JP2020143990A - Mobile body measuring device - Google Patents

Abstract

To reduce the workload on the calibration of a sensor group.SOLUTION: A mobile body measuring device 100 has a sensor group including a positioning antenna (101), a laser scanner (102), an inertial measurement unit (103), and cameras (104a, 104b). The positioning antenna, the laser scanner, the inertial measurement unit, and the cameras are located on the same straight line in a vertical direction. The sensor group is attached to the housing 110 so that the sensor group is integrated.SELECTED DRAWING: Figure 3

Description

The present invention relates to the arrangement of a group of sensors that three-dimensionally measure the periphery of a moving body.

A mobile mapping system (MMS) is used to measure the surroundings in three dimensions with high accuracy while moving.

Sensors such as GPS antennas, laser scanners, IMUs and cameras are arranged to establish MMS.
GPS is an abbreviation for Global Positioning System.
IMU is an abbreviation for Inertial Measurement Unit.

In MMS, GPS antennas, laser scanners, IMUs and cameras must be correctly defined for their positional relationship and their attitude relationship with each other.
If these positional relationships or attitude relationships are incorrect, the three-dimensional point cloud obtained by MMS will be distorted. In addition, the three-dimensional point cloud cannot be colored.
Therefore, it is necessary to correctly estimate these positional / postural relationships.

U.S. Patent Application Publication No. 2017/0026576

In MMS, the positional relationship between sensors such as GPS antennas, lasers, IMUs, and cameras needs to be estimated correctly. The work for that is called calibration.
Calibration is a complicated work such as running an MMS vehicle and adjusting parameters indicating the position and orientation of each device by post-processing, which requires time and cost.

Patent Document 1 discloses a measuring device including an omnidirectional camera and a scanner.
In this measuring device, the scanner is mounted diagonally upward at the upper corner of the camera so that the scanner does not block the field of view of the omnidirectional camera as much as possible.
When this measuring device is used in MMS, it is necessary to correctly estimate the positional / attitude relationship between the omnidirectional camera and the scanner. However, the calibration for that purpose is a complicated work and requires time and cost.

An object of the present invention is to reduce the workload required for calibrating a sensor group.

The moving body measuring device of the present invention
It is equipped with a sensor group including a positioning antenna, a laser scanner, and an inertial measurement unit.
The positioning antenna, the laser scanner, and the inertial measurement unit are arranged side by side on a straight line in the vertical direction.

According to the present invention, it is possible to reduce the workload required for calibrating the sensor group.

The schematic diagram of Embodiment 1. The schematic diagram of Embodiment 1. The block diagram of the moving body measuring apparatus 100 in Embodiment 1. FIG. The block diagram of the moving body measuring apparatus 100 in Embodiment 1. FIG. The block diagram of the moving body measuring apparatus 100 in Embodiment 1. FIG. The plan view of the pedestal 120 in the second embodiment. The front view of the moving body measuring apparatus 100 in Embodiment 3. The left side view of the moving body measuring apparatus 100 in Embodiment 3. The right side view of the moving body measuring apparatus 100 in Embodiment 3. The rear view of the moving body measuring apparatus 100 in Embodiment 3. FIG. The plan view of the moving body measuring apparatus 100 in Embodiment 3. FIG. The left side view of the attachment 310 in Embodiment 4. FIG. 5 is a plan view of the attachment 310 according to the fourth embodiment. The front view of the attachment 310 in Embodiment 4. FIG. 5 is a plan view of another example of the attachment 310 according to the fourth embodiment. The figure which shows the internal structure of the housing 200 in Embodiment 5. The figure which shows another example of the internal structure of the housing 200 in Embodiment 5. The figure which shows another example of the internal structure of the housing 200 in Embodiment 5. The figure which shows the 1st configuration example of the moving body measuring apparatus 100 in Embodiment 6. The figure which shows the 2nd structural example of the moving body measuring apparatus 100 in Embodiment 6. The figure which shows the 3rd structural example of the moving body measuring apparatus 100 in Embodiment 6. The figure which shows the example of the 1st elevating mechanism of the moving body measuring apparatus 100 in Embodiment 6. The figure which shows the example of the 2nd elevating mechanism of the moving body measuring apparatus 100 in Embodiment 6. The figure which shows the example of the 3rd elevating mechanism of the moving body measuring apparatus 100 in Embodiment 6. The figure which shows the example of the 4th elevating mechanism of the moving body measuring apparatus 100 in Embodiment 6.

