JP2021067615A - Scanner system and scan method - Google Patents

Abstract

To provide technology that measures equipment point coordinates using a scanner without requiring manual height measurement by an operator.SOLUTION: A scanner system 1 comprises: a scanner device S for scanning distance measurement light in the vertical and horizontal directions, measuring the distance and angle of irradiation point of the distance measurement light and acquiring three-dimensional point cloud data; and a remote controller R provided with a display part 15 and an input-operation part 14 and constituted so as to be capable of communicating with the scanner device S. The scanner device S is constituted so as to measure a known point and handle the map coordinate of an equipment point and the direction angle of the scanner device S as known quantities by a resection method or a rear viewpoint-equipment point method. The remote controller R displays the known point and the equipment point on a display part 15, sets a scan condition based on a scan condition setting reference point designated on display of the display part 15, and the scanner device S scans a first scan range that is set under the scan condition and then scans a second scan range.SELECTED DRAWING: Figure 2

Description

The present invention relates to a ground-based laser scanner, and more particularly to a scanner system and a scanning method using a remote controller and a scanner device.

Conventionally, a ground-mounted laser scanner is known as a surveying device that obtains three-dimensional point cloud data of a measurement object (see, for example, Patent Document 1).

In observing point cloud data using such a scanner, first, a scanner is installed at the observation point. Next, in the case of the posterior association method, a reflection target such as a prism is installed at two or more known points of the posterior association, and in the case of the rear viewpoint / instrument point method, a reflection target such as a prism is installed to measure the reflection target. Distance and angle are measured, and then the entire circumference is scanned (full dome scan).

Japanese Unexamined Patent Publication No. 2018-4401

However, in the scanner device of Patent Document 1, scanning is started in a state where the reflection target is collimated, or the operator on the reflection target side cannot recognize the direction in which the scanner starts scanning, so that full dome scanning is performed. There is a problem that an unnecessary reflection target or a worker holding the reflection target may be reflected when the point group data is acquired.

If the worker is reflected, you will notice it when you bring the data back to the office and combine the point cloud data. For this reason, there is a problem that it may be necessary to go to the site again for observation.

The present invention has been made in view of the above circumstances, and an object of the present invention is to prevent an operator, an unnecessary target, or the like from being included in the observation data in the observation of the three-dimensional point cloud data using a scanner. To do.

In order to achieve the above object, the scanner system according to one aspect of the present invention scans the distance measuring light in the vertical direction and the horizontal direction, and measures the irradiation point of the distance measuring light in three dimensions. It includes a scanner device that acquires point group data, a remote controller that has a display unit and an input / operation unit, and is configured to be able to communicate with the scanner device. The scanner device measures known points and meets backwards. The remote controller is configured so that the map coordinates of the instrument points and the direction angle of the scanner device can be known by the method or the rear viewpoint / instrument point method, and the remote controller displays the known points and the instrument points on the display unit. The scan condition is set with reference to the scan condition setting reference point specified on the display of the display unit, and the scanner device scans the first scan range set by the scan condition, and then the scanner device sets the scan condition. It is characterized by scanning a second scan range.

In the above aspect, the scanner device has a target scan function for measuring a distance and an angle of a reflection target, targets a reflection target of the known point, measures the known point, and performs map coordinates of the instrument point and It is also preferable to know the direction angle of the scanner device.

Further, in the above aspect, the remote controller includes a stage staff for electronic level, and the scanner device includes an electronic level unit that collimates the stage staff and measures the height of the stage staff and the distance to the stage staff. The scanner device is configured to be capable of measuring the instrument height by irradiating distance measuring light vertically downward, and the angle detector measures the horizontal angle of the collimation optical axis of the electronic level unit. The scanner device is configured to be able to detect the horizontal angle of the stage staff, collimates the stage staff installed at the known point, measures the known point, and reaches the level staff height at the known point and the level staff. It is also preferable that the map coordinates of the instrument point and the direction angle of the scanner device are known based on the distance, the horizontal angle of the stage staff, and the coordinates of the known point.

Further, in the above aspect, the remote controller superimposes the known point and the instrument point on the map and displays them on the display unit, and sets the scan condition with reference to the scan condition setting reference point designated on the map. It is also preferable to do so.

Further, in the above aspect, the remote controller superimposes the known point and the instrument point on the CAD drawing of the observation plan and displays them on the display unit, and uses the scan condition setting reference point designated on the CAD drawing as a reference. It is also preferable to set the scan conditions as.

Further, in the above aspect, the first scan range is set as a range of a predetermined angle centered on the scanner device with respect to the scan condition setting reference point, and the second scan range is the first scan range. It is also preferable to set it as a scan range other than.

Further, in the above aspect, the scan condition includes a scan rotation direction and a scan start direction, and the scan rotation direction divides the narrow angle formed by the known point, the instrument point, and the scan condition setting reference point into two equal parts. The scan condition setting reference point is directed toward the scan condition setting reference point, and the scan start direction is from the scan condition setting reference point in the direction opposite to the scan rotation direction around the instrument point at the predetermined angle. It is also preferable to have.

Further, in the above aspect, the remote controller includes a guide light transmitting unit that vertically scans a fan beam that is wide in the horizontal direction and narrow in the vertical width as the guide light, and the scanner device receives the guide light. Then, the guide light receiving unit that detects the horizontal direction of the guide light transmitting unit, the target direction detecting unit that directs the scanner device toward the reflection target based on the output signal of the guide light receiving unit, and the target direction detecting unit. An automatic collimation unit that emits collimation light and receives the reflected collimation light from the reflection target, and a distance measuring light of the reflection target and the scanner device based on the output signal of the automatic collimation unit. It is also preferable to provide an automatic collimation execution unit that aligns the axes.

