JP2023100945A - Measurement device, measurement method, and measurement program - Google Patents

Abstract

To reduce a load of work required for selecting a mechanical point again because of a range limit of a scan laser beam.SOLUTION: A total station 100 with a laser scanner comprises: a laser scan data acquisition unit based on a laser scanner installed at a first mechanical point; a maximum range acquisition unit that acquires a maximum range during laser scanning; a scanning range determination unit that determines the scanning range of the laser scanning on the basis of the maximum range; and a mechanical point calculation unit that calculates the positions of second and third mechanical points on the basis of the scanning range. The scanning range is the range of a circle having a specific radius, and the positions of the second and third mechanical points are calculated so as to form a region in which the range of a first circle of the radius about the center of the first mechanical point, the range of a second circle of the radius about the center of the second mechanical point, and the range of a third circle of the radius about the center of the third mechanical point overlap each other.SELECTED DRAWING: Figure 2

Description

The present invention relates to the technology of laser scanning.

In laser scanning, there may be places where scanning laser light does not reach. In this case, it is necessary to change the machine point (viewpoint) and perform laser scanning again for the range where the laser scanning was not performed last time.

Japanese Patent Laid-Open No. 2002-200002 describes a technique related to laser scanning again for a region that could not be laser-scanned.

Japanese Patent No. 5057734

SUMMARY OF THE INVENTION It is an object of the present invention to provide a technique for reducing the work load required to reselect a machine point due to the limit of the scanning laser beam range.

The present invention comprises a laser scan data acquisition unit that acquires laser scan data obtained by laser scanning with a laser scanner installed at a first mechanical point, a maximum range acquisition unit that acquires the maximum range during the laser scanning, and the A scanning range determination unit that determines a scanning range of laser scanning by the laser scanner based on the maximum range of the laser scanner, and a machine that calculates the positions of the second mechanical point and the third mechanical point based on the scanning range. a point calculator, wherein the scanning range is a circular range having a specific radius, a first circular range having the radius centered on the first mechanical point, and the second mechanical point; and the third circular range of radii centered at the third machine point overlap such that a region is formed in which the second circular range of radii centered at A surveying instrument in which the position of a mechanical point and the position of the third mechanical point are calculated .

In the present invention, there is an aspect in which a marking light irradiating means for irradiating marking light onto the second mechanical point is provided.

The present invention comprises a laser scan data acquisition step of acquiring laser scan data obtained by laser scanning with a laser scanner installed at a first mechanical point, a maximum range acquisition step of acquiring the maximum range during the laser scanning, and the a scan range determination step of determining a scan range of laser scanning by the laser scanner based on the maximum range of the laser scanner; and a machine that calculates positions of a second mechanical point and a third mechanical point based on the scan range. a point calculation step, wherein the scan range is a circular range having a particular radius, a first circular range of said radius centered on said first machine point; The second circular range of radii centered at a point and the third circular range of radii centered at the third mechanical point overlap to form an overlapping region. and the position of the third mechanical point are calculated .

The present invention is a program to be read and executed by a computer, comprising a laser scan data acquisition step of acquiring laser scan data obtained by laser scanning with a laser scanner installed at a first mechanical point on the computer, and the laser scanning. A maximum range acquisition step of acquiring a maximum range at a time; a scan range determination step of determining a scan range of laser scanning by the laser scanner based on the maximum range of the laser scanner; and based on the scan range, a second a mechanical point calculation step of calculating positions of a mechanical point and a third mechanical point , wherein the scan range is a circular range having a specific radius, and the radius centered on the first mechanical point; a second circular range of said radii centered at said second mechanical point; and a third circular range of said radii centered at said third mechanical point; In the surveying program , the position of the second mechanical point and the position of the third mechanical point are calculated so as to form an area in which the are overlapped with each other.

According to the present invention, it is possible to reduce the work load required to select the machine point again due to the limit of the scan laser beam range.

It is a principle diagram showing the principle of the embodiment. 1 is a perspective view of a total station with laser scanner utilizing the invention; FIG. 1 is a front view of a total station with a laser scanner using the invention; FIG. 1 is a block diagram of a total station with laser scanner utilizing the invention; FIG. 4 is a flow chart showing an example of a procedure of processing;

1. First embodiment (outline)

In this example, a laser scanner-equipped total station 100 (see FIGS. 2 and 3), which combines a total station and a laser scanner, is used. This device has the function of performing laser marking, and when a marking position for the device is specified, the position is irradiated with a laser beam for marking, and the position is marked with a bright point (reflection point) of the laser beam. It can be performed. The details of the laser scanner-equipped total station 100 will be described later.

In this example, the received light intensity of the reflected light of the laser scanning light is determined by a predetermined threshold, and the reflected light with the received light intensity below this threshold is not adopted as the laser scanning data. This threshold is set as the lower limit of the reflected light intensity at which a reliable distance measurement value can be obtained.