In embodiments and drawings, the same or corresponding elements are designated by the same reference numerals. Descriptions of elements with the same reference numerals as the described elements will be omitted or simplified as appropriate.

Embodiment 1.
A mode for devising the arrangement of the sensor group used in MMS will be described with reference to FIGS. 1 to 5.

*** Outline explanation ***
The outline of the first embodiment will be described with reference to FIGS. 1 and 2.
The XY axis represents the plane direction in the coordinate system of the sensor group 109. The plane direction corresponds to the horizontal direction, the horizontal direction, and the like.
The Z axis represents the vertical direction in the coordinate system of the sensor group 109. The vertical direction corresponds to the vertical direction, the height direction, the vertical direction, and the like.

In the first embodiment, the GPS antenna 101, the laser scanner 102, the IMU 103, and the cameras (104a, 104b) are arranged side by side on a straight line in the vertical direction (see FIGS. 1 and 2).

Each of the GPS antenna 101, the laser scanner 102, the IMU 103, and the cameras (104a, 104b) are "sensors" that constitute a "moving object measuring device" in MMS. A set of two or more sensors is referred to as a "sensor group 109".

The GPS antenna 101 is an antenna used in GPS.
GPS is an example of the Global Positioning System (GNSS). The global navigation satellite system is called a "satellite positioning system".
The antenna used in the satellite positioning system is called a "satellite positioning antenna". The GPS antenna 101 is an example of a satellite positioning antenna.
IMU103 is an "inertial measurement unit".

If the reception position of the GPS antenna 101, the laser emission position of the laser scanner 102, the measurement position of the IMU 103, and the focal position of the cameras (104a, 104b) are arranged side by side on a straight line in the vertical direction, each sensor May be installed diagonally (see Fig. 2).
In FIG. 2, the laser scanner 102, the camera 104a, and the camera 104b are installed obliquely.

The reception position is a position where the positioning signal is received, and corresponds to the coordinates of the center of the GPS antenna 101.
The laser emission position is a position where the laser is emitted and a position where the laser is incident, and corresponds to the coordinates of the center of the laser scanner 102. A laser is also called a laser beam.
The measurement position is the position to be measured and corresponds to the coordinates of the center of the IMU 103.
The focal position is a focal position and corresponds to the coordinates of the center of the camera 104.
The reception position, the laser emission position, the measurement position, and the focal position are referred to as "center positions" of each sensor.

The laser scanner 102 is usually installed horizontally (horizontally) or diagonally. The laser scanner 102 basically irradiates the laser in the lateral direction. When the laser scanner 102 is installed obliquely, the laser is irradiated in the oblique direction.
The laser scanner 102 should be installed as high as possible so that the laser scanner 102 can measure a wide range.
The upper part of the GPS antenna 101 must be open. Therefore, no other sensor should be installed on the GPS antenna 101.
Therefore, the GPS antenna 101 is located at the top and the laser scanner 102 is located immediately below the GPS antenna 101.

The GPS antenna 101, the laser scanner 102, the IMU 103 and the cameras (104a, camera 104b) are located as close as possible.
The GPS antenna 101, the laser scanner 102, the IMU 103, and the cameras (104a, 104b) are arranged in a state of maintaining rigidity.

*** Explanation of configuration ***
The configuration of the moving body measuring device 100 will be described with reference to FIGS. 3, 4, and 5.
The moving body measuring device 100 is a device mounted on the moving body and for three-dimensionally measuring the periphery of the moving body. A specific example of a moving body is a vehicle.

In FIG. 3, the moving body measuring device 100 includes a housing 110 and a sensor group.
The housing 110 is made of metal and has rigidity.
The sensor group is a set of a GPS antenna 101, a laser scanner 102, an IMU 103, and cameras (104a, 104b).
The sensor group is integrated by being attached to the housing 110.

By attaching the sensor group to one housing 110, the sensor group is arranged as close as possible.
Since the housing 110 has rigidity, the sensor group is arranged in a state of maintaining rigidity.

