1).

  The three-dimensional laser scanner of Patent Document 1 has an illumination light source unit that emits illumination light including a plurality of wavelengths, separately from a light source unit that generates distance measuring light, and an image illuminated by the illumination light source unit. Then, an image that is not illuminated is acquired by the imaging unit, a difference image between the two images is obtained, and a target having retroreflectivity is obtained based on the difference image and the detection intensity of reflected light of a plurality of wavelengths detected from the difference image. It is possible to measure reliably.

JP 2014-85134 A

However, three-dimensional surveying using a three-dimensional laser scanner cannot be applied to surveying a structure such as a platform in a station where accuracy of several millimeters is required.
This is because the permissible dimension is as small as about 1 mm, and the measurement accuracy of the current three-dimensional laser scanner requires a contrivance such as obtaining a large number of points. For surveying on platforms such as stations in stations where surveying time is limited, it is long. It takes time.

Therefore, the present inventors have measured the object to be measured (measurement point) in the three-dimensional point group data acquired by scanning the distance measuring light with respect to the object to be measured and receiving the reflected light. In addition to the three-dimensional coordinate data including the measurement distance information related to the distance up to, it is noted that the color information of the measurement object and the light reception sensitivity information of the reflected light are included.
The inventors have found a technique that makes it possible to more accurately grasp the accuracy of three-dimensional surveying using information included in the three-dimensional point cloud data acquired by the three-dimensional laser scanner. It was.

  An object of the present invention is to provide a three-dimensional surveying apparatus, a three-dimensional surveying method, and a three-dimensional surveying program capable of more accurate three-dimensional surveying.

In order to achieve the above object, one invention according to the present application is
The measurement object is irradiated with laser light emitted from a laser light source, the return light from the measurement object is received by a light receiving unit, and the measurement object is obtained from a distance obtained from the time difference between the received time and the emission time. A three-dimensional surveying device including a control unit for obtaining the three-dimensional coordinate data of
The control unit is based on at least one information of distance information to the measurement object, color information of the measurement object, and light reception sensitivity information of the return light among information associated with the three-dimensional coordinate data. It has a function of correcting the three-dimensional coordinate data by a weighted residual method.

Also, other inventions related to this application are:
The measurement object is irradiated with laser light emitted from a laser light source, the return light from the measurement object is received by a light receiving unit, and the measurement object is obtained from a distance obtained from the time difference between the received time and the emission time. A three-dimensional surveying method using a three-dimensional surveying apparatus capable of acquiring the three-dimensional coordinate data of
Acquiring three-dimensional coordinate data of the measurement object by the three-dimensional surveying device;
A weighted residual method based on at least one information of distance information to the measurement object, color information of the measurement object, and light receiving sensitivity information of the return light among information associated with the three-dimensional coordinate data Correcting the three-dimensional coordinate data by:
I was prepared to.

Also, other inventions related to this application are:
The measurement object is irradiated with laser light emitted from a laser light source, the return light from the measurement object is received by a light receiving unit, and the measurement object is obtained from a distance obtained from the time difference between the received time and the emission time. A three-dimensional survey program for performing a three-dimensional survey of the measurement object using a three-dimensional survey apparatus capable of acquiring the three-dimensional coordinate data of
In the computer included in the three-dimensional surveying device,
A process of operating the three-dimensional surveying device to acquire three-dimensional coordinate data of the measurement object;
A weighted residual method based on at least one information of distance information to the measurement object, color information of the measurement object, and light receiving sensitivity information of the return light among information associated with the three-dimensional coordinate data A process of correcting the three-dimensional coordinate data by:
Was made to run.

  According to the three-dimensional surveying apparatus, the three-dimensional surveying method, and the three-dimensional surveying program configured as described above, the three-dimensional coordinate data of the measurement object acquired by the three-dimensional surveying apparatus is stored in the information associated with the three-dimensional coordinate data. Among them, since it can be corrected by the weighted residual method based on at least one of the distance information to the measurement object, the color information of the measurement object, and the light receiving sensitivity information of the return light, a more accurate three-dimensional survey can be performed. It can be carried out.

