JP5204955B2 - Scanning method for 3D laser scanner - Google Patents

Description

  The present invention relates to a scanning method for a three-dimensional laser scanner that performs scanning of a measurement object using a three-dimensional laser scanner outdoors or indoors.

  The three-dimensional laser scanner irradiates laser light radially from a sensor, for example, in the range of 360 degrees in the horizontal direction and 320 degrees in the vertical method, and the distance calculated from the time difference until the laser light returns, This is a device that collects (scans) the three-dimensional coordinates of all points as point cloud data from the angle of the laser beam to be emitted. This three-dimensional laser scanner is used to control the accuracy of buildings under construction outdoors or indoors (see Patent Document 1) or to measure mountainous landforms outdoors (see Patent Document 2). Has been.

By the way, when scanning with a 3D laser scanner, if there is an inner measurement object that is another measurement object inside the outer measurement object such as an outdoor mountain or an indoor wall surface, the inner measurement is performed. In the shadow of the object, a portion that cannot be measured occurs in the outer measurement object, and the entire measurement object cannot be covered by one scanning. Usually, there are many inner measurement objects such as various facilities, temporary facilities and heavy equipment outdoors, and many inner measurement objects such as pillars, beams and fixtures indoors. Change and scan multiple times, then synthesize the collected point cloud data. Conventionally, the installation position of the three-dimensional laser scanner has been appropriately determined by the operator in accordance with the shape of the measurement object, but it often depends on the operator's intuition.
JP 2005-213972 A JP 2004-125452 A

  Since the point cloud data collected by the three-dimensional laser scanner has a very large amount of data, it is preferable that the number of scanning is small. In particular, since scanning by a three-dimensional laser scanner measures the entire measurable range for each scanning, the amount of collected data becomes enormous. However, conventionally, an efficient specific method for determining the installation position of the three-dimensional laser scanner has not been established, and the number of movements of the three-dimensional laser scanner increases, and the number of scanning times increases. Therefore, if many point cloud data collected by many scannings are combined, the amount of data of the combined three-dimensional coordinates becomes enormous, and data processing (especially processing for deleting duplicate data) and data display There was a problem that it took a lot of time. In addition, since the number of scans is large, it takes a lot of time to collect data. Furthermore, in order to cover all measurement objects, there is a problem that it takes a lot of time to determine the installation position of the three-dimensional laser scanner.

  Therefore, the present invention has been devised to solve the above-mentioned problem, and a three-dimensional laser capable of efficiently collecting data by reducing the number of movements of the three-dimensional laser scanner and reducing overlapping portions of data. It is an object of the present invention to provide a scanner scanning method.

To solve the above problems, the invention according to claim 1, in the outside of the measurement object, the scanning location where the inner of the measurement object present at a measurement object and a gap of the outer, three-dimensional In a scanning method of a three-dimensional laser scanner performed using a laser scanner, the three-dimensional laser scanner collects three-dimensional coordinates for each of a plurality of reflection points by scanning the measurement object with an installation position of the three-dimensional laser scanner as an origin. The point-to-point distance between one of the reflection points and the other reflection point adjacent to the reflection point is outside the numerical range of the point-to-point distance between the reflection points adjacent to each other on the surface of the outer measurement object. portion, said determining that the outside of the measurement object and the boundary portion between the inner of the measurement object, wherein the inner of the measurement object between the boundary portion adjacent Therefore indexing as data uncollected portion of the outer of the measurement object became negative, between the origin and the data uncollected portion of the inner on the shade measurement object by remote the data uncollected portion side Is set as the next installation position of the three-dimensional laser scanner.

  According to the method, since the data uncollected portion of the measurement object can be easily determined, the indexing time can be shortened. Furthermore, between the origin and the data uncollected part, set the data uncollected part side as the next installation position of the three-dimensional laser scanner with respect to the inner measurement object or convex part that gives shadow, and In the scanning, it is possible to scan the data uncollected portion and the inner measurement object or the data uncollected portion behind the convex portion, which is very efficient. As a result, the number of movements of the three-dimensional laser scanner can be reduced, and the number of scanning times can be reduced accordingly, so that the overlapping portion of data can be reduced. Therefore, the amount of data to be synthesized is reduced, and the time required for data processing such as deletion of overlapping portions of data and data display can be greatly shortened. Furthermore, the time for data collection can be greatly reduced by reducing the number of scanning times.

  The invention according to claim 2 is characterized in that the next installation position of the three-dimensional laser scanner is set on a line connecting the origin and an intermediate portion of the data uncollected portion. This is a scanning method for a three-dimensional laser scanner.

