JP7292831B2 - Target device and survey system - Google Patents

Description

The present invention relates to a target device and a surveying system that enable offset observation without worrying about the orientation of the target.

A laser scanner is known as a measuring device for measuring the shape of an object to be measured. Normally, a laser scanner irradiates a laser beam, which is distance measuring light, in a vertical direction and rotates horizontally to obtain point cloud data of the entire periphery.

Also, a target is placed at a measurement point, the target is measured, and offset observation of the measurement point is performed. In the case of offset observation, a total station is usually used to collimate the target and perform measurement. In addition, strict collimation was required for the total station.

Therefore, two surveying instruments, a laser scanner and a total station, have to be prepared for shape measurement, offset observation, or measurement at a plurality of measurement points.

JP 2016-151422 A JP 2016-151423 A JP 2016-161411 A JP 2017-106813 A JP 2017-96629 A JP 2015-230229 A

SUMMARY OF THE INVENTION The present invention provides a target device and a survey system that enable offset observation by a laser scanner.

The present invention comprises a pole and a target provided on the pole to reflect the distance measuring light, the target having the shape of a body of revolution about the axis of the pole and having a known curved surface, The curved surface has one point on the axis as a reference point, and relates to a target device in which the distance between the reference point and the lower end of the pole is known.

The present invention also relates to a target device in which the target is composed of two upper and lower truncated cones united at the bottom surface.

The present invention also relates to a target device in which the target is composed of two upper and lower truncated cones united at the upper surface.

The present invention also relates to a target device, wherein the target is a truncated cone.

The present invention also relates to a target device, wherein the target is a sphere.

Furthermore, the present invention comprises a laser scanner that scans rangefinding light to obtain point cloud data, and a target device that has a target that reflects the rangefinding light, wherein the target is any one of the targets described above, The laser scanner includes a distance measuring unit that emits distance measuring light and receives reflected light to perform distance measurement, a distance measuring light deflection unit that can deflect the distance measuring light two-dimensionally, and the distance measuring light deflection unit. The arithmetic control unit scans the distance measuring light so as to pass through the surface of the target by the distance measuring light deflection unit, and based on the point cloud data obtained by the scanning The present invention relates to a surveying system configured to calculate a curved surface of a target surface, obtain a reference point based on the curved surface, and measure the distance from the reference point.

According to the present invention, the pole and the target provided on the pole to reflect the distance measuring light are provided, and the target has the shape of a body of revolution about the axis of the pole and has a known curved surface. Since the curved surface has one point on the axis as a reference point, and the distance between the reference point and the lower end of the pole is known, the direction is limited in order to receive the reflected range-finding light from the target. Observation of the target device can be performed from any direction.

Further, according to the present invention, a laser scanner for scanning distance measuring light to acquire point cloud data and a target device having a target for reflecting the distance measuring light, wherein the target is any one of the targets described above. , the laser scanner includes a distance measuring unit that emits distance measuring light and receives reflected light to perform distance measurement, a distance measuring light deflection unit that can deflect the distance measuring light two-dimensionally, and the distance measuring light deflector. The arithmetic control unit scans the distance measuring light passing through the surface of the target by the distance measuring light deflection unit, and based on the point cloud data obtained by the scanning Since the curved surface of the target surface is calculated, the reference point is obtained based on the curved surface, and the distance to the reference point is measured, offset observation by the laser scanner becomes possible. , the reflected light from the target can be received, and the scanning trajectory only needs to pass through the target, thereby exhibiting an excellent effect of facilitating the measurement work without requiring strict collimation.