Fig. 1 shows a case where multiple laser scanning ranges (effective ranges) are overlapped when selecting multiple machine points (locations where laser scanners are installed) so that there are no omissions in laser scanning. .

In this case, each machine point is set according to the following procedure. First, a laser scan is placed at the first mechanical point. A mechanical point is a point where a laser scanner is installed, and is a point serving as a viewpoint (origin) of laser scanning. Here, it is assumed that the position (X ₁ , Y ₁ , Z ₁ ) in the absolute coordinate system of the first machine point is specified and known. Note that the position of the first machine point in the absolute coordinate system may be unknown. In this case, a local coordinate system is used with the first machine point as the origin.

Then, laser scanning is performed using a laser scanner of a laser scanner-equipped total station installed at the first mechanical point (X ₁ , Y ₁ , Z ₁ ) to obtain first laser scanning data. The laser scan data is composed of data on the irradiation direction of the range-finding light, the distance to the reflection point of the range-finding light, and the received light intensity of the reflected light.

Next, the maximum range of the laser scanner in the measurement environment is obtained based on the first laser scan data. In this process, the distance from the first machine point to each laser scanning point (the number may be tens of thousands to hundreds of thousands or more) is compared, and the maximum distance is obtained as the maximum range. .

After obtaining the maximum range of the laser scanning light, 70% of the value is adopted as the effective range of the laser scanner in the measurement environment. This effective range is selected from a range of about 50% to 80% of the maximum range.

If the effective range is less than 50% of the maximum range, the laser scanning range is narrow compared to the performance of the laser scanner, resulting in poor laser scanning work efficiency. If the effective range exceeds 80% of the maximum range, there is an increased possibility that there will be places where the scanning light cannot reach.

There is also a method of obtaining the effective range from the density of scanning points (reflection points of scanning light). Since laser scanning is performed radially, the density of scanning points (the number of scanning points per unit area) decreases as the distance from the laser scanner increases. Therefore, the density of scanning points can be used as a parameter that indicates the distance from the laser scanner to the scanning points.

By the way, there are cases where the lower limit of the density of scanning points is set due to the demand for the accuracy of a three-dimensional model obtained from point cloud data. For example, the density of scan points may be relatively small if the resulting three-dimensional model may be less accurate. On the other hand, if a high-precision three-dimensional model is required, a correspondingly large density of scan points is required.

When the lower limit of the scanning point density is set, the effective range of the scanning light is defined by the set minimum scanning point density. For example, if the minimum density of scanning points is 1 point/cm ² , the ranging distance at which this density is obtained is the effective range.

When the effective range of the laser scanning light is obtained, the value is determined as the radius R, and the circular area centered on the installation position (mechanical point) of the laser scanner is determined as the laser scanning range. First, a circular laser scanning range with a radius R centered on the first mechanical point is set.

Next, the positions of the second and third mechanical points are set. First, the plane positions (positions in the horizontal direction) of the second and third mechanical points are obtained. Here, XYZ coordinates are used with the XY axis in the horizontal direction and the Z axis in the vertical direction.

First, the horizontal positions (X ₂ , Y ₂ ) and (X ₃ , Y ₃ ) of the second machine point and the third machine point are determined. In this process, a second mechanical point and a third mechanical point are set with respect to the first mechanical point such that at least three or more laser scan ranges all overlap to form an area. (At this stage, a laser scan from the first machine point has already been performed and the position of the first machine point is known). An example of this case is shown in FIG.

Focusing on three adjacent laser scanning ranges in FIG. 1, the three laser scanning ranges partially overlap at the same time. That is, there is a portion where three circles overlap. By doing so, it is possible to prevent the generation of a dead area of laser scanning, that is, a dead area where laser scanning data cannot be obtained.

An example of processing for setting the scan range shown in FIG. 1 will be described below. Five scan ranges are shown in FIG. Each scan range is circular with radius R, and the distance between center positions (machine points) is equal distance a. In this case, the position (X ₂ , Y ₂ ) of the second mechanical point on the horizontal plane and the position of the third mechanical point on the horizontal plane are A calculation of (X ₃ , Y ₃ ) is performed.

Note that FIG. 1 is an example, and it is also possible that the distances between the three machine points are not the same. It is also possible to set four or more scan ranges to overlap.

After determining the horizontal positions of the second and third mechanical points, the vertical positions (Z positions) of the second and third mechanical points are determined. In this process, first, the first point cloud data is obtained from the laser scan data acquired from the first mechanical point. A method of obtaining point cloud data is a normal method. Simply put, from the direction and distance of each scanning point viewed from the laser scanner, the position of each scanning point in a three-dimensional orthogonal coordinate system (XYZ coordinate system) with the optical origin (first mechanical point) of the laser scanner as the origin. A three-dimensional coordinate position (X, Y, Z) is obtained. This can also be regarded as coordinate transformation from the polar coordinate system to the three-dimensional orthogonal coordinate system.