  According to the above-described method, it is possible to almost eliminate the remaining data of the measurement object at the time of the next scanning. In addition, data in the uncollected portion can be collected with a good balance between left and right, and data processing can be easily performed.

  In the invention according to claim 3, when there are a plurality of the data uncollected portions, the next installation position of the three-dimensional laser scanner is set between the data uncollected portion having the largest area and the origin. A scanning method for a three-dimensional laser scanner according to claim 1 or 2, wherein:

  According to the method, the 3D laser scanner can be installed in an appropriate order at an appropriate installation position, the number of movements and the number of scanning of the 3D laser scanner can be reduced, and the data collection time can be reduced. The amount of data to be synthesized can be reduced.

  The invention according to claim 4 is characterized in that the coordinates of each part are set based on the origin, and in the next scanning by the three-dimensional laser scanner, only the data uncollected part of the measurement object is scanned. A scanning method for a three-dimensional laser scanner according to any one of claims 1 to 3.

  According to the above method, since data is not collected redundantly, overlapping portions of data can be eliminated, the amount of data to be synthesized can be minimized, and data collection and data processing time can be reduced. it can.

  According to the present invention, it is possible to provide a scanning method capable of efficiently collecting data by reducing the number of movements of the three-dimensional laser scanner and reducing an overlapping portion of data.

  Next, the best mode for carrying out the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a plan view showing a measurement object to be collected by the scanning method of the three-dimensional laser scanner according to the present invention and a first installation position of the three-dimensional laser scanner, and FIG. 2 is a plan view of the measurement object by the three-dimensional laser scanner. 3 is an enlarged view showing a data collection portion, FIG. 3 is a side view showing point cloud data collected by a three-dimensional laser scanner, and FIGS. 4 and 5 are perspective views of the point cloud data collected by the three-dimensional laser scanner. FIG. 6 is a flowchart showing a scanning method of the three-dimensional laser scanner according to the present invention.

  As shown in FIG. 1, in this embodiment, a case where an indoor room is scanned will be described as an example. In the present embodiment, the indoor wall 10, the floor 20 and the ceiling (not shown) become an outer measurement object (hereinafter sometimes referred to as “outer measurement object”) 11, and the two pillars 30, Reference numeral 30 denotes inner measurement objects 31 and 31 (hereinafter sometimes referred to as “inner measurement objects”).

  The three-dimensional laser scanner 1 irradiates the outer measurement object 11 and the inner measurement object 31 with the laser light 2, and the laser light 2 is reflected by the outer measurement object 11 and the inner measurement object 31 and returns. The distance is calculated from the time until and the three-dimensional coordinates (x coordinate, y coordinate, z coordinate) of the reflection point of the measurement objects 11 and 31 are calculated from this distance and the angle of the irradiated laser beam 2. The laser beam 2 is irradiated radially at a predetermined angular pitch in a range of 360 degrees in the horizontal direction and 320 degrees in the vertical direction, and the three-dimensional laser scanner 1 collects each reflection point as point cloud data. Thus, the measurement objects 11 and 31 can be displayed three-dimensionally. The irradiation range of the laser beam 2 is appropriately set according to the shape of the measurement objects 11 and 31. That is, for example, when measuring the shape of a room in a room, the vertical direction is irradiated with laser light in a range of 320 degrees centering on the top so that the floor and ceiling can also be scanned. Thereby, it is possible to scan everything except the foot of the three-dimensional laser scanner 1. The irradiation pitch of the laser beam 2 is appropriately determined depending on the resolution of the required three-dimensional data. The irradiation pitch is determined by the irradiation angle pitch of the laser beam 2, and is set to be 2 mm apart, for example, 10 meters away. When the irradiation angle pitch is small, a lot of laser light 2 is irradiated, the distance between the reflection points becomes small, and the resolution becomes high.

  Next, a scanning method of the three-dimensional laser scanner according to the present invention will be described based on the flowchart shown in FIG.

  In such a scanning method, first, it is determined whether or not there is a place (installation position of the three-dimensional laser scanner 1) where an operator who collects data can cover all measurement objects (Step 1). Here, when the measurement object is, for example, only the outer measurement object that can be seen from the center of the room, and there is no inner measurement object that shades the outer measurement object, the center of the room The part becomes a place where all measurement objects can be covered. In this case, since all the measurement objects can be scanned by installing the three-dimensional laser scanner 1 in the center of the room and performing scanning, the scanning ends there.

  However, usually, as shown in FIG. 1, an inner measurement object 31 such as a pillar 30 is often located inside the outer measurement object 11, and in this case, the process proceeds to the steps described below.

