JP7311353B2 - Measuring device and control method for measuring device - Google Patents

Description

The present invention relates to a measuring device and a control method for the measuring device.

2. Description of the Related Art In recent years, laser scanners for acquiring point cloud data have been used for distance measurement and shape measurement in fields such as civil engineering and construction. In a conventional laser scanner, a scanning area is set in advance, and once scanning conditions (for example, scanning speed and emission frequency) are set, the entire scanning area is scanned under the set scanning conditions.

With such a conventional laser scanner, if you want to increase the scan density (measurement point data number per unit area) of any measurement site, it is necessary to increase the scan density of the entire scan area and acquire a huge amount of scan data. was there. Therefore, in Japanese Patent Laid-Open No. 2002-100002, a region that requires a high scan density is set as a local measurement range, scanned at a high scan density, and scan data is acquired efficiently.

JP 2018-66571 A

In the laser scanner disclosed in Patent Literature 1, the local measurement range is a region visually determined by the operator or a region where many edges are extracted from the image data acquired by the imaging unit. However, when the operator visually sets the local measurement range, the setting work by the operator is complicated and takes a lot of time. Further, when an edge is extracted from image data to set a local measurement range, time and processing load are required for image data processing, and only a desired measurement object cannot be efficiently measured. In particular, when the object to be measured is an electric wire or the like formed in at least one of a line shape, a bar shape, and a column shape, the entire object to be measured cannot be measured simply and efficiently.

The present invention has been made to solve the above problems, and is a measuring device capable of easily and efficiently measuring the entire measurement object formed in at least one of a linear, rod-like, and columnar shape, and It aims at providing the control method.

According to the present invention, a light emitting element that emits measurement light, a measurement light emitting portion that emits the measurement light, a light receiving portion that receives the reflected measurement light, and a received light signal that receives the reflected measurement light. a distance measuring unit for measuring the distance of an object to be measured based on the light receiving signal from the light receiving element; a deflection section capable of scanning the measurement light in a circumferential direction with respect to a center; and a control section controlling the distance measurement section and the deflection section, wherein the control section receives the distance measurement result of the distance measurement section and the detecting coordinates of a pair of points of intersection between the measurement object formed in at least one of a linear shape, a rod shape, and a column shape and a scanning trajectory of the measurement light based on the emission direction deflected by the deflection unit; A measuring apparatus characterized by controlling the deflection operation of the deflection section so as to change the emission direction based on the coordinates of the pair of intersection points so that the scanning trajectory of the measurement light and the object to be measured intersect. resolved.

According to the measuring device of this configuration, at least one of linear, rod-shaped, and columnar (hereinafter, for convenience of explanation, "linear, etc." ”) are detected. When the coordinates of a pair of intersection points are detected, it means that the measurement light scanned in the circumferential direction is measuring a linear measurement object. Then, while measuring a linear measurement object, the emission direction of the measurement light is changed so that the scanning trajectory of the measurement light and the linear measurement object intersect. Therefore, even after changing the emission direction of the measurement light, the state of measuring the linear measurement object is maintained. By repeating such changes in the emission direction of the measurement light, it is possible to easily and efficiently measure the entire linear measurement object.

In the measuring apparatus of the present invention, preferably, the control unit changes the injection direction so that the center of the coordinates of the pair of intersection points continuously moves toward either left or right in the horizontal direction. Characterized by
According to the measuring apparatus of this configuration, the area from one end to the other end of the measuring object formed in a linear shape or the like can be continuously measured along either one of the left and right in the horizontal direction.

In the distance measuring apparatus of the present invention, preferably, the control section changes the emission direction so that the predetermined center is arranged on an extension line of the coordinates of the pair of intersection points.
According to the distance measuring device of this configuration, the center of the scanning trajectory of the measurement light is arranged on the extension line of the coordinates of the pair of intersection points. , the measurement object can be reliably measured even after changing the emission direction of the measurement light.

In the measuring apparatus of the present invention, preferably, the control unit controls the scanning trajectory of the measurement light before changing the emission direction and the scanning trajectory of the measurement light after changing the emission direction to overlap. It is characterized in that the injection direction is changed.
According to the measuring apparatus of this configuration, since the scanning trajectory of the measurement light before changing the emission direction and the scanning trajectory of the measurement light after changing the emission direction overlap, the measuring object formed in a linear shape or the like can be measured. High-density measurement can be performed while capturing reliably.

In the measuring apparatus of the present invention, preferably, the control unit changes the injection direction so that the predetermined center is located at one of the pair of intersections.
According to the measuring apparatus of this configuration, the center of the scanning trajectory of the measuring light is arranged at one of the coordinates of the pair of intersection points. Even if the direction of extension changes, the measurement object can be reliably measured after changing the injection direction.