After obtaining the first point cloud data, extract the data of the point closest to the plane position (X ₂ , Y ₂ ) of the second machine point in the first point cloud data, and calculate the Z value of that point. Obtained as the Z position (position in the vertical direction) of the second mechanical point. Thus, the three-dimensional coordinate position (X ₂ , Y ₂ , Z ₂ ) of the second machine point is obtained. In this case, after setting the next machine point (the second machine point) and marking the place with a mark, etc., the three-dimensional position of this next machine point is determined by the total station with a laser scanner. It may be measured by the function and the final determination of the coordinate values of the next machine point may be performed. Also, the three-dimensional coordinate position (X ₃ , Y ₃ , Z ₃ ) of the third machine point is acquired in a similar manner.

As a method of obtaining the Z value of the second mechanical point, there is also the following method. A first alternative method is to use the Z value of the first machine point. This method can be used if it is clear that the next machine point will be set on the same horizontal plane. In this case, after setting the next machine point and marking the place, measure the three-dimensional position of this next machine point with the total station function of the total station with laser scanner, and finally It is also possible to determine the coordinate values of the next mechanical point.

A second alternative method extracts a horizontal plane (e.g., floor or ground) extending in the direction of the second machine point from the point cloud data obtained from the first machine point, and extrapolates the plane to Extending in the direction of the second machine point, drawing a perpendicular from the horizontal position (X ₂ , Y ₂ ) of the second machine point to the extended horizontal plane, and the Z coordinate of the intersection of this perpendicular and the extended horizontal plane How to get the value as _Z2 . In this case as well, the total station function of the total station with a laser scanner may be used to finalize the coordinate values of the next machine point. These other methods are the same for the third mechanical point. A known technique for creating a three-dimensional model from point cloud data is used to extract a plane from point cloud data. This technique is described, for example, in International Publication No. WO2011/070927, Japanese Patent Application Publication No. 2012-230594, and Japanese Patent Application Publication No. 2014-35702.

To set the fourth laser scanning range, select two adjacent laser scanning ranges set at that stage, and use the same principle as above to determine the position of the mechanical point in the fourth laser scanning range. . By repeating this process, the fifth, sixth, and so on laser scanning ranges are set. Of course, the number of laser scan ranges to be set depends on the size of the area to be laser scanned.

Here, when the setting of the third mechanical point is not necessary, the first laser scanning range centered on the first mechanical point and the second laser scanning range centered on the second mechanical point are , setting a second mechanical point to cover the intended laser scanning target area. In this case, the overlapping portion of the two laser scanning ranges is adjusted so that no unscanned area occurs.

Also, guidance to new machine points is performed using the total station function of the total station with laser scanner. For example, assume that there are four mechanical points set by the above method (see FIG. 1). Now, assume that the laser scanning at the first mechanical point is completed and the total station with the laser scanner is moved to the next mechanical point (hereinafter referred to as the second).

At this stage, a total station with a laser scanner installed at the first machine point irradiates the second machine point with laser marking light. The operator determines the second machine point by, for example, setting a mark at the location marked by the marking light.

After determining the second mechanical point, using the positioning function of the total station with laser scanner installed at the first mechanical point, the position of the second mechanical point is precisely measured, and the position of the second mechanical point is accurately determined. may be confirmed (confirmed).

Next, the total station with laser scanner installed at the first mechanical point is moved to the second mechanical point and installed there. A laser scan is then performed from a second mechanical point.

Here, the first machine point becomes a back point (backpoint), and the point cloud data obtained from the second machine point is described on the coordinate system describing the point cloud data obtained from the first machine point. . If the position of the first machine point in the absolute coordinate system is known, the first machine point becomes the back point, and the point cloud data obtained from the second machine point is described on the absolute coordinate system. .

A method using a target (for example, a reflecting prism) can also be used as a method of guiding to the second mechanical point using the total station. This utilizes the technique used to set stake points using a total station. In this technique, a total station with a laser scanner captures a target (for example, a reflecting prism) carried by an operator and measures the position of the target. Then, the positional relationship between the machine point B and the target is displayed on the display of the terminal carried by the operator, so that the operator can grasp the position of the machine point B. The operator finds out the position of the machine point B while looking at the above display.

After completing the laser scanning at the second machine point, navigation to a third machine point is performed in a manner similar to the navigation to the second machine point, and laser scanning is performed there. By repeating this process, laser scanning is sequentially performed at all the set mechanical points.

