JP5378328B2 - Shape measurement method using laser scanner - Google Patents

Shape measurement method using laser scanner Download PDF

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JP5378328B2
JP5378328B2 JP2010191644A JP2010191644A JP5378328B2 JP 5378328 B2 JP5378328 B2 JP 5378328B2 JP 2010191644 A JP2010191644 A JP 2010191644A JP 2010191644 A JP2010191644 A JP 2010191644A JP 5378328 B2 JP5378328 B2 JP 5378328B2
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博之 中野
修久 瀬谷
大輔 五十嵐
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Hitachi Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a method of acquiring only the data of the neighborhood of an object to be measured by a simple operation in a shape measurement method using a laser scanner. <P>SOLUTION: This shape measurement method using a laser scanner includes: picking up the image of an object to be measured by using image pickup equipment in a case of measuring the shape of the object to be measured by using a laser scanner; installing a visual field restriction window on the front face of the image pickup equipment so that only the neighborhood of the object to be measured can be projected while confirming the pickup image; scanning the whole periphery of the laser beam of the laser scanner to obtain distance data; and extracting the measurement data of only the neighborhood of the object to be measured, based on a non-measurement area whose measurement has not been successful by the visual field restriction window, from the acquired data of the whole periphery. <P>COPYRIGHT: (C)2012,JPO&amp;INPIT

Description

本発明は、レーザスキャナを用いた形状計測方法に関するものである。   The present invention relates to a shape measuring method using a laser scanner.

レーザスキャナは、短時間で大量の点群データを取得することができるが、計測時の設定に従い設定範囲内の距離情報を無差別に取得するため、例えば、室内で計測を行った場合、天井，壁，作業者，机，椅子などの測定対象以外のデータを同時に取得してしまう。   The laser scanner can acquire a large amount of point cloud data in a short time, but in order to acquire distance information within the set range indiscriminately according to the setting at the time of measurement, for example, when measuring indoors, , Walls, workers, desks, chairs and other data other than the measurement target are acquired at the same time.

現状、これらの不要データは、計測作業者による手作業で削除している。そのため、測定自体は短時間で終了するにも係わらず、不要な点群データの除去に時間がかかり、測定現場でのデータ取得確認作業に膨大な時間を要する。   At present, these unnecessary data are deleted manually by the measurement operator. For this reason, although the measurement itself is completed in a short time, it takes time to remove unnecessary point cloud data, and it takes an enormous amount of time for data acquisition confirmation work at the measurement site.

これらの課題に対し、特許文献１において、熊谷らは、レーザスキャナを用いて形状を測定する際に、レーザビームと光軸を同じにする照準器を用いてレーザビームの射出方向、すなわち測定エリアを観察し、レーザビームを走査しながら、測定対象が含まれる水平角、および、高低角を検出し、該検出された角度に基づいて測定範囲を決定する機構を備えたレーザスキャナについて述べている。   In order to solve these problems, in Patent Document 1, Kumagai et al., When measuring a shape using a laser scanner, uses a sighting device that has the same optical axis as the laser beam, that is, the laser beam emission direction, that is, the measurement area. A laser scanner having a mechanism for detecting a horizontal angle and an elevation angle including a measurement target while scanning a laser beam and determining a measurement range based on the detected angle is described. .

特開２００８−８２７８２号公報JP 2008-82782 A

しかしながら、特許文献１で述べられている技術では、照準器を用いて測定エリアを決定する際に、レーザスキャナの水平角、および、高低角を変更する必要がある。   However, in the technique described in Patent Document 1, it is necessary to change the horizontal angle and the elevation angle of the laser scanner when determining the measurement area using the sighting device.

そこで、本発明の目的は、レーザスキャナを用いた形状測定法において、簡単な作業で測定対象近傍のデータのみを取得する方法を提供することにある。   Accordingly, an object of the present invention is to provide a method for acquiring only data in the vicinity of a measurement object with a simple operation in a shape measurement method using a laser scanner.