  If there is no place that can cover all the measurement objects, the operator selects an installation position with the smallest portion 32 that is the shadow 32 of the inner measurement object 31 shown in FIG. 2 (the shadow extending to the outer measurement object 11). (Step 2). In this selection, rough scanning is performed at each of a plurality of temporary installation positions selected by the operator, and an installation position with the smallest shade 32 is selected. Since rough scanning has a low resolution and a small amount of data, the working time is very short compared to normal scanning. Therefore, the optimal installation position can be selected in a short time. In the present embodiment, as shown in FIG. 1, for example, on an extension line of an intermediate position between the pair of pillars 30 and 30 (inner measurement objects 31 and 31), a position as far as possible from the pillars 30 and 30. Is the installation position 51 of the three-dimensional laser scanner 1. Here, when there are three or more columns, it is preferable to set the intermediate position (center of gravity position) of all the columns as the installation position of the three-dimensional laser scanner 1.

  Then, the three-dimensional laser scanner 1 is installed at the installation position 51, and scanning is performed with the position as the origin P0 (Step 3). A part of the point cloud data 3 collected by the scanning performed here is shown in FIG. The point cloud data 3 shown in FIG. 3 indicates the peripheral portion of the inner measurement object 31, 31, and represents the portion including the data uncollected portion 4 of the outer measurement object 11.

  As shown in FIG. 3A, the point cloud data 3 includes a plurality of reflection points 5 of the laser beams 2 irradiated from the three-dimensional laser scanner 1. Each of the reflection points 5, 5... Is set in advance so as to have a pitch of 2 mm at a position 10 meters away from the three-dimensional laser scanner 1, for example. The distance between the reflection points 5, 5... The distance between the points of the point cloud data 3 increases as the distance from the three-dimensional laser scanner 1 increases, and decreases as the distance from the three-dimensional laser scanner 1 decreases. Since the point-to-point distance straddling between the reflection point 5 of the outer measurement object 11 and the reflection point 5 of the inner measurement object 31 is the distance L2 between the coordinates of the outer measurement object 11 and the coordinates of the inner measurement object 31. , Become very big. Therefore, the point-to-point distance that has transitioned at the substantially same interval L1 in the portion of the outer measurement object 11 becomes extremely long at the boundary portion 7 between the outer measurement object 11 and the inner measurement object 31. The point-to-point distance of the inner measurement object 31 portion changes at an interval L3 that is shorter than the interval L1 of the outer measurement object 11 portion. This is because the inner measurement object 31 is located closer to the outer measurement object 11.

  In the present invention, focusing on the above points, based on the distance between adjacent points of the point cloud data 3, the data uncollected portion 4 of the outer measurement object 11 that is shaded by the inner measurement object 31 is determined. That is, a portion where the distance between adjacent points of the point cloud data 3 is out of the set value range is determined as the data uncollected portion 4 (Step 4). The set value is determined by the distance between the reflection points 5 and 5 on the surface of the outer measurement object 11 (the irradiation angle pitch of the laser beam 2 and the distance (irradiation distance) between the three-dimensional laser scanner 1 and the outer measurement object 11). ). Since the three-dimensional laser scanner 1 is installed at one point in the outer measurement object 11, the distance between the three-dimensional laser scanner 1 and the outer measurement object 11 changes sequentially depending on the data collection position. Therefore, the set value of the point-to-point distance is appropriately set while changing for each place. The set value is set with a predetermined width. This is because the surface unevenness of the outer measurement object 11 is taken into consideration.

  At the boundary portion 7 between the outer measurement object 11 and the inner measurement object 31, the point-to-point distance becomes extremely long, and thus deviates from the set value range having a predetermined width. In addition, since the inner measurement object 31 is located close to the inner measurement object 31, the point-to-point distance is reduced and deviates from the set value range having a predetermined width. As described above, the portion outside the set value range collects data on the surface of the inner measurement object 31, and thus can be referred to as the data uncollected portion 4 of the outer measurement object 11.

  Further, as shown in FIG. 3B, since the data uncollected portion 4 becomes a blank portion when viewed from the point cloud data 3 of only the surface of the outer measurement object 11, it is adjacent to both ends of the data uncollected portion 4. The distance between the matching reflection points 5 ′ and 5 ′ is extremely large and has the same length as the width of the data uncollected portion 4. The data uncollected portion 4 can also be detected by detecting a portion where the distance between the points is extremely large. The detection of the data uncollected portion 4 is performed, for example, by setting an upper limit threshold of the point-to-point distance and detecting that the point-to-point distance exceeds the set value (upper limit threshold) (departs from the set value). . Then, the data uncollected portion 4 is between the reflection points 5 ′ and 5 ′ at both ends of the extremely large distance between the points. The set value is appropriately set according to the irradiation pitch of the laser beam 2 (see FIG. 1) and the distance to the measurement object.