(Total station with laser scanner)
FIG. 2 shows a perspective view of a total station with laser scanner 100 utilizing the invention. FIG. 3 shows a front view of the total station 100 with laser scanner. The laser scanner-equipped total station 100 has a structure in which a laser scanner 109 described later and a total station are combined. The function of the total station is the same as that of a normal total station. The detailed structure of the total station is described in, for example, Japanese Patent Application Laid-Open No. 2009-229192 and Japanese Patent Application Laid-Open No. 2012-202821.

The laser scanner-equipped total station 100 has a structure in which a TS main body 150 and a laser scanner 109 are combined (combined). The laser scanner-equipped total station 100 has a main body 11 . The body portion 11 is held on the pedestal 12 so as to be horizontally rotatable. The pedestal 12 is fixed to the top of a tripod (not shown). The body portion 11 has a substantially U-shape with two extending portions extending upward when viewed from the Y-axis direction, and the movable portion 13 extends vertically between the two extending portions. (angle of elevation and angle of depression) is maintained in a controllable state.

The main body 11 is horizontally rotated electrically with respect to the base 12 . That is, the main body 11 is driven by a horizontal angle control motor incorporated in the main body 11 to horizontally rotate with respect to the base 12 . The movable portion 13 is vertically rotated with respect to the body portion 11 by a vertical angle control motor built in the body portion 11 . Control of these horizontal rotations and vertical rotations is performed by a vertical/horizontal rotation drive section 106 (see the block diagram of FIG. 4) built in the body section 11 .

A horizontal rotation angle control dial 14a and a vertical angle control dial 14b are arranged on the body portion 11 . By operating the horizontal rotation angle control dial 14a, the horizontal rotation angle of the body portion 11 (movable portion 13) is adjusted, and by operating the vertical angle control dial 14b, the vertical angle of the movable portion 13 is adjusted. done. It is also possible to input position data and automatically orient the optical axis of the total station 100 with a laser scanner in that direction.

At the upper part of the movable part 13, a rectangular tube-shaped sighting device 15a for roughly aiming is arranged. Further, the movable portion 13 is provided with an optical sighting device 15b having a narrower field of view than the sighting device 15a and a telescope 16 capable of more precise sighting.

The image captured by the sighting device 15 b and the telescope 16 can be visually recognized by looking through the eyepiece 17 . The telescope 16 includes infrared band laser light for range finding (ranging light from the laser positioning unit 103), tracking light for tracking and capturing a range target (for example, a dedicated reflecting prism serving as a target), and It also serves as an optical system for marking laser light in the visible band for laser marking. The optical system is designed so that the optical axes of the distance measuring light, tracking light and marking laser light are aligned with the optical axis of the telescope 16 .

It is also possible to use a single laser beam as both the laser beam for distance measurement and the laser beam for marking. In this case, the laser light in the visible band is used as both the laser light for distance measurement and the laser light for the marker. The relationship between the optical system of the movable section 13 and the exterior orientation elements of the laser scanner 109 is obtained in advance as design data and is known.

Displays 18 and 19 are attached to the main body 11 . The display 18 is integrated with the operation section 101 . The operation unit 101 has ten keys, a cross operation button, etc., and various operations and data input related to the total station 100 with a laser scanner are performed. The displays 18 and 19 display various information and survey data necessary for operating the total station 100 with laser scanner. The reason why there are two displays on the front and back is that the displays can be viewed from either the front or back without rotating the main body 11 .

A laser scanner 109 is fixed to the upper portion of the main body 11 . The laser scanner 109 has a first tower 301 and a second tower 302 . The first tower section 301 and the second tower section 302 are connected at a joint section 303, and the space above the joint section 303 (the space between the first tower section 301 and the second tower section 302) is It is covered with a protective case 304 made of a member that transmits the scanning laser light. Inside the protective case 304, a rotating part 305 is arranged to protrude from the first tower part 301 in the X-axis direction. The tip of the rotating part 305 has an obliquely cut shape, and a tilted mirror 306 is fixed to the tip.

The rotating part 305 is driven by a motor housed in the first tower part 301 and rotates (rotates vertically) about the X-axis as a rotation axis. In addition to the motor, the first tower section 301 houses a drive circuit for driving the motor, a control circuit for the motor, a sensor for detecting the rotation angle of the rotating section 305, and peripheral circuits for the sensor.

Inside the second tower part 302, there are a light emitting part for emitting laser scanning light, a light receiving part for receiving the scanning light reflected from the object, an optical system related to the light emitting part and the light receiving part, a scanning point ( A distance calculation unit for calculating the distance to the reflection point of the scanning light is housed. The laser scanner 109 also includes a scan point position calculation unit that calculates the three-dimensional coordinates of the scan point based on the rotation angle position (vertical rotation angle) of the rotation unit 305, the horizontal rotation angle of the main body 11, and the distance to the scan point. have.

