JP6776902B2 - Measuring instruments, specific programs, and specific methods - Google Patents

Description

The present invention relates to measuring instruments, specific programs, and specific methods.

Conventionally, there is a technique called three-dimensional (3D: 3-Dimensions) measurement that converts the position and shape of a three-dimensional object into data. Further, conventionally, in order to synthesize a plurality of positioning data measured in 3D at different measurement points, a plurality of positioning data are synthesized by aligning a plurality of positioning data based on features extracted from the plurality of positioning data. There is technology.

As a prior art, a target having a known shape is installed in the space to be measured, and a plurality of positioning data are obtained by detecting the target (reference point) from the positioning data of the measurement point group measured at each measurement point. There is a method of synthesizing (see, for example, Non-Patent Document 1 below).

In addition, as a prior art, a telescope having both a collimation function and a collimation function and a reflection function for optical measurement has a reflection mirror portion for optical measurement coaxially with the collimation axis of the telescope portion on the tip side of the telescope portion. However, there is a technique in which a reflection mirror that reflects light of a specific wavelength is arranged in the mirror portion (see, for example, Patent Document 1 below).

Further, as a prior art, based on the orientation of the second moving body with respect to the first reference direction seen from the first moving body and the orientation of the first moving body with respect to the second reference direction seen from the second moving body. There is a technique for determining the relative orientation of two moving bodies (see, for example, Patent Document 2 below).

In addition, as a prior art, in a method of creating a three-dimensional map, data is collected while moving a measuring carriage equipped with a distance sensor that scans in the horizontal direction and a distance sensor that scans in the vertical direction. There is a technique for generating a three-dimensional map (see, for example, Patent Document 3 below).

Japanese Unexamined Patent Publication No. 2005-090965 Japanese Unexamined Patent Publication No. 2013-61307 International Publication No. 2015/151770

Shosuke Minami, Ryo Masakurazume, Tomomi Iwashita, Yoshimasa Chung, "Study on Efficiency of 3D Laser Measurement for Large-Scale Environments", No. 16-2 Proceedings of the 2016 JSME Convention on Robotics and Mechatronics, Japan, 2016

However, it may be difficult to synthesize a plurality of positioning data positioned at different measurement points in the measurement target space. For example, when synthesizing a plurality of positioning data measured by each measuring device installed at different measurement points in order to measure the space to be measured without blind spots, there may be no common feature among the plurality of positioning data. is there. Further, when synthesizing a plurality of positioning data, a plurality of similar features may be obtained in the plurality of positioning data, or the features themselves may not be clear.

In one aspect, it is an object of the present invention to provide a measuring device, a specific program, and a specific method capable of identifying another measuring device when measuring a space to be measured by using two measuring devices. And.

According to one aspect of the present invention, the measurement device is installed in a predetermined space, and the measurement is performed by scanning while irradiating light and using the reflected light reflected from an object in the predetermined space. The first acquisition unit that acquires the positioning data of the first measurement point group in the first coordinate system of the measurement device based on the distance from the device to the object in the predetermined space, and the first acquisition unit acquired by the first acquisition unit. Based on the positioning data of the first measurement point group, a derivation unit that derives a candidate for the distance from the measurement device to the second measurement device installed in the predetermined space, and the second measurement device irradiate light. The second of the second measuring device based on the distance from the second measuring device to the object in the predetermined space, which is measured while scanning while scanning and using the reflected light reflected from the object in the predetermined space. Based on the candidate for the distance from the second measuring device to the measuring device derived from the positioning data of the second measurement point group in the coordinate system and the candidate for the distance derived from the derivation unit, the first A measuring device having a specific unit for specifying the position of the second measuring device in one coordinate system is proposed.

Further, according to another aspect of the present invention, it is measured by scanning while irradiating light with a first measuring device installed in a predetermined space and using the reflected light reflected from an object in the predetermined space. The predetermined from the first measuring device derived from the positioning data of the first measuring point group in the first coordinate system of the first measuring device based on the distance from the first measuring device to the object in the predetermined space. Candidates for the distance to the second measuring device installed in the space are acquired, scanned while irradiating light with the second measuring device, and measured using the reflected light reflected from the object in the predetermined space. From the second measuring device derived from the positioning data of the second measuring point group in the second coordinate system of the second measuring device based on the distance from the second measuring device to the object in the predetermined space. The candidate for the distance to the first measuring device is acquired, and the candidate for the distance from the acquired first measuring device to the second measuring device and the acquired distance from the second measuring device to the first measuring device Based on the candidates, a specific program for specifying the position of the second measuring device in the first coordinate system, and a specific method are proposed.

According to one aspect of the present invention, another measuring device can be specified when measuring the space to be measured by using the two measuring devices.

FIG. 1 is an explanatory diagram showing an example of one operation by a measuring device. FIG. 2 is an explanatory diagram showing an example of occlusion. FIG. 3 is an explanatory diagram showing an example of a space whose features are difficult to obtain. FIG. 4 is an explanatory diagram showing an example of a system according to the present embodiment. FIG. 5 is an explanatory diagram showing an example of a measuring device for performing 3D measurement in the present embodiment. FIG. 6 is a block diagram showing a hardware configuration example of the measuring device. FIG. 7 is an explanatory diagram showing an installation example of the measuring device. FIG. 8 is an explanatory diagram showing an example of 3D measurement. FIG. 9 is a block diagram showing a hardware configuration example of the information processing device. FIG. 10 is a block diagram showing a functional configuration example of the system. FIG. 11 is an explanatory diagram (No. 1) showing an example of deriving the target candidate. FIG. 12 is an explanatory diagram (No. 2) showing an example of deriving the target candidate. FIG. 13 is an explanatory diagram showing an example of determining the distance between measuring devices. FIG. 14 is an explanatory diagram showing an example of coordinate conversion of positioning data when there are two measuring devices. FIG. 15 is an explanatory diagram showing an example of coordinate conversion of positioning data when there are three measuring devices. FIG. 16 is an explanatory diagram showing how to expand the measurement range when measuring a wide space. FIG. 17 is an explanatory diagram showing the timing of the measurement process and the synthesis process. FIG. 18 is a flowchart showing an example of a processing procedure performed by the terminal device. FIG. 19 is a flowchart showing an example of a processing procedure performed by the measuring device. FIG. 20 is a flowchart (No. 1) showing an example of a processing procedure performed by the information processing apparatus. FIG. 21 is a flowchart (No. 2) showing an example of a processing procedure performed by the information processing apparatus. FIG. 22 is a flowchart showing a detailed description of the translation component specifying process.

Hereinafter, embodiments of the measuring instrument, the specific program, and the specific method according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is an explanatory diagram showing an example of one operation by a measuring device. The first measuring device 100-1 is a computer capable of identifying the position of another measuring device 100-2, for example, based on the positioning data of the measurement point group obtained by the 3D measurement.

Conventionally, there is a sensor that measures the distance to an object by irradiating the object with a laser and measuring the time until the reflected light is returned. There is also a so-called 2D sensor that measures the distance to an object while rotating the optical system inside the sensor and scanning in the horizontal direction. 3D measurement can be performed by rotating the 2D sensor with a drive device.

The positioning data is used, for example, in various simulators and applications such as CAD (Computer Aided Design). The positioning data is the data of the 3D measurement point group. The measurement point is a point of an object irradiated with a laser by a 2D sensor. Specifically, the positioning data has position information based on the distance from the measuring device 100 to the measuring point for each measuring point. Each measuring device 100 represents the position of each measuring point using a local Cartesian coordinate system such as the x-axis, y-axis, and z-axis. More specifically, the positioning data includes coordinate values indicating the positions of each measurement point in the coordinate system C used in the measuring device 100. The coordinate values are x-coordinate value, y-coordinate value, and z-coordinate value.

Further, CAD or the like can reproduce the space to be measured on the computer space based on the positioning data, for example. More specifically, CAD or the like can reproduce the space to be measured by, for example, coloring each measurement point according to the distance of the measurement points indicated by the positioning data.

In addition, there are places where the measurement is not performed due to the state in which the object in the foreground hides the object in the back (hereinafter referred to as occlusion). Therefore, in order to measure the space to be measured without blind spots, 3D measurement is performed at a plurality of measurement points. In order to measure at a plurality of measurement points, for example, the measurement may be performed by one measuring device or may be measured by a plurality of measuring devices.

However, when a plurality of positioning data at different measurement points are acquired in order to measure the space to be measured without blind spots, it may be difficult to combine the plurality of positioning data. For example, if measurement is performed by changing the measurement height in order to eliminate occlusion, the positioning data is locally biased, so there is no common feature among multiple positioning data, and it may be difficult to synthesize the positioning data. .. An example of occlusion will be described with reference to FIG. Further, for example, it may be difficult to obtain a feature such that a plurality of similar features can be obtained from a plurality of positioning data or the feature itself is not clear. An example of a space to be measured whose characteristics are difficult to obtain will be described with reference to FIG.

Therefore, the measuring device 100 self-measures based on the distance from the self-measuring device based on the positioning data of the self-measuring device to the other measuring device and the distance from the other measuring device based on the positioning data of the other measuring device to the self-measuring device. Identify the position of the other measuring device as seen from the device. As a result, other measuring devices can be easily identified, and it is possible to facilitate the synthesis of each positioning data at different measurement points. Therefore, it is possible to easily reproduce a hidden place such as an occlusion by 3D measurement.

First, in FIG. 1, two units, the first measuring device 100-1 and the second measuring device 100-2, are installed in a predetermined space 101. The predetermined space 101 is a space to be measured. Specifically, the predetermined space 101 is various places such as indoors and outdoors, which are not particularly limited. Further, the shape of the housing of the measuring device 100 is, for example, a shape in which the outer shape is substantially the same regardless of the direction in which the measuring device 100 is viewed. As a result, candidates for the distance from one measuring device 100 to another measuring device 100 can be derived from the positioning data. The shapes of the housings of the first measuring device 100-1 and the second measuring device 100-2 are the same. The shape of the housing of the measuring device 100 will be described in detail with reference to FIG.

The first measuring device 100-1 uses the local first coordinate system C ₁ . In the first coordinate system C ₁ , an orthogonal coordinate system of the x1 axis, the y1 axis, and the z1 axis is defined. Further, the second measuring device 100-2 uses the local second coordinate system C ₂ . In the second coordinate system C ₂ , an orthogonal coordinate system of the x2 axis, the y2 axis, and the z2 axis is defined. In the case of the first measuring device 100-1 and the second measuring device 100-2, the x1 axis and the y1 axis of the first coordinate system C ₁ and the x2 axis and the y2 axis of the second coordinate system C ₂ The first measuring device 100-1 and the second measuring device 100-2 are arranged so that the directions of the first measuring device 100-1 and the second measuring device 100-2 are parallel to each other.