  As shown in the hatched portion of FIG. 3, when the point cloud data 3 is displayed, when data processing is performed by the computer, if the portion where the point-to-point distance deviates from the set value is color-coded or shaded, the data This is suitable because the uncollected portion 4 can be confirmed at a glance.

  On the other hand, since the reflection points 5 are arranged vertically, a mesh 5a (see FIG. 3B) is formed by connecting the reflection points 5 and 5 adjacent to each other vertically. The data uncollected portion 4 can also be detected by calculating the area of the mesh 5a. Specifically, by setting an upper limit threshold for the area of the mesh 5a and detecting that the area of the mesh 5a exceeds the set value (upper limit threshold) (departs from the set value), the data uncollected portion 4 is detected. This is because the area of the mesh 5a increases as the distance between the reflection points 5 increases. The portion of the mesh 5a whose area exceeds the set value becomes the data uncollected portion 4. If the data uncollected portion 4 is color-coded or shaded, the portion can be confirmed at a glance.

  Furthermore, as another detection method, the point cloud data is divided into rectangles of a predetermined size, and a data uncollected portion can be detected according to the density of reflection points in the rectangle. Specifically, by detecting a portion having a small number of reflection points in the rectangle, the portion is determined as a data uncollected portion. This is because the point-to-point distance between adjacent reflection points is set in advance, so the density (the number of reflection points in the rectangle) is determined, and the low density part is the blank part of the reflection point (data uncollected part 4). This is because it can be determined that there is. This detection method is particularly effective when scanning is performed with a scanning range limited in advance.

  By the way, if image processing is performed by a computer based on the point cloud data 3 subjected to data processing, it can be displayed as a stereoscopic image as shown in FIG. In this stereoscopic image, only the data collected surface is shown, and the surface of the data non-collected portion 4 is not shown.

  Next, the displayed point cloud data 3 is viewed to determine whether there is a data uncollected portion 4 (Step 5). Here, when there is no data uncollected portion 4, the scanning is finished. If there is a data uncollected portion 4, the process proceeds to the next step.

  In the next step, when there are a plurality of data uncollected portions 4, the largest data uncollected portion 4 a having the largest area is determined and certified (Step 6). The area of the data uncollected part is calculated by hand calculation from the point cloud data 3 or by a computer at the time of data processing. In the present embodiment, as shown in FIG. 4A, there are two data uncollected portions 4 and their areas are substantially the same, so either data uncollected portion 4 may be selected. In the present embodiment, the data uncollected portion 4 on the left side in the figure is the maximum data uncollected portion 4a. In addition, when there is only one data uncollected part 4, this process does not need to be performed.

  Thereafter, the distance between the origin P0 and the maximum data uncollected portion 4a is calculated, and the distance between the origin P0 and the inner measurement object 31 that shades the maximum data uncollected portion 4a is calculated (Step 7). Specifically, as shown in FIG. 4B, the reflection points on the left and right sides of the inner measurement object 31 are P1 and P3, and the reflection points on the left and right sides of the maximum data uncollected portion 4a are P2 and P4. The distance between the origin P0 and each reflection point P1, P2, P3, P4 is calculated. Here, the coordinates of the origin P0 are (x, y, z), and the coordinates of each reflection point are P1 (x1, y1, z1), P2 (x2, y2, z2), P3 (x3, y3, z3), Assuming P4 (x4, y4, z4), the relative coordinates (dx, dy, dz) with respect to the origin P0 at each reflection point are respectively expressed by the following equations (1).

  And the distance from the origin P0 to each reflection point P1, P2, P3, P4 is represented like the following (2) Formula.

  Next, the direction from the origin P0 to the maximum data uncollected portion 4a is set as a moving direction D1 to the next (second) installation position of the three-dimensional laser scanner 1, and the maximum data uncollected portion 4a, the inner measurement target 31, Is determined as the next installation position (Step 8). Here, the moving direction D1 is a line connecting the midpoint between the reflection points P2 and P4 on the maximum data uncollected portion 4a and the origin P0. The moving distance L5 to the next installation position is determined so that the three-dimensional laser scanner 1 does not interfere with the outer measurement object 11 and the inner measurement object 31. That is, the movement distance is larger than the distance (distance P0P1) between the origin P0 and the reflection point P1, and smaller than the distance (distance P0P2) between the origin P0 and the reflection point P2, and is the distance (distance P0P3) between the origin P0 and the reflection point P3. ) Greater than the distance between the origin P0 and the reflection point P4 (distance P0P4). In addition, when the inner side measurement target 31 is the pillar 30, it is possible that the data uncollected portion 4 side protrudes. However, since the pillar 30 is usually the target shape, the shape of the pillar 30 is acquired. The estimation may be performed based on the obtained data.