In the measuring apparatus of the present invention, preferably, the control unit configures the scanning trajectory of the measurement light to be circular, and the circular shape at the position where the measurement object is arranged has a size corresponding to the thickness of the measurement object. It is characterized by changing the said injection direction so that it may become.
According to the measuring apparatus of this configuration, the size of the circular scanning trajectory at the position where the object to be measured is arranged is set according to the thickness of the object to be measured. The object to be measured can be measured at a desired density without the need for

In the measuring apparatus of the present invention, preferably, the control unit causes the scanning trajectory of the measurement light to form an ellipse with a minor axis extending in the direction connecting the pair of intersections, and the minor axis being a straight line connecting the pair of intersections. and the measurement light, and the emission direction is changed so that the length corresponds to the angle of inclination formed by the measurement light.
According to the measuring apparatus of this configuration, even when the direction in which the object to be measured and the direction of the measurement light are arranged to form an obtuse angle larger than 90°, the length connecting the pair of intersections Since the distance is maintained constant, the coordinates of each part of the linear measurement object can be obtained at regular intervals.

According to the present invention, the above problem is a control method for a measuring device that measures an object to be measured, wherein the measuring device includes a light emitting element that emits measuring light and a measuring light emitting part that emits the measuring light. a distance measuring unit having a light receiving unit for receiving the reflected measurement light and a light receiving element for receiving the reflected measurement light and generating a light reception signal; a deflection unit capable of scanning the measurement light in a circumferential direction with respect to a predetermined center, and performing distance measurement of the object to be measured based on a light receiving signal from the light receiving element; A pair of intersection points between the measurement object formed in at least one of a linear shape, a bar shape, and a column shape based on the distance measurement result of the step and the emission direction deflected by the deflection unit, and the scanning trajectory of the measurement light. and a deflection operation of the deflection unit to change the emission direction based on the coordinates of the pair of intersections so that the scanning trajectory of the measurement light and the object to be measured intersect. and a control step of controlling.

According to the control method of the measuring apparatus of this configuration, the scanning trajectory of the measuring light and the measuring object formed linearly or the like based on the distance measurement result of the distance measuring process and the emission direction deflected by the deflecting unit. Coordinates of a pair of intersection points are detected. When the coordinates of a pair of intersection points are detected, it means that the measurement light scanned in the circumferential direction is measuring a linear measurement object. Then, while measuring a linear measurement object, the emission direction of the measurement light is changed so that the scanning trajectory of the measurement light and the linear measurement object intersect. Therefore, even after changing the emission direction of the measurement light, the state of measuring the linear measurement object is maintained. By repeating such changes in the emission direction of the measurement light, it is possible to easily and efficiently measure the entire measurement object formed linearly or the like.

ADVANTAGE OF THE INVENTION According to this invention, the measuring apparatus which can measure the whole measuring object formed in at least one of linear shape, rod shape, and column shape simply and efficiently, and its control method can be provided.

1 is an external view of a surveying system equipped with a laser scanner according to a first embodiment of the present invention; FIG. 2 is a schematic configuration diagram of a laser scanner shown in FIG. 1; FIG. 2 is a schematic diagram of a deflection section in the laser scanner shown in FIG. 1; FIG. 4A and 4B are operation explanatory diagrams of the deflection unit shown in FIG. 3; FIG. 4 is an XZ plan view of the electric wire viewed in the horizontal direction along the reference optical axis; FIG. 4 is an XY plan view of the electric wire and the surveying system from above; It is a YX plan view of the electric wire and the surveying system viewed from the horizontal direction. 4 is a flowchart showing processing executed by an arithmetic control unit; 4 is a flowchart showing processing executed by an arithmetic control unit; It is a figure which shows an example of the image displayed on the operation screen of an operating device. It is a figure which shows the state which scanned the electric wire circularly. FIG. 4 is a diagram showing intersection points and electric wire vectors detected when circularly scanning is performed a plurality of times from a search start point; FIG. 4 is a diagram showing intersection points and electric wire vectors detected when circularly scanning is performed a plurality of times from a search start point; In the surveying system of the first embodiment, it is a diagram showing intersection points and electric wire vectors detected when circular scans are performed from n times to n+3 times. In the surveying system of the first embodiment, it is a diagram showing intersection points and electric wire vectors detected when circular scans are performed from n times to n+3 times. In the surveying system of the second embodiment, it is a diagram showing intersections and electric wire vectors detected when circular scans are performed from n times to n+3 times. In the surveying system of the third embodiment, it is a diagram showing a state in which an electric wire is circularly scanned. FIG. 12 is an XY plan view of the electric wire and the surveying system in the surveying system according to the fourth embodiment; In the surveying system of the fourth embodiment, it is a diagram showing intersection points and electric wire vectors detected when elliptical scans are performed from n times to n+1 times. It is the figure which looked at the electric wire shown in FIG. 19 from upper direction. FIG. 20 is a diagram showing intersection points and electric wire vectors detected when circular scans are performed from n times to n+1 times in the surveying system of the comparative example of the fourth embodiment; It is the figure which looked at the electric wire shown in FIG. 21 from upper direction.