The moving body measuring device 100 is installed on, for example, an MMS measuring vehicle.
Since the sensor group is integrated, even if the moving body measuring device 100 is removed from the measuring vehicle, the positional relationship of the sensor group and the posture relationship of the sensor group are not disrupted. Therefore, the following effects can be obtained.
-The calibration does not break even if the sensor group (moving body measuring device 100) is removed for repair or the like.
-There is no need to recalibrate when the sensor group is installed at a higher position.

As shown in FIG. 4, as long as the center positions of the sensors are arranged side by side on a straight line in the vertical direction, the sensors may be mounted diagonally.
In FIG. 4, each of the laser scanner 102, the camera 104a, and the camera 104b is obliquely attached.

As shown in FIG. 5, the moving body measuring device 100 does not have to include cameras (104a, 104b).
Further, a support rod 111 or the like may be provided under the housing 110, and the sensor group may be arranged at a higher position.

*** Effect of Embodiment 1 ***
In the first embodiment, it has been described that the arrangement of the sensor group is devised. In particular, the following ideas were explained.
-The GPS antenna 101, the laser scanner 102, the IMU 103, and (the camera 104) are arranged in the vertical direction with their center positions aligned with each other. There are no restrictions on the order of arrangement, except that the GPS antenna 101 is arranged at the top.
-The sensor group including the GPS antenna 101, the laser scanner 102, the IMU 103, and (the camera 104) is integrated. This eliminates the need for readjustment when the sensor group is removed for repair or the like, or when the sensor group is installed at a higher position as needed.

By devising the arrangement of the sensor group, it is possible to eliminate or simplify the calibration for estimating the positional / attitude relationship of each sensor. That is, the work load for calibration can be reduced.

The first embodiment has the following advantages.
(1) Since the sensor group is arranged directly above in the height direction, it is confirmed that the deviation of the position of each sensor in the horizontal direction is almost zero. Therefore, it is easy to estimate the position of each sensor. Further, since the deviation of the position of each sensor is almost zero, an error is unlikely to occur.
(2) Even in the height direction, errors are unlikely to occur because the sensors are close to each other. Even if an error occurs, the value is small.
(3) Since each sensor is provided close to each other and integrally provided, it is easy to maintain the rigidity of the sensor group. Therefore, the parameters set for the position and orientation of each sensor are unlikely to collapse. Recalibration is not required even if the sensors are removed for repair. Also, recalibration is not required even if the sensor group is placed at a higher position or if the sensor group is mounted on another vehicle.
(4) By considering the attachment of each sensor so that each sensor does not move in the rotation direction, the posture relationship of each sensor can be kept unchanged. For example, by using a pin or the like, it is possible to consider the attachment of each sensor. The GPS antenna 101 is not restricted in posture in the rotation direction.

Embodiment 2.
A mode for installing the moving body measuring device 100 without making a mistake in the forward direction of the sensor group will be described mainly different from the first embodiment with reference to FIG.

*** Explanation of configuration ***
The configuration of the pedestal 120 on which the moving body measuring device 100 is installed will be described with reference to FIG.
The pedestal 120 has a shape for specifying the front direction of the sensor group.
The pedestal 120 has a plurality of positioning portions for positioning the moving body measuring device 100. The plurality of positioning portions are arranged asymmetrically. The black circle represents the positioning part.

In FIG. 6, the pedestal 120 has a pentagonal shape, and the front portion of the pedestal 120 has a triangular shape. The front direction of the sensor group coincides with the front direction of the pedestal 120.
The pedestal 120 has a rectangular plate in the central portion. The rectangular plate has a circular plate in the central portion. A rectangular plate is provided with one pin on each side. In the circular plate, pins are provided at a position slightly shifted to the left from the center and a position at the right end. The pin is an example of a positioning unit.

The bottom of the moving body measuring device 100 has a plurality of holes for fitting with a plurality of pins provided on the pedestal 120. The plurality of holes are arranged at positions corresponding to the plurality of pins. The hole that fits the pin is an example of the positioning part.

*** Effect of Embodiment 2 ***
In the second embodiment, the pedestal 120 is prepared in order to install the moving body measuring device 100 without making a mistake in the front direction of the sensor group.
Normally, directions are defined for each of the laser scanner 102 and the IMU 103, and the laser scanner 102 and the IMU 103 can be installed so that the directions are not mistaken.
By installing the moving body measuring device 100 without making a mistake in the front direction of the sensor group, the direction of each sensor is always the correct direction.