The measuring device 100 has, for example, an acquisition unit 111 and a derivation unit 112. Further, the first measuring device 100-1 further has a specific unit 113.

The acquisition unit 111 is a measuring device 100 based on the distance from the measuring device 100 to the object in the predetermined space 101 by scanning while irradiating the light and using the reflected light reflected from the object in the predetermined space 101. The positioning data of the measurement point cloud in the coordinate system C to be used is acquired. The object in the predetermined space 101 here is not particularly limited to, for example, another measuring device 100, a wall, a desk, the ground, a floor, or the like. The positioning data of the measurement point group may be expressed as "positioning data D _tk of the measurement point group". t is any of 1 to N. N is the number of measuring devices 100 installed in the predetermined space 101. In FIG. 1, N is 2. 1 ≦ k ≦ s. s is the number of measurement points. The positioning data D _tk of the measurement point group is a set of positioning data for each measurement point. The positioning data includes position information indicating the position of each measurement point. The position information includes, for example, an x-coordinate value, a y-coordinate value, and a z-coordinate value in the coordinate system C used in each measuring device 100. The distance from the measuring device 100 to each measuring point can be specified by the positioning data.

Specifically, the acquisition unit 111-1 acquires, for example, the positioning data D _1k of the first measurement point group in the first coordinate system C ₁ . The positioning data D _1k of the first measurement point group is a set of positioning data D _{11 to} D _1s . Further, the acquisition unit 111-2 acquires, for example, the positioning data D _2k of the second measurement point group in the second coordinate system C ₂ . The positioning data D _2k of the second measurement point group is a set of positioning data D _{21 to} D _2s .

The derivation unit 112 derives a candidate for a distance from the measuring device 100 to another measuring device 100 based on the positioning data of the measurement point group acquired by the acquisition unit 111. Candidates for the distance from one measuring device 100 to another measuring device 100 are also referred to as target candidates. The derivation unit 112 extracts a set of measurement points corresponding to the shape of the measuring device 100 based on the positioning data of the measurement point group. Then, the derivation unit 112 derives a distance corresponding to the set of extracted measurement points as a target candidate. The details of the method for deriving the distance candidates will be described later with reference to FIGS. 10, 11, 12, and the like.

In the example of FIG. 1, the derivation unit 112-1 selects a candidate for the distance from the first measuring device 100-1 to the second measuring device 100-2, for example, based on the positioning data D _1k of the first measuring point group. Derived. Here, the target candidate is also represented by the ranging value L. For example, the target candidate by the first measuring device 100-1 is represented by the distance measurement value L _1i . i is any of 1 to I. I is the number of target candidates derived by the first measuring device 100-1. Further, in the example of FIG. 1, the derivation unit 112-2 determines the distance from the second measuring device 100-2 to the first measuring device 100-1 based on, for example, the positioning data D _2k of the second measuring point group. Derive candidates. The target candidate by the second measuring device 100-2 is represented by the distance measurement value L _2j . j is any of 1 to J. J is the number of derived target candidates.

Next, the specific unit 113 is a candidate for the distance from the first measuring device 100-1 to the second measuring device 100-2 and a candidate for the distance from the second measuring device 100-2 to the first measuring device 100-1. Based on the above, the position of the second measuring device 100-2 in the first coordinate system C ₁ is specified. Here, the position of the measuring device 100 in each coordinate system is represented by P. For example, the position of the second measuring device 100-2 in the first coordinate system C ₁ is represented by P ₁₂ .

Specifically, the specific unit 113 may acquire the distance measurement value L _2j from the second measuring device 100-2 by, for example, wireless communication or wired communication. The specifying unit 113 specifies, for example, the ranging value L that matches the ranging value L _2j among the ranging values L _1i . Then, the specifying unit 113 specifies the position P ₁₂ of the second measuring device 100-2 in the first coordinate system C ₁ based on the specified distance measuring value L and the positioning data corresponding to the distance measuring value L. The position P ₁₂ of the second measuring device 100-2 in the first coordinate system C ₁ is, for example, the position of the origin of the second coordinate system C ₂ in the first coordinate system C ₁ . The position P ₁₂ of the second measuring device 100-2 in the first coordinate system C ₁ is also referred to as the position P ₁₂ of the second measuring device 100-2 as seen from the first measuring device 100-1.

As a result, the first measuring device 100-1 can easily identify the second measuring device 100-2 from the positioning data. Therefore, the first measuring device 100-1 can use the specified second measuring device 100-2 as an index for alignment when synthesizing the positioning data, facilitating the synthesizing of the positioning data at different measurement points. Can be planned. Further, by using a plurality of measuring devices 100, it is possible to measure a hidden place due to occlusion or the like by changing the height and the installation location of the measuring device 100.

Further, in FIG. 1, each measuring device 100 has a lead-out unit 112, but the present invention is not limited to this. For example, one of the plurality of measuring devices 100 has a lead-out unit 112, and one of the measuring devices 100 derives a target candidate for each of the self-measuring device 100 and the other measuring device 100. You may. In this way, the functional unit of the measuring device 100 can be changed in various ways. Further, in the example of FIG. 1, the first measuring device 100-1 has a lead-out unit 112 and a specific unit 113, but is not limited to this, and a PC, a server, a mobile terminal device, or the like different from the measuring device 100 may be used. Another device may have a lead-out unit 112 and a specific unit 113. In the following description, an example in which an information processing device such as a PC has the functions of the derivation unit 112 and the specific unit 113 will be used.

FIG. 2 is an explanatory diagram showing an example of occlusion. In the example of FIG. 2 (1), when the conventional measuring device 100 is arranged on the front side of the machine or the like for measurement, the back side of the machine cannot be measured. Further, in the example of FIG. 2 (2), when the conventional measuring device 100 is arranged on the upper side of the desk or the like for measurement, the lower side of the desk cannot be measured. In occlusion, when CAD or the like simulates the space to be measured on the computer space based on the positioning data, the back side of the machine shown in FIG. 2 (1) and the underside of the desk shown in FIG. 2 (2) are displayed. Since there is no positioning data, it cannot be reproduced.

As shown in FIG. 2 (2), in order to eliminate occlusion, for example, when measurement is performed both when the measurement position is high and when the measurement position is low, the measurement point of the positioning data whose measurement position is low is locally located. Biased. Therefore, it is difficult to combine the positioning data having a high measurement position and the positioning data having a low measurement position.

FIG. 3 is an explanatory diagram showing an example of a space whose features are difficult to obtain. FIG. 3 (1) shows a space in which tall fixtures and equipment are arranged at equal intervals. FIG. 3 (2) shows a state in which vehicles similar to an open space such as a parking lot are stopped at equal intervals. In such an environment space, it is difficult to synthesize a plurality of positioning data because a plurality of similar features can be obtained from a plurality of positioning data at different measurement points.

FIG. 3 (3) shows a space having a complicated curved surface such as an outdoor tree or a slope. In such a space, it is difficult to obtain the features themselves from a plurality of positioning data at different measurement points, so that it is difficult to synthesize a plurality of positioning data.

In the examples of FIGS. 2 and 3, an example of measurement by one measuring device is shown, but even when measured by a plurality of measuring devices, if there is no common feature, positioning data is synthesized in the same manner. It's difficult.

FIG. 4 is an explanatory diagram showing an example of a system according to the present embodiment. The system 400 includes, for example, a terminal device 401, an information processing device 402, and a plurality of measuring devices 100-1 to 100-N. N is the number of measuring instruments 100 as described above, and is an integer of 2 or more. The terminal device 401, the information processing device 402, and the plurality of measuring devices 100 are connected via, for example, a network 410. The terminal device 401 gives a measurement instruction to the measuring device 100, for example. The plurality of measuring devices 100-1 to 100-N perform 3D measurement of the installed space. The information processing device 402 aggregates the positioning data measured by the plurality of measuring devices 100-1 to 100-N.

In the present embodiment, the information processing device 402 is different from the plurality of measuring devices 100-1 to 100-N and the terminal device 401, but is not limited to this. For example, the information processing device 402 may be any of a plurality of measuring devices 100-1 to 100-N, or may be a terminal device 401, and is not particularly limited.

FIG. 5 is an explanatory diagram showing an example of a measuring device for performing 3D measurement in the present embodiment. In FIG. 5, the measuring device 100 includes a driving device 501, a measuring device 502, and a control device 503. The measuring device 100 is installed and used on a horizontal floor surface, for example.

The shape of the housing of the measuring device 100 is, for example, a shape in which the outer shape is substantially the same regardless of the direction in which the measuring device 100 is viewed. Examples of the shape of the housing include a substantially spherical shape, a substantially polyhedral shape close to a sphere, and a substantially cylindrical shape. For example, when the shape of the housing is a spherical shape, the outer shape is a substantially circular shape when the measuring device 100 is viewed from any direction. In FIG. 5, the shape of the housing is a substantially spherical shape. For example, the diameter of the housing is not particularly limited. However, it is assumed that each measuring device 100 stores the diameter of the housing of the other measuring device 100 in a storage device or the like in advance. In the present embodiment, the diameter of the housing of each measuring device 100 is the same.

Further, the tripod portion of the measuring device 100 can be expanded and contracted, for example. The height of the measuring device 100 can be changed by expanding and contracting the tripod portion of the measuring device 100. The height of the measuring device 100 can be changed from, for example, 30 cm to 130 cm by the tripod portion.

The drive device 501 is a motor that rotates in the pan direction d1 about a rotation shaft 510 (corresponding to the z-axis in FIG. 5). In the following description, the rotation angle in the pan direction d1 (the angle with respect to the x-axis in FIG. 5) may be expressed as “rotation angle θ _h (θ _h = 0 to 360 ° (degrees))”. However, it is assumed that the front direction and the x-axis direction when the drive device 501 is in the initial position coincide with each other.

The measuring device 502 is a 2D sensor that measures the distance from the own device to the object by irradiating the object with light (for example, a laser) while scanning in the tilt direction d2 and using the time until the reflected light is received. is there. The tilt direction d2 is a direction of rotation about the tilt axis 520. That is, the measuring device 502 rotates the optical system (for example, the light emitting unit 611, the light receiving unit 612, etc. shown in FIG. 6 described later) around the tilt axis 520, and the direction indicated by the thick arrow in FIG. 5 (irradiation direction). ) Is irradiated with light.