  Then, as shown in FIG. 5A, the three-dimensional laser scanner 1 is installed at the next (second) installation position, and scanning is performed. Incidentally, since the first (first) installation position of the three-dimensional laser scanner 1 is set as the origin P0, the data uncollected portion 4 can grasp the position as coordinates. In this scanning, only the data uncollected portion 4 grasped with the origin P0 as a reference is scanned (Step 9). In this case, in the data uncollected portion 4, in addition to the data uncollected portions 4 and 4 a of the outer measurement object 11, the data uncollected portion on the back surface (surface on the data uncollected portion 4 side) of the inner measurement object 31. 4b is also included.

  Thereafter, as shown in FIG. 5B, the collected data of the uncollected portion 4 is combined with the data acquired by the first scanning (Step 10). Then, the stereo image of the synthesized data is viewed to check whether there is any other data uncollected portion (Step 11). Here, if there is no data uncollected portion, the scanning ends there. If there is another data uncollected part, the process returns to Step 2 and the subsequent steps are repeated.

  In the present embodiment, one surface of the inner measurement object 31 (column 30) located on the right side of FIG. 5B is the data uncollected portion 4c. If the data uncollected portion 4c is of this level, the three-dimensional laser scanner 1 is moved to the side where the data uncollected portion 4c can be seen without repeating the above steps, and only the data uncollected portion 4c is scanned. You can do it. In the case of the present embodiment, the inner measurement target 31 is the pillar 30 and its shape is the target shape, so the shape of the data uncollected portion 4c is estimated from the already acquired data. You may do it.

  According to such a scanning method of the three-dimensional laser scanner 1, since the data uncollected portion 4 is determined from the point-to-point distance of the point cloud data 3, the index can be easily and reliably performed. Time can be shortened. Further, by setting the data non-collection part 4 side from the inner measurement object 31 as the next installation position of the three-dimensional laser scanner 1 between the origin P0 and the data non-collection part 4, in the next scanning, The data uncollected portion 4 of the outer measurement object 11 and the data uncollected portion 4b on the hidden side of the inner measurement object 31 can be scanned, which is very efficient. Also, efficient scanning can be performed without relying on the intuition of the operator. As a result, the number of movements of the three-dimensional laser scanner 1 can be reduced, and the number of scanning times can be reduced accordingly, so that the data collection time can be greatly reduced. Furthermore, since the amount of data to be synthesized is reduced by reducing the number of times of scanning, the time required for data processing and data display can be greatly shortened, and the burden on the computer can be reduced.

  In addition, since the next installation position 52 of the three-dimensional laser scanner 1 is set on a line connecting the intermediate portion of the data uncollected portion 4 and the origin P0, the outer measurement object 11 and the inner measurement object are next scanned. The remaining data of the object 31 can be almost eliminated. Further, the data of the data uncollected portion 4 can be collected with a good balance between left and right, and data processing by a computer can be easily performed.

  Furthermore, when there are a plurality of data uncollected portions 4 as in the present embodiment, the next installation position 52 of the three-dimensional laser scanner 1 is between the largest data uncollected portion 4a having the largest area and the origin P0. Therefore, the three-dimensional laser scanner 1 can be installed at an appropriate installation position in an efficient order. Therefore, the number of movements and the number of scanning of the three-dimensional laser scanner can be reduced, the data collection time can be reduced, and the amount of synthesized data can be reduced.

  Further, since the position of the data uncollected portion 4 can be grasped based on the origin P0, only the data uncollected portions 4 and 4b can be scanned in the next scanning by the three-dimensional laser scanner 1, and the data Do not collect duplicates. According to this, it is possible to greatly shorten the data collection time and to minimize the amount of data to be synthesized. Accordingly, it is not necessary to delete the duplicated portion of data that conventionally required a lot of time, so that the time required for data processing and data display can be greatly reduced.

  By the way, the three-dimensional laser scanner 1 according to the present embodiment includes a processing device for processing data collected by the three-dimensional laser scanner 1 and setting the next installation location in order to implement the scanning method. 8 is connected. As shown in FIG. 7, the processing device 8 includes a coordinate calculation unit 81, a data uncollected part detection unit 90, an installation position determination unit 86, and a scanning position determination unit 87.

  The coordinate calculation means 81 is means for calculating the coordinates of each reflection point 5 (see FIG. 3) with the initial installation position 51 (see FIG. 1) of the three-dimensional laser scanner 1 as the origin P0. The coordinate value output from the three-dimensional laser scanner 1 is input to the coordinate calculation unit 81, and the coordinate calculation unit 81 determines each coordinate with the initial installation position 51 as the origin P0 based on the above equation (1). And the coordinates are output to the data uncollected part detecting means 90.

