JP2019090758A - Shape measurement system for floor, and measurement method - Google Patents

Abstract

To provide a shape measurement system for floor and a measurement method that never cause error accumulation due to repetition of scan data combining in a height direction.SOLUTION: A shape measurement system for floor comprises: a marker whose coordinates are known; a laser scanner 12 which makes a laser scan, area by area, to acquire scan data on a floor and the marker; installation height measuring means 18 for measuring an installation height of the laser scanner 12; and data integrating means 26 for matching scan data on the marker between adjacent areas so as to convert scan data on the floor of the respective areas to a coordinate system common to all the areas and then integrate them. The data integrating means 26 uses, when converting the scan data on the floor of the respective areas to the coordinate system common to all the areas, the installation height of the laser scanner 12 measured by the installation height measuring means 18 as a coordinate value of origin height of scan data on the floor of a corresponding area.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a floor shape measurement system and measurement method.

  Conventionally, when measuring the concavo-convex shape (smoothness) of a floor in construction management of a concrete slab, measure the height (Z value) of the floor at the horizontal position (X, Y position) on the floor . In this measurement, an XY position representing a place on the floor surface should be able to be measured on the order of centimeters, but a height is required to have a high-precision measurement on the order of millimeters.

  As one of the conventional floor shape measurement techniques, there is a method using a three-dimensional laser scanner 1 and a reference marker 2 as shown in FIG. In this method, the area 3 that can be measured from the position where the laser scanner 1 is installed is limited. Therefore, in the case of measuring a wide area, a method is used in which the installation position of the laser scanner 1 is moved to perform scanning in a plurality of areas 3 and thereafter, each scan data is combined. At this time, three or more markers 2 (for example, spheres) are set in advance in adjacent and overlapping area 3 and two adjacent areas are matched by matching scan data of marker 2 at the time of scan data combining processing. Combine 3 scan data.

  On the other hand, as a conventional technique for measuring the height of a floor surface, a method using a laser level and a light receiver is known (see, for example, Patent Document 1).

Unexamined-Japanese-Patent No. 11-218422 gazette

  However, in the measurement method using the conventional laser scanner 1 and the reference marker 2 described above, the marker matching error between the two scan data is an error because it is accumulated while sequentially connecting a plurality of successive areas 3 Accumulation may occur. When the floor of a large area is divided into a plurality of areas and measured by a laser scanner, there is a possibility that the measurement in the height direction can not meet the required accuracy.

  Therefore, there has been a demand for a measurement technique that does not cause error accumulation due to repeated scan data connection in the height direction.

  The present invention has been made in view of the above, and it is an object of the present invention to provide a floor shape measurement system and measurement method that do not cause error accumulation due to repeated scan data coupling in the height direction.

  In order to solve the above-described problems and achieve the object, the floor shape measuring system according to the present invention is a system that measures the uneven shape of the floor divided into a plurality of measurement areas, and overlaps adjacent areas. Of the markers whose coordinates are known, the laser scanner that acquires the floor and marker scan data by laser scanning for each area, and the installation height that measures the installation height of the laser scanner at the scanning position Data integration means comprising measurement means and data integration means for converting scan data of the floor of each area into a common coordinate system in all areas by matching scan data of markers between adjacent areas; When converting scan data of the floor of each area to a common coordinate system in all areas, the ray measured by the installation height measuring means The installation height of over scanner, characterized by using as the origin the height of the coordinate values of the corresponding floor scan data area.

  In the floor shape measuring system according to the present invention, in the above-described invention, the installation height measuring means is a laser level and a laser level for horizontally irradiating a laser beam toward the laser scanner at each scan position. Is characterized by including a light receiving sensor provided in the laser scanner for receiving the laser light from the light source, and an arithmetic device for calculating the installation height of the laser scanner based on the light receiving signal detected by the light receiving sensor. I assume.

  The floor shape measuring method according to the present invention is a method of dividing the floor into a plurality of measurement areas and measuring the uneven shape of the floor, and installing markers whose coordinates are known at overlapping positions of adjacent areas. Step: installing a laser scanner and performing laser scanning for each area to acquire floor and marker scan data; measuring the installation height of the laser scanner at the scanning position; and adjacent areas Converting the scan data of the floor of each area into a common coordinate system in all areas by matching the scan data of the markers and integrating the scan data of the floor of each area in common coordinates in all areas When converting to a system, the measured installation height of the laser scanner is the height of the origin of the scan data of the floor in the corresponding area. It is characterized by using as the coordinate value.

  In another floor shape measuring method according to the present invention, in the above-described invention, the step of measuring the installation height of the laser scanner at the scan position is a step of installing the laser level at a position where the entire measurement area can be seen; The steps of installing a light receiving sensor for receiving the laser light from the laser level in the laser scanner, irradiating the laser light in the horizontal direction toward the laser scanner at each scanning position from the laser level, and detecting by the light receiving sensor And calculating the installation height of the laser scanner based on the light reception signal.