[First embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, referring to FIG. 1, an outline of a surveying system (measuring device) equipped with a laser scanner according to this embodiment will be described. In FIG. 1, 1 denotes a surveying system, O denotes an optical axis in a state not deflected by a deflector 35, which will be described later, and the optical axis at this time is used as a reference optical axis.

A surveying system 1 is mainly composed of a tripod 2 as a support device, a laser scanner 3 , an operation device 4 and a turntable 5 . A rotating table 5 is attached to the upper end of the tripod 2, and a laser scanner 3 is attached to the rotating table 5 so as to be horizontally rotatable and vertically rotatable. The turntable 5 also has a function of detecting the lateral rotation angle (horizontal rotation angle) of the laser scanner 3 .

The turntable 5 is provided with a laterally extending lever 7 . By operating the lever 7, the laser scanner 3 can be rotated vertically (vertically) or laterally (horizontally), and can be fixed in a desired posture.

The laser scanner 3 incorporates a distance measurement unit 3A (see FIG. 2) and a posture detection unit 17 (see FIG. 2). Measurement is performed by receiving the measurement light 24 . Also, the posture detection unit 17 can detect the posture of the laser scanner 3 with respect to the vertical (or horizontal) direction with high accuracy.

The operating device 4 has a communication function to communicate with the laser scanner 3 via necessary means such as wired or wireless. The operating device 4 can be attached to and detached from the laser scanner 3 via an attachment 8, and the removed operating device 4 can be held and operated with one hand. It has become.

Furthermore, the laser scanner 3 transmits images, measurement conditions, measurement results, etc. to the operation device 4, and the images, measurement conditions, measurement results, etc. are stored in the operation device 4 and displayed on the display unit (not shown) of the operation device 4. ). The operating device 4 may be, for example, a smart phone.

The laser scanner 3 will be described with reference to FIG.
The laser scanner 3 includes a measurement light emitting unit 11, a light receiving unit 12, a distance calculation unit 13, an imaging unit 14, an emission direction detection unit 15, a motor driver 16, an attitude detection unit 17, a first communication unit 18, and an arithmetic control unit 19. , a first storage unit 20, an imaging control unit 21, and an image processing unit 22, which are housed in a housing 9 and integrated. Incidentally, the measurement light emitting section 11, the light receiving section 12, the range finding calculation section 13 and the like constitute a range finding section 3A.

The measurement light emitting section 11 has an emission optical axis 26 on which a light emitting element 27 such as a laser diode (LD) is provided. A projection lens 28 is provided on the exit optical axis 26 . Further, a first reflecting mirror 29 as a deflecting optical member provided on the exit optical axis 26 and a second reflecting mirror 32 as a deflecting optical member provided on the light receiving optical axis 31 (described later) cause the emitted light to Axis 26 is deflected to coincide with receiving optical axis 31 . The first reflecting mirror 29 and the second reflecting mirror 32 constitute an exit optical axis deflection section. The light emitting element 27 emits a pulsed laser beam, and the measurement light emitting section 11 emits the pulsed laser beam emitted from the light emitting element 27 as the measuring light 23 .

The light receiving section 12 will be described. Reflected measurement light 24 from the object to be measured (that is, the measurement point) is incident on the light receiving unit 12 . The light-receiving section 12 has a light-receiving optical axis 31, and the light-receiving optical axis 31 coincides with the emission optical axis 26 deflected by the first reflecting mirror 29 and the second reflecting mirror 32, as described above.

A deflection section 35 (described later) is arranged on the deflected emission optical axis 26 , that is, on the reception optical axis 31 . A straight optical axis passing through the center of the deflector 35 is a reference optical axis O. As shown in FIG. The reference optical axis O coincides with the emergent optical axis 26 or the received optical axis 31 when not deflected by the deflector 35 .

An imaging lens 34 is arranged on the light receiving optical axis 31 where the light is transmitted through the deflection section 35 and incident, and a light receiving element 33 such as a photodiode (PD) is provided. The imaging lens 34 forms an image of the reflected measurement light 24 on the light receiving element 33 . The light receiving element 33 receives the reflected measurement light 24 and generates a light reception signal. The received light signal is input to the distance measurement calculation section 13 . A distance measurement calculation unit 13 performs distance measurement to a measurement point based on the received light signal.