1 is a schematic diagram of a system according to a first embodiment of the present invention; FIG. (A) and (B) are explanatory diagrams showing the relationship between the target and the scan pattern in the first embodiment. (A) and (B) are diagrams showing modifications of the target of the first embodiment. FIG. 11 is an explanatory diagram showing the relationship between targets and scan patterns according to the second embodiment; (A) and (B) are explanatory diagrams showing the relationship between the target and the scan pattern according to the third embodiment. (A) and (B) are explanatory diagrams showing the relationship between the target and the scan pattern according to the fourth embodiment. It is a figure which shows the figure-of-eight scan pattern which is an example of a scan pattern. It is a schematic explanatory drawing of offset observation using the figure-of-eight scan pattern. (A) is a detailed explanatory diagram using the figure-of-eight scan pattern, and (B) is a diagram showing the relationship between point cloud data and direct fitting. It is a figure which shows the relationship between point cloud data and pattern fitting of a cross-sectional shape.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic diagram showing a first embodiment according to the invention.

In FIG. 1, 1 indicates a surveying system according to this embodiment, 2 indicates a target device used in the surveying system, and 3 indicates a laser scanner.

First, the target device 2 will be described.

The target device 2 has a pole 5 whose lower end is sharpened to indicate a measuring point P, and a target 6 provided at a predetermined position on the pole 5 .

The target 6 is a rotating body obtained by rotating a triangle around the axis 8 of the pole 5, and the pole 5 penetrates the target 6 vertically. Therefore, the target 6 has a shape in which two truncated cones are united vertically with the bottom surface as a boundary. Further, the target 6 has a ridgeline 7 having a maximum diameter at the center position of the upper and lower sides, and the diameter D of the ridgeline 7 is known. The two truncated cones have known shapes, and the upper conical curved surface 16a (see FIG. 2) and the lower conical curved surface 16b (see FIG. 2) that constitute the truncated cones are known curved surfaces. The axis 8 vertically passes through the center of the bottom surface of the upper conical curved surface 16a (or the bottom surface of the lower conical curved surface 16b). The center of the bottom surface becomes the center of the target 6 and also the reference point of the target 6 .

If the conical angles of the upper conical curved surface 16a and the lower conical curved surface 16b are set to different angles, the upper and lower conical surfaces of the target 6 can be determined by determining the difference between the curved surfaces of the upper conical curved surface 16a and the lower conical curved surface 16b. discrimination becomes possible. In the following description, the upper conical curved surface 16a and the lower conical curved surface 16b are assumed to be the same curved surface.

The center (reference point) of the target 6 is on the axis 8, and the distance L from the lower end of the pole 5 to the reference point of the target 6 is known.

The surface of the target 6 is preferably white with high reflectance or covered with a reflective sheet with high reflectance so as to reflect the distance measuring light from the laser scanner 3 .

Also, the required range of the pole 5 extending vertically from the target 6 is white like the target 6 or is covered with a reflective sheet. The entire length of the pole 5 may be white or may be a reflective sheet.

As the laser scanner 3, a laser scanner having a function of performing a two-dimensional local scan (two-dimensional local scan) and a function of performing a circular scan is used.

As the laser scanner 3, a laser scanner disclosed in Patent Document 4 or Patent Document 5 can be used.

Briefly describing the laser scanner 3 , the laser scanner 3 mainly has an arithmetic control section 11 , a distance measurement section 12 and a distance measurement light deflection section 13 .

The distance measuring unit 12 emits pulsed light or intermittent modulated light (that is, burst light) disclosed in Patent Document 3 as the distance measuring light 15, and receives the reflected distance measuring light reflected by the target 6. , the distance to the object to be measured is measured based on the time difference between the light emission timing and light reception timing of the distance measuring light and the speed of light. The rangefinder 12 functions as an optical rangefinder (EDM). The distance measuring light 15 may be either visible light or invisible light.

In the distance measuring light deflector 13, the scan center during two-dimensional scanning is defined as the scan center optical axis. The distance measuring light deflection unit 13 has a function of deflecting the distance measuring light along two axes (horizontal/vertical) with respect to the scan center optical axis and scanning the distance measuring light in a desired pattern. The optical axis in the state where there is no deflection action by the distance measuring light deflector 13 is defined as a reference optical axis R. FIG.

