JP2023131780A - Prism mounting fixture - Google Patents

Abstract

To facilitate measurement of an installation position of a sphere target.SOLUTION: A prism mounting fixture according to one embodiment includes: a mounting part to be mounted to a sphere target; a rail part mounted to the mounting part and including a rail having an arc shape; and a prism part including a prism and moving on the rail. The mounting part includes: a rotation part allowing the rail to rotate around an axis passing through a center of the sphere of the sphere target in an arrangement in which the sphere of the sphere target and the arc shape of the rail have a concentric circle while being mounted to the sphere target.SELECTED DRAWING: Figure 3

Description

The present invention relates to a prism mounting tool.

In recent years, three-dimensional point cloud data measured with a 3D (three-dimensional) laser scanner has come to be used for purposes such as progress confirmation and completed form measurement at construction sites and the like. For example, by superimposing a 3D model such as BIM (Building Information Modeling) created according to the on-site design drawings and point cloud data measured with a laser scanner, it is easy to check progress and measure finished results. I can do it.

Furthermore, in order to obtain point cloud data over a wider area, multiple point cloud data obtained by scanning from multiple positions with a 3D laser scanner are also combined. Furthermore, by setting a target within a measurement range and measuring point cloud data, the accuracy of synthesizing a plurality of point cloud data is improved using the point cloud of the target as a reference.

Additionally, the position of a target is accurately measured using a surveying instrument, and the obtained position of the target is used to adjust the position of the measured point cloud data to absolute coordinates. Accurate positioning improves the accuracy of overlay with the design model.

Furthermore, a spherical target is known (for example, Patent Document 1).

Japanese Patent Application Publication No. 2020-139891

A spherical target includes a sphere, and can be measured with the same shape no matter where the sphere is viewed. Therefore, the spherical target can be used as a target by being installed in various locations such as the ceiling and walls of the site without worrying about its orientation. On the other hand, when accurately surveying the position of a target using a surveying instrument or the like, it is required to install a prism at a position indicating the installation position of the target so as to directly face the surveying instrument. However, for example, when a spherical target is installed on a wall or ceiling, it may be difficult to install the prism in a position that indicates the installation position so as to directly face the surveying instrument. Therefore, the high degree of freedom of the installation position of the spherical target may not be utilized due to limitations imposed by surveying equipment.

In one aspect, the present invention aims to facilitate surveying the installation position of a spherical target.

A prism mounting tool according to one embodiment of the present invention includes a mounting part that is mounted on a spherical target, a rail part that is attached to the mounting part and includes an arc-shaped rail, and a prism, A prism mounting device that includes a prism section that moves on the rail, and the mounting section is arranged such that the sphere of the spherical target and the arc shape of the rail are concentric circles when mounted on the spherical target, and the mounting section moves on the rail. The spherical target includes a rotating part that rotates the target around an axis passing through the center of the sphere.

It is possible to easily measure the installation position of the spherical target.

It is a figure which illustrates a spherical target. FIG. 3 is a diagram illustrating a survey of a target installation position. FIG. 3 is a diagram illustrating a prism mounting tool according to an embodiment. It is a figure which illustrates the movement of the mounting part based on embodiment. It is a figure which illustrates the movement of the prism part based on embodiment. FIG. 3 is a diagram illustrating the movement of the prism mounting tool according to the embodiment. FIG. 3 is a diagram illustrating a positional relationship between a prism and the center of a sphere of a spherical target. FIG. 3 is a diagram illustrating a case in which a spherical target is installed on a diagonal wall or the like. It is a figure which illustrates the movement of the prism in the prism part of the prism mounting tool based on embodiment. FIG. 3 is a diagram illustrating an operational flow of measurement using the prism mounting tool according to the embodiment.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the drawings. Note that the same reference numerals are given to corresponding elements in a plurality of drawings.

