JP2020020747A - レーザスキャナシステム - Google Patents
レーザスキャナシステム Download PDFInfo
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- JP2020020747A JP2020020747A JP2018146746A JP2018146746A JP2020020747A JP 2020020747 A JP2020020747 A JP 2020020747A JP 2018146746 A JP2018146746 A JP 2018146746A JP 2018146746 A JP2018146746 A JP 2018146746A JP 2020020747 A JP2020020747 A JP 2020020747A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4808—Evaluating distance, position or velocity data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S2013/466—Indirect determination of position data by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
- G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
3 スキャナ本体
5 固定部
6 托架部
7 水平回転軸
11 水平角エンコーダ
12 鉛直回転軸
15 鉛直角エンコーダ
16 走査鏡
18 アンテナ
19 移動局
21 演算制御部
22 記憶部
23 距離測定部
24 第1固定局
25 第2固定局
26 第3固定局
31 固定局装置
33 ターゲット
35 気圧センサ
Claims (8)
- 移動局を有し、3次元点群データを取得するレーザスキャナと、少なくとも3つの固定局とを有するレーザスキャナシステムであって、前記レーザスキャナは、該レーザスキャナの水平回転軸心上の機械点から既知の位置にオフセットされた移動局と、前記レーザスキャナの相対水平角を検出する水平角検出部と、前記レーザスキャナの水平回転を制御する演算制御部とを具備し、前記固定局は、前記移動局にパルスを発信し、該移動局からのパルスを受信することで該移動局との距離を測定可能であり、前記演算制御部は、各固定局で形成される2次元の固定局座標系を演算し、前記レーザスキャナを前記機械点を中心に360°水平回転させつつ、所定角度毎に各固定局を中心とし、各固定局と前記移動局との距離を半径とする少なくとも3つの円の交点の座標を前記移動局の測位結果として演算し、360°分の各測位結果を平均して前記固定局座標系での概略機械点座標を演算するレーザスキャナシステム。
- 前記演算制御部は、前記移動局の測位結果に基づき、前記機械点と前記移動局を結ぶ直線と前記固定局座標系の基準軸とが成す概略回転角と、前記水平角検出部で検出される相対水平角とを対応付け、前記概略回転角が0°となる時の前記相対水平角を概略方位角として演算する請求項1に記載のレーザスキャナシステム。
- 前記演算制御部は、演算された前記概略機械点座標と前記概略方位角とを初期値として、前記レーザスキャナで取得された複数の3次元点群データを結合させる請求項2に記載のレーザスキャナシステム。
- 前記各固定局は、既知の3次元座標を有する請求項3に記載のレーザスキャナシステム。
- 前記固定局は他の固定局との距離を測定可能であり、前記演算制御部は、前記固定局のうちの2つの前記固定局座標系での位置を設定し、前記2つの固定局を中心とし、残りの固定局との距離を半径とする少なくとも2つの円が交差する少なくとも2点に基づき前記残りの固定局の2つの候補位置を演算し、各候補位置で前記移動局の測位結果の軌跡をそれぞれ取得し、托架部の回転方向と合致する回転方向で取得される軌跡を有する前記候補位置を前記残りの固定局の設置位置として決定する請求項3に記載のレーザスキャナシステム。
- 前記概略機械点座標と前記概略方位角の演算後、前記固定局のうちの1つと前記移動局とを移動させ、前記演算制御部が再度概略機械点座標と前記概略方位角を演算する請求項4又は請求項5に記載のレーザスキャナシステム。
- 前記移動局と少なくとも1つの前記固定局にそれぞれ気圧センサが設けられ、前記演算制御部は、各気圧センサの検出結果に基づき前記固定局に対する前記移動局の相対的な高さを演算し、演算した高さに基づき3次元の概略機械点座標を演算する請求項4〜請求項6のうちのいずれか1項に記載のレーザスキャナシステム。
- 前記各固定局はそれぞれ固定局装置に設けられ、該固定局装置は前記レーザスキャナにより3次元座標を測定可能なターゲットを具備する請求項1〜請求項7のうちいずれか1項に記載のレーザスキャナシステム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018146746A JP7120723B2 (ja) | 2018-08-03 | 2018-08-03 | レーザスキャナシステム |
US16/524,329 US10823563B2 (en) | 2018-08-03 | 2019-07-29 | Laser scanner system |
EP19189276.9A EP3605133B1 (en) | 2018-08-03 | 2019-07-31 | Laser scanner system |
CN201910712847.5A CN110850430B (zh) | 2018-08-03 | 2019-08-02 | 激光扫描系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018146746A JP7120723B2 (ja) | 2018-08-03 | 2018-08-03 | レーザスキャナシステム |