Further, in the above aspect, it is also preferable that the scanner device includes an indicator indicating whether the scanner device is scanning the first scan range or the second scan range.

The scanner is provided with a scanner device that scans the ranging light in the vertical and horizontal directions, measures and angles the irradiation points of the ranging light to acquire three-dimensional point group data, and a display unit and an operation unit. It is a scanning method using a remote controller configured to be able to communicate with the device. (A) The scanner device installed at the instrument point measures a known point, and the posterior interaction method or the rear viewpoint / instrument point method. The step of making the map coordinates of the instrument point and the direction angle of the scanner device known, and (b) the step of displaying the known point and the instrument point on the display unit by the remote controller, and (c). A step in which the operator specifies a scan condition setting reference point on the display of the display unit, and (d) a step in which the remote controller specifies a scan condition based on the scan condition setting reference point. e) The scanner device scans the first scan range set by the scan conditions, and (f) after step (e), the scanner device scans the second scan range other than the first scan range. It is characterized by including a step of scanning.

According to the above aspect, it is possible to prevent unnecessary objects such as a worker and a target from being reflected in the three-dimensional point cloud data observation using a scanner.

It is a block diagram of the structure of the scanner system which concerns on 1st Embodiment of this invention. It is a schematic external view which shows an example of the scanner system. It is a figure which shows one example of the display of the display part of the remote controller of the scanner system. It is a figure which shows another example of the display of the display part of the remote controller of the scanner system. It is a figure which shows the optical system of the distance measuring part and the automatic collimation part of the scanner device of the scanner system. It is a flowchart which shows the outline of the measurement using the scanner system. It is a figure explaining the state of the measurement using the scanner system. It is a flowchart explaining the details of the coordinate and azimuth measurement of the instrument point of the scanner system. It is a figure explaining an example of the setting method of the scan condition by the scanner system. It is a block diagram of the structure of the scanner system which concerns on the modification of the said embodiment. It is a schematic external view of the scanner system which concerns on 2nd Embodiment of this invention. It is a block diagram of the structure of the scanner system. It is a vertical sectional view along the vertical rotation axis of the scanner device of the same scanner system.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited thereto. Further, in each embodiment, the same components are designated by the same reference numerals, and duplicate description will be omitted as appropriate.

(First Embodiment)
FIG. 1 is a block diagram of a scanner system 1 (hereinafter, also simply referred to as “system”) according to the first embodiment, and FIG. 2 is a schematic configuration diagram showing one example of the system 1. ..

As shown in FIG. 1, the system 1 includes a remote controller R and a scanner device S.

The remote controller R includes a reflection target 11, a guide light transmission unit 12 that emits a guide light Lg that indicates the direction of the reflection target 11 toward the scanner device S, a control calculation unit 13, an input / operation unit 14, and so on. A display unit 15 and a communication unit 16 are provided.

As shown in FIG. 2, the remote controller R includes a target unit 3 having a guide light transmitting unit 12 at the upper part and a reflection target 11 at the lower part of a long pole 2, a control calculation unit 13, and an input / operation unit. A system in which the 14, display unit 15, and communication unit 16 are configured as the tablet terminal 4 may be used. The pole 2 is provided with a spirit level 18 so that the reflection target 11 can be held vertically.

The reflection target 11 is an all-around (360 °) prism in which a plurality of corner cube prisms are provided over the entire circumference. The reflection target 11 retroreflects the incident light in the incident direction. Further, the reflection target 11 is fixed so as to be at a predetermined distance from the ground.

The guide light transmitting unit 12 includes a laser light source that emits laser light, a relay lens that converts the emitted laser light into a parallel light beam, and a cylindrical lens that expands the parallel light beam to form a fan-shaped beam (fan beam). A scanning means for scanning the fan beam in the vertical direction is provided.

The guide light transmitting unit 12 is configured to scan a wide fan beam that is narrow in the vertical direction and has a spread in the horizontal direction in the vertical direction. The above configuration is an example, and a known fan beam generating means can be used.

The control calculation unit 13 is a microcomputer including a CPU (Central Processing Unit) that performs arithmetic processing, a ROM (Read / Only / Memory) and a RAM (Random / Access / Memory) as auxiliary storage units.

Further, the control calculation unit 13 is connected to the guide light transmission unit 12, the input / operation unit 14, the display unit 15, and the communication unit 16. When the guide light transmission unit 12 and the control calculation unit 13 are configured as separate bodies as in the example of FIG. 2, the control calculation unit 13 and the guide light transmission unit 12 are wireless, for example, by infrared communication or the like. It is connected by the means of.

The control calculation unit 113 controls the guide light transmission unit 12 and the display unit 15. Further, the control calculation unit 13 inputs information and commands from the input / operation unit 14. The control calculation unit 13 transmits an operation command to the scanner device S and receives commands and data from the scanner device S.

The control calculation unit 13 includes a scan condition setting unit 17 as a functional unit. The scan condition setting unit 17 scans after the first scan range SR1 and the first scan range SR1 to be scanned first based on the scan condition setting reference point Q designated on the display of the display unit 15. scanning range SR2, scan rotation direction _{D R,} and the setting of the scan start direction _{D S} performed.

The input / operation unit 14 can input the ON-OFF command of the guide light transmission unit 12 and the scan condition setting reference point.

Display unit 15, an observation point on the measurement plan, to display map coordinates by scanner S is known point K became known, the instrument point P _1.

FIG. 3-1 (A) is an example of the display of the display unit 15. In the example of Figure 3-1, superimposed on a map display, the instrument point P ₁ which became known by the known point K and the measurement is shown in ▲, point P2, P3 to perform future measurements by △ shows Has been done. The map data in the map display may be stored in the memory of the control calculation unit 13 in advance, or may be downloaded from the Internet when the communication unit 16 goes through the Internet.