As described above, point cloud data of a wider area is synthesized by overlapping common parts of point cloud data measured from a plurality of points. In this case, it may be difficult to synthesize only the information on the point cloud to be measured. For example, when similar structures continue over a wide range, such as when measuring the internal shape of a long tunnel, there are few distinctive points to use for synthesis, and synthesis will not work if only information from the point cloud of the measurement target is used. Sometimes.

Therefore, a target is set up at the site, point cloud data is measured using a 3D laser scanner to include the target, and multiple point cloud data are synthesized using the target point cloud as a clue. Moreover, a spherical target 100 is used as an example of a target used for synthesizing such a plurality of point cloud data.

FIG. 1 is a diagram illustrating a spherical target 100. As shown in FIG. A side view of the spherical target 100 is shown in FIG. 1(a). The spherical target 100 includes a target portion 101 and a mounting portion 102.

The target section 101 is, for example, a sphere. Moreover, the attachment part 102 has a function or structure for attaching the spherical target 100 to an object, for example. For example, in FIG. 1, the attachment part 102 includes a magnet 110, and the spherical target 100 can be attached to a metal such as a reinforcing bar used in a building at the site by the magnet 110. Note that the attachment of the attachment portion 102 is not limited to a magnet, and an adhesive such as a socket or a seal may be used.

Further, FIG. 1(b) illustrates a spherical target 100 installed on a wall 150. For example, even when the spherical target 100 is measured with a 3D laser scanner from different angles, the same spherical point group can be obtained for the target portion 101. For example, even if the spherical target 100 is installed in an oblique direction as shown in FIG. 1(b), the spherical shape of the target portion 101 remains the same as the shape when viewed from the side in FIG. 1(a). I understand. Therefore, when combining a plurality of point cloud data measured from a plurality of points, the point cloud of the target section 101 can be used as a reference. In this way, the spherical target 100 can be installed and used on the ceiling or wall of the site without worrying about its orientation. At construction sites, etc., materials are often placed on the floor, and supplies are also transported, so it may be difficult to set targets on the floor or it may interfere with work. Therefore, a spherical target that can be installed and used on a ceiling or wall is highly convenient.

Furthermore, in order to perform coordinate transformation with higher precision, for example, surveying instruments such as transits and total stations are used to accurately survey the installation positions of targets.

FIG. 2 is a diagram illustrating the measurement of the target installation position. For example, assume that a spherical target 100 is installed at a certain position as shown in FIG. 2(a). In this case, the surveying instrument 202 is installed at a position whose position coordinates on the design drawing are specified in advance, and the installation position of the spherical target 100 from that position is specified by surveying.

For example, in order to survey the installation position of the spherical target 100 with the surveying instrument 202, as shown in FIG. Install them facing each other. In addition, facing directly may mean, for example, arranging the prism surface of the prism 203 substantially parallel to a surface orthogonal to the optical axis of the surveying instrument 202. Further, the position indicating the installation position of the spherical target 100 is, for example, the center position of the target section 101.

Subsequently, the installation position of the spherical target 100 is specified by measuring the position of the prism 203 (for example, the X, Y, and Z position coordinates) using the surveying instrument 202.

Note that, for example, the position of the surveying device 202 from the reference point 201 can be specified by surveying the position of the reference point 201 or the like whose position coordinates on the design drawing have been specified in advance using the surveying device 202.

After surveying, the target unit 101 is installed at the position of the prism 203, and the area including the spherical target 100 is measured using a 3D laser scanner.

Similarly, by measuring the area including the spherical target 100 from a plurality of positions with a 3D laser scanner, it is possible to measure a plurality of point cloud data including the spherical target 100 whose position has been specified in a design drawing or the like. Then, by superimposing the plurality of point cloud data based on the position of the spherical target 100, the plurality of point cloud data can be synthesized with high precision. Furthermore, coordinate transformation can be performed with high precision based on the position coordinates of the spherical target 100.