As the distance measuring light deflecting section 13, an optical axis deflecting unit composed of a pair of disc optical prisms included in the surveying instrument disclosed in Patent Document 1 can be used. Alternatively, a deflecting means using a biaxial galvanomirror can be used as the distance measuring light deflecting section 13 .

A deflection means using a biaxial galvanomirror is disclosed in Patent Document 6, for example.

The arithmetic control unit 11 mainly includes a CPU, a storage unit, an input/output control unit, etc., controls the distance measurement unit 12 to perform distance measurement, and controls the distance measurement light deflection unit 13 to perform distance measurement. The distance measuring light is deflected horizontally and vertically, and the distance measuring light is scanned two-dimensionally in a desired pattern.

For example, there is a circular pattern as a two-dimensional pattern for scanning. When executing a circular pattern, the arithmetic control unit 11 rotates the distance measuring light around the reference optical axis R at an arbitrary deflection angle with respect to the reference optical axis R, thereby executing a circular scan. . In addition, as a two-dimensional scan, for example, a figure-of-eight scan pattern 9 shown in FIG. 7 is executed. Any pattern such as a circular pattern, an elliptical pattern, a spiral pattern, or the like can be selected as the scan pattern.

Furthermore, during scanning, ranging is performed for each pulse, and point cloud data is acquired along the pattern trajectory. In FIG. 1, the dotted line points on the target 6 indicate measurement points.

Hereinafter, the case of performing offset observation by the target device 2 shown in FIG. 1 will be described.

First, the case where the target device 2 is supported vertically or substantially vertically will be described.

The laser scanner 3 is aimed at the target device 2 and a local scan is performed in a required range so that the scanning locus crosses the target 6 vertically. That is, the scanning locus a crosses the upper conical curved surface 16 a and the lower conical curved surface 16 b of the target 6 .

2A and 2B show the relationship between the target 6 and the scan trajectory 17. FIG. 2(A) and 2(B), . Point group data 17 a is obtained along the scanning locus 17 . Further, the scan pattern shown in FIG. 2A is a pattern in which intersection points are formed on the target 6 (on the upper conical curved surface 16a and the lower conical curved surface 16b).

The operation will be described below with reference to FIGS. 1, 2(A) and 2(B). Also, in the following description, the distance measuring light 15 is assumed to be visible light.

The target device 2 is erected at the measurement point P. As shown in FIG.

The laser scanner 3 is aimed at the target device 2 . A predetermined two-dimensional scan pattern is selected to start scanning. At the beginning of scanning, the center of the two-dimensional scan pattern is the reference optical axis R, and the distance measuring light 15 is scanned within the range of the maximum angle of deflection of the distance measuring light deflector 13 . Also, at the beginning of scanning, two-dimensional scanning capable of scanning at high speed is preferable, and circular scanning a (see FIG. 1), for example, is selected.

While maintaining the scan pattern in the same shape, the range of declination is reduced. When the reflected light from the target device 2 is obtained, the distance measurement value and angle measurement value of the measurement point (the point irradiated with the distance measurement light) are acquired based on the reflected light. The scan center optical axis is deflected with respect to the reference optical axis R so that the distance measurement value and angle measurement value are at the center of the scan pattern. Also, when a plurality of distance measurement values and angle measurement values are obtained, the scanning center optical axis is deflected to the average value.

Furthermore, the range (size) of the scan pattern is reduced to such an extent that the target 6 is included.

Move the scan pattern up and down to search for areas where the measured distance value changes abruptly.

When a portion where the measured distance value changes abruptly is found, that portion is determined to be the target 6 . In this embodiment, when the target 6 can be searched for, the target 6 can be regarded as being collimated. Therefore, when collimating the target 6 , the scanning center optical axis does not have to match the center of the target 6 .

The scanning center optical axis is fixed, and point cloud data on a trajectory passing through the target 6 is acquired.