Further, FIG. 3-1 (B) shows how the scan condition setting reference point Q is specified when the input / operation unit 14 and the display unit 15 are configured as a touch panel display as in the example of FIG. .. The operator can specify the scan condition setting reference point Q by tapping any point on the map display. Further, the scan condition setting reference point Q may be designated as a point on the map by a known method such as designation by a cursor.

FIG. 3-2 (A) is another example of the display of the display unit 15. In the example of Figure 3-2, superimposed on that are observed plan CAD (Computer · Aided · Design) drawing display created by the map coordinates, instrument point _{P 1} which became known by the known point K and measurements, ▲ in The points P2 and P3 to be measured are indicated by Δ. The CAD drawing may be stored in the memory of the control calculation unit 13 in advance, and the CAD drawing stored in the storage unit 31 of the scanner device S is acquired via the communication unit 16. You may.

Further, FIG. 3-2 (B) shows the designation of the scan condition setting reference point Q when the input / operation unit 14 and the display unit 15 are configured as a touch panel display as in FIG. 3-1 (B). Is shown. Even on the CAD drawing display, the operator can specify the scan condition setting reference point Q by tapping any point.

The communication unit 16 is provided with an omnidirectional antenna or the like, and enables wireless communication with the scanner device S by radio waves.

The control calculation unit 13, the input / operation unit 14, the display unit 15, and the communication unit 16 are not limited to the tablet terminal 4 in which the input / operation unit 14 and the display unit 15 are configured as an integrated touch panel display as shown in FIG. The control calculation unit 13, the input / operation unit 14, the display unit 15, and the communication unit 16 may be configured as a data collector having a liquid crystal display as the display unit 15 and an input key as the input / operation unit 14. Further, it may be integrally provided in the housing of the guide light transmitting portion. Alternatively, it may be configured as a unit that can be attached to and detached from the guide light transmitting unit 12 or the pole 2.

(Configuration of scanner device)
As shown in FIG. 2, the scanner device S is apparently provided on the leveling unit 6, the horizontal rotation unit 7 provided on the leveling unit 6, and the horizontal rotation unit 7 attached to the installation point using a tripod 5. The rack portion 8 is provided. The leveling unit 6 is a so-called leveling device including a leveling screw and a bubble tube. The bracket 8 is provided with a recess in the center, and the light projecting section 9 is provided in the recess.

The scanner device S is configured such that the horizontal rotation unit 7 is rotated by 360 ° around an axis HH extending vertically by a horizontal rotation drive unit 28 described later. Further, the scanner device S is configured so that the light projecting unit 9 rotates 360 ° around an axis VV orthogonal to the axis HH by a vertical rotation driving unit 23 described later.

The scanner device S includes a rotation mirror 21, a vertical right angle detector 22, a vertical rotation drive unit 23, a distance measuring unit 24, an automatic collimation unit 25, a guide light receiving unit 26, a communication unit 27, a horizontal rotation drive unit 28, and a horizontal unit. It includes an angle detector 29, a storage unit 31, a data storage unit 32, a scanner display unit 33, an operation unit 34, and a scanner control calculation unit 40.

The rotation mirror 21 is provided inside the rotation axis (not shown) of the light projecting unit 9, and rotates around the axis VV integrally with the light projecting unit 9.

The vertical right angle detector 22 is a rotary encoder, detects the rotation angle of the vertical rotation axis, that is, the rotation angle of the rotation mirror 21, and detects the vertical angle of the distance measuring optical axis. The vertical rotation drive unit 23 includes a motor and rotates the vertical rotation axis of the light projecting unit 9 around the axis VV.

As shown in FIG. 4, the ranging unit 24 includes a ranging light transmitting unit 24a, a ranging light transmitting optical system 24b, a beam splitter 24c, a dichroic prism 24d, a ranging light receiving optical system 24e, and a ranging light receiving light. The unit 24f is provided. The ranging light transmitting unit 24a includes a light emitting element such as a semiconductor laser, and emits, for example, visible light pulsed laser light as scan light. The ranging light receiving unit 24f is a light receiving element such as an avalanche photodiode. The optical axis of the ranging light emitted from the beam splitter 24c coincides with the axis of the rotating mirror 21.

The ranging light Ls emitted from the ranging light transmitting unit 24a is reflected by the rotating mirror 21 via the ranging light transmitting optical system 24b and the beam splitter 24c, and irradiates the object to be measured. The ranging light retroreflected by the object to be measured is incident on the ranging light receiving unit 24f via the rotating mirror 21, the beam splitter 24c, the dichroic prism 24d, and the ranging light receiving optical system 24e. The ranging light receiving unit 24f outputs the received light signal of the incident light to the scanner control calculation unit 40.

The distance measuring unit 24 executes distance measurement for each pulse light of the distance measuring light based on the time difference between the light emitting timing of the light emitting element and the light receiving timing of the light receiving element (reciprocating time of the pulsed light) (Time of Flight). The distance measurement may be performed by irradiating continuous light or intermittent light and using the phase difference between the emitted light and the reflected light.

The ranging light Ls is scanned in the vertical direction by the rotation of the rotating mirror 21. Further, the ranging light Ls is scanned in the horizontal direction by the rotation of the horizontal rotation unit 7. As a result, the ranging light Ls is scanned over the entire circumference in the vertical direction and the horizontal direction.

The automatic collimation unit 25 includes a collimation light transmission unit 25a, a collimation light transmission optical system 25b, a beam splitter 24c and a dichroic prism 24d common to the distance measuring unit 24, a collimation light reception optical system 25c, and a collimation light. A light receiving unit 25d is provided. The collimation light transmitting unit 25a includes a light emitting element such as a semiconductor laser, and emits light having a wavelength different from that of distance measuring light, for example, infrared laser light, as collimation light. The collimation light receiving unit 25d is, for example, an image sensor such as a CCD or CMOS.