本発明は、レーザスキャナを用いて測定対象の形状を測定する際に、撮像機器を用いて測定対象を撮像し、該撮像された画像を確認しながら、上記測定対象近傍のみが写るように、視野制限窓を上記撮像機器の前面に設置し、上記レーザスキャナのレーザビームを全周囲に走査することで、距離データを取得し、該取得された全周囲のデータから、上記視野制限窓により計測ができなかった非計測領域に基づき、上記計測対象近傍のみの測定データを抽出することを特徴とする。   In the present invention, when measuring the shape of the measurement target using a laser scanner, the measurement target is imaged using an imaging device, and only the vicinity of the measurement target is captured while checking the captured image. A field-limitation window is installed in front of the imaging device, and the distance data is acquired by scanning the laser beam of the laser scanner around the entire circumference, and measurement is performed from the acquired all-around data using the field-limitation window. Based on the non-measurement area that could not be measured, the measurement data only in the vicinity of the measurement target is extracted.

本発明によれば、レーザスキャナを用いた形状測定法において、簡単な作業で測定対象近傍のデータのみを取得する方法を提供することが可能である。   According to the present invention, in a shape measuring method using a laser scanner, it is possible to provide a method for acquiring only data in the vicinity of a measuring object with a simple operation.

実施例１における、レーザスキャナの測定範囲を説明する図である。FIG. 3 is a diagram for explaining a measurement range of a laser scanner in Example 1. 実施例１における、測定範囲確認用の撮像機器と視野制限窓を有するレーザスキャナを示す図である。FIG. 3 is a diagram illustrating a laser scanner having an imaging device for measuring range confirmation and a field-of-view restriction window in Example 1. 実施例１における、測定範囲確認用の撮像機器のモニタに映し出された測定空間を示す図である。It is a figure which shows the measurement space projected on the monitor of the imaging device for measurement range confirmation in Example 1. FIG. 実施例１における、視野制限窓を用いて、注目する測定対象近傍にレーザビームが照明される様子を説明する図である。It is a figure explaining a mode that a laser beam is illuminated in the measurement object vicinity to notice using the visual field restriction | limiting window in Example 1. FIG. 実施例１における、視野制限窓を通して測定範囲確認用の撮像機器のモニタに映し出された測定空間を示す図である。It is a figure which shows the measurement space projected on the monitor of the imaging device for measurement range confirmation through the visual field restriction | limiting window in Example 1. FIG. 実施例１における、視野制限窓の開口サイズを変更する様子を示す図である。It is a figure which shows a mode that the opening size of the visual field restriction | limiting window in Example 1 is changed. 実施例１における、視野制限窓を用いて測定された点群データを上面からの視点で表示した様子を示す図である。It is a figure which shows a mode that the point cloud data measured using the visual field restriction | limiting window in Example 1 were displayed from the viewpoint from an upper surface. 実施例１における、視野制限窓に加え、視野制限窓の両側面，上面、および、背面を設置して、注目する測定対象近傍のみにレーザビームが照明される様子を説明する図である。It is a figure explaining a mode that a laser beam is illuminated only in the measurement object vicinity to pay attention to by setting both the side surface, the upper surface, and the back surface of the field restriction window in addition to the field restriction window in the first embodiment. 実施例１における、視野制限窓に加え、視野制限窓の両側面，上面、および、背面を設置した場合に測定される点群データを上面からの視点で表示した様子を示す図である。It is a figure which shows a mode that the point cloud data measured when the both sides | surfaces, upper surface, and back surface of a visual field restriction | limiting window in Example 1 were installed from the upper surface viewpoint were displayed. 実施例１における、処理フローを示す図である。FIG. 6 is a diagram illustrating a processing flow in the first embodiment. 実施例２における、レーザスキャナと測定対象の配置の様子を示す図である。FIG. 10 is a diagram illustrating a state of arrangement of a laser scanner and a measurement target in Example 2. 実施例２における、特定の高さ範囲のデータが除去された点群データを側面からの視点で表示した様子を示す図である。It is a figure which shows a mode that the point group data from which the data of the specific height range were removed were displayed from the viewpoint from the side in Example 2. 実施例２における、参照面と、参照面に対応した点群データを抽出した様子と、抽出された点群データに平面を当てはめる様子を示す図である。In Example 2, it is a figure which shows a mode that the reference plane, the mode which extracted the point cloud data corresponding to a reference plane, and a plane are applied to the extracted point cloud data. 実施例２における、レーザスキャナのＸ−Ｙ基準面Ｐ１，Ｘ−Ｚ基準面Ｐ２、および、Ｙ−Ｚ基準面Ｐ３と、生成された参照面の関係を示す図である。FIG. 10 is a diagram illustrating a relationship between a generated reference plane and XY reference planes P1, XZ reference planes P2, and YZ reference planes P3 of a laser scanner in Example 2. 実施例２における、新たに座標変換されたレーザスキャナのＸ−Ｙ基準面Ｐ１，Ｘ−Ｚ基準面Ｐ２、および、Ｙ−Ｚ基準面Ｐ３と、それらに平行な平面によって、６面体を生成し、測定対象を囲う様子を示す図である。A hexahedron is generated by the XY reference plane P1, the XZ reference plane P2, and the YZ reference plane P3 of the laser scanner newly converted in coordinates in Example 2 and a plane parallel to them. It is a figure which shows a mode that a measurement object is enclosed. 測定対象近傍のデータのみを抽出した時の図である。It is a figure when only the data of the measurement object vicinity are extracted. 実施例２における、処理フローを示す図である。FIG. 10 is a diagram illustrating a processing flow in the second embodiment.