The arithmetic control unit 11 fits the upper conical curved surface 16a and the lower conical curved surface 16b, which are known curved surfaces, to the distance measurement values of the point cloud data, and the generatrix of each (upper and lower surfaces seen in FIG. 2B) ) and the ridge line 7 are obtained. Further, the arithmetic control unit 11 obtains the bottom surface of the upper conical curved surface 16a (or the lower conical curved surface 16b) from the ridge line 7, calculates the center of the bottom surface (reference point), and further calculates the inclination angle and the inclination direction of the bottom surface. do. Further, the arithmetic control unit 11 calculates the inclination angle and inclination direction of the axis 8 from the inclination angle and inclination direction of the bottom surface.

The calculation control unit 11 calculates the distance from the laser scanner 3 to the reference point of the target 6 based on the distance measurement value and the diameter of the ridgeline 7 of the target 6 . Furthermore, the position of the measurement point P is determined based on the distance from the laser scanner 3 to the center of the target 6, the distance from the lower end of the pole 5 to the reference point of the target 6, the inclination of the axis 8, and the inclination direction. Calculate.

Since the target 6 has a shape of a body of revolution centered on the axis 8, the target 6 can be measured (offset observation) from 360° directions centered on the axis 8, that is, from any direction. It can be carried out.

It is possible to determine whether the target 6 is up or down by making the shapes of the upper conical curved surface 16a and the lower conical curved surface 16b different.

Furthermore, even if the diameters of the upper portion 5a (see FIG. 8) and the lower portion 5b (see FIG. 8) of the pole 5 are made different and the distance measurement value when the scanning locus 17 passes through the upper portion 5a and the lower portion 5b is used for determination, good. Further, if the diameter of the upper portion 5a and the diameter of the lower portion 5b are known, if the scan locus 17 passes through either the diameter of the upper portion 5a or the lower portion 5b, the up/down determination of the target device 2 is possible. It is possible.

The inclination of the axis 8 of the pole 5 and the measurement of the inclination direction may be obtained by executing a circular scan b having a diameter larger than that of the circular scan a. The circular scan b has a large diameter that does not overlap the target 6 , and the circular scan b is set so as to cross the pole 5 above and below the target 6 .

From the point cloud data when the circular scan b crosses the pole 5, the three-dimensional coordinates of two points above and below the axis 8 are obtained, and the inclination and the inclination direction of the axis 8 are determined by the three-dimensional coordinates of the two points. Measure.

FIGS. 3A and 3B show modifications of the target device 2 shown in FIGS. 2A and 2B. 3(A) and 3(B), the same reference numerals are given to the same parts as those shown in FIGS. 2(A) and 2(B).

In the target 6' of the modified example of FIG. 3, the ridgeline portion 7a is cut off in order to protect the ridgeline 7 of the target 6 shown in FIG.

In the target 6', a virtual ridgeline 7 is set by extension of the upper conical curved surface 16a and the lower conical curved surface 16b, and the diameter of the ridgeline 7 is also known.

Since the measurement of the target 6' is the same as that of the target 6, the description thereof is omitted.

FIG. 4 shows a second example of a target.

A target 18 in the second embodiment will be described.

In FIG. 4, the same symbols are attached to the same parts as those shown in FIGS. 2(A) and 2(B).

The target 18 has a shape in which two truncated cones are united vertically with the upper surface as a boundary. Further, the target 18 has a concave ridge line 7' having a minimum diameter at the center position (middle position) of the upper and lower sides, and the diameter D of the concave ridge line 7' is known. In the case of the target 18 , the center of the top surface of the truncated cone is the reference point of the target 18 .

The two truncated cones have known shapes, and the upper conical curved surface 18a and the lower conical curved surface 18b that constitute the truncated cones are known curved surfaces. The axis 8 of the pole 5 passes vertically through the center of the upper surface of the upper conical surface 18a (or the upper surface of the lower conical surface 18b), that is, the center of the target 18. As shown in FIG.

If the cone angles of the upper conical curved surface 18a and the lower conical curved surface 18b are set to different angles, the difference between the curved surfaces of the upper conical curved surface 18a and the lower conical curved surface 18b can be determined. discrimination becomes possible. In the following description, the upper conical curved surface 18a and the lower conical curved surface 18b are assumed to be the same curved surface.