  The data uncollected part detecting means 90 includes an input means 82, a point distance setting means 83, a data uncollected part dividing and outputting means 84, and a maximum data uncollected part selecting means 85. The input means 82 is a means for inputting the irradiation angle pitch of the laser light 2 and is composed of, for example, a keyboard, and can input the numerical value of the irradiation angle according to the required resolution.

  The point-to-point distance setting unit 83 is a unit that calculates a set value of the point-to-point distance based on the coordinate data input from the coordinate calculation unit 81 and the irradiation angle pitch input from the input unit 82. The point-to-point distance setting means 83 calculates the reference value of the point-to-point distance at the data collection position from the input irradiation angle pitch and the distance between the data collection position of the three-dimensional laser scanner 1 and the outer measurement object 11 (see FIG. 1). Is set, a set value having a certain range for the reference value is set, and this set value is output to the data uncollected section dividing means 84.

  The data non-collection part dividing means 84 is means for determining the data non-collection part 4 (see FIGS. 3 to 5) based on the distance between points obtained by scanning. Based on the coordinate data input from the coordinate calculation unit 81, the data non-collection section dividing unit 84 detects the inter-point distance between the adjacent reflection points 5 and 5. Then, the distance between points is compared with the set value input from the point distance setting means 83. Then, as described in Step 4 above, a portion where the distance between points deviates from the set value is determined as the data uncollected portion 4. The data uncollected part dividing and outputting unit 84 outputs the coordinate data of the data uncollected part 4 to the maximum data uncollected part selecting unit 85. If there is no data uncollected portion 4, the data uncollected section dividing means 84 outputs a scanning end signal to the three-dimensional laser scanner 1.

  The maximum data uncollected portion selection means 85 is based on the coordinate data of the data uncollected portion 4 input from the data uncollected portion dividing out means 84, and has the largest area among the plurality of data uncollected portions 4. This is means for selecting the data uncollected portion 4a (see FIGS. 2 and 4). The maximum data uncollected portion selecting means 85 calculates and compares the areas of the data uncollected portions from the coordinates of the corner portions of the respective data uncollected portions 4 and selects the data uncollected portion having the maximum area. The maximum data non-collection part selection unit 85 outputs the coordinate data of the maximum data non-collection part 4 a to the installation position determination unit 86.

  The installation position determination means 86 is a means for determining the next installation position 52 (see FIG. 5A) of the three-dimensional laser scanner 1. The installation position determining unit 86 includes a moving direction determining unit 86a that determines a moving direction D1 (see FIG. 4B) of the three-dimensional laser scanner 1, and a moving distance determining unit 86b that determines a moving distance of the three-dimensional laser scanner 1. And.

  The moving direction determination unit 86a calculates the intermediate portion of the maximum data uncollected portion 4a based on the coordinate data of the maximum data uncollected portion 4a input from the maximum data uncollected portion selection unit 85. A direction from the origin P0 toward the intermediate portion of the maximum data uncollected portion 4a in a direction along a straight line connecting the intermediate portion and the origin P0 is defined as a movement direction D1.

  Based on the coordinate data of the maximum data non-collected portion 4a input from the maximum data non-collected portion selecting means 85 as in Step 8, the moving distance determining means 86b is based on the origin P0 and the reflection points P1, P2, P3. , P4 is calculated based on the above equation (2). Then, the moving distance is determined so that the three-dimensional laser scanner 1 does not interfere with the outer measurement object 11 and the inner measurement object 31. That is, the movement distance is larger than the distance (distance P0P1) between the origin P0 and the reflection point P1, and smaller than the distance (distance P0P2) between the origin P0 and the reflection point P2, and is the distance (distance P0P3) between the origin P0 and the reflection point P3. ) Greater than the distance between the origin P0 and the reflection point P4 (distance P0P4). When the inner measurement target 31 is the pillar 30, the shape of the pillar 30 is estimated based on the collected data, and the set distance is determined so that the three-dimensional laser scanner 1 does not interfere with the pillar 30. It is preferable to do this.

  The scanning position determining means 87 is a means for determining a scanning position by the next scanning. The scanning position determining means 87 specifies the position of the data uncollected part 4 based on the coordinate data of the data uncollected part 4 input from the data uncollected part dividing means 84, and scans only that part. Next, the scanning position is determined. Then, the coordinate data of the data uncollected portion 4 is sent to the three-dimensional laser scanner 1 so that only the data uncollected portion 4 is scanned.