本発明の実施形態を図１から図１７を用いて説明する。   An embodiment of the present invention will be described with reference to FIGS.

図１から図１０を用いて実施例１を説明する。   A first embodiment will be described with reference to FIGS.

図１は、本実施例で用いるレーザスキャナの測定範囲について示す。レーザスキャナは、レーザビームを垂直、および、水平面内に高速に走査することで、ほぼ全周囲に渡り、レーザスキャナのレーザビーム走査中心を原点とする測定対象までの距離情報を得ることができる。   FIG. 1 shows the measurement range of the laser scanner used in this embodiment. The laser scanner scans the laser beam at high speed in the vertical and horizontal planes, and can obtain distance information to the measurement object with the laser beam scanning center of the laser scanner as the origin over almost the entire circumference.

このとき、図２に示すように、２枚のミラー３およびミラー４を介してレーザスキャナ１の基準光軸と撮光軸を一致させた撮像機器２を用い測定空間を撮像する。更に、撮像機器２の前面に視野制限用の窓を設けておく。図３に示すように、撮像機器２はモニタ１０を備えており、容易に測定空間の様子を観察することができる。ここで、モニタ１０に映し出されているもののうち、モニタ１０の中央に表示された物体が測定対象６である。しかしながら、このままでは、物体６１、および、物体６２のデータまでも測定してしまう。図４に示すように、測定空間に存在する物体が、測定対象６，物体６１、および、物体６２のみであれば、取得される全周囲のデータから容易に測定対象６のみを見つけることができるが、実際の測定空間には、例えば、室内で測定を行った場合には、壁，柱，天井，窓，机，椅子，作業者など多くの不要な物体が存在する。そのため、これらの不要な物体を示す点群データから所望の測定対象６のみのデータを抽出するには、多くの時間を費やす。   At this time, as shown in FIG. 2, the measurement space is imaged using the imaging device 2 in which the reference optical axis and the imaging axis of the laser scanner 1 are matched via the two mirrors 3 and 4. Further, a visual field limiting window is provided in front of the imaging device 2. As shown in FIG. 3, the imaging device 2 includes a monitor 10 and can easily observe the state of the measurement space. Here, among objects displayed on the monitor 10, the object displayed at the center of the monitor 10 is the measurement target 6. However, in this state, the data of the object 61 and the object 62 are also measured. As shown in FIG. 4, if the only objects existing in the measurement space are the measurement object 6, the object 61, and the object 62, only the measurement object 6 can be easily found from the acquired all-around data. However, in an actual measurement space, for example, when measurement is performed indoors, there are many unnecessary objects such as walls, pillars, ceilings, windows, desks, chairs, and workers. Therefore, it takes a lot of time to extract data of only the desired measurement object 6 from the point cloud data indicating these unnecessary objects.