The center (reference point) of the target 18 is on the axis 8, and the distance from the lower end of the pole 5 to the reference point of the target 6 is known.

The surface of the target 18 is preferably white with high reflectance or covered with a reflective sheet with high reflectance so as to reflect the distance measuring light from the laser scanner 3 .

Also in the second embodiment, the upper conical curved surface 18a and the lower conical curved surface 18b are calculated from the point cloud data 17a on the scan trajectory 17 passing through the upper conical curved surface 18a and the lower conical curved surface 18b. The concave ridge line 7' and the circle (upper surface) formed by the concave ridge line 7' are obtained. Angles and tilt directions are required.

The distance from the laser scanner 3 to the center of the target 18 (see FIG. 1), the distance from the lower end of the pole 5 to the reference point of the target 18, the inclination of the axis 8, and the inclination direction Based on this, the position of the measuring point P is calculated.

5A and 5B show a third embodiment of the target.

The target 19 shown in the third embodiment is spherical. The center of the sphere is on the axis 8 of the pole 5, and the distance between the center and the lower end of the pole 5 is known. For a sphere, the reference point is the center of the sphere.

The spherical surface of the target 19 is calculated based on the point group data 17a on the scanning locus 17 passing through the target 19, and the center of the spherical surface, that is, the position of the center of the target 19 is calculated from the spherical surface. An offset observation of the measurement point P is performed based on the position of the center.

6A and 6B show a fourth embodiment of the target.

The target 20 has a conical shape. Although FIG. 6 shows an inverted conical shape, the same applies to an upright conical shape. The target 20 itself does not have a center point, but its shape can indicate an observation point.

The axis of the cone (target 20) and the axis of the pole 5 match. Further, the bottom surface of the cone and the axis 8 of the pole 5 are perpendicular to each other, and the diameter of the bottom surface (circle) and the apex angle of the cone are known. Therefore, the conical curved surface 20a is also a known curved surface.

Since the axis of the cone coincides with the axis 8 of the pole 5 , the apex of the cone is located on the axis 8 . In the target device 2 having the target 20, the position of the apex Q of the cone is set as the observation point of the target device 2, and the distance between the apex Q and the lower end of the pole 5 is a known value. In the case of the target 20, the vertex Q becomes a reference point, and the vertex Q is specified by the conical curved surface 20a.

In the fourth embodiment, the conical surface 20a is calculated from the point group data 17a obtained by the scanning trajectory 17 passing over the conical surface 20a, and the position of the vertex Q of the conical surface 20a is calculated. be.

Further, by calculating the conical curved surface 20a, the axis of the cone is obtained, and at that time, the inclination angle and the inclination direction of the axis (that is, the axis 8 of the pole 5) are also calculated.

In the fourth embodiment as well, the point group data 17a on the conical curved surface 20a need only be acquired, so it is not necessary to strictly match the scanning center optical axis with the target 20. FIG. That is, it is not necessary to collimate strictly.

Therefore, the target 20 is collimated by the laser scanner 3, the target 20 is scanned, and the point group data 17a is obtained. The conical curved surface 20a is calculated from the point group data 17a, and the vertex Q is specified by the conical curved surface 20a. By obtaining the vertex Q and further obtaining the inclination angle and the inclination direction of the axis 8, the offset observation of the measurement point P can be performed.

The distance measuring light deflector 13 scans the distance measuring light so as to pass through any two points of the pole 5, and obtains the distance measurement values of the two points. The tilt angle and tilt direction of the axis 8 can be calculated.

FIG. 8 shows a case where the figure-of-eight scan pattern 9 shown in FIG. 7 is selected and the target 6 is subjected to offset observation.

Collimation is performed so that the intersection 9 a of the figure-of-eight scan pattern 9 is positioned on the target 6 .

By executing the figure-of-eight scan pattern 9, point cloud data about the target 6 can be obtained, and distance measurement data of two points (upper portion 5a and lower portion 5b) of the pole 5 can be obtained. The tilt angle and tilt direction of the pole 5 can be obtained, and the offset observation of the measurement point P can be performed.