In the measuring device 100, the measuring device 502 is attached to the driving device 501 so that the tilt direction d2 is perpendicular to the pan direction d1. Then, the measuring device 502 irradiates the object with light (hereinafter referred to as "laser") while scanning in the tilt direction d2 while being moved along the circular orbit around the rotation axis 510 to reach the object. Measure the distance.

At this time, the measuring device 502 irradiates the laser in the tilt direction d2 in the range of “0 to 360 °”. The tilt angle θ _v is an angle of the tilt direction d2 with respect to the rotation axis 110. More specifically, for example, the measuring device 502 performs this measurement every time it is moved by a predetermined angle from 0 ° to 360 ° in the tilt direction d2. For example, when the predetermined angle is 0.25 °, the measuring device 502 measures about 1440 points at 25 [msec] per lap. Further, the measuring device 502 performs this measurement every time, for example, the driving device 501 moves in the pan direction d1 by a predetermined angle from "0 to 360 °". However, it is not necessary to measure from 0 ° to 360 ° in both the tilt direction and the pan direction. If either one performs the measurement from 0 to 180 °, the measurement in all directions can be performed. Further, the measurement range may be limited by specifying an angle, not limited to all directions. As a result, 3D measurement can be performed using the measuring device 502 which is a 2D sensor.

(Example of hardware configuration of measuring device 100)
FIG. 6 is a block diagram showing a hardware configuration example of the measuring device. In FIG. 6, the measuring device 100 includes a CPU (Central Processing Unit) 601, a memory 602, an I / F (Interface) 603, a driving device 501, and a measuring device 502. Further, each component is connected by a bus 600.

Here, the CPU 601 controls the entire measuring device 100. The memory 602 includes, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), a flash ROM, and the like. Specifically, for example, a flash ROM or ROM stores various programs, and RAM is used as a work area of CPU 601. The program stored in the memory 602 is loaded into the CPU 601 to cause the CPU 601 to execute the coded process.

The I / F 603 is connected to a wired or wireless network and is connected to another computer (eg, a user's personal computer) via the network 410. Then, the I / F 603 controls the interface between the network and the inside of the own device, and controls the input / output of data from another computer. The control device 503 shown in FIG. 5 includes, for example, a CPU 601, a memory 602, and an I / F 603.

As shown in FIG. 1, the drive device 501 is a motor that rotates about the rotation shaft 510 in the pan direction d1. The measuring device 502 includes a light emitting unit 611, a light receiving unit 612, a driving unit 613, and a sensor control unit 614. The light emitting unit 611 is a light source that irradiates a laser, and is, for example, a semiconductor laser. The light receiving unit 612 receives the reflected light. The drive unit 613 rotates the light emitting unit 611 around the tilt shaft 520 in the tilt direction d2. The sensor control unit 614 irradiates the laser toward the object while scanning in the tilt direction d2, and measures the distance from the own device to the object using the time until the reflected light is received. The sensor control unit 614 outputs the coordinate value of the object in the coordinate system C as the coordinate data of the measurement point to the memory 602 or the like based on the distance.

In addition to the above-mentioned components, the measuring device 100 may include, for example, a disk drive, a disk, an SSD (Solid State Drive), an input device, a display, and the like.

Next, an installation example of the measuring device 100 will be described. In this embodiment, two or more measuring instruments 100 are installed.

FIG. 7 is an explanatory diagram showing an installation example of the measuring device. FIG. 7 shows an example in which two measuring devices 100 are installed. As described above, the first measuring device 100-1 represents the position of the measuring point by using, for example, the first coordinate system C1 which is a local Cartesian coordinate system of the x1 axis, the y1 axis, and the z1 axis. Further, as described above, the second measuring device 100-2 represents the position of the measuring point by using, for example, the second coordinate system C ₂ which is a local Cartesian coordinate system of the x2 axis, the y2 axis, and the z2 axis.

In the present embodiment, when there are two measuring devices 100, the two measuring devices 100 are installed on horizontal planes having the same or different heights, and their orientations in the horizontal direction are aligned. That is, the first measuring device 100-1 and the second measuring device 100-2 are installed so that the directions of the x1 axis and the x2 axis are aligned and the directions of the y1 axis and the y2 axis are aligned.

In FIG. 7, the first measuring device 100-1 is arranged at a high position such as on a desk. Thereby, the first measuring device 100-1 can measure, for example, the distance from the first measuring device 100-1 to the portion indicated by the hatch. In FIG. 7, the second measuring device 100-2 is arranged at a low position such as under a desk. As a result, the second measuring device 100-2 can measure the distance from the second measuring device 100-2 to the portion indicated by the thick black line, for example. Further, the first measuring device 100-1 and the second measuring device 100-2 have a positional relationship in which the distance between them can be measured.

In this way, both 3D measurement from a high position and 3D measurement from a low position are performed, and it is possible to suppress the occurrence of a place that is not measured by occlusion by the two measuring devices 100. ..

FIG. 8 is an explanatory diagram showing an example of 3D measurement. As described with reference to FIG. 5, the first measuring device 100-1 irradiates light while rotating the optical system around the tilt axis 520. The first measuring device 100-1 measures the distance to an object that is irradiated with light. As shown in FIG. 8, the first instrumentation device 100-1 measures the distances to innumerable measurement points. The first measuring device 100-1 measures the distance to the second measuring device 100-2 at a plurality of measuring points.

(Example of hardware configuration of information processing device 402)
Next, the hardware configuration of the information processing apparatus 402 will be described. In FIG. 9, the information processing device 402 will be described by taking a PC as an example, but the present invention is not limited to this, and may be, for example, a terminal device 401 such as a smartphone or PDA, a server, or a measuring device 100. Well, not particularly limited. Further, the hardware configuration of the terminal device 401 may be the same as that of the information processing device 402, and can be variously changed from the information processing device 402, and detailed description thereof will be omitted.

FIG. 9 is a block diagram showing a hardware configuration example of the information processing device. The information processing device 402 includes a CPU 901, a ROM 902, a RAM 903, a disk drive 904, and a disk 905. The information processing device 402 includes an I / F 906, a keyboard 907, a mouse 908, and a display 909. Further, the CPU 901, the ROM 902, the RAM 903, the disk drive 904, the I / F 906, the keyboard 907, the mouse 908, and the display 909 are connected by the bus 900, respectively.

Here, the CPU 901 controls the entire information processing apparatus 402. The ROM 902 stores a program such as a boot program. The RAM 903 is used as a work area for the CPU 901. The disk drive 904 controls the read / write of data to the disk 905 according to the control of the CPU 901. The disk 905 stores the data written under the control of the disk drive 904. Examples of the disk 905 include a magnetic disk, an optical disk, a semiconductor medium such as an SD card, and the like.

The I / F 906 is connected to a network 410 such as LAN, WAN, and the Internet through a communication line, and is connected to another device via this network 410. The I / F 906 controls the internal interface with the network 410 and controls the input / output of data from the external device. For the I / F906, for example, a modem or a LAN adapter can be adopted.

The keyboard 907 and the mouse 908 are interfaces that accept input of various data by the operation of the user. The display 909 is an interface that outputs data according to the instruction of the CPU 901.

Further, although not shown, the information processing device 402 may be provided with an input device for capturing an image or a moving image from a camera, an input device for capturing sound from a microphone, and a touch panel type input device via a display 909. Further, although not shown, the information processing device 402 may be provided with an output device such as a printer.

Further, in the present embodiment, as the hardware configuration of the information processing apparatus 402, a personal computer is taken as an example, but the present invention is not limited to this, and a server or the like may be used. When the information processing device 402 is a server, the information processing device 402 and a user-operable device, a display 909, or the like may be connected via a network 410.

(Example of functional configuration of system 400)
FIG. 10 is a block diagram showing a functional configuration example of the system. As described above, the system 400 includes an information processing device 402, a terminal device 401, and a measuring device 100.

First, the terminal device 401 will be described. The terminal device 401 has an input receiving unit 1021, a communication unit 1022, and a storage unit 1030. The processing from the input receiving unit 1021 to the communication unit 1022 is coded in, for example, a program stored in a storage device such as a ROM 902, a RAM 903, or a disk 905 accessible to the CPU 901 shown in FIG. Then, the CPU 901 reads the program from the storage device and executes the process coded in the program. As a result, the processing from the input receiving unit 1021 to the communication unit 1022 is realized. Further, the processing results of the input receiving unit 1021 to the communication unit 1022 are stored in a storage device such as a ROM 902, a RAM 903, or a disk 905. The storage unit 1030 is stored in a storage device such as a ROM 902, a RAM 903, or a disk 905.

The input receiving unit 1021 receives an operation input by a user such as a keyboard 907, a mouse 908, and a touch panel via a display 909. Specifically, the input receiving unit 1021 receives, for example, an input of a measurement instruction from a user.

Further, the communication unit 1022 uses the I / F 906 to notify each measuring device 100 of the measurement instruction received by the input receiving unit 1021.

Next, the measuring device 100 will be described. The measuring device 100 has a communication unit 1041, an acquisition unit 1042, and a storage unit 1050. The processing of the communication unit 1041 is coded in, for example, a program stored in a storage device such as a memory 602 accessible to the CPU 601 shown in FIG. Then, the CPU 601 reads the program from the storage device and executes the process coded in the program. As a result, the processing of the communication unit 1041 is realized. Further, the processing result of the communication unit 1041 is stored in a storage device such as a memory 602, for example. The storage unit 1050 is stored in a storage device such as a memory 602. The acquisition unit 1042 is realized by the driving device 501 and the measuring device 502.

The communication unit 1041 uses the I / F 603 to receive information regarding the notification of the measurement instruction from the terminal device 401.

When the information regarding the notification of the measurement instruction is received, the acquisition unit 1042 scans while irradiating the light and uses the reflected light reflected from the object to measure a group of measurement points based on the distance from the self-measuring device 100 to the object. Acquire the positioning data of. The acquisition unit 1042 is the acquisition unit 111 shown in FIG.

Then, the communication unit 1041 uses the I / F 603 to transmit the positioning data of the measurement point group measured by the acquisition unit 1042 to the information processing device 402.

The information processing device 402 includes a control unit 1000 and a storage unit 1010. The control unit 1000 includes an acquisition unit 1001, a derivation unit 1002, a determination unit 1003, a specific unit 1004, a calculation unit 1005, a conversion unit 1006, a synthesis unit 1007, a generation unit 1008, and an output unit 1009. Have. The processing of the control unit 1000 is coded in, for example, a program stored in a storage device such as a ROM 902, a RAM 903, or a disk 905 accessible to the CPU 901 shown in FIG. Then, the CPU 901 reads the program from the storage device and executes the process coded in the program. As a result, the processing of the control unit 1000 is realized. Further, the processing result of the control unit 1000 is stored in a storage device such as a ROM 902, a RAM 903, or a disk 905.