  According to the present invention, more accurate three-dimensional surveying can be performed.

It is a schematic block diagram which shows the three-dimensional survey apparatus of this embodiment. It is explanatory drawing regarding the three-dimensional survey by a three-dimensional survey apparatus. It is explanatory drawing regarding the three-dimensional survey by a three-dimensional survey apparatus. It is explanatory drawing about the standard deviation regarding a three-dimensional survey.

  Hereinafter, embodiments of a 3D surveying apparatus, a 3D surveying method, and a 3D surveying program according to the present invention will be described in detail with reference to the drawings. However, the embodiments described below are given various technically preferable limitations for carrying out the present invention, but the scope of the present invention is not limited to the following embodiments and illustrated examples.

FIG. 1 is a schematic configuration diagram illustrating a three-dimensional surveying apparatus 100 that acquires three-dimensional coordinate data of a measurement object 1 when performing three-dimensional surveying.
As shown in FIG. 1, the three-dimensional survey apparatus 100 emits laser light L <b> 1 from a laser light source 15 (described later) and irradiates the measurement object 1. Then, the return light L2 from the measurement object 1 is incident on the light receiving unit 16 (described later) of the three-dimensional survey apparatus 100.
In FIG. 1, the laser light L1 and the like are shown as different optical paths so that they can be easily distinguished from each other, but of course, the optical path of the laser light L1 and the optical path of the return light L2 are actually the same.

And the control part 11 (after-mentioned) of the three-dimensional survey apparatus 100 is based on the time difference of the time which radiate | emitted the laser beam L1 from the laser light source 15, and the time which received the return light L2 in the light-receiving part 16. The distance up to 1 can be determined.
For example, the distance (optical path length) to the measurement point of the measuring object 1 is 1/2 of the value obtained by multiplying the propagation speed of the laser light by the time difference between the time when the laser light is emitted and the time when the return light is received. It can be obtained as a value.

  As shown in FIG. 1, the three-dimensional survey apparatus 100 includes a control unit 11, an operation input unit 12, a display unit 13, a storage unit 14, a laser light source 15, a light receiving unit 16, and a scanning unit 17. The above units are connected to each other by an internal bus, wiring, and the like, and are in a state that can be controlled by the control unit 11.

The operation input unit 12 receives an operation input from a user and outputs an operation signal corresponding to the operation input to the control unit 11.
For example, the operation input unit 12 accepts input of coordinate information of the position where the 3D survey device 100 is installed, and the scanning unit 17 determines the emission angle of the laser light L1 emitted from the 3D survey device 100 (laser light source 15). Accept operation input for switching.
The operation input unit 12 may be a touch panel formed integrally with the display unit 13 such as a smartphone or a tablet terminal.

The display unit 13 displays an image based on the display control signal output from the control unit 11 on the display screen. For example, the display unit 13 may be an LCD (Liquid Crystal Display), an FPD (Flat Panel Display) using an organic EL (Electro Luminescence) element, or the like.
The display unit 13 may be a touch panel formed integrally with the operation input unit 12 such as a smartphone or a tablet terminal.

  The storage unit 14 stores program data (for example, a three-dimensional survey program), various setting data, and the like in a readable / writable manner from the control unit 11. For example, the storage unit 14 may be an HDD (Hard Disk Drive), a semiconductor memory, or the like.

The laser light source 15 emits a laser beam L <b> 1 for measuring the distance to the measurement object 1 or acquiring coordinate data of the measurement point of the measurement object 1 under the control of the control unit 11. For example, the laser light source 15 may be a semiconductor laser element or the like.
The wavelength and output power of the laser light emitted from the laser light source 15 may be any wavelength that is suitable for distance measurement, and it is desirable that the wavelength and output power be safe for human eyes.

  The light receiving unit 16 receives the return light L2 from the measurement object 1, that is, the return light L2 of the laser light L1 emitted from the laser light source 15, and outputs the received information to the control unit 11. For example, the light receiving unit 16 may be a semiconductor light receiving element such as a photodiode or a CCD (Charge Coupled Device).