  According to the floor shape measuring system according to the present invention, it is a system for measuring the uneven shape of the floor divided into a plurality of measurement areas, which is installed at overlapping positions of adjacent areas, and the markers whose coordinates are known And a laser scanner for acquiring the scan data of the floor and the marker by laser scanning for each area, an installation height measuring means for measuring the installation height of the laser scanner at the scan position, and a marker scan between adjacent areas The data integration means is provided with data integration means for converting and integrating scan data of the floor of each area into a common coordinate system in all areas by matching data, and the data integration means comprises the entire area of scan data of the floor of each area When converting to the common coordinate system, the installation height of the laser scanner measured by the installation height Since used as the coordinate values of the origin height of the floor of the scan data, an effect that error accumulation due to repeated scan data binding with respect to the height direction can provide a system that does not occur.

  Further, according to another floor shape measurement system according to the present invention, the installation height measurement means is a laser level for horizontally irradiating a laser beam toward the laser scanner at each scan position, and a laser from the laser level. Since the system includes a light receiving sensor provided in the laser scanner to receive light, and an arithmetic device for calculating the installation height of the laser scanner based on the light receiving signal detected by the light receiving sensor, the laser level and the light receiving An effect is obtained that the installation height measuring means can be easily configured by the sensor.

  Further, according to the floor shape measuring method according to the present invention, the uneven shape of the floor is measured by dividing the floor into a plurality of measurement areas, and markers having known coordinates at overlapping positions of adjacent areas are used. The steps of installing, installing a laser scanner, performing laser scanning for each area to acquire floor and marker scan data, measuring the installation height of the laser scanner at the scanning position, and adjacent areas And converting the scan data of the floor of each area into a common coordinate system in all areas by matching the scan data of the markers between them, and integrating the scan data of the floor of each area in all areas. When converting to the coordinate system, the measured installation height of the laser scanner can be used to scan the floor scan data of the corresponding area. Since it used as a coordinate value of the point heights, an effect that error accumulation due to repeated scan data binding with respect to the height direction can be provided a method that does not occur.

  Further, according to another floor shape measuring method according to the present invention, the step of measuring the installation height of the laser scanner at the scan position comprises the step of installing the laser level at a position where the entire measurement area can be seen; Installing a light receiving sensor for receiving the laser light in the laser scanner, irradiating the laser light in the horizontal direction from the laser level to the laser scanner at each scanning position, and a light receiving signal detected by the light receiving sensor Since the step of calculating the installation height of the laser scanner based on the above is included, the installation height of the laser scanner can be measured with a simple configuration of the laser level and the light receiving sensor.

FIG. 1 is a schematic view showing an embodiment of a floor shape measurement system and measurement method according to the present invention. FIG. 2 is a diagram showing the relationship between the position on the line sensor and the light reception intensity. FIG. 3 is an explanatory view of a conventional floor shape measurement method.

  Hereinafter, embodiments of a floor shape measurement system and a measurement method according to the present invention will be described in detail based on the drawings. The present invention is not limited by the embodiment.

(Floor shape measurement system)
First, an embodiment of a floor shape measurement system according to the present invention will be described.

  As shown in FIG. 1, the floor shape measurement system 10 according to the present embodiment is a system that measures unevenness of the floor divided into a plurality of measurement areas, and includes a three-dimensional laser scanner 12 and a line sensor 14. , A personal computer 16, a laser level 18, data integration means 26, and a marker not shown. As in the conventional case of FIG. 3, at least two markers are placed at overlapping positions of adjacent measurement areas, and the three-dimensional coordinates of the markers are known. The laser level 18, the line sensor 14 and the personal computer 16 function as the installation height measuring means of the present invention.

  The three-dimensional laser scanner 12 acquires the relative position of the measurement object from itself, and is installed on the top of the tripod 22 installed on the floor surface 20 in the measurement area. The three-dimensional laser scanner 12 performs three-dimensional laser scanning for each measurement area to acquire scan data representing the relative positions of the surrounding floor 20 and a large number of points including markers. A commercially available product can be applied as this three-dimensional laser scanner 12.

  The laser level 18 is a device that irradiates the laser light B in the horizontal direction toward the surroundings while rotating around the vertical line C, and is provided on the top of the tripod 24 installed on the floor surface 20. The laser level 18 is disposed at a position where the entire measurement area can be seen, and can emit the laser light B toward the three-dimensional laser scanner 12 at the scan position of each measurement area. The height of the laser beam B from the reference plane is known. A commercially available product (for example, product LNA 2L manufactured by Leica Geosystems, etc.) can be applied as the laser level 18. If such a product is used, high horizontal accuracy (for example, about 0.5 seconds: about 0.24 mm at 100 m) can be secured.