Further, the storage unit 1010 is realized by a ROM 902, a RAM 903, a disk 905, and the like. The storage unit 1010 stores, for example, positioning data of each measurement point group from the measuring device 100.

The detailed processing of each functional unit will be described when the number of measuring devices 100 is two, and then the case where the number of measuring devices 100 is three or more.

First, the acquisition unit 1001 acquires the positioning data of the measurement point group measured by the measuring device 100 for each measuring device 100 of the plurality of measuring devices 100. Specifically, the acquisition unit 1001 may receive, for example, the positioning data of the measurement point group transmitted by the communication unit 1041. Further, the acquisition unit 1001 may read, for example, the positioning data of the measurement point group from the storage unit 1010 that stores the received positioning data of the measurement point group. In the present embodiment, the information processing device 402 and the measuring device 100 are different devices, but when they are the same device, the acquisition unit 1001 may function as the acquisition unit 1042.

The derivation unit 1002 uses the positioning data of the measurement point group measured by the measuring device 100 for each measuring device 100 of the plurality of measuring devices 100, and is a candidate for the distance from the measuring device 100 to the other measuring device 100. Is derived. The distance is also called a distance measurement value. Candidates for the distance from the measuring device 100 to be derived to the other measuring device 100 are also referred to as target candidates. The lead-out unit 1002 has the same function as the lead-out unit 112 included in the measuring device 100 shown in FIG.

Here, two processes will be taken as an example as a method of specifically obtaining a candidate for a distance to another measuring device 100 by the derivation unit 1002. As the first process of obtaining the distance, a target candidate is derived based on a set of adjacent measurement points having substantially the same distance. A detailed processing example for obtaining the first distance will be described later with reference to FIG. As a detailed process for obtaining the second distance, a candidate for a distance to another measuring device 100 is obtained based on the shade of the shape of the target included in the image in which the distance of each measurement point is represented by the shade. A detailed processing example for obtaining the second distance will be described later with reference to FIG.

The specific unit 1004 of the second measuring device 100-2 in the first coordinate system C ₁ is based on the target candidate for the first measuring device 100-1 and the target candidate for the second measuring device 100-2. identifying the position P _12. As described above, the position P ₁₂ is the position of the origin of the second coordinate system C ₂ in the first coordinate system C ₁ . This position is also referred to as a translational component. The specific unit 1004 has the same function as the specific unit 113 included in the first measuring device 100-1. In FIG. 10, the target candidate by the first measuring device 100-1 and the target candidate by the second measuring device 100-2 are derived by the derivation unit 1002, but are derived by each measuring device 100 as shown in FIG. You may.

When the target candidate for the first measuring device 100-1 and the target candidate for the second measuring device 100-2 match, the specific unit 1004 corresponds to the target candidate for the first measuring device 100-1. It is determined that the second measuring device 100-2 is located at the measuring point to be measured. Therefore, the specific unit 1004 uses the determination unit 1003 to determine, for example, a match between each target candidate by the first measuring device 100-1 and each target candidate by the second measuring device 100-2. Specifically, the determination unit 1003 determines, for example, a match between each target candidate by the first measuring device 100-1 and each target candidate by the second measuring device 100-2. An example of matching determination of target candidates will be described later with reference to FIG.

The identification unit 1004 identifies the position P ₁₂ of the second measuring device 100-2 in the first coordinate system C ₁ based on the positioning data of the measurement points for the target candidates determined to match by the determination unit 1003. The measurement point positioning data for the target candidate is the measurement point positioning data used for deriving the target candidate.

As described above, when there are two measuring devices 100, the first measuring device 100-1 and the second measuring device 100-2 are installed on a horizontal plane having the same or different heights as a prerequisite. Then, it is assumed that the first measuring device 100-1 and the second measuring device 100-2 have the same horizontal orientation. That is, in the first coordinate system C ₁ and the second coordinate system C ₂ , the x-axis direction and the y-axis direction are aligned.

Next, the conversion unit 1006 obtains the positioning data D _2k of the second measurement point cloud based on the position P ₁₂ of the second measuring device 100-2 in the first coordinate system C ₁ specified by the specific unit 1004. It is converted into the positioning data of the second measurement point cloud in the 1-coordinate system C ₁ . Here, the positioning data of the converted measurement point cloud converted into the positioning data in the first coordinate system C ₁ is represented by D'. For example, the positioning data of the second measurement point cloud in the first coordinate system C ₁ after conversion is represented as D' _2k . In this way, the positioning data D _2k of the second measurement point group is coordinate-converted, and the information processing apparatus 402 converts the positioning data D _1k of the first measurement point group and the positioning data D' _2k of the second measurement point group. It can be treated as information of the same first coordinate system C ₁ .

Specifically, the conversion unit 1006 converts the measurement data D _2k of the second measurement point cloud into the first coordinate system C ₁ based on the position P ₁₂ of the second measurement device 100-2 specified by the specific unit 1004. It is converted into the positioning data D' _2k of the second measurement point cloud in. In more detail, the conversion unit 1006 converts the measured data D _2k of the second measurement point group in the positioning data D _'2k of the second measurement point group according to the following equation (1).

D' _2k = P ₁₂ + D _2k・ ・ ・ Equation (1)

Then, the synthesis unit 1007 synthesizes the positioning data D' _2k of the second measurement point group converted by the conversion unit 1006 and the positioning data D _1k of the measurement point group measured by the first measurement device 100-1. To do. As a result, the positioning data of the measurement point cloud represented by the first coordinate system C ₁ is synthesized. The synthesis unit 1007 may perform a process of finely adjusting the positioning data of the measurement point group converted by the conversion unit 1006 by IPC (Interactive Closet Point) or the like and then synthesizing the data.

In addition, the generation unit 1008 generates image information showing an image shaded according to the distance specified by the positioning data of each synthesized measurement point based on the positioning data of the synthesized measurement point group. The output unit 1009 outputs image information. An example of an image with shading is shown in FIG. 12, so detailed description thereof will be omitted. Further, the image is not limited to the shaded image, and may be an image colored according to the distance specified by the combined positioning data of each measurement point. Specifically, the output unit 1009 displays, for example, an image indicated by image information on a display 909 or the like. The processing of the generation unit 1008 and the output unit 1009 may be realized by CAD or the like.

Next, a case where the number of measuring devices 100 is three or more will be described. When there are three or more measuring devices 100, each measuring device 100 is installed on a horizontal plane having the same or different heights. The directions of the two axes of each coordinate system C of the measuring device 100 may or may not be parallel. As an example of the case where the number of measuring devices 100 is three or more, the case where the number of measuring devices 100 is three will be described as an example. The processing from the acquisition unit 1001 to the out-licensing unit 1002 is the same as in the case of two units, and in the case of three units, processing is performed for each of the measuring instruments 100 in the same manner.

Similar to the case of the two units, the identification unit 1004 specifies the position P ₁₃ of the third measuring device 100-3 in the first coordinate system C ₁ . The position P ₁₃ is the position of the origin of the third coordinate system C ₃ in the first coordinate system C ₁ .

Next, the specific unit 1004 is a candidate for the distance from the third measuring device 100-3 to the first measuring device 100-1, and a candidate for the distance from the first measuring device 100-1 to the third measuring device 100-3. Based on the above, the position P ₁₃ of the third measuring device 100-3 in the first coordinate system C ₁ is specified. Candidates for the distance from the third measuring device 100-3 to the first measuring device 100-1 are derived by the derivation unit 1002 based on, for example, the positioning data D _3k of the third measuring point group.

Then, the specific unit 1004 has the second coordinates based on the candidate for the distance from the third measuring device 100-3 to the measuring device 100 and the candidate for the distance from the second measuring device 100-2 to the measuring device 100. The position P ₂₃ of the third measuring device 100-3 in the system C ₂ is specified. The position P ₂₃ is the position of the origin of the third coordinate system C ₃ in the second coordinate system C ₂ .

Since the method of specifying the position of the measuring device 100 by the specifying unit 1004 is the same as the processing in the case of two devices, detailed description thereof will be omitted.

Conversion unit 1006, the positioning data D _2k of the second measurement point group in the second coordinate system C _2, is converted into positional data D _'2k of the second measurement point group in the first coordinate system C _1. Specifically, the conversion unit 1006, a position P _12, the position P _13, the position P ₂₃ of the third measuring equipment 100-3 in the second coordinate system C _2, on the basis of second measuring point group positioning It converts the data D _2k 2 measurement point group in the positioning data D _'2k. In more detail, the conversion unit 1006, the positioning data D _2k of the second measurement point group, the following equation (2), converting the second measurement point group in the positioning data D _'2k.

D' _2k = P ₁₂ + R ₂ x D _2k・ ・ ・ Equation (2)

R ₂ represents a transformation matrix that can be transformed so that the two axes of the first coordinate system C ₁ are parallel to the two axes of the second coordinate system C ₂ . Specifically, R ₂ is a transformation matrix capable of rotating the x-axis of the first coordinate system C ₁ by θ so as to be parallel to the x-axis of the second coordinate system C ₂ . The transformation matrix R ₂ is given by the following equation (3). The transformation matrix R ₂ represented by the equation (3) is a rotation matrix representing rotation around the z-axis in the direction of the x-axis toward the y-axis in the three-dimensional space.

Here, the transformation matrix is calculated by the calculation unit 1005. The calculation unit 1005 calculates the transformation matrix R ₂ based on, for example, the position P ₁₂ , the position P _13, and the position P ₂₃ . More specifically, for example, the following equation (4) gives θ in the above equation (3), and the transformation matrix R ₂ is derived.

R ₂ × P ₂₃ = P ₁₃ −P ₁₂・ ・ ・ Equation (4)

D' _2k includes the position P ₁₃ of the third measuring device 100-3 in the first coordinate system C ₁ , and D _2k includes the position P ₂₃ of the third measuring device 100-3 in the second coordinate system C ₂ . By doing so, the above equation (4) can be obtained. Incidentally, on the basis of the positioning data of each measurement point group obtained by each measurement device 100, an example of converting the positional data D _2k of the second measurement point group in the positioning data D _'2k of the second measurement point group 15 Shown in.