そこで、本実施例では、図４に示すように、おおむね測定対象６のみをレーザビームが照射するように、視野制限窓５ａを設置する。視野制限窓５ａで測定視野を制限すると、図５に示すように、撮像機器２に備え付けられたモニタ１０にも視野制限窓５ａが映し出される。図６に示すように、視野制限窓５ａの幅を可変としておき、上記モニタ画面を確認しながら、視野制限窓５５ａの幅を変え、測定対象６のみが写るようにすれば、容易に測定範囲を制限することが可能となる。また、このときの画像を保存しておけば、計測範囲の様子を後で確認することが可能となる。   Therefore, in this embodiment, as shown in FIG. 4, the field-of-view restriction window 5 a is installed so that only the measurement target 6 is irradiated with the laser beam. When the measurement visual field is restricted by the visual field restriction window 5a, the visual field restriction window 5a is also displayed on the monitor 10 provided in the imaging device 2, as shown in FIG. As shown in FIG. 6, if the width of the field-of-view restriction window 5a is made variable and the width of the field-of-view restriction window 55a is changed while checking the monitor screen so that only the measurement object 6 is shown, the measurement range can be easily obtained. Can be restricted. If the image at this time is saved, the state of the measurement range can be confirmed later.

視野制限窓５ａを介して得られた点群データは、図７に示すように特定領域７のデータが抜けたデータとなる。したがって、この非計測領域７に基づき、簡単な作業で測定対象６に対応した点群データを抽出することが可能となる。   The point cloud data obtained through the field-of-view restriction window 5a is data from which data in the specific area 7 is missing as shown in FIG. Therefore, based on this non-measurement area 7, it is possible to extract point cloud data corresponding to the measurement object 6 with a simple operation.

より測定対象６に対応した点群データの抽出を容易にするために、図８に示すように、撮像機器２の右側面，左側面，上面，背面を覆った視野制限ボックス５ｂを用いれば、図９に示すように測定対象６近傍以外の領域が非測定領域となるため、より容易に測定対象６に対応した点群データを抽出することが可能となる。   In order to facilitate the extraction of the point cloud data corresponding to the measurement object 6, as shown in FIG. 8, if the visual field restriction box 5 b covering the right side surface, left side surface, top surface, and back surface of the imaging device 2 is used, As shown in FIG. 9, since the area other than the vicinity of the measurement object 6 is a non-measurement area, it is possible to more easily extract point cloud data corresponding to the measurement object 6.

図１０に本実施例における計測フローを示す。   FIG. 10 shows a measurement flow in this embodiment.

レーザスキャナをほぼ水平面に設置する（ステップＳ１）。レーザスキャナの水平面内での方向が、おおむね測定対象の方向を向くように、レーザスキャナを回転調整する（ステップＳ２）。レーザスキャナの測定基準光軸と撮像光軸を一致させた観察用カメラを設置する（ステップＳ３）。観察用カメラの前面に視野制限窓を設置する（ステップＳ４）観察用カメラの画像を見ながら、測定対象とその近傍のみが写るように視野制限窓の横幅・上下幅を調整する（ステップＳ５）。測定開始した後、測定を終了する（ステップＳ６，Ｓ７）。測定結果を上面からのビューで表示し（ステップＳ８）、不要データを削除する（ステップＳ９）。   The laser scanner is installed on a substantially horizontal plane (step S1). The rotation of the laser scanner is adjusted so that the direction of the laser scanner in the horizontal plane is generally the direction of the measurement target (step S2). An observation camera in which the measurement reference optical axis of the laser scanner is aligned with the imaging optical axis is installed (step S3). A field-limitation window is installed in front of the observation camera (step S4). While viewing the image of the observation camera, the horizontal and vertical widths of the field-limitation window are adjusted so that only the object to be measured and its vicinity can be seen (step S5). . After starting the measurement, the measurement is finished (steps S6 and S7). The measurement result is displayed in a view from the top (step S8), and unnecessary data is deleted (step S9).