However, in this case, unless the installation position of the spherical target 100 and the surveying position of the prism 203 are matched with high accuracy, the accuracy of coordinate transformation of the point cloud data will decrease. Therefore, in order to achieve highly accurate positioning, a spirit level is used to precisely install the device on a flat surface such as the floor. Further, depending on the installation location of the spherical target 100, such as when the spherical target 100 is installed in the sky, it may be difficult to install the prism 203 directly facing the surveying instrument 202 at a position corresponding to the spherical target 100. Therefore, although the spherical target 100 has a high degree of freedom in the installation position as a target for a 3D laser scanner, it is difficult to use when performing high-precision coordinate transformation such as determining the target installation position by surveying. The installation location may be restricted due to surveying. As a result, it may not be possible to take full advantage of the advantage that the spherical target can be installed anywhere.

Therefore, it is desired to provide a prism that facilitates the measurement of the installation position of the spherical target 100 regardless of the installation position of the spherical target 100. In the embodiments described below, a prism mount 300 for a spherical target is provided.

FIG. 3 is a diagram illustrating a prism mounting tool 300 according to an embodiment. In FIG. 3A, the prism mounting tool 300 includes, for example, a rail section 301, a prism section 302, and a mounting section 303. The rail section 301 is attached to the mounting section 303, for example, and includes an arc-shaped rail. Note that the mounting section 303 has a function or structure for mounting the prism mounting tool 300 on the spherical target 100, for example. Furthermore, the mounting section 303 has a function or structure for attaching and detaching the rail section 301, and may be capable of attaching and detaching the rail section 301. Prism section 302 includes prism 310. Furthermore, the prism section 302 can fit into (ride on) the rail section 301 and move along the rail section 301, for example. The prism section 302 may be detachable from the rail section 301.

In FIG. 3(b), the rail section 301, the prism section 302, and the mounting section 303 are shown in a separated state.

FIG. 4 is a diagram illustrating the movement of the mounting section 303. FIG. 4(a) shows the rotation of the rail by the mounting section 303. As shown in FIG. 4(a), the mounting portion 303 includes a first portion 401 and a second portion 402. Further, FIG. 4(b) illustrates a cross section of the second portion 402 of the mounting portion 303, and illustrates the rotating structure of the mounting portion 303. The first portion 401 and the second portion 402 of the attachment portion 102 include an opening 403, as shown in FIG. 4(b). The size and shape of the opening 403 may be made to match the shape and size of the attachment part 102 of the spherical target 100. As shown in FIG. 4(a), the attachment part 102 can be inserted through the opening 403. Then, by tightening the fixing screw 404, the first portion 401 of the mounting portion 303 can be fixed to the mounting portion 102.

Further, the second portion 402 of the attachment portion 102 includes an opening 405, as shown in FIG. 4(b). The end of the rail section 301 can be inserted into the opening 405, and the inserted rail section 301 can be fixed by tightening the fixing screw 406, or the rail section 301 can be removed by loosening the fixing screw 406. be able to. Note that the fixing using the opening and screws illustrated in FIG. 4 is merely an example, and fixing may be performed with other configurations.

Further, as shown in FIG. 4(b), the second portion 402 may be, for example, a bearing or a bearing, and includes an inner member 411 and an outer member 412 to which a plurality of balls 420 are attached. Note that the outer member 412 may be referred to as a rotating section. The inner member 411 is connected to the first portion 401, for example, and is fixed to the attachment portion 102 together with the first portion 401. The outer member 412 can rotate around the inner member 411 as shown by an arrow 430 by the plurality of balls 420 smoothly rotating on the inner member 411. As a result, when the attachment part 303 is attached to the spherical target 100, the rail part 301 can be rotated around the spherical target 100 as shown by the arrow 450 with the longitudinal axis of the attachment part 102 as the rotation axis. can. Note that with the prism mounting tool 300 attached to the spherical target 100, the arc-shaped rail of the rail portion 301 is arranged around the sphere of the spherical target 100. Furthermore, when the prism mounting tool 300 is attached to the spherical target 100, the center of the target portion 101 of the spherical target 100 and the center of the arc-shaped rail of the rail portion 301 may coincide. When the prism mounting tool 300 is attached to the spherical target 100, the arc-shaped rail of the rail section 301 is arranged concentrically with the sphere of the target section 101. Therefore, the mounting section 303 is arranged such that the sphere of the spherical target and the arc shape of the rail are concentric circles when mounted on the spherical target 100, and the rail can be rotated around an axis passing through the center of the sphere of the spherical target 100. I can do it.