The synthesis unit 1007 synthesizes the positioning data D _{1k of} the first measurement point group and the positioning data D _2k of the second measurement point group converted by the conversion unit 1006. In this way, the positioning data of each measurement point group obtained by the two measuring devices 100 can be easily combined by using the positioning data of each measuring point group obtained by the three measuring devices 100.

Up to this point, an example has been described in which the positioning data of each measurement point group obtained by the two measuring devices 100 is combined with the positioning data of each measurement point group obtained by the three measuring devices 100. Next, an example will be described in which the positioning data of each measurement point group obtained by the three measuring devices 100 is combined with the positioning data of each measurement point group obtained by the three measuring devices 100.

The specific unit 1004 has a third coordinate system C based on a candidate for the distance from the third measuring device 100-3 to the measuring device 100 and a candidate for the distance from the second measuring device 100-2 to the measuring device 100. The position P ₃₂ of the second measuring device 100-2 in ₃ is specified. The position P ₃₂ is the position of the origin of the second coordinate system C ₂ in the third coordinate system C ₃ .

Conversion unit 1006, based on the position P ₁₃ and P ₃₂ and the position P _12, converts the positional data D _3k of the third measurement point group in the positioning data D _'3k of the third measurement point group. Specifically, the conversion unit 1006, for example, similarly to the process of converting the positional data D _2k of the second measurement point group in the positioning data D _'2k of the second measurement point group, the positioning data of the third measurement point group Convert D _3k to the positioning data D' _3k of the third measurement point cloud. More specifically, for example, the calculation unit 1005 calculates a transformation matrix that can be converted so that the two axes of the first coordinate system C ₁ are parallel to the two axes of the third coordinate system C ₃ . Specifically, the calculation unit 1005 calculates the transformation matrix by the following equation (5). The transformation matrix may be expressed as R ₃ .

R ₃ x P ₃₂ = P _12- P ₁₃ ... Equation (5)

Then, the conversion unit 1006 obtains the positioning data D _3k of the third measurement point group and the positioning data D'of the third measurement point group based on the transformation matrix R ₃ calculated by the calculation unit 1005 and the position P _13. Convert to _3k . Specifically, the conversion unit 1006, for example, the positioning data D _3k of the third measurement point group according to the following equation (6) into the positioning data D _'3k of the third measurement point group.

D' _3k = P ₁₃ + R ₃ x D _3k・ ・ ・ Equation (6)

If the measuring apparatus 100 is three or more, the specific section 1004, a position P _12, the position P _1M of the M measuring device 100 in the first coordinate system C _1, the M coordinate system C _M of the M measurement equipment 100 and position P _M2 of the second measuring equipment 100-2 in to identify the. M is any of 3 to s. Position P _1M is the position of the origin of the M coordinate system C _M in the first coordinate system C _1. Position P _M2 is the position of the second coordinate system origin of C ₂ in the M coordinate system C _M.

Next, the conversion unit 1006, the positioning data D _Mk of the M measurement point group in the M coordinate system C _M, is converted into positional data D _'Mk of the M measurement point group in the first coordinate system C _1. Specifically, in the calculation unit 1005, the two axes of the first coordinate system C ₁ are the M coordinate system based on the position P ₁₂ specified by the specific unit 1004, the position P _{1 M,} and the position PM _2. calculating a convertible transformation matrix so as to be parallel to the two axes of the C _M. Specifically, the calculation unit 1005 calculates the transformation matrix by the following equation (7). Its transformation matrix may represent a R _M.

_RM x P _M2 = P _12- P _1M ... Equation (7)

Conversion unit 1006, a transformation matrix R _M, the position P _1M, based on the positioning data D _Mk of the M measurement point group, is converted into positional data D _'Mk of the M measurement point group. Specifically, the conversion unit 1006, for example, the third positioning data D _Mk measurement point group according to the following equation (8) into the positioning data D _'Mk third measurement point group.

D' _Mk = P _1M + _RM x D _Mk・ ・ ・ Equation (8)

Then, the synthesis unit 1007 was measured by the positioning data D' _2k of the second measurement point group converted by the conversion unit 1006, the positioning data D' _Nk of the Nth measurement point group, and the first measurement device 100-1. The positioning data D _1k of the first measurement point group is combined. Further, as in the case of the two units, the synthesis unit 1007 may perform a process of finely adjusting the positioning data of each measurement point group converted by the conversion unit 1006 by IPC or the like and then synthesizing the data. More specifically, the synthesis unit 1007 makes fine adjustments by, for example, the following equation (9).

D' _nk = A _ICP x D' _nk ... Equation (9)

D'' _nk represents the positioning data of the measurement point group adjusted by IPC. It should be noted that 2 ≦ n ≦ N. For example, the positioning data D'' _2k is a set of positioning data D'' _2s from the positioning data D'' ₂₁ . A _ICP is a matrix of predetermined coefficients for making fine adjustments.

Then, the synthesis unit 1007 synthesizes the positioning data D'' _nk of the measurement point group after fine adjustment and the positioning data D _1k of the first measurement point group measured by the first measurement device 100-1. Specifically, the synthesis unit 1007 synthesizes, for example, by the following formula (10).

D = SUM {D _1k , D " _2k , ..., D" _Nk } ... Equation (10)

D is the positioning data of each measurement point group after synthesis. In many cases, the measurement points of different measuring devices are different. Therefore, the positioning data D has, for example, positioning data of N × k measurement points.

Since the processing from the synthesis unit 1007 to the output unit 1009 is the same for the case where the number of measuring devices 100 is two and the case where the number of measuring devices 100 is three or more, detailed description thereof will be omitted.

Further, in the present embodiment, the information processing apparatus 402 performs each process from the acquisition unit 1001 to the output unit 1009, but the present invention is not limited to this. For example, the out-licensing unit 1002 may be performed by each measuring device 100. Further, for example, as shown in FIG. 1, one of the plurality of measuring devices 100 may perform the processing of the specific unit 1004 or the processing from the specific unit 1004 to the conversion unit 1006. Various changes are possible.

FIG. 11 is an explanatory diagram (No. 1) showing an example of deriving the target candidate. FIG. 11 (1) shows an example in which an object having the shape of a target is 10 m ahead of the measuring device 100. FIG. 11 (2) shows an example in which an object having the shape of a target is 20 m ahead of the measuring device 100.

Here, as described above, for example, the diameter of the housing of the measuring device 100 is 190 mm. Further, the resolution in the tilt direction d2 and the pan direction d1 is set to 0.25 °. That is, as described above, the measuring device irradiates the laser each time it is moved by 0.25 ° in the range of "0 to 360 °" in the tilt direction d2. Further, the measuring device performs measurement each time it is moved by 0.25 ° in the range of "0 to 360 °" in the pan direction d1.

Information in which the distance is associated with the number of measurement points in each direction according to the shape of the housing of the measuring device 100 is stored in advance in the storage unit 1010 or the like.

The derivation unit 1002 extracts a set of adjacent measurement points at substantially the same distance from the positioning data of each measurement point group. In the examples of FIGS. 11 (1) and 11 (2), the hatched measurement points are a set of adjacent measurement points at substantially the same distance. Then, the derivation unit 1002 determines the number of measurement points in each direction from the storage unit 1010 according to the shape of the housing of the measuring device 100 for each of the extracted sets of measurement points, based on the distance of the extracted sets. get. The distance given to the extracted set is the distance from the measuring device 100 to the measurement point included in the extracted set. Next, when the number of measurement points in each direction included in the extracted set and the number of measurement points in each acquired direction match, the derivation unit 1002 extracts the distance for the extracted set as a target candidate. The extracted set is associated with the target candidate and stored in the storage unit 1010 or the like.

As shown in FIG. 11 (1), when there is an object having the same shape as the housing of the measuring device 100 10 m ahead, the distance between the adjacent measuring points corresponding to the objects is 43.6 mm, and each of them The number of measurement points in the direction is 3 to 4. When the distance to the extracted set is 10 m, the derivation unit 1002 sets the distance to the extracted set as a target candidate if the number of measurement points in each direction is 3 to 4.

As shown in FIG. 11 (2), when there is an object having the same shape as the housing of the measuring device 100 20 m away, the distance between adjacent measurement points corresponding to the objects is 87.2 mm, and each of them The number of measurement points in the direction is two. The derivation unit 1002 sets the distance for the extracted set as the target distance when the distance of the measurement points included in the extracted set is 20 m and the number of measurement points in each direction is two.

FIG. 12 is an explanatory diagram (No. 2) showing an example of deriving the target candidate. As shown in FIG. 12 (1), the out-licensing unit 1002 generates image information indicating an image with shading according to the distance of each measurement point of the measurement point group for the first measuring device 100-1. As shown in FIG. 12 (2), the derivation unit 1002 performs edge detection based on the amount of change in shading from the image indicated by the image information. As shown in FIG. 12 (3), the derivation unit 1002 detects a circle from the edge detected by the edge detection by Hough transform or the like.

Next, as shown in FIG. 12 (4), the derivation unit 1002 extracts the image inside the detected circle from the image indicated by the image information. Subsequently, as shown in FIG. 12 (5), the derivation unit 1002 acquires image information indicating an ideal target shade image according to the size of the detected circle. Here, in the storage unit 1010, image information indicating an ideal target shade image is stored in advance according to the size of the circle. As shown in FIG. 12 (6), the derivation unit 1002 determines that the extracted image is the target if the difference in shade between the extracted image and the image indicated by the acquired image information is equal to or less than the threshold value. .. Then, the derivation unit 1002 extracts the distance according to the shading of the image of the circle determined to be the target as a candidate for the distance to the other measuring device 100.

FIG. 13 is an explanatory diagram showing an example of determining the distance between measuring devices. There may be an object having a shape similar to the shape of the housing of the measuring device 100 in the space to be measured. As shown in FIG. 13, for example, when the shape of the housing is a sphere, an object having a shape similar to the shape of the housing of the measuring device 100 includes a ball or the like. The derivation unit 1002 also extracts the distance from the measuring device 100 to an object having a similar shape as a target candidate. Therefore, even if there are two measuring devices 100, the number of target candidates for each measuring device 100 may be two or more.

In the example of FIG. 13, the derivation unit 1002 derives, for example, the distance measurement value L ₁₁ and the distance measurement value L ₁₂ and the distance measurement value separation L ₁₃ as target candidates. For example, the derivation unit 1002 derives the distance measurement value L ₂₁ and the distance measurement value L ₂₂ and the distance measurement value L ₂₃ as target candidates.