  The line sensor 14 is a light receiving sensor in which light receiving elements are arranged in a line in the vertical direction, and is fixed to the side surface of the base of the three-dimensional laser scanner 12. The line sensor 14 receives the laser light B emitted from the laser level 18 and detects a light reception signal in which the light reception intensity is associated with the position on the line sensor. The detected light reception signal is transmitted to the personal computer 16 through a wireless or wired communication line. Further, the position and the installation range of the line sensor 14 based on the coordinate origin of the three-dimensional laser scanner 12 itself are grasped in advance, and such information is stored in a database or the like (not shown) of the personal computer 16. A commercially available product can be applied as this line sensor 14. Instead of the line sensor 14, it is also possible to use an area sensor in which light receiving elements are two-dimensionally arranged.

  The personal computer 16 is an arithmetic device that calculates the installation height of the three-dimensional laser scanner 12 based on the light reception signal received from the line sensor 14. More specifically, as shown in FIG. 2, the personal computer 16 determines the light reception center value (light reception center position) of the laser light from the change of the light reception intensity on the line sensor 14 of the received light reception signal. The median value is set as the light receiving position on the line sensor 14. Then, referring to the position and the installation range of the line sensor 14 based on the coordinate origin of the 3D laser scanner 12 itself stored in a database or the like (not shown), the 3D laser scanner 12 itself based on the light receiving position. Calculate the height to the coordinate origin. By doing this, it is possible to accurately measure the installation height of the three-dimensional laser scanner 12 with reference to the irradiation height of the laser beam B. The calculated installation height is used for the processing of the data integration means 26.

  The data integration means 26 converts scan data of the floor 20 of each measurement area into a common coordinate system in all measurement areas and matches (joins) by matching scan data of markers between adjacent measurement areas. It is a thing. The data integration means 26 can be configured in the same manner as the means applied by the above-described conventional method, and can be configured by, for example, a data processing program executed on a computer. The data integrated into the common coordinate system by the data integration means 26 is output as three-dimensional shape data representing the uneven shape of the floor surface 20 in all measurement areas.

  Here, when converting scan data of the floor 20 of each measurement area into a common coordinate system in all measurement areas, the data integration means 26 of the present invention is an origin of scan data of the floor 20 of the corresponding measurement area. As a coordinate value of height, the installation height of the laser scanner 12 measured by the installation height measurement means (laser level 18, line sensor 14, personal computer 16) of this invention is used.

  In this way, error accumulation due to repetition of conventional data combination does not occur in the height direction. Therefore, according to the present embodiment, it is possible to provide a system in which error accumulation due to repetition of scan data combination does not occur in the height direction. Further, according to the present embodiment, the installation height measurement means can be easily configured by the laser level 18, the line sensor 14 and the personal computer 16.

(How to measure the shape of the floor)
Next, an embodiment of a floor shape measuring method according to the present invention will be described. The floor shape measurement method according to the present embodiment is a shape measurement method using the above-described floor shape measurement system 10.

  As shown in FIG. 1, first, the three-dimensional laser scanner 12 is installed in a predetermined measurement area, and the laser level 18 is installed at a position where the entire measurement area can be seen. Next, the line sensor 14 is fixed to the side surface of the base of the three-dimensional laser scanner 12. Next, the laser beam B is irradiated in the horizontal direction from the laser level 18, and the line sensor 14 acquires a light reception signal. Then, using the personal computer 16, the light reception center value (light reception center position) of the laser light is obtained from the change in reception intensity on the line sensor 14 of the acquired reception signal. This median value is set as a light receiving position on the line sensor 14, and the height to the coordinate origin of the three-dimensional laser scanner 12 itself with reference to the light receiving position is calculated. By doing this, the installation height at each scan position of the three-dimensional laser scanner 12 can be measured accurately.

  Thereafter, using the data integration means 26, scan data of all measurement areas are integrated (combined). At this time, the installation height measured at the laser level 18 is used for the coordinate value of the origin height of the scan data of each measurement area.

  In this way, error accumulation due to repetition of conventional data combination does not occur in the height direction. Therefore, according to the present embodiment, it is possible to provide a method in which error accumulation due to repetition of scan data combination does not occur in the height direction. Further, according to the present embodiment, the installation height of the three-dimensional laser scanner 12 at each scan position of a plurality of measurement areas can be easily measured using the laser level 18, the line sensor 14 and the personal computer 16. it can.