FIG. 5 is a diagram illustrating the movement of the prism section 302. FIG. 5A shows a state in which the prism section 302 is attached to the rail section 301. FIG. 5(b) is a diagram illustrating a cross section of a portion where the prism portion 302 is attached to the rail portion 301. In the example of FIG. 5, the rail portion 301 includes a groove 501 having a hollow structure. The groove 501 may be, for example, a groove that opens on the opposite side to the target portion 101. For example, as shown in FIG. 5B, the prism section 302 includes a prism 310, a column 502 to which the prism 310 is attached, and a disk member 503 attached to the tip of the column 502. A plurality of balls 504 are attached to the disc member 503, and the smooth rotation of the balls 504 causes the prism part 302 to move along the rail groove 501 of the rail part 301 as shown by the arrow 520 in FIG. 5(a). can be moved like this. As the prism section 302 moves on the rail, for example, the prism 310 moves on a circle concentric with the arc shape of the rail.

Further, the prism section 302 includes a second rotating section that rotates the prism surface of the prism 310 around the axial direction from the center of the arc shape of the rail toward the prism 310. For example, the ball 504 may function as a second rotating part, and the smooth rotation of the ball 504 causes the prism 310 to rotate within the rail part 301 as shown by an arrow 530 with the support 502 as the rotation axis. I can do it. In addition, although the example of FIG. 5 describes the example in which the entire prism part 302 rotates as shown by the arrow 530, embodiment is not limited to this. For example, in another example, prism 310 may be rotatable about post 502 as shown by arrow 530.

As described above, the prism mounting tool 300 according to the embodiment is capable of rotating around the axis (arrow 601) of the mounting portion 303 shown in FIG. By moving (arrow 602), the position of the prism section 302 can be changed. As a result, for example, as shown in FIG. 6(b), even if the spherical target 100 is attached to walls and ceilings in various orientations, when the prism section 302 is suspended, these two movements will cause the spherical target to The prism 310 of the prism section 302 can be suspended vertically below the center of the sphere 100.

Further, for example, the prism section 302 rotates the prism surface of the prism 310 around the axial direction from the center of the arc shape of the rail toward the prism 310. For example, the prism section 302 can be rotated as shown by an arrow 603 while suspended vertically below the center of the sphere of the spherical target 100. Therefore, the prism section 302 can be rotated in accordance with the installation position of the surveying instrument 202, so that the prism 310 can be made to directly face the surveying instrument 202.

Furthermore, since the prism 310 of the prism section 302 is suspended vertically below the center of the sphere of the spherical target 100, the positional relationship between the prism 310 and the center of the sphere of the spherical target 100 is maintained constant. .

FIG. 7 is a diagram illustrating the positional relationship between the prism 310 and the center of the sphere of the spherical target 100. In FIG. 7(a), the spherical target 100 is mounted in a horizontal orientation, while in FIG. 7(b), the spherical target 100 is mounted in an oblique orientation. However, since the prism section 302 is suspended vertically below the center of the sphere of the spherical target 100, even if the spherical target 100 is attached in various orientations, the center of the sphere of the spherical target 100 and the prism 310 The positions in the horizontal direction (positions in the X direction and Y direction) match as shown in FIG. Further, the vertical distance between the center of the sphere of the spherical target 100 and the prism 310 is a predetermined value A. In other words, when the prism mounting tool 300 is attached to the spherical target 100, the prism 310 moves on a concentric circle with the sphere of the target section 101, so that the center of the sphere of the spherical target 100 and the prism 310 are vertically connected. The distance becomes a predetermined value A. Therefore, when the position coordinates of the prism 310 are specified by the surveying instrument 202, the coordinates of the center of the sphere of the spherical target 100 can be specified by shifting the coordinates by adding A to the Z component of the coordinates.