Then, the determination unit 1003 sets the distance measurement value L ₁₁ and the distance measurement value L ₁₂ and the distance measurement value L ₁₃ for the first measuring device 100-1 and the distance measurement value L ₂₁ for the second measuring device 100-2. It is determined that the distance measurement value L ₂₂ and the distance measurement value L ₂₃ match. In the example of FIG. 13, the determination unit 1003 determines that the distance measurement value L ₂₂ and the distance measurement value L ₁₂ match. In this way, even if the distance to an object having a shape similar to the shape of the measuring device 100 is extracted, the distance between the measuring devices 100 can be uniquely specified by the match determination.

FIG. 14 is an explanatory diagram showing an example of coordinate conversion of positioning data when there are two measuring devices. As shown in FIG. 14, when there are two measuring devices 100, as a prerequisite, the first measuring device 100-1 and the second measuring device 100-2 are installed on a horizontal plane having the same or different heights. .. Then, it is assumed that the first measuring device 100-1 and the second measuring device 100-2 have the same horizontal orientation. That is, the x1 axis direction and the y1 axis direction of the first coordinate system C ₁ and the x2 axis direction and the y2 axis direction of the second coordinate system C ₂ are aligned.

The identification unit 1004 calculates the position P ₁₂ of the origin of the second coordinate system C ₂ in the first coordinate system C ₁ based on the matching distance and the set of measurement points corresponding to the matching distance. The coincident distance is the distance from the outer surface of the first measuring device 100-1 to the outer surface of the second measuring device 100-2. More specifically, the specific unit 1004 includes the distance between the outer surface of the first measuring device 100-1 and the origin of the first coordinate system C ₁ , the matching distance, and the outer surface of the second measuring device 100-2. The total distance of the origin distance of the second coordinate system C ₂ is calculated. Then, the specific unit 1004 calculates the position obtained by adding the distances calculated from the origin of the first coordinate system C ₁ as the position P ₁₂ .

Then, the conversion unit 1006 converts the data of the second measurement point group in the second coordinate system C ₂ into the data of the second measurement point group in the first coordinate system C ₁ based on the position P ₁₂ . Specifically, the conversion unit 1006 converts using the above-mentioned equation (1). As shown in FIG. 14, the positioning data D _2p at the measurement point p is converted into the positioning data D' _2p .

FIG. 15 is an explanatory diagram showing an example of coordinate conversion of positioning data when there are three measuring devices. As described above, θ shown in FIG. 15, in order to x1 axis and y1 axis of the first coordinate system C ₁ is parallel to the x2-axis and y2 axis of the second coordinate system C _2, the first coordinate system C ₁ Is the angle at which is rotated in the z1 axis direction.

Here, the position P ₁₃ of the third measuring equipment 100-3 in the first coordinate system C ₁ is included in the positional data D _'2p of the second measurement point group in the first coordinate system C _1. Further, the position P ₂₃ of the third measuring equipment 100-3 in the second coordinate system C ₂ is included in the positioning data D _2p of the second measurement point group in the second coordinate system C _2. As described above, when D' _2p = position P ₁₃ and D _2p = position P ₂₃ , the above equation (4) is obtained.

The calculation unit 1005 calculates the transformation matrix R ₂ by the above equation (4). Then, the conversion unit 1006 gives the conversion matrix R ₂ calculated by the calculation unit 1005 to the above equation (2). Conversion unit 1006, by the above formula (2), the positioning data D _2k of the second measurement point group in the second coordinate system C _2, the positioning data D _'2k of the second measurement point group in the first coordinate system C ₁ Convert.

FIG. 16 is an explanatory diagram showing how to expand the measurement range when measuring a wide space. FIG. 16 shows an example of measuring a wide space with two measuring devices 100. The wide-area space includes, for example, a large place such as a gymnasium or the outdoors. Since one of the two measuring devices 100 can grasp the position of the other measuring device 100, the user can expand the measuring range by, for example, manually moving the measuring device 100 alternately. Can be done.

Since the timing of a series of synthesis processes will be described with reference to FIG. 17, which will be described later, detailed description thereof will be omitted in FIG. The series of synthesis processing is to specify the position of the other measuring device 100 as seen from one measuring device 100, perform coordinate conversion of the positioning data based on the specified position, and synthesize the data after the coordinate conversion. It is a process.

Specifically, in step S1601, the first measuring device 100-1 and the second measuring device 100-2 are arranged. Then, in step S1601, the first measuring device 100-1 and the second measuring device 100-2 each perform 3D measurement.

Next, in step S1602, the first measuring device 100-1 is manually moved by, for example, a user. Then, at the moved position, the first measuring device 100-1 and the second measuring device 100-2 perform 3D measurement, respectively.

In step S1603, the second measuring device 100-2 is manually moved, for example, by the user. Then, the first measuring device 100-1 and the second measuring device 100-2 each perform 3D measurement at the moved position. In step S1603, for example, the information processing apparatus 402, based on the positioning data of each measurement point cloud obtained by 3D measurement, the position P ₁₂ of the second measuring equipment 100-2 viewed from the first measuring device 100 - Identify.

In step S1604, the first measuring device 100-1 is manually moved by, for example, a user. Then, at the moved position, the first measuring device 100-1 and the second measuring device 100-2 perform 3D measurement, respectively. In step S1604, for example, the information processing apparatus 402, based on the positioning data of each measurement point cloud obtained by 3D measurement, the position P ₁₂ of the second measuring equipment 100-2 viewed from the first measuring device 100 - Identify.

If the information processing device 402 can grasp the position of the other measuring device 100 as seen from one measuring device 100, the moving amount of the measuring device 100 can be specified. In the example of FIG. 16, an example in which the measuring device 100 is moved alternately is shown, but if the position of the other measuring device 100 as seen from one measuring device 100 can be specified, it may not be alternate. For example, first measuring device 100-1 → second measuring device 100-2 → first measuring device 100-1 → first measuring device 100-1 → second measuring device 100-2 → second measuring device 100-2, etc. The measuring device 100 may be moved in the order of. Although the example in which the measuring device 100 is manually moved by the user has been described here, the measuring device 100 is not limited to this, and may have a mechanism that can be automatically moved. Next, the timing of the measurement process and the synthesis process in the case of moving as shown in FIG. 16 will be described.

FIG. 17 is an explanatory diagram showing the timing of the measurement process and the synthesis process. 17 (1) and 17 (2) show the timing at which the measurement process and the integrated process are performed. FIG. 17 (1) shows an example in which the integrated process is performed after the measurement process is performed for each step. FIG. 17 (2) shows an example in which the measurement process is performed for each step and the integrated process is performed after all the steps are completed.

First, FIG. 17 (1) will be described in detail. In step S1701, each measuring device 100 performs 3D measurement. In step S1701, the information processing device 402 performs a synthesis process of the positioning data measured by each measuring device 100.

Next, in step S1702, any measuring device 100 is moved. Then, in step S1702, each measuring device 100 performs 3D measurement. In step S1702, the information processing device 402 performs a synthesis process of the positioning data measured by each measuring device 100.

Then, in step S170m, any measuring device 100 is moved. Next, in step S170m, each measuring device 100 performs 3D measurement. In step S170m, the information processing device 402 performs a synthesis process of positioning data measured by each measuring device 100.

Finally, the information processing apparatus 402 performs a synthesis process for each positioning data synthesized in each step S1701 to S170m.

Next, FIG. 17 (2) will be described in detail. In step S1711, each measuring device 100 performs 3D measurement.

Next, in step S1712, any measuring device 100 is moved. Then, in step S1712, each measuring device 100 performs 3D measurement. In step S1712, the information processing device 402 performs a synthesis process of positioning data measured by each measuring device 100.

Then, in step S171m, any measuring device 100 is moved. In step S171m, each measuring device 100 performs 3D measurement.

Finally, the information processing apparatus 402 performs a synthesis process on the positioning data measured in each step S1711 to S171m. For example, the information processing apparatus 402 may perform a synthesis process on the positioning data measured for each step and then perform a synthesis process on the synthesized positioning data for each step.

As shown in FIG. 17 (1), the information processing apparatus 402 may synthesize the positioning data in each step, then move to the next step, and finally synthesize the positioning data for all the steps. Further, as shown in FIG. 17 (2), the information processing apparatus 402 may finally synthesize the positioning data in each step.

(Example of processing procedure performed by the terminal device 401)
FIG. 18 is a flowchart showing an example of a processing procedure performed by the terminal device. The terminal device 401 receives an operation input from the user (step S1801). Next, the terminal device 401 instructs each measuring device 100 to start measurement in response to the operation input from the received user (step S1802), and ends a series of processes. For example, the user may operate the terminal device 401 to start the measurement of each measuring device 100 each time the measuring device 100 is moved.

(Example of processing procedure performed by the measuring device 100)
FIG. 19 is a flowchart showing an example of a processing procedure performed by the measuring device. The measuring device 100 determines, for example, whether or not the measurement start instruction has been received from the terminal device 401 (step S1901). If it is determined that the terminal device 401 has not received the measurement start instruction (step S1901: No), the measuring device 100 returns to step S1901.

When it is determined that the measurement start instruction has been received from the terminal device 401 (step S1901: Yes), the measuring device 100 performs 3D measurement (step S1902). The measuring device 100 transmits positioning data (step S1903) and ends a series of processes.

(Example of processing procedure performed by the information processing device 402)
20 and 21 are flowcharts showing an example of a processing procedure performed by the information processing apparatus. Here, the synthesis process in each step when synthesizing the positioning data for each step shown in FIG. 18 will be described.

The information processing device 402 acquires the positioning data of each measurement point group from the first measuring device 100-1 to the Nth measuring device 100-N (step S2001). Next, the information processing device 402 derives target candidates for the Nth measuring device 100-N from each of the first measuring devices 100-1 (step S2002).

Then, the information processing apparatus 402 sets S = 1 and T = 2 (step S2003). The information processing device 402 performs a translational component identification process (step S2004). The detailed processing procedure of the translational component identification processing is shown in FIG. In the process of specifying the translational component, the position _PST of the T measuring device 100-T as seen from the S measuring device 100-S is specified. In step S2004, the information processing device 402 identifies the position P ₁₂ of the second measuring device 100-2 as seen from the first measuring device 100-1. As described above, the position P ₁₂ of the second measuring device 100-2 as seen from the first measuring device 100-1 is the second measuring device 100- in the first coordinate system C ₁ used in the first measuring device 100-1. it is the position P ₁₂ of 2.