Embodiment 3.
An embodiment of the moving body measuring device 100 will be described mainly based on FIGS. 7 to 11 and different from the first and second embodiments.

*** Explanation of configuration ***
FIG. 7 is a front view of the moving body measuring device 100.
FIG. 8 is a left side view of the moving body measuring device 100.
FIG. 9 is a right side view of the moving body measuring device 100.
FIG. 10 is a rear view of the moving body measuring device 100.
FIG. 11 is a plan view of the moving body measuring device 100.

The moving body measuring device 100 includes a housing 200 in which a sensor group is arranged.
The housing 200 has a hexagonal columnar shape (see FIGS. 7 to 11).

The moving body measuring device 100 includes a sensor group (see FIG. 7).
The sensor group includes a GPS antenna 101, a laser scanner 102, an IMU, and a camera group.
The sensor group is arranged on the upper part of the moving body measuring device 100.
The GPS antenna 101 and the laser scanner 102 are arranged on the housing 200.
The IMU and the camera group are arranged in the housing 200.

The camera group is composed of a front right facing camera (A), a front left facing camera (B), a rear left facing camera (C), and a rear right facing camera (D).
A window 210A for the camera (A) is provided on the front right side of the housing 200 (see FIGS. 7 and 8).
A window 210B for the camera (B) is provided on the front left side of the housing 200 (see FIGS. 7 and 9).
A window 210C for the camera (C) is provided on the rear left side of the housing 200 (see FIGS. 9 and 10).
A window 210D for the camera (D) is provided on the rear right side of the housing 200 (see FIGS. 8 and 10).

Each camera can adjust its tilt in the pitch direction. Specifically, the tilt of each camera can be adjusted in a plurality of steps. For example, the tilt of each camera can be adjusted in two steps. The number of steps that can adjust the tilt may differ for each camera. For example, the number of steps in which the tilt can be adjusted may differ between the front-facing cameras (A, B) and the rear-facing cameras (C, D).

An antenna for communication is provided in the frame of at least one window 210.

On the right side of the housing 200, a controller 220 for operating a sensor group, individual sensors, a computer 290, and a power supply device 299 is provided (see FIG. 9).
The controller 220 includes a start button, a stop button, a cross button, and the like.

A cable interface 230 is provided on the left side of the housing 200 (see FIG. 8).
In the cable interface 230, a cable connected to each sensor, a computer, or the like is arranged.
For example, the cable interface 230 is an opening for passing the cable or a connector to which the cable is connected.

A pedestal 280 is provided on the upper part of the housing 200 (see FIG. 11).
A GPS antenna 101 and a laser scanner 102 are arranged on the pedestal 280.
The IMU 103 and the camera group are arranged under the pedestal 280.

A computer 290 and a power supply 299 are arranged in the lower part of the housing 200 (see FIGS. 7 and 10).
The computer 290 includes hardware such as a processor, memory, and communication device, and executes an installed mobile measurement program. By executing the moving body measurement program, the computer 290 operates as follows, for example.
The computer 290 controls a group of sensors or individual sensors according to a moving body measurement program.
The computer 290 controls a group of sensors or individual sensors according to the operation of the controller 220.
The computer 290 transmits the data obtained by the sensor group to the outside.
The computer 290 receives the remote operation data from the outside. Then, the computer 290 controls a group of sensors or individual sensors according to the remote operation data.

The power supply device 299 supplies power to the sensor group, the controller 220, the computer 290, and the like.

*** Effect of Embodiment 3 ***
By attaching the sensor group to the housing 200, the rigidity of the entire sensor group can be increased.
By arranging the IMU 103 and the camera group in the housing 200, the IMU 103 and the camera group can be protected.
The housing 200 has a hexagonal columnar shape, and the front portion of the housing 200 and the rear portion of the housing 200 each form a triangular columnar shape. As a result, the wind pressure can be reduced. Further, windows 210 are provided in each of the front portion of the housing 200 and the rear portion of the housing 200. This makes it easy for each camera to take an oblique right direction or an oblique left direction.
An antenna for communication is provided in the frame of at least one of the windows 210. This enables communication with the outside. For example, the data obtained by the sensor group can be transmitted to the outside. In addition, since remote operation data can be received, remote operation of the sensor group becomes possible.
By providing the controller 220 in the housing 200, it is possible to operate the sensor group or individual sensors.