Publications (2)
Publication Number | Publication Date |
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JP2020020747A true JP2020020747A (ja) | 2020-02-06 |
JP7120723B2 JP7120723B2 (ja) | 2022-08-17 |
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JP2018146746A Active JP7120723B2 (ja) | 2018-08-03 | 2018-08-03 | レーザスキャナシステム |
Country Status (4)
Country | Link |
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US (1) | US10823563B2 (ja) |
EP (1) | EP3605133B1 (ja) |
JP (1) | JP7120723B2 (ja) |
CN (1) | CN110850430B (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022059051A1 (ja) * | 2020-09-15 | 2022-03-24 | 日本電信電話株式会社 | 3d点群の座標を変換する装置、方法及びプログラム |
WO2022168260A1 (ja) * | 2021-02-05 | 2022-08-11 | 日本電信電話株式会社 | 3d点群の座標を変換する装置、方法及びプログラム |
JP2023074965A (ja) * | 2021-11-18 | 2023-05-30 | ソフトバンク株式会社 | 測位システム、管理装置、測位方法及びプログラム |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11585917B1 (en) | 2021-08-24 | 2023-02-21 | Google Llc | Systems and methods for generating three-dimensional maps of an indoor space |
CN117491313B (zh) * | 2023-11-13 | 2024-05-28 | 南京市锅炉压力容器检验研究院 | 一种基于tdlas的场区甲烷泄漏空间智能识别方法 |
CN117948952B (zh) * | 2024-03-27 | 2024-05-28 | 武汉市云宇智能科技有限责任公司 | 一种点云扫描方法及系统 |
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- 2018-08-03 JP JP2018146746A patent/JP7120723B2/ja active Active
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2019
- 2019-07-29 US US16/524,329 patent/US10823563B2/en active Active
- 2019-07-31 EP EP19189276.9A patent/EP3605133B1/en active Active
- 2019-08-02 CN CN201910712847.5A patent/CN110850430B/zh active Active
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JP2007200045A (ja) * | 2006-01-26 | 2007-08-09 | Matsushita Electric Works Ltd | 自律移動装置 |
JP2016536613A (ja) * | 2013-09-20 | 2016-11-24 | キャタピラー インコーポレイテッドCaterpillar Incorporated | 無線周波数信号を用いた位置決めシステム |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2022059051A1 (ja) * | 2020-09-15 | 2022-03-24 | 日本電信電話株式会社 | 3d点群の座標を変換する装置、方法及びプログラム |
WO2022168260A1 (ja) * | 2021-02-05 | 2022-08-11 | 日本電信電話株式会社 | 3d点群の座標を変換する装置、方法及びプログラム |
JP2023074965A (ja) * | 2021-11-18 | 2023-05-30 | ソフトバンク株式会社 | 測位システム、管理装置、測位方法及びプログラム |
JP7361085B2 (ja) | 2021-11-18 | 2023-10-13 | ソフトバンク株式会社 | 測位システム、管理装置、測位方法及びプログラム |
Also Published As
Publication number | Publication date |
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CN110850430A (zh) | 2020-02-28 |
JP7120723B2 (ja) | 2022-08-17 |
EP3605133A1 (en) | 2020-02-05 |
US20200041268A1 (en) | 2020-02-06 |
US10823563B2 (en) | 2020-11-03 |
CN110850430B (zh) | 2023-08-04 |
EP3605133B1 (en) | 2020-08-26 |
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