The collimation light Lc emitted from the collimation light transmission unit 25a is deflected by the rotating mirror 21 via the collimation light transmission optical system 25b and the beam splitter 24c, and irradiates the object to be measured. The reflected distance measuring light retroreflected by the object to be measured is incident on the collimation light receiving unit 25d via the rotating mirror 21, the beam splitter 24c, the dichroic prism 24d, and the collimation light receiving optical system 25c. The collimation light receiving unit 25d outputs the pixel data obtained from the light receiving signal to the scanner control calculation unit 40. The optical axis of the collimation light Lc emitted from the beam splitter 24c coincides with the optical axis of the ranging light Ls, and is scanned in the vertical direction by the rotation of the rotation mirror 21.

The guide light receiving unit 26 includes a cylindrical lens, a rectangular light receiving sensor, and a slit that limits the horizontal light receiving range. As a result, the guide light Lg can be received even if there is a height difference between the scanner device S and the remote controller R. The guide light receiving unit 26 is fixed to the front surface of the scanner device S main body, receives the guide light Lg, and detects the horizontal direction of the guide light transmitting unit 12.

The communication unit 27 is provided with an omnidirectional antenna or the like, and enables wireless communication with the remote controller R by radio waves.

The horizontal rotation drive unit 28 includes a motor and is controlled by the scanner control calculation unit 40 to rotate the horizontal rotation unit 7 around the axis HH.

The horizontal angle detector 29 is a rotary encoder, which is provided with respect to the rotation axis of the horizontal rotation unit 7 and detects the rotation angle of the horizontal rotation unit 7 in the horizontal direction. The horizontal angle detector 29 detects the horizontal angle of the optical axis of the ranging light.

The storage unit 31 is, for example, a hard disk drive. The storage unit 31 stores programs and data for executing controls and operations described later.

The data storage unit 32 is, for example, an SD card. The data storage unit 32 stores various measurement data acquired by the scanner device S and data calculated by calculation.

The scanner display unit 33 and the operation unit 34 are user interfaces of the scanner device S. In the illustrated example, it is provided on the outer surface of the housing of the scanner device S. The scanner display unit 33 and the operation unit 34 are configured so that the operator can command and set the operation of the scanner device S, check the measurement result, and adjust the device through them.

The scanner control calculation unit 40 is a microcomputer including a CPU that performs calculation processing and a ROM, RAM, and the like as auxiliary storage units.

The scanner control calculation unit 40 is connected to each unit, controls each unit, and performs arithmetic processing on the data acquired by each unit. Further, it communicates with the communication unit 16 of the remote controller R, transmits the requested data to the control calculation unit 13 of the remote controller R, and executes the process according to the instruction of the control calculation unit 13. Each function of the scanner control calculation unit 40 is configured to be executable by a program, a circuit, or a combination thereof.

The scanner control calculation unit 40 includes a target direction detection unit 41, an automatic collimation execution unit 42, a target scan execution unit 43, a coordinate / direction angle calculation unit 44, and a point cloud data measurement unit 45.

The target direction detection unit 41 drives the horizontal rotation drive unit 28 to horizontally rotate the scanner device S, receives the guide light Lg by the guide light light receiving unit 26, and receives the guide light Lg by the horizontal angle detector 29. The horizontal direction of the center of 12 is detected, and the distance measuring optical axis of the scanner device S is directed toward the center of the guide light transmitting unit 12 based on the output signal of the guide light receiving unit 26.

The automatic collimation execution unit 42 controls the automatic collimation unit 25 and the vertical rotation drive unit 23 to scan the collimation light Lc in the vertical direction, and based on the output signal of the collimation light light receiving unit 25d, the scanner device. Aim S so that the distance measuring optical axis coincides with the reflection target 11.

The target scan execution unit 43 executes the target scan function. The target scan execution unit 43 controls the distance measuring unit 24, the horizontal rotation drive unit 28, the horizontal angle detector 29, the vertical rotation drive unit 23, and the vertical right angle detector 22 to concentrate the target scan range including the reflection target 11. Scan to get point cloud data. From the obtained point cloud data, the three-dimensional coordinate value of the center position of the reflection target 11 is obtained.

The point cloud data measurement unit 44 executes the point cloud data measurement function. The distance measuring unit 24, the horizontal rotation drive unit 28, the horizontal angle detector 29, the vertical rotation drive unit 23, and the vertical right angle detector 22 are controlled to scan the measurement range including the object to be measured and obtain three-dimensional point group data. Measure.

The coordinate / azimuth calculation unit 45 uses the rear-view method or the instrument point / rear-view method to obtain two or more known rear-view points in the case of the rear-view method and a known rear-view point in the case of the rear-view instrument point method. Based on the coordinates and azimuth known in advance, and the azimuth of the instrument point, the map coordinates of the instrument point and the above known points of rearward interaction, in the case of the posterior viewpoint instrument point method, based on the azimuth of the known rear viewpoint. , Calculate the azimuth in the reference direction of the scanner device S installed at the instrument point.

(Scan method)
FIG. 5 is a flowchart showing an outline of measurement using the scanner system 1, and FIG. 6 is a diagram schematically showing a state of measurement.

When one worker measures point cloud data from a plurality of observation points, the measurement at one instrument point will be described. Known points required for measurement are prepared in advance. That is, when the instrument point is known and the coordinate calculation is performed by the rear viewpoint / instrument point method, the known point of 1 is prepared as the rear viewpoint, the instrument point is unknown, and the coordinate calculation is performed by the backward interaction method. When performing, two or more known points are prepared as backward meeting known points.