  As described above, according to the floor shape measuring system according to the present invention, it is a system that measures the uneven shape of the floor divided into a plurality of measurement areas, and is installed at overlapping positions of adjacent areas, Adjacent to the marker whose coordinates are known, the laser scanner that acquires the floor and marker scan data by laser scanning for each area, the installation height measurement unit that measures the installation height of the laser scanner at the scan position, And data integration means for converting and integrating scan data of the floor of each area into a common coordinate system in all areas by matching scan data of markers between the areas; Installation of the laser scanner measured by the installation height measurement means when converting the scan data of a common coordinate system in all areas Of the, since used as a coordinate value of the origin height of the corresponding floor scan data area, it is possible to provide a system that does not error accumulation occurs due to repeated scan data binding with respect to the height direction.

  Further, according to another floor shape measurement system according to the present invention, the installation height measurement means is a laser level for horizontally irradiating a laser beam toward the laser scanner at each scan position, and a laser from the laser level. Since the system includes a light receiving sensor provided in the laser scanner to receive light, and an arithmetic device for calculating the installation height of the laser scanner based on the light receiving signal detected by the light receiving sensor, the laser level and the light receiving The sensor can simplify the installation height measurement means.

  Further, according to the floor shape measuring method according to the present invention, the uneven shape of the floor is measured by dividing the floor into a plurality of measurement areas, and markers having known coordinates at overlapping positions of adjacent areas are used. The steps of installing, installing a laser scanner, performing laser scanning for each area to acquire floor and marker scan data, measuring the installation height of the laser scanner at the scanning position, and adjacent areas And converting the scan data of the floor of each area into a common coordinate system in all areas by matching the scan data of the markers between them, and integrating the scan data of the floor of each area in all areas. When converting to the coordinate system, the measured installation height of the laser scanner can be used to scan the floor scan data of the corresponding area. Since it used as a coordinate value of the point heights, error accumulation due to repeated scan data binding with respect to the height direction can be provided a method that does not occur.

  Further, according to another floor shape measuring method according to the present invention, the step of measuring the installation height of the laser scanner at the scan position comprises the step of installing the laser level at a position where the entire measurement area can be seen; Installing a light receiving sensor for receiving the laser light in the laser scanner, irradiating the laser light in the horizontal direction from the laser level to the laser scanner at each scanning position, and a light receiving signal detected by the light receiving sensor Since the step of calculating the installation height of the laser scanner based on the above is included, the installation height of the laser scanner can be measured with a simple configuration of the laser level and the light receiving sensor.

  As described above, the floor shape measurement system and measurement method according to the present invention are useful for measuring the uneven shape of a floor such as a concrete slab at the construction management stage, and in particular, it is possible to combine scan data in the height direction. It is suitable to prevent the occurrence of error accumulation due to repetition.

10 floor shape measurement system 12 3D laser scanner (laser scanner)
14 Line sensor (light receiving sensor)
16 personal computer (computing device)
18 Laser level (setting height measuring means)
20 floor surface 22, 24 tripod 26 data integration means B laser light C vertical line

Claims (4)

It is a system that measures the uneven shape of the floor divided into multiple measurement areas,
Markers which are located at overlapping positions of adjacent areas and whose coordinates are known;
A laser scanner that acquires floor and marker scan data by laser scanning in each area;
Installation height measurement means for measuring the installation height of the laser scanner at the scan position;
And data integration means for converting and integrating scan data of the floor of each area into a common coordinate system in all areas by matching scan data of markers between adjacent areas;
The data integration means scans the installation height of the laser scanner measured by the installation height measurement means when converting the scan data of the floor of each area into a common coordinate system in all areas, and scans the floor of the corresponding area. A floor shape measuring system characterized in that it is used as a coordinate value of an origin height of data.   The installation height measurement means includes a laser level for horizontally irradiating the laser light toward the laser scanner at each scan position, a light receiving sensor provided in the laser scanner for receiving the laser light from the laser level, and light reception The floor shape measuring system according to claim 1, further comprising: an arithmetic unit that calculates the installation height of the laser scanner based on the light reception signal detected by the sensor. It is a method of measuring the uneven shape of the floor divided into a plurality of measurement areas,
Placing markers whose coordinates are known at overlapping positions of adjacent areas;
Installing a laser scanner and performing laser scanning for each area to acquire floor and marker scan data;
Measuring the installation height of the laser scanner at the scanning position;
Converting the scan data of the floor of each area into a common coordinate system in all areas and matching them by matching the scan data of markers between adjacent areas;
When converting the scan data of the floor of each area to a common coordinate system in all areas, use the measured installation height of the laser scanner as the coordinate value of the origin height of the scan data of the floor of the corresponding area Floor shape measuring method characterized by The step of measuring the installation height of the laser scanner at the scan position is
Installing the laser level at a position where the entire measurement area can be seen;
Installing a light receiving sensor on the laser scanner for receiving the laser light from the laser level;
Irradiating the laser light horizontally from the laser level towards the laser scanner at each scan position;
The floor shape measuring method according to claim 3, further comprising the step of calculating the installation height of the laser scanner based on the light reception signal detected by the light reception sensor.

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