The relationship between the exterior orientation elements of the optical system of the laser scanner 109 and the exterior orientation elements of the optical system inside the movable section 13 (the optical system of the laser positioning section 103) is known as design data. That is, the positional relationship between the optical origin of the laser scanner 109 and the optical origin of the laser positioning unit 103 is known, and the relationship between the orientation of the laser scanner 109 and the orientation of the laser positioning unit 103 is also known.

The laser scanning light is irradiated from the inside of the second tower section 302 toward the oblique mirror 306 , reflected there, and irradiated to the outside through the transparent case 304 . Also, the scanning light reflected from the object traces a path opposite to that of the irradiation light and is received by the light receiving section inside the second tower section 302 .

The scanning point (reflecting point of the scanning laser light) is positioned based on the timing of light emission and light reception of the scanning light, and the vertical rotation angle of the rotating section 305 and the horizontal rotation angle of the main body 11 at that time. The principle of this positioning is the same as that of ordinary laser ranging.

The principle of laser ranging in the laser scanner 109 will be briefly described below. First, since the speed of light is constant, if the flight time and direction of the distance measuring light are known, a vector can be set with the optical origin of the optical system as the starting point, and the position of the reflection point of the distance measuring light with respect to the optical origin can be calculated. This principle is the same for laser positioning in the laser positioning unit 103 .

The flight time of the distance measurement light can be known from the timing difference between light emission and light reception, and the difference (phase difference) between the light reception timing of the reference light and the light reception timing of the distance measurement light propagating through a reference optical path whose distance is known.

The irradiation direction of the distance measuring light can be known from the vertical rotation angle of the rotating portion 305 and the horizontal rotation angle of the main body portion 11 at the time of light emission. Here, the vertical rotation angle of the rotating portion 305 and the horizontal rotation angle of the main body portion 11 are detected by the vertical/horizontal rotation angle detection portion 107 .

A laser beam for laser scanning is emitted in pulses, reflected by an oblique mirror 306, and intermittently emitted from the protective case 304 to the outside. At this time, the laser scanning light is irradiated while the rotating part 305 is rotating. As a result, laser scanning in the vertical plane (YZ plane (around the X axis)), that is, laser scanning along the vertical plane is performed. At the same time, the main body 11 is horizontally rotated (rotated around the Z-axis) to perform horizontal laser scanning, and as a result, laser scanning of the entire periphery (or a required range) is performed. The laser scanning light may be in the form of one line, or may be in the form of irradiating a plurality of lines at the same time.

Techniques related to laser scanners are described in JP-A-2010-151682, JP-A-2008-268004, US Pat. Also, as the laser scanner, it is possible to employ a form in which scanning is performed electronically, as described in US Publication No. US 2015/0293224.

(Block Diagram)
FIG. 4 shows a block diagram of a TS (total station) 100. As shown in FIG. The basic functions of the laser scanner-equipped total station 100 as a total station are the same as those of the conventional one. The laser scanner-equipped total station 100 differs from conventional total stations in that it is combined with a laser scanner 109, calculates the position of the next machine point, and irradiates the laser beam for marking to the position of the next machine point. and laser marking is possible.

The laser scanner-equipped total station 100 includes an operation unit 101, an imaging unit (camera) 102, displays 18 and 19, a laser positioning unit 103, a vertical/horizontal rotation driving unit 106, a vertical/horizontal rotation angle detection unit 107, and an automatic collimation control unit. (Marking light irradiation position control unit) 108, laser scanner 109, laser scan data acquisition unit 110, maximum range acquisition unit 111, scan range determination unit 131, machine point calculation unit 112, marking light emission unit 113, comparison data creation unit 114 , a comparison target data output unit 115, an operation control unit 121, a storage unit 122, and an optical system 201 (telescope 16).

Here, an automatic collimation control unit (marking light irradiation position control unit) 108, a laser scan data acquisition unit 110, a maximum range acquisition unit 111, a scan range determination unit 131, a machine point calculation unit 112, a comparison data creation unit 114, a comparison The target data output unit 115 and the operation control unit 121 are functional units realized by a computer. Each of these functional units is implemented by a computer executing a specific program.

As the computer, a general-purpose microcomputer may be used, or a dedicated processor configured by FPGA or the like may be used. Also, at least part of each functional unit may be configured by a dedicated electronic circuit. Moreover, at least part of the above functional units may be implemented using an external PC (personal computer) or a computing unit of a server.