As measurement preparation, the operator has established a scanner S to instrument point P _1, to leveling. Also, the height of the instrument is measured and input to the scanner device. After that, the operator takes the remote controller R, moves to the known point K, and installs the reflection target 11 vertically while checking the spirit level 18.

When the measurement is started, in step S101, the scanner S, the reflection target 11 of a known point K and the target scanning, the direction angles of the map coordinates and scanner device S of the instrument point P ₁ and the known (FIG. 6 (A )). The details of step S101 will be described later.

Next, in step S102, the display unit 15 of the remote controller R, for example, as shown in FIG. 3-1 (A), displays the instrument point _{P 1} on the map display.

Next, in step S103, the operator having the remote controller R at the known point K designates the scan condition setting reference point Q on the display of the display unit 15 (FIG. 6B). For example, as shown in FIG. 3-1 (B), the operator taps an arbitrary point on the map display with a finger or the like to specify the scan condition setting reference point Q.

Next, in step S104, the scan condition setting unit 17 scans the first scan range SR1 and the first scan range SR1 to be scanned first, and then scans the second scan range SR2, based on the designation in step S103. set the start direction D _S and the scan direction of rotation D _R, and transmits the set to the scanner S. Details of the scan conditions will be described later.

Next, in step S105, the point cloud data measuring unit 45 scans the first scan range SR1 based on the set scan conditions and acquires the point cloud data (FIG. 6 (C)). During this time, the operator can leave the known point K and move toward the designated scan condition setting reference point Q.

Next, in step S106, the point cloud data measuring unit 45 scans the second scan range SR2 to acquire the point cloud data, and ends the process (FIG. 6 (D)). The operator can wait in the area of the first scan range SR1 until the scan of the second scan range SR2 is completed.

As a result, the first scanning range SR1, the combined point cloud data obtained by scanning the second scanning range SR2, and stored as a whole periphery of the point group data in the instrument point P ₁ to the data storage unit 32.

When the observation plan is created as a CAD drawing using the map coordinate system, such as indoor measurement, the display on the display unit in step S102 and the designation of the scan condition setting reference point in step S103 may be performed. It is displayed on the CAD drawing as shown in FIG. 3-2 (A), and the scan condition setting reference point Q is specified on the CAD drawing display of the display unit 15 as shown in FIG. 3-2 (B). May be good.

FIG. 7 shows the details of step S101. When step S101 is started by the input of the operator, in step S201, the remote controller R transmits a measurement start command to the scanner and drives the guide light transmitting unit 12 to start emitting the guide light Lg.

When the scanner device S receives the measurement start command in step S301, the scanner device S rotates horizontally in step S302 to perform a horizontal search for the guide light Lg. Specifically, the target direction detection unit 41 drives the horizontal rotation drive unit 28, and the scanner device S is horizontally rotated until the guide light light receiving unit 26 detects the guide light Lg. When the guide light receiving unit 26 detects the guide light Lg, in step S303, the distance measuring optical axis of the scanner device S is aligned with the center of the guide light transmitting unit 12, and the horizontal rotation driving unit 28 is stopped.

Next, in step S304, the scanner device S transmits a guide light stop command to the remote controller R. When the remote controller R receives the guide light stop command in step S203, the remote controller R stops the light emission of the guide light Lg in step S204.

Next, in step S305, the scanner device S performs a vertical search for the reflection target 11. Specifically, the automatic collimation execution unit 42 drives the vertical rotation drive unit 23 and the automatic collimation unit 25, and the collimation light is vertical until the collimation light light receiving unit 25d detects the collimation light Lc. Scan in the direction. When the collimation light receiving unit 25d receives the reflected light from the reflection target 11, the process proceeds to step S306, and the automatic collimation execution unit 42 executes automatic collimation.

Next, in step S307, the target scan execution unit 43 executes the target scan, and measures the distance and angle of the reflection target 11 of the remote controller R installed at the known point K, which is the rear viewpoint.

Next, in step S308, the coordinate and direction angle calculating section 44, the distance to the reflecting target 11, based on the coordinates of the angle and the known point K, by the method of resection or rear-view-instrumental point method instrument point P ₁ Calculate the map coordinates and the azimuth of the scanner device.

In the rear viewpoint / instrument point method, since the coordinates of the instrument point are already known, the calculation of the coordinates can be omitted, but by calculating the coordinates, it is used to confirm the calculated value as a known coordinate value. be able to.

On the other hand, in the case of the backward meeting method, the instrument point P ₁ is unknown, and at least two known points of backward meeting are required. Therefore, after performing steps S201 to S307 for at least two known points of backward association, the process proceeds to step S308.

Further, in step S309, the data is stored in the data storage unit 32 and transmitted to the remote controller R. Next, when the remote controller R receives the coordinates of the instrument point and the direction angle of the scanner in step S205, the process proceeds to step S102.

FIG. 8 is a diagram illustrating an example of a method of setting scan conditions. When the scan condition setting reference point Q is specified in step S103, the control calculation unit 13 _{obtains the distance d 1 from the instrument point P 1} to the point Q on the map display or the CAD drawing (FIG. 8A).

Next, the angle range ± θ, which is a range of a _{predetermined distance d 2 to} the left and right of the point Q when observed from the instrument point P _{1, is obtained.} The distance d ₂ is preferably a length that allows the operator to completely hide, for example, 1 m on each side of the reference point Q when observed from the instrument point P _1. The angle range of ± θ across the reference point Q is set as the first scan range SR1 (FIG. 8 (B)).

Next, a range other than the first scan range SR1 is set as the second scan range SR2 (FIG. 8 (C)).

Next, the scan condition setting unit 17 calculates the angle around the _{instrument point P 1} from the known point K to the point Q on the map display _{, and divides the narrow angle α of ∠KP 1} Q into two equal directions D _α. Calculate _{/ 2.} Setting a direction from the direction D _{alpha / 2} to the point Q as the scan direction of rotation _{D R} (FIG. 8 (D)).