Since the computer 290 is mounted on the mobile body measuring device 100, it is possible to supply electric power to the computer 290 simply by connecting the power supply device 299 of the mobile body measuring device 100 to the power source.
The sensor group can be operated by the controller 220 provided in the moving body measuring device 100. It is possible to remotely control the sensor group using a tablet computer or the like.

Embodiment 4.
The mode for installing the moving body measuring device 100 on the vehicle will be described mainly different from the first to third embodiments with reference to FIGS. 12 to 15.

*** Explanation of configuration ***
12 to 14 show a state in which the moving body measuring device 100 is installed on the carrier 301 of the vehicle.
12 is a left side view, FIG. 13 is a plan view, and FIG. 14 is a front view.

The attachment 310 is fixed to the carrier 301 of the vehicle.
The carrier 301 is, for example, two front and rear bars attached to the roof of the vehicle.

The attachment 310 is an instrument for attaching the mobile body measuring device 100 to the carrier 301.
The attachment 310 includes an installation base 311, a support rod 312, and a plurality of fixing devices 313.
The support rod 312 is connected to the central portion of the installation base 311 and is erected on the carrier 301.
Each fixing device 313 is connected to a part of the installation base 311 and is fixed to the carrier 301. For example, the fixing device 313 sandwiches a part of the carrier 301 from above and below, and is fixed to the carrier 301 by the bolt screw 313B.
The moving body measuring device 100 is installed on the installation base 311.

The housing 200 functions as a cover for the windshield.

As shown in FIG. 15, the attachment 310 may include two support rods 312.
One support rod 312 is connected to the left side of the installation base 311 and the other support rod 312 is connected to the right side of the installation base 311.
The attachment 310 may include three or more support rods 312.

*** Effect of Embodiment 4 ***
According to the fourth embodiment, the moving body measuring device 100 can be installed on the vehicle.

The moving body measuring device 100 can be mounted on any kind of vehicle. Further, the moving body measuring device 100 can be mounted on the vehicle by one person.
The power supply 299 can be connected to the cigarette lighter socket of the vehicle.

Embodiment 5.
The internal structure of the housing 200 will be described mainly different from the first to fourth embodiments with reference to FIGS. 16 to 18.

*** Explanation of configuration ***
In FIG. 16, the internal structure of the housing 200 will be described.
At the center of the housing 200, a support column 201 that supports the pedestal 280 is provided. The sensor group is arranged at a high position by the support column 201.
In the lower part of the housing 200, the computer 291 and the communication device 292 and the power supply device 299 are arranged around the support column 201.
Computer 291 includes hardware such as a processor, memory, auxiliary storage, and a communication interface.
The communication device 292 is connected to the communication interface of the computer 291. The computer 291 uses the communication device 292 to communicate with the outside.
The power supply device 299 supplies electric power to the computer 291 and the communication device 292, the sensor group, and the like.

In FIG. 17, another example of the internal structure of the housing 200 will be described.
In the housing 200, four columns 201 supporting the four corners of the pedestal 280 are provided. The IMU 103, the camera group, the computer 291 and the communication device 292 and the power supply device 299 are arranged between the four columns 201.

As shown in FIG. 18, a side plate 202 may be provided so as to surround the support column 201, IMU 103, camera group, computer 291 and communication device 292 and power supply device 299.

*** Effect of Embodiment 5 ***
By supporting the pedestal 280 with one or more columns 201, the sensor group can be arranged at a high position.
By arranging the computer 291 and the communication device 292 and the power supply device 299 around the support column 201 provided in the center or between the four support columns 201 provided at the four corners, the computer 291 and the communication device 292 can be combined. The power supply device 299 and the power supply device 299 can be housed in the housing 200.

Embodiment 6.
The mode for arranging the sensor group at a higher position will be described mainly different from the first to fifth embodiments with reference to FIGS. 19 to 25.

*** Explanation of configuration ***
A first configuration example of the moving body measuring device 100 will be described with reference to FIG.
In the height direction, the extension pole 400 is connected to the column 201 by a joint 401. For example, the extension pole 400 is provided below the column 201.

The housing 200 is divided into upper and lower parts. The upper housing 200 is referred to as a housing 200U, and the lower housing 200 is referred to as a housing 200L.
A support column 201, an IMU 103, and a group of cameras are arranged in the housing 200U.
An extension pole 400, a computer 291 and a communication device 292 and a power supply device 299 are arranged in the housing 200L.