The information processing device 402 determines whether or not the number N> 2 of the measuring device 100 (step S2005). When it is determined that the number N of the measuring devices 100 is not N> 2 (step S2005: No), the information processing apparatus 402 uses the position P ₁₂ to determine the positioning data D of the second measuring point cloud in the second coordinate system C ₂ . _2k is converted into the positioning data D' _2k of the second measurement point cloud in the first coordinate system C ₁ (step S2006), and the process proceeds to step S2007. In step S2006, the information processing apparatus 402 converts the positional data D _2k of the second measurement point group by the formula (1), the positioning data D _'2k of the second measurement point group.

When it is determined in step S2005 that the number N> 2 of the measuring devices 100 (step S2005: Yes), the information processing apparatus 402 shifts to step S2101 shown in FIG.

The information processing device 402 has M = 3 (step S2101). Next, the information processing device 402 determines whether or not M <the number N of the measuring device 100 (step S2102). M is an increment operator indicating the target measuring device 100. When it is determined that M <the number N of the measuring device 100 (step S2102: Yes), the information processing apparatus 402 sets S = 1 and T = M (step S2103).

Then, the information processing apparatus 402 performs a translation component identification process (step S2104). In step S2104, the information processing device 402 identifies the position P _1M of the M measuring device 100 as seen from the first measuring device 100-1.

The information processing device 402 has S = 2 and T = M (step S2105). The information processing device 402 performs a translational component identification process (step S2106). In step S2105, the information processing device 402 identifies the position P _2M of the M measuring device 100 as seen from the second measuring device 100-2. Next, the information processing apparatus 402 identifies the position P _M2 of the second measuring device 100 as viewed from the M measuring device 100-M (step S2107). In step S2106, it has been determined that the distances between the second measuring device 100-2 and the M measuring device 100-M match. Therefore, in step S2107, the information processing apparatus 402, based on the distance match determination result of the step S2106, it specifies the position P _M2 of the second measuring device 100 as viewed from the M measuring device 100-M.

The information processing device 402 determines whether or not M = 3 (step S2108). If it is determined that M = 3 (step S2108: No), the information processing apparatus 402 proceeds to step S2111. When it is determined that M = 3 (step S2108: Yes), the information processing apparatus 402 parallels the x-axis and y-axis of the first coordinate system C _{1 with} the x-axis and y-axis of the second coordinate system C _2. The conversion matrix R ₂ that can be converted is calculated so as to be (step S2109). In step S2109, the information processing apparatus 402 calculates the transformation matrix R ₂ by the above equation (4).

Then, the information processing apparatus 402, based on the transformation matrix R _2, second coordinate system positioning data D of the second measurement point group positioning data D _2k of the second measurement point group in C ₂ in the first coordinate system C ₁ 'Convert to _2k (step S2110). In step S2110, the information processing apparatus 402 converts the positional data D _2k of the second measurement point group in the positioning data D _'2k of the second measurement point group by the above formula (2).

The information processing apparatus 402, so as to be parallel to the x-axis and y-axis of the M coordinate system C _M of the x-axis and y-axis of the first coordinate system C ₁ of the first measuring device 100 - the M measurement equipment 100 the convertible transformation matrix R _M to calculate (step S2111). In step S2111, the information processing apparatus 402, by the above formula (7) to calculate a transformation matrix R _M.

Then, the information processing apparatus 402, the transformation matrix on the basis of R _M, the M the M coordinate system C first M the M measurement of the positional data D _Mk measurement point group first coordinate system C ₁ of _M measuring instruments 100 It is converted into the positioning data D' _Mk of the point cloud (step S2112). In step S2112, the information processing apparatus 402, by the above formula (8), for converting the positioning data D _Mk of the M measurement point group in the positioning data D _'Mk of the M measurement point group. Next, the information processing apparatus 402 sets M = M + 1 (step S2113) and returns to step S2102.

If it is determined in step S2102 that M <the number N of the measuring device 100 is not N (step S2102: No), the information processing apparatus 402 shifts to step S2007 shown in FIG.

Next, the information processing device 402 finely adjusts the converted positioning data by IPC for the second measuring device 100-2 to the Nth measuring device 100 (step S2007). In step S207, the information processing apparatus 402 obtains the adjusted positioning data D ″ nk according to the above equation (9).

Then, the information processing device 402 synthesizes the positioning data for the first measuring device 100-1 to the second measuring device 100-2 (step S2008), and ends a series of processes. In step S2008, the information processing apparatus 402 obtains the positioning data D by, for example, the above equation (10). As described above, the positioning data D is a set of positioning data D ″ _Nk from the positioning data D _1k .

FIG. 22 is a flowchart showing a detailed description of the translation component specifying process. The process for identifying the translational component is shown in step S2004 of FIG. 20, step S2104 of FIG. 21, and step S2105. In the process of specifying the translational component, the position _PST of the T measuring device 100-T as seen from the S measuring device 100-S is specified.

First, the information processing device 402 sets I = the number of target candidates of the Sth measuring device 100-S (step S2201). Then, the information processing device 402 sets J = the number of target candidates of the T-th measuring device 100-T (step S2202). Next, the information processing device 402 sets i = 1 (step S2203). i is an increment operator for sequentially selecting target candidates of the S measuring device 100-S.

The information processing device 402 determines whether or not i ≦ I (step S2204). When it is determined that i ≦ I (step S2204: Yes), the information processing apparatus 402 sets j = 1 (step S2205). The information processing device 402 determines whether or not j ≦ J (step S2206).

When it is determined that j ≦ J (step S2206: Yes), the information processing apparatus 402 acquires the i-th ranging value L _Si of the target candidate for the S measuring device 100-S (step S2207). The information processing apparatus 402 acquires the j-th ranging value L _Tj of the target candidate for the T measuring device 100-T (step S2208). The information processing apparatus 402 determines whether or not | L _{Si −} L _Tj | <ε (step S2209).

When it is determined that | L _{Si −} L _Tj | <ε (step S2209: Yes), the information processing apparatus 402 is located at the position P _{ST of} the T measuring device 100-T as seen from the S measuring device 100-S. Is specified (step S2210), and a series of processes is completed.

If it is determined in step S2209 that | L _Si −L _Tj | <ε is not (step S2209: No), the information processing apparatus 402 sets j = j + 1 (step S2211) and returns to step S2206.

If it is determined in step S2206 that j ≦ J is not satisfied (step S2206: No), the information processing apparatus 402 sets i = i + 1 (step S2212) and returns to step S2204.

If it is determined in step S2204 that i≤I is not satisfied (step S2204: No), the information processing apparatus 402 outputs an error (step S2213) and ends a series of processes. No is determined in step S2204 when the S measuring device 100-S and the T measuring device 100-T are not at positions where they can measure each other. Therefore, in step S2213, the information processing device 402 may output as an error message that the S measuring device 100-S and the T measuring device 100-T are not in a position where they can measure each other.

As described above, the measuring device 100 measures the distance from the self-measuring device to the second measuring device based on the positioning data of the self-measuring device and the self-measurement from the second measuring device based on the positioning data of the second measuring device. The position of the second measuring device as seen from the self-measuring device is specified based on the distance to the device. This makes it possible to easily identify other measuring devices. Therefore, since it is possible to target each other's measuring devices themselves, it is possible to facilitate the synthesis of each positioning data at different measurement points. Therefore, the measuring device 100 can easily reproduce a hidden place such as an occlusion by 3D measurement. In addition, for example, when a target other than a measuring device is used for alignment, it takes time to install the target, and it is left to the user at the site to decide at which point the target should be installed. The ease of use is impaired. On the other hand, in the present embodiment, since the measuring device itself is the target for alignment, it is possible to facilitate the use by the user.

Further, the measuring device 100 obtains the positioning data measured by the second measuring device in the second coordinate system used in the second measuring device based on the position of the second measuring device in the first coordinate system used in the self-measuring device. Convert to positioning data in one coordinate system. As a result, the coordinate system of the positioning data acquired by each measuring device becomes the same, and it is possible to facilitate the synthesis of each positioning data.

When two measuring devices are installed in the space to be measured, the two axes of the first coordinate system of the measuring device 100 and the two axes of the second coordinate system used by the other measuring devices are parallel to each other. As a result, when there are two measuring devices, the measuring device 100 can convert the positioning data measured by another measuring device in the second coordinate system into the positioning data in the first coordinate system without using the rotation matrix. it can.

Further, a case where three or more measuring devices are installed will be described. The measuring device 100 is based on the position of the second measuring device in the first coordinate system, the position of the third measuring device in the first coordinate system, and the position of the third measuring device in the second coordinate system. The positioning data measured by another measuring device in the above is converted into the positioning data in the first coordinate system. Specifically, the measuring device 100 performs coordinate conversion of positioning data based on a transformation matrix in which the two axes of the first coordinate system are parallel to the two axes of the second coordinate system. The measuring device 100 uses the transformation matrix based on the position of the second measuring device in the first coordinate system, the position of the third measuring device in the first coordinate system, and the position of the third measuring device in the second coordinate system. calculate. As a result, when there are three or more measuring devices, the measuring device 100 can convert the positioning data measured by another measuring device in the second coordinate system into the positioning data in the first coordinate system by the rotation matrix. .. Therefore, the coordinate system of the positioning data acquired by the two measuring devices becomes the same, and it is possible to facilitate the synthesis of each positioning data.

Further, the measuring device 100 synthesizes the converted positioning data obtained by converting the positioning data measured by the second measuring device into the first coordinate system into the first coordinate system and the positioning data measured by the self-measuring device. As a result, a wide range of positioning data can be obtained. For example, positioning data of a hidden place such as occlusion can be combined with reference positioning data, and the hidden place can also be reproduced by CAD or the like.

The specific method described in the present embodiment can be realized by executing a specific program prepared in advance on a computer such as a PC, a workstation, a terminal device, or a measuring device. The specific program is recorded on a computer-readable recording medium such as a magnetic disk, an optical disk, or a USB (Universal Serial Bus) flash memory, and is executed by being read from the recording medium by the computer. Further, the specific program may be distributed via a network such as the Internet.

Further, the information processing apparatus described in the present embodiment is an IC for a specific purpose (hereinafter, simply referred to as "ASIC") such as a standard cell or a structured ASIC (Application Specific Integrated Circuit), or a PLD (Programmable Logic) such as an FPGA. It can also be realized by Device). Specifically, for example, the information processing device can be manufactured by defining the function of the information processing device described above by the HDL description, logically synthesizing the HDL description, and giving it to the ASIC or PLD.

The following additional notes are further disclosed with respect to the above-described embodiment.