The scan condition setting unit 17, from the point Q, sets the direction D ₁ of the angle θ in the direction opposite to the scanning direction of rotation D _R as the scan start direction Ds (Fig 8 (D)).

In the present embodiment, the scanner device S configured to be able to calculate the map coordinates of the measurement points is used to display known points, instrument points, measurement points on the measurement plan, etc. on the map or CAD drawing at the surveying site. By displaying them in layers, it is possible to specify the range to be scanned first from the display. Since the operator can set a desired range in which he / she does not appear as the first scan range for first scanning, it is possible to prevent the operator from reflecting in the point cloud data at the start of the point cloud data measurement.

Further, since the scan condition setting reference point Q can be specified on the map display or the CAD drawing display, the operator can visually specify a desired place and the operation is simple. It is particularly advantageous for outdoor observation when it is displayed on a map, and for indoor observation when it is displayed on a CAD drawing.

Further, as the scan conditions, the first scan range SR1 to be scanned first and the second scan range SR2 to be scanned after that are separately set. The operator works by moving from the known point K while the scanner scans the first scan range SR1 and waiting in the first scan range SR1 while the scanner scans the second scan range SR2. It is possible to prevent a person from being reflected in the point cloud data.

In particular, the scan condition setting reference point Q, if then specify the vicinity of the instrument point P ₂ to perform the measurement, while the scanner is scanning the second scanning range, the operator interferes with the point group data Work efficiency is improved because the preparation for the next measurement can be performed without any trouble.

Further, the direction toward the scanning direction of rotation D _R, known point K, the direction D _{alpha / 2} the formed narrow angle of the instrument point P _1, and the scan condition setting reference point Q bisects, in the scanning condition set reference point Q When set to, the scanner device S rotates in a direction in which the time required to scan the vicinity of the known point K where the operator is located becomes longer. Therefore, the worker can move with a margin. Further, when the operator advances toward the scan condition setting reference point Q specified by the shortest distance, it does not interfere with the scan, so that it can be prevented from being reflected in the point cloud data more reliably.

It should be noted that it is not always essential to carry out the present invention to use the target pull-in and automatic collimation functions using the guide light Lg described in step S101. That is, the scanner may have a function of calculating the coordinates of the instrument points and the scanner azimuth by the rear viewpoint / instrument point method or the rear interaction method. For example, when there is an operator on the scanner side, the automatic collimation unit 25, the guide light light receiving unit 26, the target direction detection unit 41, and the automatic collimation execution unit 42 of the scanner device S are displayed, and the remote controller transmits guide light. It is not necessary to include the part 12. However, it is advantageous to have such a pull-in function by the guide light Lg because the point cloud data can be observed by one person from the survey of the measurement points.

Further, from the same viewpoint, it is preferable that the scanner device S is provided with a tracking unit so as to track the reflection target 11 held by the operator because the observation by one person can be completed.

(Modified example of the first embodiment)
FIG. 9 is a block diagram of the scanner system 1A, which is a modification of the first embodiment. The system 1A has substantially the same configuration as the system 1, except that the scanner device SA includes an indicator 35 indicating whether the first scan range is being executed or the second scan range is being executed.

The indicator 35 includes an LED light source and is configured to selectively emit red light or green light. Further, the indicator 35 is visibly attached to the upper part of the scanner device S from 360 ° in the horizontal direction. Under the control of the scanner control calculation unit 40, the scanner device SA lights up in red while the first scanner range is being scanned, and the scanner device SA lights up in green while the scanner device SA is scanning the second scan range.

With this configuration, the operator can visually recognize whether the scanner is scanning the first scan range or the second scan range while waiting or moving near a known point. can do. Therefore, it is possible to move to the first scan range after the scan of the first scan range is surely completed. From this result, it is possible to prevent the point cloud data from being reflected more reliably.

(Second Embodiment)
FIG. 10 is a schematic external view of the scanner system 100 according to the second embodiment, and FIG. 11 is a block diagram of the configuration of the system 100.

The remote controller R100 of the system 100 has roughly the same configuration as the remote controller R of the system 1, but does not include the reflection target 11 and includes an electronic level staff LS. Further, the pole 2 for supporting the guide light transmitting unit 12 is not provided, and the guide light transmitting unit 12 is supported by the stage staff LS. As shown in FIG. 10, the stage staff LS is a so-called electronic level bar code scale. The stage staff LS is arranged on a straight base made of aluminum or carbon fiber at predetermined intervals in the vertical direction, and a barcode pattern indicating the length (height) from the lower end of the stage staff is displayed by printing or engraving. Has been done. Further, the stage staff LS includes a spirit level 18 such as a circular spirit level.

Roughly speaking, the scanner device S100 of the system 100 is configured to include an electronic level unit 36 between the horizontal rotation unit 7 of the scanner device S of the system 1 and the bracket 8. Further, the collimation optical axis of the electronic level unit 36 and the rotation axis VV of the rotation mirror 21 are arranged so as to be parallel to each other.

The guide light receiving unit 126 is provided on the objective lens side of the housing of the electronic level unit 36. Further, the system 100 does not include the automatic collimation unit 25.

The electronic level unit 36 includes a collimation optical system 36a including an objective lens, a focusing lens, a compensator, a beam splitter, a focusing plate, an eyepiece lens, etc. arranged in a lens barrel 63, and a line sensor 36b such as a CCD or CMOS. It is configured as a telescope composed of.

An image of the collimated landscape is formed on the line sensor 36b via the collimation optical system 36a. The line sensor 36b converts the received image of the stage staff into an electric signal, converts it into a digital signal by an A / D converter, and outputs the image to the scanner control calculation unit 40. The configuration of the electronic level unit 36 described above is an example, and for example, a known electronic level configuration disclosed in JP-A-2018-34726 may be applied.