The offset observation of the measurement point P by the figure-of-eight scan pattern 9 will be further described with reference to FIGS. 9 and 10. FIG.

The figure-of-eight scan pattern 9 traverses the two upper and lower positions of the pole 5, so that the point cloud data of the two upper and lower poles 5 can be obtained. , 8b can be obtained. Further, the inclination and the inclination direction of the axis 8 can be measured from the three-dimensional coordinates of the two points 8a and 8b.

Therefore, the point cloud data 22 acquired by the figure-of-eight scan pattern 9 passing the target 6 can be converted into the distance from the axis 8 . A ridge line 7 is obtained by linear fitting to the point cloud data 22 (see FIG. 9B). The radius (D/2) of this ridge line 7 is the radius (D/2) of the target 6 and is a known value.

The point of intersection between the axis 8 and a plane that includes the ridge line 7 and is orthogonal to the axis 8 is the reference position of the target device 2 . Therefore, the three-dimensional coordinates of the reference position are obtained from the distance measurement values of the point cloud data 22 . Furthermore, the distance L between this reference position and the lower end of the pole 5 is known, and the offset observation of the measurement point P can be performed from the three-dimensional coordinates of the reference position, the inclination of the axis 8, and the inclination direction.

In FIG. 10, instead of linear fitting to the point group data 22, the cross-sectional shape of the target 6 and the point group data 22 are matched to determine the reference position.

After preparing the half-sectional shape of the target 6 as a matching pattern 23 and obtaining the point group data 22, the matching position is detected by moving the matching pattern 23 up and down along the axis 8. FIG. After matching, the intersection of the vertical line passing through the vertices of the matching pattern 23 and the axis 8 becomes the reference point.

Since the matching pattern 23 is matched with all the point group data 22 at the same time, the effect of variations in the point group data 22 is small, and matching can be easily and accurately performed.

The shape of the target is not limited to the shape described above, and may be any known shape of a rotating body whose diameter changes along the axial direction.

1 Surveying System 2 Target Device 3 Laser Scanner 5 Pole 6 Target 7 Ridgeline 8 Axis 11 Calculation Control Unit 12 Ranging Unit 13 Ranging Optical Deflecting Unit 17 Scan Trajectory 18 Target 19 Target 20 Target

Claims (5)

a pole and a target provided on the pole for reflecting the distance measuring light, the target having a shape of a body of revolution centered on the axis of the pole and having a known conical curved surface, has a point on the axis as a reference point, and the distance between the reference point and the lower end of the pole is known,
The target is a target device composed of two upper and lower truncated cones united at the bottom. a pole and a target provided on the pole for reflecting the distance measuring light, the target having a shape of a body of revolution centered on the axis of the pole and having a known conical curved surface, has a point on the axis as a reference point, and the distance between the reference point and the lower end of the pole is known,
The target is a target device composed of two upper and lower truncated cones united at the upper surface. 3. The target device according to claim 1, wherein the cone angle of the upper truncated cone and the cone angle of the lower truncated cone are different. A laser scanner that scans distance measuring light to obtain point cloud data, and the target device according to any one of claims 1 to 3 , which has a target that reflects the distance measuring light , wherein the laser scanner measures distance. a distance measuring unit that emits light and receives reflected light to perform distance measurement, a distance measuring light deflector that can deflect the distance measuring light two-dimensionally, and an arithmetic control unit that controls the distance measuring light deflector and the arithmetic control unit scans the range-finding light passing through the surface of the target by the range-finding light deflection unit, and calculates the conical surface of the target surface based on the point cloud data obtained by the scanning. a surveying system configured to determine a reference point based on the conical curved surface and measure the distance from the reference point. 5. The surveying system according to claim 4, wherein the arithmetic control unit is configured to obtain the axis of the cone based on the calculation of the conical curved surface, and to calculate the inclination angle and the inclination direction of the axis.

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