(Appendix 1) A measuring device installed in a predetermined space.
In the first coordinate system of the measuring device based on the distance from the measuring device to the object in the predetermined space by scanning while irradiating light and using the reflected light reflected from the object in the predetermined space. The first acquisition unit that acquires the positioning data of the first measurement point group,
Based on the positioning data of the first measurement point group acquired by the first acquisition unit, a derivation unit that derives a candidate for a distance from the measurement device to the second measurement device installed in the predetermined space. ,
The distance from the second measuring device to the object in the predetermined space measured by scanning while irradiating light with the second measuring device and using the reflected light reflected from the object in the predetermined space. Based on the candidate distance from the second measuring device to the measuring device derived from the positioning data of the second measurement point group in the second coordinate system of the second measuring device, and the distance derived by the derivation unit. Based on the candidates, a specific unit that specifies the position of the second measuring device in the first coordinate system, and
A measuring device characterized by having.

(Appendix 2) A second acquisition unit that acquires positioning data of the second measurement point group, and
Based on the position of the second measuring device in the first coordinate system specified by the specific unit, the positioning data of the second measurement point group acquired by the second acquisition unit is obtained in the first coordinate system. A conversion unit that converts the positioning data of the second measurement point cloud, and
The measuring device according to Appendix 1, wherein the measuring device is characterized by having.

(Appendix 3) The measuring instrument according to Appendix 2, wherein the two axes of the first coordinate system and the two axes of the second coordinate system are parallel to each other.

(Appendix 4) The out-licensing unit is
Based on the positioning data of the first measurement point group, a candidate for the distance from the measurement device to the third measurement device provided in the predetermined space is derived.
The specific part is
The distance from the third measuring device to the object in the predetermined space measured by scanning while irradiating light with the third measuring device and using the reflected light reflected from the object in the predetermined space. Based on the candidate for the distance from the third measuring device to the measuring device derived from the positioning data of the third measuring point group in the third coordinate system of the third measuring device, and the measuring device derived by the deriving unit. The position of the third measuring device in the first coordinate system is specified based on the candidate for the distance from the third measuring device to the third measuring device.
Based on the candidate for the distance from the third measuring device to the measuring device and the candidate for the distance from the second measuring device to the measuring device, the third measuring device in the second coordinate system Identify the position and
The conversion unit
The position of the second measuring device in the specified first coordinate system, the position of the third measuring device in the first coordinate system specified by the specific unit, and the second specified by the specific unit. Based on the position of the third measuring device in the coordinate system, the acquired positioning data of the second measuring point group is converted into the positioning data of the second measuring point group in the first coordinate system.
The measuring device according to Appendix 2, characterized in that.

(Appendix 5) The position of the second measuring device in the specified first coordinate system, the position of the third measuring device in the first coordinate system specified by the specific unit, and the position specified by the specific unit. Based on the position of the third measuring device in the second coordinate system, a transformation matrix that can be converted so that the two axes of the first coordinate system are parallel to the two axes of the second coordinate system is calculated. Has a calculation unit to
The conversion unit
The positioning data of the second measurement point cloud acquired based on the transformation matrix calculated by the calculation unit and the position of the second measurement device in the specified first coordinate system is obtained. Converted to the positioning data of the second measurement point cloud in one coordinate system,
The measuring device according to Appendix 4, characterized in that.

(Appendix 6) It is characterized by having a synthesis unit that synthesizes the positioning data of the second measurement point group in the first coordinate system converted by the conversion unit and the positioning data of the first measurement point group. The measuring device according to any one of Appendix 2 to 5.

(Appendix 7) To the computer
Scanning while irradiating light with a first measuring device installed in a predetermined space, and measuring using the reflected light reflected from an object in the predetermined space, the first measuring device measures the inside of the predetermined space. From the first measuring device derived from the positioning data of the first measuring point group in the first coordinate system of the first measuring device based on the distance to the object to the second measuring device installed in the predetermined space. Get distance candidates and
The distance from the second measuring device to the object in the predetermined space measured by scanning while irradiating light with the second measuring device and using the reflected light reflected from the object in the predetermined space. Based on this, a candidate for the distance from the second measuring device to the first measuring device derived from the positioning data of the second measuring point group in the second coordinate system of the second measuring device is acquired.
In the first coordinate system, based on the acquired candidate for the distance from the first measuring device to the second measuring device and the acquired candidate for the distance from the second measuring device to the first measuring device. Identify the position of the second measuring device,
A specific program characterized by executing a process.

(Appendix 8) The computer
Scanning while irradiating light with a first measuring device installed in a predetermined space, and measuring using the reflected light reflected from an object in the predetermined space, the first measuring device measures the inside of the predetermined space. From the first measuring device derived from the positioning data of the first measuring point group in the first coordinate system of the first measuring device based on the distance to the object to the second measuring device installed in the predetermined space. Get distance candidates and
The distance from the second measuring device to the object in the predetermined space measured by scanning while irradiating light with the second measuring device and using the reflected light reflected from the object in the predetermined space. Based on this, a candidate for the distance from the second measuring device to the first measuring device derived from the positioning data of the second measuring point group in the second coordinate system of the second measuring device is acquired.
In the first coordinate system, based on the acquired candidate for the distance from the first measuring device to the second measuring device and the acquired candidate for the distance from the second measuring device to the first measuring device. Identify the position of the second measuring device,
A specific method characterized by performing an operation.

L Distance measurement value P Position 100 Measuring device 101 Predetermined space 111,1001,1042 Acquisition part 112,1002 Derivation part 113,1004 Specific part 401 Terminal device 402 Information processing device 410 Network 501 Drive device 502 Measuring device 503 Control device 1000 Control Unit 1003 Judgment unit 1005 Calculation unit 1006 Conversion unit 1007 Synthesis unit 1008 Generation unit 1009 Output unit 1010, 1030, 1050 Storage unit 1021 Input reception unit 1022, 1041 Communication unit

Claims (7)

It is a measuring device installed in a predetermined space.
In the first coordinate system of the measuring device based on the distance from the measuring device to the object in the predetermined space by scanning while irradiating light and using the reflected light reflected from the object in the predetermined space. The first acquisition unit that acquires the positioning data of the first measurement point group,
Based on the positioning data of the first measurement point group acquired by the first acquisition unit, a derivation unit that derives a candidate for a distance from the measurement device to the second measurement device installed in the predetermined space. ,
The distance from the second measuring device to the object in the predetermined space measured by scanning while irradiating light with the second measuring device and using the reflected light reflected from the object in the predetermined space. Based on the candidate distance from the second measuring device to the measuring device derived from the positioning data of the second measurement point group in the second coordinate system of the second measuring device, and the distance derived by the derivation unit. Based on the candidates, a specific unit that specifies the position of the second measuring device in the first coordinate system, and
A measuring device characterized by having. The second acquisition unit that acquires the positioning data of the second measurement point group, and
Based on the position of the second measuring device in the first coordinate system specified by the specific unit, the positioning data of the second measurement point group acquired by the second acquisition unit is obtained in the first coordinate system. A conversion unit that converts the positioning data of the second measurement point cloud, and
The measuring device according to claim 1, wherein the measuring device is characterized by having. The measuring device according to claim 2, wherein the two axes of the first coordinate system and the two axes of the second coordinate system are parallel to each other. The out-licensing unit
Based on the positioning data of the first measurement point group, a candidate for the distance from the measurement device to the third measurement device provided in the predetermined space is derived.
The specific part is
The distance from the third measuring device to the object in the predetermined space measured by scanning while irradiating light with the third measuring device and using the reflected light reflected from the object in the predetermined space. Based on the candidate for the distance from the third measuring device to the measuring device derived from the positioning data of the third measuring point group in the third coordinate system of the third measuring device, and the measuring device derived by the deriving unit. The position of the third measuring device in the first coordinate system is specified based on the candidate for the distance from the third measuring device to the third measuring device.
Based on the candidate for the distance from the third measuring device to the measuring device and the candidate for the distance from the second measuring device to the measuring device, the third measuring device in the second coordinate system Identify the position and
The conversion unit
The position of the second measuring device in the specified first coordinate system, the position of the third measuring device in the first coordinate system specified by the specific unit, and the second specified by the specific unit. Based on the position of the third measuring device in the coordinate system, the acquired positioning data of the second measuring point group is converted into the positioning data of the second measuring point group in the first coordinate system.
The measuring device according to claim 2, wherein the measuring device is characterized by the above. The position of the second measuring device in the specified first coordinate system, the position of the third measuring device in the first coordinate system specified by the specific unit, and the second specified by the specific unit. A calculation unit that calculates a conversion matrix that can be converted so that the two axes of the first coordinate system are parallel to the two axes of the second coordinate system based on the position of the third measuring device in the coordinate system. Have and
The conversion unit
The positioning data of the second measurement point cloud acquired based on the transformation matrix calculated by the calculation unit and the position of the second measurement device in the specified first coordinate system is obtained. Converted to the positioning data of the second measurement point cloud in one coordinate system,
The measuring device according to claim 4, wherein the measuring device is characterized by the above. On the computer
Scanning while irradiating light with a first measuring device installed in a predetermined space, and measuring using the reflected light reflected from an object in the predetermined space, the first measuring device measures the inside of the predetermined space. From the first measuring device derived from the positioning data of the first measuring point group in the first coordinate system of the first measuring device based on the distance to the object to the second measuring device installed in the predetermined space. Get distance candidates and
The distance from the second measuring device to the object in the predetermined space measured by scanning while irradiating light with the second measuring device and using the reflected light reflected from the object in the predetermined space. Based on this, a candidate for the distance from the second measuring device to the first measuring device derived from the positioning data of the second measuring point group in the second coordinate system of the second measuring device is acquired.
In the first coordinate system, based on the acquired candidate for the distance from the first measuring device to the second measuring device and the acquired candidate for the distance from the second measuring device to the first measuring device. Identify the position of the second measuring device,
A specific program characterized by executing a process. The computer
Scanning while irradiating light with a first measuring device installed in a predetermined space, and measuring using the reflected light reflected from an object in the predetermined space, the first measuring device measures the inside of the predetermined space. From the first measuring device derived from the positioning data of the first measuring point group in the first coordinate system of the first measuring device based on the distance to the object to the second measuring device installed in the predetermined space. Get distance candidates and
The distance from the second measuring device to the object in the predetermined space measured by scanning while irradiating light with the second measuring device and using the reflected light reflected from the object in the predetermined space. Based on this, a candidate for the distance from the second measuring device to the first measuring device derived from the positioning data of the second measuring point group in the second coordinate system of the second measuring device is acquired.
In the first coordinate system, based on the acquired candidate for the distance from the first measuring device to the second measuring device and the acquired candidate for the distance from the second measuring device to the first measuring device. Identify the position of the second measuring device,
A specific method characterized by performing an operation.

Images