  The scanning unit 17 switches so as to scan the emission angle (emission direction) of the laser light emitted from the three-dimensional surveying device 100 under the control of the control unit 11. The scanning unit 17 outputs the emission angle information of the laser beam emitted from the three-dimensional survey apparatus 100 (laser light source 15) to the control unit 11. For example, the scanning unit 17 may switch the emission angle of the laser light that is optically emitted, or mechanically change the emission direction of the laser light source 15 to switch the emission angle of the laser light. It may be. Further, the laser light source 15 itself may have the function of the scanning unit 17.

  The control unit 11 centrally controls the operation of the three-dimensional survey apparatus 100. Specifically, the control unit 11 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and the storage unit 14 (or the development expanded in the RAM work area) (or The program data stored in the ROM) and the CPU cooperate to control each part of the apparatus. That is, the control unit 11 functions as a computer that performs overall control of the three-dimensional survey apparatus 100.

The control unit 11 irradiates the measurement target 1 with the laser light L1 emitted from the laser light source 15, receives the return light L2 from the measurement target 1 with the light receiving unit 16, and emits the received time and the laser light L1. The processing for obtaining the three-dimensional coordinate data of the measuring object 1 is executed from the distance obtained from the time difference from the measured time and the angle at which the laser beam L1 is emitted toward the measuring object 1.
Note that the process by which the control unit 11 of the three-dimensional survey apparatus 100 (three-dimensional laser scanner) obtains the three-dimensional coordinate data of the measurement object 1 is the same as that conventionally known and will not be described in detail here.

Incidentally, various information is associated with the acquired three-dimensional coordinate data.
For example, the three-dimensional coordinate data is associated with at least one information among distance information to the measurement object 1 (measurement point), color information of the measurement object 1 (measurement point), and light reception sensitivity information of the return light L2. It has been.
And the control part 11 is the distance information with the measurement object 1 (measurement point) among the information linked | related with the acquired three-dimensional coordinate data, the color information of the measurement object 1 (measurement point), and return light L2. The processing for correcting the three-dimensional coordinate data is executed by a weighted residual method based on at least one piece of the light receiving sensitivity information.

Next, 3D surveying by the 3D surveying apparatus 100 of the present embodiment will be described.
In the present embodiment, in the station yard shown in FIG. 2, the three-dimensional surveying apparatus 100 installed on one platform P1 is used as an example for the three-dimensional survey using the other platform P2 across the track R as the measurement object 1. explain.

First, as shown in FIGS. 2 and 3, the laser beam L <b> 1 emitted from the three-dimensional survey apparatus 100 is scanned to acquire a large number of three-dimensional coordinate data of the platform P <b> 2 that is the measurement object 1.
And when calculating | requiring more precisely the height (z coordinate) of the upper surface of the platform P2, three-dimensional coordinate data is correct | amended by the weighted residual method based on the information linked | related with the acquired three-dimensional coordinate data. Execute the process.
In the present embodiment, the three-dimensional coordinate data is corrected by a weighted residual method based on distance information (that is, measurement distance) from the measurement object 1 (platform P2).

In the first step of the correction process, the three-dimensional coordinate data in which the laser beam L1 hits the upper surface of the platform P2 is extracted from the many acquired three-dimensional coordinate data.
Next, in the second step of the correction process, since the z coordinate of the extracted three-dimensional coordinate data corresponds to the height of the upper surface of the platform P2, an average value (z bar) of the z coordinate values is calculated. The average value is temporarily set as the height of the upper surface of the platform P2.
Next, in the third step of the correction process, the standard deviation σ is calculated based on the correction function related to the error characteristic based on the distance information with respect to the measurement object, the color information of the measurement object, and the light receiving sensitivity information of the return light. For example, as shown in FIG. 4, the standard deviation σ is calculated based on a correction function based on actual measurement data. 3 and 4 exemplify the calculation of the standard deviation σ based on the distance information at the measurement point (i = 1, z coordinate (z ₁ = 55.2)) where the measurement distance as the distance information is 17 m. doing.
Next, in the fourth step of the correction process, a weighted residual sum of squares J is calculated based on the following equation (1), and a z bar that minimizes the value of J is determined.
The z bar value thus determined corresponds to a value obtained by correcting the z coordinate value of the three-dimensional coordinate data by the weighted residual method.