該フローに従って測定を実施すれば、規定された作業で誰もが容易に測定対象６に対応したデータのみを得ることが可能となる。   If the measurement is performed according to the flow, anyone can easily obtain only the data corresponding to the measurement object 6 by the prescribed work.

実施例２を、図１１から図１７を用いて説明する。   A second embodiment will be described with reference to FIGS.

実施例２は、実施例１で説明したような測定領域観察用の撮像機器、および、視野制限窓の設置が困難なレーザスキャナを用いた場合においても、規定の手順で測定対象に対応したデータのみを得ることが可能となる。図１７に、本実施例における計測フローを示す。   In the second embodiment, the data corresponding to the measurement object in the prescribed procedure even in the case of using the imaging device for observation of the measurement region as described in the first embodiment and the laser scanner in which it is difficult to install the view restriction window. It becomes possible to obtain only. FIG. 17 shows a measurement flow in the present embodiment.

すなわち、図１１に示すように、レーザスキャナ１を用いて測定対象６を測定する際に、レーザスキャナ１を地面におおむね平行になるように設置し（ステップＳ１０）、地面からレーザスキャナの基準光軸までのおおよその高さｈ１を把握し（ステップＳ１１）、また、地面から測定対象６の最も高い高さまでのおおよその高さｈ２を把握しておく（ステップＳ１２）。次に、地面５０、および、該地面に直交し、且つ、互いに直交する二つの参照面である平面５１および平面５２を含むように上記レーザスキャナで全周囲の形状を測定する（ステップＳ１３〜Ｓ１５）。   That is, as shown in FIG. 11, when measuring the measuring object 6 using the laser scanner 1, the laser scanner 1 is installed so as to be substantially parallel to the ground (step S10), and the reference light of the laser scanner from the ground. The approximate height h1 to the axis is grasped (step S11), and the approximate height h2 from the ground to the highest height of the measuring object 6 is grasped (step S12). Next, the shape of the entire circumference is measured by the laser scanner so as to include the ground 50 and the plane 51 and the plane 52 which are two reference planes orthogonal to the ground and orthogonal to each other (steps S13 to S15). ).

このようにして得られた点群データの高さは、レーザスキャナの基準光軸が高さ零となっている。そこで、まず、レーザスキャナの基準面（１）（Ｘ−Ｙ平面とする）をｈ１だけ下げる（ステップＳ２０）。これにより、レーザスキャナの基準面（１）の高さは、ほぼＺ＝０となる。したがって、図１２に示すように、測定対象６に対応するデータは、おおむねＺ＝０からＺ＝ｈ２までの高さに含まれることになる。そこで、０≦Ｚ≦ｈ２以外のデータを全て除去する（ステップＳ２１）。   The height of the point cloud data obtained in this way is zero on the reference optical axis of the laser scanner. Therefore, first, the reference plane (1) (referred to as the XY plane) of the laser scanner is lowered by h1 (step S20). As a result, the height of the reference plane (1) of the laser scanner is approximately Z = 0. Therefore, as shown in FIG. 12, the data corresponding to the measuring object 6 is included in the height from Z = 0 to Z = h2. Therefore, all data other than 0 ≦ Z ≦ h2 are removed (step S21).

次に、図１３に示すように、地面５０，平面５１および平面５２に対応する点群データの一部を選択し（ステップＳ２２，Ｓ２４，Ｓ２６）、各々、点群５０ａ，５１ａ，５２ａとし、これらに平面を当てはめる（ステップＳ２３，Ｓ２５，Ｓ２７）。当てはめられた平面を、各々、平面５０ｂ，平面５１ｂ、および、平面５２ｂとする。このとき、大まかに把握した地面からレーザスキャナの基準光軸までのおおよその高さｈ１の距離が、実際の距離よりも短いと、０≦Ｚ≦ｈ２以外のデータを除去した際に、地面に対応したデータが消えてしまうので、ｈ２の値は、やや大きめにしておくのが良い。   Next, as shown in FIG. 13, a part of the point cloud data corresponding to the ground 50, the plane 51, and the plane 52 is selected (steps S22, S24, S26), and the point groups 50a, 51a, 52a are respectively obtained. A plane is applied to these (steps S23, S25, S27). The applied planes are referred to as a plane 50b, a plane 51b, and a plane 52b, respectively. At this time, if the distance of the approximate height h1 from the roughly grasped ground to the reference optical axis of the laser scanner is shorter than the actual distance, when data other than 0 ≦ Z ≦ h2 is removed, Since the corresponding data disappears, it is preferable to make the value of h2 slightly larger.