Therefore, as illustrated in FIG. 8, even when the spherical target 100 is installed on a diagonal wall 150 or the like, the prism 310 can be placed directly facing the surveying instrument 202 and its position can be specified. Then, by shifting the Z component of the specified prism 310 by A, the center position of the spherical target 100 can be specified.

As described above, according to the embodiment, even when using the spherical target 100, it is possible to easily specify its installation position. Further, according to the embodiment, even when the spherical target 100 is installed in various orientations, it is possible to easily specify the installation position.

Note that the prism portion 302 of the prism mounting tool 300 may include a movable portion that allows the prism 310 to move along the axial direction from the center of the arc of the rail portion 301 toward the prism 310. For example, as shown in FIG. 8, even if the spherical target 100 is installed on a wall or ceiling higher than the floor, the prism 310 may be in a blind spot when viewed from the position of the surveying instrument 202 depending on the presence of obstacles. Sometimes I get into it. Even in such a case, if the position of the prism 310 is movable, it can be moved to a position where the prism 310 can be seen.

FIG. 9 is a diagram illustrating movement of the prism 310 in the prism section 302 according to the embodiment. As shown in FIG. 9, the prism 310 in the prism portion 302 is slidable and movable in a direction along the central axis of the support column 502. As shown in FIG. Note that, in one example, the prism 310 may be fixed to the support column 502 using fasteners such as bolts and nuts. In this case, for example, the strut 502 has a groove through which the thread of the bolt passes, and by turning the bolt attached to the prism 310 and tightening the strut 502 between the bolt head and the nut, A prism 310 may be secured to the post 502. Further, in this case, the prism 310 may be movable along the support column 502 by loosening the bolt. This allows the prism 310 to move along the axial direction from the center of the arc of the rail portion 301 toward the prism 310.

Further, in order to make it possible to specify the position of the prism 310 when it is moved, the prism section 302 may have a scale 901 that indicates the position of the prism 310. In the example of FIG. 9, the support 502 includes a scale along the axial direction of the support 502, and the scale along the axial direction from the center of the arc of the rail portion 301 toward the prism 310 when the position of the prism 310 is moved. The position of the prism 310 can be specified.

Moreover, in the example of FIG. 9, the prism section 302 includes a weight 902. As described above, the prism portion 302 may be suspended in the vertical direction by its own weight, and by including the weight 902 in this way, the hanging in the vertical direction can be made more stable. Moreover, no human effort is required to fix the prism.

FIG. 10 is a diagram illustrating an operational flow of measurement using the prism mounting tool 300 according to the embodiment.

In S1001, a reference point 201 whose position on the design drawing is known is surveyed by a surveying instrument 202 such as a transit or a total station, and the position of the surveying instrument 202 is specified.

In S1002, a spherical target 100 is installed. The spherical target 100 may be installed in various places, such as a wall or a ceiling, for example.

The prism mounting tool 300 is attached to the spherical target 100 installed in S1003. When the prism mounting tool 300 is attached to the spherical target 100, for example, the prism portion 302 hangs in the vertical direction due to its own weight. Further, the prism surface of the prism in the prism section 302 can be rotated, and the prism surface can be oriented to directly face the surveying instrument 202.

In S1004, the surveying instrument 202 measures the prism 310 of the prism mounting tool 300, and specifies the position coordinates of the prism 310.

Then, in S1005, the position coordinates (X, Y, Z coordinates) of the spherical target 100 are specified by adding a predetermined value A to the position coordinates of the prism 310.