Further, the scanner device S100 can acquire the instrument height of the scanner device S by irradiating the ground in the vertical direction with the ranging light Ls and measuring the distance to the ground. FIG. 12 is a vertical cross-sectional view of the scanner device S100 in a state where the light projecting unit 9 collimates the ground in the vertical direction in the direction orthogonal to the axis VV. For ease of understanding, cross-section hatching, internal components, etc. are omitted as appropriate.

Circular windows 61a and 61b closed with a transparent resin plate are provided on the upper surface and the lower surface of the housing of the electronic level unit 36 at positions facing each other when the light projecting portion a faces vertically downward. Further, the lens barrel 63 of the electronic level unit 36 is arranged inside the electronic level housing, and four deflection mirrors 62 are arranged around the lens barrel 63. Further, the horizontal rotation unit 7, the leveling unit 6, and the pedestal 5a of the tripod 5 are provided with circular through holes 5b, 6a, 6b, and 7a in the center of the scanner device S100 in the horizontal direction, respectively.

Then, when the distance measuring light Ls is emitted from the distance measuring unit 24 while the light projecting unit 9 collimates the ground in the vertical direction, the light reflected by the rotating mirror 21 is transmitted through the upper window 61a. , Incident inside the electronic level housing. The light is sequentially reflected by the four deflection mirrors 62, passes through the lower window 61b and the through holes 7a, 6b, 6a, 5b, which are guided vertically downward so as to avoid the lens barrel 63, and irradiates the ground. The reflected light from the ground travels in the same optical path in the opposite direction and is incident on the rotating mirror 21. In this way, the instrument height of the scanner device S100 can be measured.

The scanner control calculation unit 140 controls the electronic level unit 36 to acquire an image of the stage staff collimated by the electronic level unit 36.

Further, the scanner control calculation unit 140 does not include the target scan execution unit 43, but includes an instrument height calculation unit 46, a stage staff height calculation unit 47, and a stage staff distance calculation unit 48. Further, instead of the coordinate / azimuth calculation unit 44, the coordinate / azimuth calculation unit 144 is provided.

The instrument height calculation unit 46 calculates the distance from the ground to the center coordinates of the scanner device, that is, the instrument height of the scanner device S, based on the measurement result of the distance to the ground in the vertical direction of the scanner device S.

The stage staff height calculation unit 47 extracts a code pattern on the collimation optical axis O from the image data of the stage staff acquired by the electronic level unit 36 and stored in the image memory, and the reference code stored in the storage unit 31 in advance. The height of the collimation position of the electronic level unit 36 on the stage staff LS is calculated by collating with (a code pattern corresponding to the height value).

The stage staff distance calculation unit 48 uses the image data of the stage staff LS acquired by the electronic level unit 36 and stored in the image memory to obtain a code pattern corresponding to the upper stadium line of the collimation optical axis O and a code pattern below the collimation optical axis O. The code pattern corresponding to the side stadium line is extracted, and the code pattern is collated with the reference code stored in the storage unit 31 in advance to obtain the measured value of the distance corresponding to each.

Then, the stage staff distance calculation unit 48 obtains the length between the upper and lower stadia lines by the difference between the upper height measurement value corresponding to the upper stadia line and the lower height measurement value corresponding to the lower stadia line. Multiply the obtained length between the upper and lower stadia lines by the stadia constant to calculate the horizontal distance from the instrument center of the electronic level unit 36 to the stage staff LS.

Further, since the vertical rotation axis VV of the scanner device S100 and the collimation optical axis A of the electronic level unit 36 are parallel, the horizontal angle of the collimation optical axis A of the electronic level unit 36 is a horizontal angle detector. Since it can be detected by 29, the horizontal angle of the stage staff LS when collimating the stage staff LS can be acquired.

With the above configuration, the scanner device S100 can measure the horizontal angle, the instrument height, and the stage height of the stage staff LS. Therefore, if the stage staff is installed vertically at a known point and the known points (x ₁ , y ₁ , z ₁ ) are measured, the Z coordinate of the instrument point (X, Y, Z) will be.
It is calculated by Z = z ₁ + level staff height-instrument height. Further, the scanner device S100 is configured to be capable of measuring the distance to the stage staff LS and the horizontal angle of the stage staff LS. Therefore, the scanner device S100 can acquire the data necessary for acquiring the map coordinates of the instrument points by preparing the known posterior viewpoint or the known posterior viewpoint. Further, by measuring the horizontal angle of the stage staff LS installed at a known point, the scanner device S100 can acquire the direction angle of the scanner device installed at the instrument point.

In addition, the coordinate / direction angle calculation unit 144 uses the rear view method or the rear viewpoint / instrument point method based on the height of the stage staff, the distance to the stage staff, the horizontal angle of the stage staff, the instrument height, and the coordinates of the known point. And the direction angle of the scanner device S100 are obtained.

In this way, even if the system 100 is used, the instrument point and the direction angle of the scanner device can be obtained at the measurement site. Therefore, by using the system 100 in the same manner as in the system 1, the same effect as that of the first embodiment can be obtained. Can play.

Further, according to the system 100 according to the present embodiment, the rotation axis VV of the rotation mirror 21 of the scanner device S100 is arranged so as to be parallel to the collimation optical axis of the electronic level unit 36. The distance measuring optical axis of S100 and the collimation optical axis of the electronic level unit 36 are always offset by 90 °.