  The processing device 8 is connected to storage means 9 for storing various data. Then, when the scanned data is synthesized, the stored data is called.

  Note that the processing device 8 is provided with point cloud data imaging means (not shown) for organizing the point cloud data into a stereoscopic image, and the image display device (not shown) such as a display is shown in FIGS. A stereoscopic image as shown in FIG.

  According to the processing device 8 and the storage means 9 configured as described above, the second installation position of the three-dimensional laser scanner 1 can be automatically set, and only the data uncollected portion can be scanned.

  FIG. 8 is a plan view showing another form of the measurement object for collecting data by the scanning method of the three-dimensional laser scanner according to the present invention and the first installation position of the three-dimensional laser scanner.

  As shown in FIG. 8, the measurement target object in this form has a convex portion 111 that shades the surface (wall surface 113) of the measurement target object 110 itself. The convex portion 111 is, for example, a column shape 112 and protrudes from the wall surface 113 with a predetermined thickness. In addition, the convex part 111 is not restricted to the column shape 112, The beam type and duct (both not shown) which protrude from the wall surface 113 or a ceiling surface (not shown) may comprise.

  Even for such a measurement object 110, the scanning method of the three-dimensional laser scanner according to the present invention can be applied based on the flowchart shown in FIG. In this case, in FIG. 6, “outside measurement object” is replaced with “measurement object (110)”, and “inside measurement object” is replaced with “convex part (111)”. Scanning may be performed in accordance with the explanation. In FIG. 8, parts corresponding to those in FIG. 1 and FIG. The data uncollected portions 4 and 4 a shown in FIG. 8 indicate the data uncollected portions on the wall surface 113 of the measurement object 110.

  According to this, similarly to the above-described embodiment, the data uncollected portion 4 of the measurement object 110 can be easily determined, so that the indexing time can be shortened. Furthermore, between the origin P0 and the data non-collection part 4 (4a), the data non-collection part 4 side is set as the next installation position of the three-dimensional laser scanner 1 with respect to the convex part 111 that gives shadow. In the next scanning, the data uncollected portion and the data uncollected portion on the shadow 32 side of the convex portion 111 can be scanned, which is very efficient. As a result, the number of movements of the three-dimensional laser scanner 1 can be reduced, and the number of scanning times can be reduced accordingly, so that overlapping portions of data can be reduced. Therefore, the amount of data to be synthesized is reduced, and the time required for data processing such as deletion of overlapping portions of data and data display can be greatly shortened. Furthermore, the time for data collection can be greatly reduced by reducing the number of scanning times. In the second and subsequent scans, only the data uncollected portions 4 and 4b are scanned, so that data is not collected redundantly. According to this, the time for data collection can be greatly shortened, the amount of data to be synthesized can be minimized, and the time for data processing and the like can be further shortened.

  By the way, in the above-described embodiment, the direction of the installation position of the three-dimensional laser scanner 1 and the range of the movement distance are determined from the stereoscopic image, and the determination of the movement distance of the three-dimensional laser scanner 1 and the movement work are performed by the operator. Is going. The scanner apparatus shown in FIG. 9 is an automatic three-dimensional laser scanner 70 that can automatically determine a moving distance and perform a moving operation.

  The automatic three-dimensional laser scanner 70 includes a three-dimensional laser scanner main body 71, a control unit 72, and a traveling unit 73. The control unit 72 inputs a data processing unit 74 that performs image processing of point cloud data collected by the three-dimensional laser scanner main body 71, an image display unit 75 that displays a stereoscopic image, an irradiation pitch of laser light, and the like. The operation unit 76 is provided. The data processing unit 74 is electrically connected to the three-dimensional laser scanner main body 71, and determines the installation position (movement direction and movement distance) of the automatic three-dimensional laser scanner 70 based on the image processed image. At the same time, a movement signal to the next installation position is transmitted to the traveling unit 73. The data processing unit 74 also transmits a signal for adjusting the height of the three-dimensional laser scanner main body 71.

  The traveling unit 73 includes a carriage unit 77, a lifting device 78 that lifts and lowers the three-dimensional laser scanner main body 71, and a drive control unit 79. The carriage unit 77 is provided with wheels 80 driven by the drive control unit 79. The drive control unit 79 is electrically connected to the data processing unit 74, rotates the wheel 80 based on the movement signal from the data processing unit 74, and moves the automatic three-dimensional laser scanner 70 to a predetermined position (next). To the installation position). The lifting device 78 lifts and lowers the three-dimensional laser scanner main body 71 using a known technique such as a rack and pinion, and is driven by a drive control unit 79.