As described above, the three-dimensional surveying apparatus 100 can obtain the height (z coordinate) of the upper surface of the platform P2 more accurately by executing the correction process using the weighted residual method.
Here, the correction of the z-coordinate corresponding to the height of the upper surface of the platform P2 has been described. However, the coordinates (x-coordinate, y-coordinate, z-coordinate) corresponding to the side surface of the platform P2 and the columns and walls on the platform P2. The correction can be performed in the same manner.

  As described above, the 3D surveying apparatus 100 according to the present embodiment can perform correction processing by the weighted residual method on the 3D coordinate data acquired by 3D surveying. The accuracy can be grasped more accurately, and a more accurate three-dimensional survey can be performed.

  In the above embodiment, the process of correcting the three-dimensional coordinate data by the weighted residual method based on the distance information with the measurement object 1 (measurement point) associated with the acquired three-dimensional coordinate data. However, the present invention is not limited to this, and the process of correcting the three-dimensional coordinate data by the weighted residual method based on the color information of the measurement object 1 (measurement point) or the return A process for correcting the three-dimensional coordinate data by the weighted residual method based on the light receiving sensitivity information of the light L2, or a process for correcting the three-dimensional coordinate data by the weighted residual method based on some of the information is performed. You may do it.

  Further, a residual method may be applied in which a target is attached to a predetermined position of the measurement object 1 and the three-dimensional coordinate data acquired based on the target is weighted higher than the three-dimensional coordinate data other than the target. Good. Note that the target preferably has a special color, reflectivity, or shape.

  In addition, it is needless to say that other specific detailed structures can be appropriately changed.

DESCRIPTION OF SYMBOLS 1 Measurement object 11 Control part 12 Operation input part 13 Display part 14 Memory | storage part 15 Laser light source 16 Light-receiving part 17 Scanning part 100 Three-dimensional survey apparatus P1 One platform P2 The other platform L1 Laser light L2 Return light

Claims (3)

The measurement object is irradiated with laser light emitted from a laser light source, the return light from the measurement object is received by a light receiving unit, and the measurement object is obtained from a distance obtained from the time difference between the received time and the emission time. A three-dimensional surveying device including a control unit for obtaining the three-dimensional coordinate data of
The control unit is based on at least one information of distance information to the measurement object, color information of the measurement object, and light reception sensitivity information of the return light among information associated with the three-dimensional coordinate data. A three-dimensional surveying apparatus having a function of correcting the three-dimensional coordinate data by a weighted residual method. The measurement object is irradiated with laser light emitted from a laser light source, the return light from the measurement object is received by a light receiving unit, and the measurement object is obtained from a distance obtained from the time difference between the received time and the emission time. A three-dimensional surveying method using a three-dimensional surveying apparatus capable of acquiring the three-dimensional coordinate data of
Acquiring three-dimensional coordinate data of the measurement object by the three-dimensional surveying device;
A weighted residual method based on at least one information of distance information to the measurement object, color information of the measurement object, and light receiving sensitivity information of the return light among information associated with the three-dimensional coordinate data Correcting the three-dimensional coordinate data by:
A three-dimensional surveying method comprising: The measurement object is irradiated with laser light emitted from a laser light source, the return light from the measurement object is received by a light receiving unit, and the measurement object is obtained from a distance obtained from the time difference between the received time and the emission time. A three-dimensional survey program for performing a three-dimensional survey of the measurement object using a three-dimensional survey apparatus capable of acquiring the three-dimensional coordinate data of
In the computer included in the three-dimensional surveying device,
A process of operating the three-dimensional surveying device to acquire three-dimensional coordinate data of the measurement object;
A weighted residual method based on at least one information of distance information to the measurement object, color information of the measurement object, and light receiving sensitivity information of the return light among information associated with the three-dimensional coordinate data A process of correcting the three-dimensional coordinate data by:
A three-dimensional survey program characterized in that is executed.

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