次に、図１４に示す、レーザスキャナのＸ−Ｙ基準面Ｐ１，Ｘ−Ｚ基準面Ｐ２、および、Ｙ−Ｚ基準面Ｐ３が、上記参照面５０ｂ，平面５１ｂ、および、平面５２ｂに各々おおむね一致するように座標変換する（ステップＳ２８）。尚、レーザスキャナのＸ−Ｙ基準面Ｐ１と地面に対応する参照面５０ｂは元々おおむね平行であるから、レーザスキャナのＸ−Ｚ基準面Ｐ２、および、Ｙ−Ｚ基準面Ｐ３が、上記平面５１ｂ、および、平面５２ｂに各々おおむね一致するように座標変換してもよい。このようにすれば、ｈ２の値が小さく地面に対応したデータが消えてしまった場合でも、座標変換を行うことが可能となる。   Next, the XY reference plane P1, the XZ reference plane P2, and the YZ reference plane P3 of the laser scanner shown in FIG. 14 are respectively roughly on the reference plane 50b, the plane 51b, and the plane 52b. Coordinate conversion is performed so as to match (step S28). Since the XY reference plane P1 of the laser scanner and the reference plane 50b corresponding to the ground are essentially parallel, the XZ reference plane P2 and the YZ reference plane P3 of the laser scanner are the plane 51b. , And may be coordinate-transformed so as to approximately coincide with the plane 52b. In this way, coordinate conversion can be performed even when the value of h2 is small and data corresponding to the ground disappears.

以上の処理により、レーザスキャナのＸ−Ｙ基準面Ｐ１，Ｘ−Ｚ基準面Ｐ２、および、Ｙ−Ｚ基準面Ｐ３は、測定対象６の主軸に対し直角，平行になる。そこで、次に、図１５に示すように、上記測定対象６の主軸に対し直角，平行になったレーザスキャナのＸ−Ｙ基準面Ｐ１，Ｘ−Ｚ基準面Ｐ２、および、Ｙ−Ｚ基準面Ｐ３と、各々の面に平行な面で６面体を作成しＰＣモニタ上に点群データと一緒に表示する（ステップＳ２９）。作業者は、ＰＣモニタ上で点群データを確認しながら、該６面体の幅，高さ，奥行を変更することで、図１６に示すように、測定対象６近傍のデータのみを容易に抽出することが可能となる（ステップＳ３０）。   With the above processing, the XY reference plane P1, the XZ reference plane P2, and the YZ reference plane P3 of the laser scanner are perpendicular to and parallel to the main axis of the measuring object 6. Accordingly, next, as shown in FIG. 15, the XY reference plane P1, the XZ reference plane P2, and the YZ reference plane of the laser scanner perpendicular to and parallel to the principal axis of the measurement object 6 A hexahedron is created with P3 and a plane parallel to each plane, and is displayed on the PC monitor together with the point cloud data (step S29). While checking the point cloud data on the PC monitor, the operator can easily extract only the data near the measuring object 6 as shown in FIG. 16 by changing the width, height, and depth of the hexahedron. (Step S30).

該フローに従って測定を実施すれば、測定領域観察用の撮像機器、および、視野制限窓の設置が困難なレーザスキャナを用いた場合においても、規定された作業で誰もが容易に測定対象６に対応したデータのみを得ることが可能となる。   If measurement is performed in accordance with the flow, even if an imaging device for observing a measurement region and a laser scanner in which it is difficult to install a field-of-view restriction window, anyone can easily set the measurement target 6 with the prescribed work. Only corresponding data can be obtained.