  In order to determine the initial installation position of the automatic three-dimensional laser scanner 70, the operator selects a position where the portion behind the inner measurement object 31 is the least. In addition, the automatic three-dimensional laser scanner 70 is installed at an appropriate position, rough scanning is performed at a plurality of locations, and a portion that is automatically hidden behind the inner measurement object 31 based on the data obtained thereby. The installation position with the smallest number may be determined.

  According to the automatic three-dimensional laser scanner 70, once the first installation position is selected, the control unit 72 determines the next installation position, and the drive control unit 79 causes the automatic three-dimensional laser scanner 70 to Moves automatically and performs the next scanning. Therefore, the operator only needs to install the automatic three-dimensional laser scanner 70 first, and thereafter, the automatic three-dimensional laser scanner 70 performs all the steps. Such an automatic three-dimensional laser scanner 70 includes an elevating device 78 that elevates and lowers the three-dimensional laser scanner main body 71. Therefore, the automatic three-dimensional laser scanner 70 can be used not only for an inner measurement object such as a pillar but also for a beam type or a stepped portion of a floor surface. It can respond efficiently.

  In addition, when measuring the topography of mountains and valleys outdoors, GPS (Global Positioning System) is attached to the automatic three-dimensional laser scanner 70 to grasp the coordinates of each position. You may do it.

  As mentioned above, although the form for implementing this invention was demonstrated, this invention is not limited to the said embodiment, In the range which does not deviate from the meaning of this invention, a design change is possible suitably.

It is the top view which showed the measurement object and the 1st installation position of a three-dimensional laser scanner which collect data by the scanning method of the three-dimensional laser scanner which concerns on this invention. It is the enlarged view which showed the data collection part of the measurement object by a three-dimensional laser scanner. It is the side view which showed the point cloud data collected by the three-dimensional laser scanner, Comprising: (a) is the side view which showed the data of the outer side measurement object and the inner side measurement object integrally, (b) is the outer side measurement object. It is the side view which showed only the data of the thing. It is the perspective view which solidified the point cloud data collected with the three-dimensional laser scanner, (a) is the three-dimensional image of the data collected by the first scanning, (b) showed each reflection point which calculates a coordinate. 3D image. It is the perspective view which solidified the point cloud data collected with the three-dimensional laser scanner, (a) is a three-dimensional image showing the next installation position of the three-dimensional laser scanner, (b) is collected by the first and the next scanning It is the stereo image which synthesize | combined the acquired data. 3 is a flowchart illustrating a scanning method of a three-dimensional laser scanner according to the present invention. It is the block diagram which showed the processing apparatus connected to a three-dimensional laser scanner. It is the top view which showed the other form of the measurement target object which collects data with the scanning method of the three-dimensional laser scanner which concerns on this invention, and the 1st installation position of a three-dimensional laser scanner. It is the block diagram which showed the automatic three-dimensional laser scanner.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 3D laser scanner 3 Point cloud data 4 Data uncollected part 4a Maximum data uncollected part 11 (Outside) measurement object 31 (Inside) measurement object 32 Yin 110 Measurement object 111 Convex part 51 Installation position P0 Origin

Claims (4)

The outside of the measurement object, the scanning location where the inner of the measurement object present at a measurement object and a gap of the outer, in a three-dimensional laser scanner scanning method using three-dimensional laser scanner,
Using the installation position of the 3D laser scanner as the origin, the measurement object is scanned to collect 3D coordinates for each of the plurality of reflection points,
The point-to-point distance between one reflection point of the plurality of reflection points and another reflection point adjacent thereto is a numerical range of the point-to-point distance between the reflection points adjacent to each other on the surface of the outer measurement object. A portion that is out of the range is determined as a boundary portion between the outer measurement object and the inner measurement object,
Indexing between said boundary portion adjacent the data uncollected portion of the inner of the measurement object to thus said outer measurement object became negative,
Between said origin and said data uncollected portion, and characterized in that the I measurement object of the inner exert a negative remote the data uncollected portion side, to set the next installation position of the three-dimensional laser scanner Scanning method for 3D laser scanner.   2. The scanning method for a three-dimensional laser scanner according to claim 1, wherein a next installation position of the three-dimensional laser scanner is set on a line connecting the origin and an intermediate portion of the data uncollected portion.   The next installation position of the three-dimensional laser scanner is set between the data uncollected portion having the largest area and the origin when there are a plurality of the data uncollected portions. The method of scanning a three-dimensional laser scanner according to claim 2. The coordinates of each part are set based on the origin,
4. The scanning of the three-dimensional laser scanner according to claim 1, wherein in the next scanning by the three-dimensional laser scanner, only the data uncollected portion of the measurement object is scanned. 5. Method.

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