A second configuration example of the moving body measuring device 100 will be described with reference to FIG.
In the height direction, the extension pole 400 is connected to the column 201 by a joint 401. For example, the extension pole 400 is provided below the column 201.

The housing 200 is provided toward the support column 201.
A support column 201, an IMU 103, a camera group, a computer 291 and a communication device 292 and a power supply device 299 are arranged in the housing 200.

A third configuration example of the moving body measuring device 100 will be described with reference to FIG.
In the height direction, the extension pole 400 is connected to the column 201 by a joint 401. For example, the extension pole 400 is provided below the column 201.

The housing 200 is provided toward the support column 201.
A support column 201, an IMU 103, and a group of cameras are arranged in the housing 200. At least one of the computer 291 and the communication device 292 and the power supply device 299 may be arranged in the housing 200. For example, in the housing 200, the communication device 292 is fixed to the support column 201.

The attachment 310 further includes a storage box 314.
The storage box 314 is provided under the installation base 311.
At least one of the computer 291 and the communication device 292 and the power supply device 299 is stored in the storage box 314. For example, the computer 291 and the power supply 299 are housed in the storage box 314.

An example of a first elevating mechanism for manually elevating and lowering the sensor group 109 will be described with reference to FIG.
The first ascending / descending example is an example of ascending / descending the sensor group 109 according to the first configuration example, the second configuration example, or the third configuration example.
In the height direction, the extension pole 400 is added to the support column 201. Specifically, the extension pole 400 is connected to the support column 201 by a joint 401. As a result, the position of the sensor group 109 is raised. Two or more extension poles 400 may be added to the column 201. By removing the extension pole 400, the position of the sensor group 109 is lowered.
The extension pole 400 has a fixing portion 402 fixed to the installation base 311 at the bottom. For example, the fixing portion 402 is a metal plate.

An example of a second elevating mechanism for manually elevating and lowering the sensor group 109 will be described with reference to FIG.
The moving body measuring device 100 includes a support tube 410 in which the support 201 is housed. The strut pipe 410 is provided with a lock pin 411 for fixing the strut 201.
The strut 201 is lifted and fixed to the strut pipe 410 with a lock pin 411. As a result, the position of the sensor group 109 is raised. By fixing the support column 201 to the support column tube 410 at a low position, the position of the sensor group 109 is lowered.
The column pipe 410 has a fixing portion 412 fixed to the installation base 311 at the bottom. For example, the fixing portion 412 is a metal plate.

An example of a third elevating mechanism for automatically elevating and lowering the sensor group 109 will be described with reference to FIG. 24.
The moving body measuring device 100 includes a support tube 410 in which the support 201 is housed. The strut pipe 410 is provided with a lock pin 411 for fixing the strut 201.
The column pipe 410 has a fixing portion 412 fixed to the installation base 311 at the bottom. For example, the fixing portion 412 is a metal plate.

The moving body measuring device 100 includes a drive mechanism 420 for automatically raising and lowering the support column 201.
The drive mechanism 420 includes, for example, a geared motor 421, a pinion gear 422, and a rack 423. The geared motor 421 rotates the pinion gear 422. When the pinion gear 422 rotates, the pinion gear 422 moves up and down along the rack 423.

Each of the drive mechanism 420 and the lock pin 411 is controlled by a computer (290, 291). Power is supplied to the drive mechanism 420 from the power supply device 299.
Each of the drive mechanism 420 and the lock pin 411 can be operated by the controller 220 provided in the housing 200. In this case, the controller 220 has a button for operating the drive mechanism 420, and a button for operating the lock pin 411.
Each of the drive mechanism 420 and the lock pin 411 can be remotely controlled by remote control data.

The strut 201 is raised by the drive mechanism 420 and fixed by the lock pin 411. As a result, the position of the sensor group 109 is raised. The strut 201 is lowered by the drive mechanism 420 and fixed by the lock pin 411. As a result, the position of the sensor group 109 is lowered.

An example of a fourth elevating mechanism for automatically elevating and lowering the sensor group 109 will be described with reference to FIG.
The moving body measuring device 100 includes a support tube 410 in which the support 201 is housed. The strut pipe 410 is provided with a lock pin 411 for fixing the strut 201.
The column pipe 410 has a fixing portion 412 fixed to the installation base 311 at the bottom. For example, the fixing portion 412 is a metal plate.