In S1006, the prism mounting tool 300 is removed from the spherical target 100.

In S1007, the spherical target 100 is measured from a plurality of positions using a 3D laser scanner, and a plurality of point cloud data are acquired.

In S1008, a plurality of point cloud data are synthesized using the position coordinates of the spherical target 100.

As described above, since the position of the spherical target 100 can be specified by the prism attachment 300, accurate coordinate alignment can be performed, and the efficiency of post-processing related to point group synthesis and coordinate transformation can be improved.

Moreover, according to the prism mounting tool 300 according to the embodiment, it is possible to easily survey the spherical target 100 installed in various places such as a wall surface and a ceiling.

Therefore, it is not necessary to install the spherical target 100 in a location where surveying is easy, such as the floor, for surveying, and the feature of the spherical target 100 that can be installed anywhere can be utilized.

For example, when specifying the position of the spherical target 100 by surveying, the spherical target 100 can be installed not on the floor but on a wall, ceiling, or other location that does not interfere with traffic or construction. Therefore, it is possible to keep the spherical target 100 in place for a long period of time. This eliminates the need to install the spherical target 100 every time measurement is performed. For example, when observing a finished product at a site using a 3D laser scanner, the measurement can be performed with the spherical target 100 left in place, which is highly convenient.

Above, several embodiments are described. However, the embodiments are not limited to the embodiments described above, but should be understood to include various modifications and alternative forms of the embodiments described above. For example, it will be understood that the various embodiments can be embodied by changing the components without departing from the spirit and scope thereof. Furthermore, it will be understood that various embodiments can be implemented by appropriately combining the plurality of components disclosed in the embodiments described above. Furthermore, various embodiments may be implemented by deleting some components from all the components shown in the embodiments or adding some components to the components shown in the embodiments. It will be understood by those skilled in the art.

100 : Spherical target 101 : Target part 102 : Mounting part 110 : Magnet 150 : Wall 201 : Reference point 202 : Surveying instrument 203 : Prism 300 : Prism mounting tool 301 : Rail part 302 : Prism part 303 : Mounting part 310 : Prism 401 : First part 402 : Second part 403 : Opening part 404 : Fixing screw 405 : Opening part 406 : Fixing screw 411 : Inner member 412 : Outer member 420 : Ball 501 : Groove 502 : Support column 503 : Disk member 504 : Ball 901 : Scale 902 : Weight

Claims (6)

an attachment part attached to a spherical target;
a rail part attached to the mounting part, the rail part including an arc-shaped rail;
a prism section that includes a prism and moves on the rail;
A prism fitting comprising:
The mounting unit is configured to rotate the rail around an axis passing through the center of the sphere of the spherical target, with the mounting unit being arranged such that the sphere of the spherical target and the arc shape of the rail are concentric when mounted on the spherical target. It is equipped with a rotating part that causes
Prism fitting. The movement of the prism portion on the rail causes the prism to move on a concentric circle with the arc shape of the rail.
The prism mounting tool according to claim 1, characterized in that: The rotating part is rotatable by the weight of the prism part,
The rail part holds the prism part so as to be slidable on the rail by the weight of the prism part,
In a state where the mounting portion is attached to the spherical target, the prism portion is suspended from the rail by its own weight so that the prism is located at a position vertically below the center of the sphere of the spherical target. The prism mounting tool according to claim 1 or 2, characterized by: 4. The prism section according to claim 1, wherein the prism section includes a second rotating section that rotates the prism surface of the prism around an axis in a direction from the center of the arc shape of the rail toward the prism. The prism mounting device according to any one of the items. The prism part includes a movable part that allows the prism to move in an axial direction from the center of the arc shape of the rail toward the prism;
a scale for specifying the position of the prism from the center of the arc shape;
The prism mounting tool according to any one of claims 1 to 4. The prism mounting tool according to any one of claims 1 to 5, wherein the rail portion is removable from the mounting portion.