A laser positioning unit 103 performs three-dimensional positioning using a laser beam, which is a basic function of a total station. The positioning principle is the same as that of the laser scanner 109 . The optical system 201 includes a sighting device 15b (see FIG. 3), a telescope 16 (see FIG. 3), an optical system of the laser positioning unit 103, an optical system of the imaging unit 102, an optical system that forms an optical path of tracking light (not shown), and an optical system forming the optical path of the marking light emitted from the marking light emitting unit 113 . The distance measuring light from the laser positioning unit 103 and the marking light from the marking light emitting unit 113 are emitted from the objective lens of the telescope 16 on the optical axis of the telescope 16 .

The optical system 201 includes various lenses, mirrors, dichroic mirrors for separating and combining optical paths, half mirrors, polarizing mirrors, and the like. The optical system 201 irradiates the positioning target with laser light for ranging via the telescope 16 , and receives the ranging laser light reflected from the positioning target via the telescope 16 . Also, an image captured by the telescope 16 is guided by the optical system 201 to the eyepiece section 17 and to the imaging section 102 . Also, the marking light emitted from the marking light emitting unit 113 is irradiated to a position to be marked via the optical system 201 .

The laser scanner-equipped total station 100 also includes a tracking light emitting unit that emits tracking light for tracking a target (for example, a reflecting prism), a tracking light receiving unit that receives the tracking light reflected by the target, and the tracking light from the telescope 16. A tracking control unit is provided for outputting a control signal to the vertical/horizontal rotation driving unit 106 so as to come to the collimated position in the field of view. Since the configuration around this is the same as the product currently supplied to the market, detailed explanation is omitted. A configuration related to the TS tracking light is described in Japanese Patent No. 5124319, for example.

The operation unit 101 receives the details of the operation of the laser scanner-equipped total station 100 by the operator. This operation includes an operation related to laser scanning using the laser scanner 109 . Operation of the laser scanner-equipped total station 100 is performed by button switches or the like provided in the laser scanner-equipped total station 100 . It is also possible to use a tablet or smartphone as the operation unit. In this case, by installing dedicated application software on a tablet or smartphone, the tablet or smartphone can function as an operating means for the laser scanner-equipped total station 100 .

The imaging unit 102 captures an image captured by the telescope 16 . Imaging is performed by, for example, a CCD image sensor or a CMOS image sensor. The displays 18 and 19 display images captured by the imaging unit 102, information necessary for operating the total station 100 with a laser scanner, information related to the operation of the total station 100 with a laser scanner (distance measurement data, direction of a target, etc.). be. A liquid crystal display, an EL display, or the like is used as the displays 18 and 19 .

The vertical/horizontal rotation drive unit 106 drives the horizontal rotation of the main body 11 and the vertical rotation of the movable unit 13 . The vertical/horizontal rotation driving section 106 includes a motor, a gear mechanism, and a driving circuit for the above driving.

A vertical/horizontal rotation angle detection unit 107 detects the horizontal rotation angle of the body unit 11 and the vertical angle (angle of elevation and angle of depression) of the movable unit 13 . Angle detection is performed by a rotary encoder. The horizontal rotation angle is measured in a clockwise direction as viewed from above, with north as a reference (0°), for example. The vertical angle (angle of elevation and angle of depression) is measured with the horizontal direction as the reference (0°), the elevation direction being +, and the depression direction being -.

The automatic collimation control unit (marking light irradiation position control unit) 108 performs control to irradiate the laser marking light to the position of the next mechanical point calculated by the mechanical point calculation unit 112 . In this control, control is performed to direct the optical axis of the marking light in the direction of the next machine point seen from the current machine point and to irradiate the marking light.

A laser scanner 109 performs laser scanning. By performing laser scanning, laser scan data is obtained. The laser scanning light is intermittently applied at a cycle of several kHz to several tens of kHz. Laser scanning is performed by performing the above light emission while horizontally rotating the main body portion 11 and vertically rotating the rotating portion 305 .

In laser scanning, the horizontal angle of main body 11 and the vertical angle of rotating portion 305 are detected when the scanning light is emitted. Also, the distance to the scan point is calculated from the flight time of the scan light. The laser scan data includes the horizontal angle of the main body 11, the vertical angle of the rotating portion 305, and the distance to the scan point when the scan light is emitted.

In addition, the received light intensity of the scanning light reflected from the scanning point is detected, and the data of this received light intensity is associated with each scanning point and acquired as scanning data.

Point cloud data is obtained based on the laser scan data. The point cloud data is a collection of data of three-dimensional coordinates ((X, Y, Z) coordinates) of each scanning point (reflection point of each scanning light). The position (coordinates) of each point in a three-dimensional orthogonal coordinate system whose origin is the optical origin of the laser scanner 109 is calculated from the direction and distance data of each point included in the laser scan data.

The laser scanner 109 has an arithmetic circuit for converting laser scan data into point cloud data, and can output point cloud data in addition to laser scan data. This process can also be performed externally. In this case, the laser scan data is output to the outside and converted into point cloud data by a dedicated PC, a general-purpose PC, a server, or the like.