When an operator sets the scan condition setting reference point Q, the scan condition setting reference point Q is likely to be set as far as possible, and therefore, in many cases, the scan condition setting reference point Q may be set at a distance of 90 ° or more. high. At this time, in the case of the scanner device S, the scanning start direction is not reached unless the scanner device S is rotated horizontally by 90 ° or more, but in the case of the scanner device S100, the rotation amount for reaching the scanning start direction is already 90 °. Can be reduced, so that the waiting time of the operator can be reduced.

Although the preferred embodiments of the present invention have been described above, the above embodiments are examples of the present invention, and these can be combined based on the knowledge of those skilled in the art, and such embodiments are also the present invention. Is included in the range of.

1,1A, 100 Scanner system S, SA, S100 Scanner device R, R100 Remote controller 11 Reflection target 13 Control calculation unit 12 Guide light transmission unit 14 Input / operation unit 15 Display unit 16 Communication unit 17 Scan condition setting unit 21 times Dynamic mirror 22 Vertical right angle detector 23 Vertical rotation drive unit 24 Distance measurement unit 26, 126 Guide light receiver 27 Communication unit 28 Horizontal rotation drive unit 29 Horizontal angle detector 35 Indicator 36 Electronic level unit 40, 140 Scanner control calculation unit 41 Target direction detection unit 42 Automatic collimation execution unit 43 Target scan execution unit 44, 144 Coordinate / direction angle calculation unit 45 Point group data measurement unit 46 Instrument height calculation unit 47 Level staff height calculation unit 48 Level staff distance calculation unit

Claims (10)

A scanner device that scans the range-finding light in the vertical and horizontal directions, measures the irradiation point of the range-finding light, and acquires three-dimensional point cloud data.
It is equipped with a display unit, an input / operation unit, and a remote controller configured to be able to communicate with the scanner device.
The scanner device is configured so that a known point can be measured and the map coordinates of the instrument point and the azimuth angle of the scanner device can be known by the rear view method or the rear viewpoint / instrument point method.
The remote controller displays the known point and the instrument point on the display unit, and sets the scan condition with reference to the scan condition setting reference point specified on the display of the display unit.
The scanner system is a scanner system, wherein the scanner device scans a second scan range after scanning a first scan range set under the scan conditions. The scanner device has a target scan function for measuring a distance and an angle of a reflection target, targets a reflection target of the known point to measure the known point, and sets the map coordinates of the instrument point and the scanner device. The scanner system according to claim 1, wherein the direction angle is known. The remote controller is equipped with an electronic level staff.
The scanner device includes an electronic level unit that collimates the level staff and measures the height of the level staff and the distance to the level staff.
The scanner device is configured to be capable of measuring the instrument height by irradiating the distance measuring light vertically downward.
The angle detector is configured to be able to detect the horizontal angle of the stage staff by measuring the horizontal angle of the collimation optical axis of the electronic level unit.
The scanner device collimates the scale installed at the known point, measures the known point, and measures the height of the scale at the known point, the distance to the scale, the horizontal angle of the scale, and the known point. The scanner system according to claim 1, wherein the map coordinates of the instrument point and the direction angle of the scanner device are known based on the coordinates of the above. The remote controller is characterized in that the known points and the instrument points are superimposed on a map and displayed on the display unit, and scan conditions are set with reference to a scan condition setting reference point designated on the map. The scanning system according to any one of claims 1 to 3. The remote controller superimposes the known point and the instrument point on the CAD drawing of the observation plan and displays them on the display unit, and sets the scan condition with reference to the scan condition setting reference point specified on the CAD drawing. The scanning system according to any one of claims 1 to 3. The first scan range is set as a range of a predetermined angle centered on the scanner device with respect to the scan condition setting reference point, and the second scan range is set as a scan range other than the first scan range. The scanner system according to any one of claims 1 to 5. The scan conditions include a scan rotation direction and a scan start direction.
The scan rotation direction is a direction from a direction that bisects the narrow angle formed by the known point, the instrument point, and the scan condition setting reference point toward the scan condition setting reference point.
The method according to any one of claims 1 to 6, wherein the scan start direction is a direction of the predetermined angle from the scan condition setting reference point in a direction opposite to the scan rotation direction with the instrument point as the center. Scanner system. The remote controller includes a guide light transmitter that scans a fan beam that is wide in the horizontal direction and narrow in the vertical direction as guide light in the vertical direction.
The scanner device
A guide light receiving unit that receives the guide light and detects the horizontal direction of the guide light transmitting unit, and a guide light receiving unit.
A target direction detection unit that directs the scanner device toward the reflection target based on the output signal of the guide light receiving unit, and
An automatic collimation unit that emits collimation light and receives reflected collimation light from the reflection target.
The invention according to any one of claims 1 to 7, wherein the reflection target and the automatic collimation execution unit that aligns the distance measuring optical axes of the scanner device are provided based on the output signal of the automatic collimation unit. The scanner system described. The scanner system according to any one of claims 1 to 8, wherein the scanner device includes an indicator indicating whether the scanner device is scanning a first scan range or a second scan range. A scanner device that scans the range-finding light in the vertical and horizontal directions, measures the irradiation point of the range-finding light, and acquires three-dimensional point cloud data.
It is a scanning method using a remote controller having a display unit and an operation unit and configured to be able to communicate with the scanner device.
(A) The scanner device installed at the instrument point measures a known point, and the map coordinates of the instrument point and the direction angle of the scanner device are known by the backward interaction method or the rear viewpoint / instrument point method. Steps and
(B) A step in which the remote controller displays the known point and the instrument point on the display unit.
(C) A step in which the operator specifies a scan condition setting reference point on the display of the display unit, and
(D) A step in which the remote controller specifies a scan condition based on the scan condition setting reference point.
(E) A step in which the scanner device scans the first scan range set by the scan conditions, and
(F) A method characterized in that, after step (e), the scanner device includes a step of scanning a second scan range other than the first scan range.

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