The moving body measuring device 100 includes a drive mechanism 430 for automatically raising and lowering the support column 201.
The drive mechanism 430 includes, for example, a geared motor 431, a ball screw 432, and a slider 433. The geared motor 431 and the ball screw 432 are provided in the column pipe 410. The strut 201 has a cavity, and a slider 433 is provided in the cavity of the strut 201. The geared motor 431 rotates the ball screw 432. When the ball screw 432 rotates, the slider 433 moves up and down along the ball screw 432.

The drive mechanism 430 is controlled by a computer (290,291). Power is supplied to the drive mechanism 430 from the power supply device 299.
The drive mechanism 430 can be operated by the controller 220 provided in the housing 200. In this case, the controller 220 has a button for operating the drive mechanism 430.
The drive mechanism 430 can be remotely controlled by remote control data.

The strut 201 is raised by the drive mechanism 430. As a result, the position of the sensor group 109 is raised. The support column 201 is lowered by the drive mechanism 430. As a result, the position of the sensor group 109 is lowered.

*** Effect of Embodiment 6 ***
According to the sixth embodiment, the sensor group 109 can be raised and lowered manually or automatically. For example, the sensor group 109 can be placed at a higher position.

*** Supplement to the embodiment ***
The embodiments are examples of preferred embodiments and are not intended to limit the technical scope of the invention. The embodiment may be partially implemented or may be implemented in combination with other embodiments.

100 mobile measuring device, 101 GPS antenna, 102 laser scanner, 103 IMU, 104 camera, 109 sensor group, 110 housing, 111 support rod, 120 pedestal, 200 housing, 201 support, 202 side plate, 210 window, 220 Controller, 230 cable interface, 280 pedestal, 290 computer, 291 computer, 292 communication device, 299 power supply device, 301 carrier, 310 attachment, 311 installation base, 312 support rod, 313 fixture, 313B bolt screw, 314 storage box, 400 Extension Pole, 401 Fitting, 402 Fixing, 410 Strut Tube, 411 Lock Pin, 412 Fixing, 420 Drive Mechanism, 421 Geared Motor, 422 Pinion Gear, 423 Rack, 430 Drive Mechanism, 431 Geared Motor, 432 Ball Screws, 433 Sliders ..

Claims (9)

It is equipped with a sensor group including a positioning antenna, a laser scanner, and an inertial measurement unit.
A moving body measuring device in which the positioning antenna, the laser scanner, and the inertial measurement unit are arranged side by side on a straight line in the vertical direction. A claim in which the positioning antenna, the laser scanner, and the inertial measurement unit are arranged by arranging the reception position of the positioning antenna, the laser emission position of the laser scanner, and the measurement position of the inertial measurement unit on a straight line in the vertical direction. Item 1. The moving body measuring device according to Item 1. The mobile body measuring device according to claim 1 or 2, wherein the positioning antenna is arranged at the top of the sensor group. The moving body measuring device according to claim 3, wherein the positioning antenna, the laser scanner, and the inertial measurement unit are arranged in the order of the positioning antenna, the laser scanner, and the inertial measurement unit from top to bottom. The sensor group includes a camera
The moving body measuring device according to claim 1, wherein the positioning antenna, the laser scanner, the inertial measurement unit, and the camera are arranged side by side on a straight line in the vertical direction. The reception position of the positioning antenna, the laser emission position of the laser scanner, the measurement position of the inertial measurement unit, and the focal position of the camera are arranged on a straight line in the vertical direction, and the positioning antenna, the laser scanner, and the inertial measurement unit are arranged. The moving body measuring device according to claim 5, wherein the camera and the camera are arranged. The mobile body measuring device according to claim 5 or 6, wherein the positioning antenna is arranged at the top of the sensor group. The movement according to claim 7, wherein the positioning antenna, the laser scanner, the inertial measurement unit, and the camera are arranged in the order of the positioning antenna, the laser scanner, the inertial measurement unit, and the camera from top to bottom. Body measuring device. The moving body measuring device includes a housing and
The moving body measuring device according to any one of claims 1 to 8, wherein the sensor group is integrated by being attached to the housing.

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