If the exterior orientation elements (position and orientation) of the laser scanner 109 on the absolute coordinate system are known, the position of each point forming the point cloud data is described on the absolute coordinate system. An absolute coordinate system is a coordinate system that describes GNSS data and map data. A position on the absolute coordinate system is described by, for example, latitude, latitude, and altitude.

A laser scan data acquisition unit 110 acquires the laser scan data obtained by the laser scanner 109 . In this example, laser scan data acquired by the laser scanner 109 is stored in the storage unit 122 .

When calculating a new mechanical point, the already acquired laser scan data is read out from the storage unit 122 and acquired by the laser scan data acquisition unit 110 . It is also possible to store the laser scan data in an appropriate storage medium or storage device and acquire it therefrom. Alternatively, point cloud data is first created from laser scan data, the laser scan data and point cloud data are stored in the storage unit 122, and the laser scan data acquisition unit 110 acquires the data.

The maximum range acquisition unit 111 acquires the maximum measured distance from the laser scan data obtained by the total station 100 with laser scanner.

The scan range determination unit 131 determines the scan range (for example, the circular range in FIG. 1) based on the maximum range value acquired by the maximum range acquisition unit 111 .

The machine point calculation unit 112 performs processing related to calculation of the next machine point based on the principle described with reference to FIG. For example, the mechanical point calculator 112 performs a process of calculating the position of the second mechanical point in a situation where the laser scan data acquired from the first mechanical point is obtained.

The marking light emitting unit 113 emits laser light (laser marking light) for laser marking. The laser marking light is visible light, and marking is performed using the bright spot of the irradiation point.

The comparison data creation unit 114 creates comparison data by comparing the calculated position data of the new mechanical point with the position data of the target (for example, reflecting prism) positioned by the laser positioning unit 103 . As this comparison data, there is a map representation of the relative positional relationship between the position of the mechanical point obtained by calculation and the position of the target measured by the laser positioning unit 103 .

The comparison target data output unit 115 outputs to the outside (for example, an external terminal) the data of the position of the mechanical point obtained by the calculation that is the basis of the comparison data and the data of the position of the target positioned by the laser positioning unit 103. do.

The operation control unit 121 controls the operation of the total station with laser scanner 100 . For example, the operation control unit 121 controls the procedure of the processing according to FIG. The storage unit 122 stores data and programs necessary for the operation of the laser scanner-equipped total station 100 and survey data obtained as a result of the operation of the laser scanner-equipped total station 100 . The storage unit 122 also stores laser scan data obtained by the laser scanner 109 and point cloud data calculated based on the laser scan data.

(Example of processing)
FIG. 5 is a flow chart showing an example of the procedure of processing performed using the total station 100 with laser scanner. A program for executing the processing in FIG. 5 is stored in the storage unit 122 or an appropriate storage medium. The procedure of this process is controlled and executed by the operation control unit 121 . It is also possible to store this program in an appropriate storage medium or a storage device (data server, etc.) accessible via a communication line, and download it from there. Moreover, a mode is also possible in which the processing of FIG. 5 is performed by a PC (personal computer), a server, or the like.

In the process of FIG. 5, first, the laser scanner-equipped total station 100 is installed at the first mechanical point (step S101). At this time, the exterior orientation elements (position and orientation) in the absolute coordinate system of the laser scanner-equipped total station 100 at the first mechanical point are measured and acquired.

Next, the surroundings are laser scanned to obtain laser scan data (step S102). This processing is performed by the laser scan data acquisition unit 110 .

Next, the maximum distance is obtained from the laser scan data obtained in step S102 as the maximum range (step S103). This processing is performed in maximum range acquisition 111 . Next, the scan range is determined based on the maximum range obtained in step S103 (step S104). By this process, a circular scan range with a radius of 50% to 80% (for example, 70%) of the maximum range is determined. This processing is performed by the scan range determination unit 131 .

Next, the second and subsequent machine points are calculated (step S105). This processing is performed by the machine point calculator 112 . By this process, for example, the scanning range shown in FIG. 1 is set.

(induction processing)
At the stage where the laser scanning from the set mechanical point is completed, guidance to the next mechanical point is performed. In this process, the next machine point is irradiated with the marking light. In this process, the horizontal rotation angle of the main body 11 and the vertical rotation angle of the movable part 13 are adjusted, the optical axis of the telescope 16 is adjusted to point to the next mechanical point, and then the marking for the next mechanical point is performed. Light irradiation is performed.

2. Second Embodiment In this example, a reflective prism is used to guide to the next mechanical point. First, get the position of the next machine point. Then, the total station 100 with a laser scanner captures the reflecting prism, which is the target carried by the worker, and measures the position of the reflecting prism. Then, the positional relationship between the next machine point and the reflecting prism is displayed on the terminal (smartphone or tablet) carried by the worker, allowing the worker to grasp the position of the next machine point.