特に大型の計測対象の形状を測定するためのレーザスキャナを用いた形状計測方法および装置に関する。   In particular, the present invention relates to a shape measuring method and apparatus using a laser scanner for measuring the shape of a large measurement target.

１ レーザスキャナ
２ 撮像機器
３，４ ミラー
５ａ 視野制限窓
５ｂ 視野制限ボックス
６ 測定対象
７ 非測定領域
１０ モニタ
５０ 地面
５１，５２ 平面
５０ａ，５１ａ，５２ａ 点群
５０ｂ，５１ｂ，５２ｂ 平面
６１，６２ 物体
Ｐ１ Ｘ−Ｙ基準面
Ｐ２ Ｘ−Ｚ基準面
Ｐ３ Ｙ−Ｚ基準面 DESCRIPTION OF SYMBOLS 1 Laser scanner 2 Imaging equipment 3, 4 Mirror 5a View restriction window 5b View restriction box 6 Measurement object 7 Non-measurement area 10 Monitor 50 Ground 51, 52 Plane 50a, 51a, 52a Point group 50b, 51b, 52b Plane 61, 62 Object P1 XY reference plane P2 XZ reference plane P3 YZ reference plane

Claims (5)

レーザスキャナを用いて測定対象の形状を測定する際に、
前記レーザスキャナの測定基準光軸と撮像光軸を一致させた撮像機器を用いて測定対象を撮像し、該撮像された画像を確認しながら、上記測定対象近傍のみが写るように、視野制限窓を上記撮像機器の前面に設置し、
上記レーザスキャナのレーザビームを全周囲に走査することで、距離データを取得し、
該取得された全周囲のデータから、上記視野制限窓により計測ができなかった非計測領域に基づき、上記測定対象近傍のみの測定データを抽出することを特徴とするレーザスキャナを用いた形状計測方法。 When measuring the shape of the measurement object using a laser scanner,
A field-of-view restriction window that captures only the vicinity of the measurement target while capturing the measurement target using an imaging device in which the measurement reference optical axis of the laser scanner and the imaging optical axis coincide with each other and checking the captured image On the front of the imaging device,
By scanning the entire circumference of the laser beam of the laser scanner, distance data is acquired,
A shape measuring method using a laser scanner, characterized in that measurement data only in the vicinity of the measurement target is extracted from the acquired all-around data based on a non-measurement area that could not be measured by the field-of-view restriction window. . 請求項１記載のレーザスキャナを用いた形状計測方法であって、
前記撮像機器の右側面，左側面，上面，背面を視野制限ボックスで囲い、
上記レーザスキャナのレーザビームを全周囲に走査することで、上記測定対象近傍のみの測定データを取得することを特徴とするレーザスキャナを用いた形状計測方法。 A shape measuring method using the laser scanner according to claim 1,
Surround the right side surface, left side surface, top surface, and back surface of the imaging device with a view restriction box,
A shape measurement method using a laser scanner, wherein measurement data only in the vicinity of the measurement target is acquired by scanning the laser beam of the laser scanner all around. 前記視野制限窓は、その開口幅が調整可能であることを特徴とする請求項１又は２に記載のレーザスキャナを用いた形状計測方法。   The shape measurement method using a laser scanner according to claim 1, wherein an opening width of the visual field restriction window is adjustable. 測定対象を撮像する際に、撮像機器の光軸が、レーザスキャナの測定光軸と概ね同じ光軸で撮像することを特徴とする、請求項１又は２に記載のレーザスキャナを用いた形状計測方法。   The shape measurement using the laser scanner according to claim 1, wherein when the measurement object is imaged, the optical axis of the imaging device is imaged with an optical axis substantially the same as the measurement optical axis of the laser scanner. Method. 測定対象を撮像した画像を記憶し、測定対象を確認できるようにしたことを特徴とする、請求項１又は２に記載のレーザスキャナを用いた形状計測方法。   The shape measurement method using a laser scanner according to claim 1, wherein an image obtained by imaging a measurement object is stored so that the measurement object can be confirmed.
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