While looking at the above display, the operator finds the position of the next machine point and marks the point by placing a marker or the like. At this time, the total station 100 continues to track the reflecting prism and continues to measure the position of the reflecting prism.

The information displayed on the terminal carried by the worker includes, for example, map information centered on the position of the reflecting prism. This display data is created in a form (first form) inside the laser scanner-equipped total station 100 and a form (second form) in which the terminal side prepares the display data.

In the case of the first mode, the display data described above is created by the comparison data creation unit 114, and is wirelessly sent to the terminal carried by the worker. In the case of the second mode, the position data of the second machine point and the position data of the reflecting prism positioned by the laser positioning unit 103, which are the basis of the display data, are transmitted from the comparison object data output unit 115 to the terminal carried by the worker. sent to In this case, map data is created on the terminal side.

3. Third Embodiment Calculation of the following machine points and related processing may be performed by an external device. In this case, laser scan data or point cloud data is output from the laser scanner-equipped total station 100, and received by an external dedicated computing terminal or a PC or server installed with a program for executing processing related to the calculation of machine points. , performs the processing related to the calculation of the machine point of the present invention.

In this case, the external device is a part of the laser scan data acquisition unit 110, the maximum range acquisition unit 111, the scan range determination unit 131, the machine point calculation unit 112, the comparison data creation unit 114, the comparison target data output unit 115, or It can be grasped as a surveying information processing device equipped with everything. The invention disclosed in this specification can also be understood as a survey information processing method and a survey information processing program.

4. Fourth Embodiment The effective range can also be set by the user. In this case, if the effective range set by the user (set effective range) is within the range of the effective range (measured effective range) based on the actually measured maximum range, the set effective range is adopted. If the set effective range exceeds the measured effective range, the measured effective range shall be adopted.

DESCRIPTION OF SYMBOLS 100... Total station with a laser scanner, 109... Laser scanner, 150... TS main body, 11... Main body part, 12... Pedestal, 13... Movable part, 14a... Horizontal rotation angle control dial, 14b... Vertical angle control dial, 15a... Sighting device , 15b... Optical sighting device 16... Telescope 17... Eye piece 18, 19... Display 301... First tower part 302... Second tower part 303... Coupling part 304... Protective case , 305... Rotating part, 306... Oblique mirror.

Claims (4)

a laser scan data acquisition unit that acquires laser scan data obtained by laser scanning with a laser scanner installed at a first mechanical point;
a maximum range acquisition unit that acquires the maximum range during the laser scanning;
a scan range determination unit that determines a scan range of laser scanning by the laser scanner based on the maximum range of the laser scanner;
a mechanical point calculator that calculates the positions of the second mechanical point and the third mechanical point based on the scan range,
the scan range is a circular range with a specific radius;
a first circular range of radii centered on the first mechanical point, a second circular range of radii centered on the second mechanical point, and a third mechanical point centered on A surveying instrument in which the position of the second mechanical point and the position of the third mechanical point are calculated so as to form an overlapping area with the third circular range of radius . 2. The surveying instrument according to claim 1, further comprising marking light irradiation means for irradiating marking light onto said second mechanical point. a laser scan data acquisition step of acquiring laser scan data obtained by laser scanning with a laser scanner installed at a first mechanical point;
a maximum range acquisition step of acquiring the maximum range during the laser scanning;
a scanning range determining step of determining a scanning range of laser scanning by the laser scanner based on the maximum range of the laser scanner;
a mechanical point calculation step of calculating positions of a second mechanical point and a third mechanical point based on the scan range;
the scan range is a circular range with a specific radius;
a first circular range of radii centered on the first mechanical point, a second circular range of radii centered on the second mechanical point, and a third mechanical point centered on A surveying method in which the position of the second mechanical point and the position of the third mechanical point are calculated so as to form an overlapping area with the third circular range of radius . A program that is read and executed by a computer,
A laser scan data acquisition step of acquiring laser scan data obtained by laser scanning with a laser scanner installed at a first machine point in a computer;
a maximum range acquisition step of acquiring the maximum range during the laser scanning;
a scanning range determining step of determining a scanning range of laser scanning by the laser scanner based on the maximum range of the laser scanner;
a mechanical point calculation step of calculating positions of a second mechanical point and a third mechanical point based on the scan range;
the scan range is a circular range with a specific radius;
a first circular range of radii centered on the first mechanical point, a second circular range of radii centered on the second mechanical point, and a third mechanical point centered on A surveying program for calculating the position of the second mechanical point and the position of the third mechanical point so as to form an overlapping area with the third circular range of the radius.

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