The deflection section 35 will be described with reference to FIG. The deflection section 35 is composed of a pair of optical prisms 36a and 36b. The optical prisms 36a and 36b are disk-shaped, are arranged orthogonally on the light receiving optical axis 31, overlap each other, and are arranged in parallel. It is preferable to use Risley prisms as the optical prisms 36a and 36b in order to reduce the size of the device. The central portion of the deflecting portion 35 serves as a measuring light deflecting portion 35a which is a first deflecting portion through which the measuring light 23 is transmitted and emitted, and the reflected measuring light 24 is transmitted through and enters the portion other than the central portion. It is a reflection measurement light deflection section 35b, which is the second deflection section.

The Risley prisms used as the optical prisms 36a and 36b are each composed of parallel prism elements 37a and 37b and a large number of prism elements 38a and 38b, and have a disk shape. Optical prisms 36a, 36b and respective prism elements 37a, 37b and prism elements 38a, 38b have identical optical properties.

The prism elements 37a and 37b form a measurement light deflection section 35a, and the prism elements 38a and 38b form a reflection measurement light deflection section 35b. Risley prisms may be fabricated from optical glass, but may also be molded from optical plastic material. Inexpensive Risley prisms can be made by molding optical plastic materials.

The optical prisms 36a and 36b are arranged so as to be independently rotatable around the light receiving optical axis 31, respectively. The optical prisms 36a and 36b are independently controlled in rotation direction, rotation amount, and rotation speed, thereby deflecting the measuring light 23 passing through the exit optical axis 26 in an arbitrary direction, and deflecting the reflected measuring light 24 to be received. is deflected parallel to the light receiving optical axis 31 . The outer shapes of the optical prisms 36a and 36b are circular with the light receiving optical axis 31 as the center, and the diameters of the optical prisms 36a and 36b are set in consideration of the spread of the reflected measurement light 24 so that a sufficient amount of light can be obtained. It is

A ring gear 39a is fitted around the outer circumference of the optical prism 36a, and a ring gear 39b is fitted around the outer circumference of the optical prism 36b. A driving gear 41a meshes with the ring gear 39a, and the driving gear 41a is fixed to the output shaft of the motor 42a. Similarly, a driving gear 41b is meshed with the ring gear 39b, and the driving gear 41b is fixed to the output shaft of the motor 42b. Motors 42 a and 42 b are electrically connected to motor driver 16 .

For the motors 42a and 42b, those capable of detecting rotation angles, or those capable of rotating corresponding to drive input values, such as pulse motors, are used. Alternatively, the rotation amount of the motor may be detected using a rotation angle detector, such as an encoder, which detects the rotation amount (rotation angle) of the motor. The amounts of rotation of the motors 42a and 42b are respectively detected, and the motors 42a and 42b are individually controlled by the motor driver 16. FIG. Alternatively, encoders may be attached directly to the ring gears 39a and 39b, respectively, so that the encoders can directly detect the rotation angles of the ring gears 39a and 39b.

The drive gears 41a and 41b and the motors 42a and 42b are provided at positions where they do not interfere with the measurement light emitting section 11, for example, below the ring gears 39a and 39b.
The projection lens 28, the first reflecting mirror 29, the second reflecting mirror 32, the measurement light deflection section 35a, etc. constitute a light projection optical system, and the reflected measurement light deflection section 35b, the imaging lens 34, etc. constitute a light reception optical system. Configure.

The distance measurement calculation unit 13 controls the light emitting element 27 to emit a pulsed laser beam as the measurement light 23 . The measuring light 23 is deflected toward the measuring point by the prism elements 37a, 37b (the measuring light deflector 35a).

Reflected measurement light 24 reflected from the object to be measured is incident via prism elements 38 a and 38 b (reflection measurement light deflector 35 b ) and imaging lens 34 and received by light receiving element 33 . The light-receiving element 33 sends a light-receiving signal to the distance-measuring operation unit 13, and the distance-measuring operation unit 13 determines the measurement point (the point irradiated with the measurement light 23) for each pulsed light based on the light-receiving signal from the light-receiving element 33. Distance measurement is performed and the distance measurement data is stored in the first storage unit 20 . By measuring the distance for each pulsed light while scanning the measurement light 23, the distance measurement data of each measurement point can be obtained.

The ejection direction detection unit 15 detects the rotation angles of the motors 42a and 42b by counting drive pulses input to the motors 42a and 42b. Alternatively, the rotation angles of the motors 42a and 42b are detected based on signals from encoders. Further, the emission direction detection unit 15 calculates the rotational positions of the optical prisms 36a and 36b based on the rotational angles of the motors 42a and 42b.

Further, the emission direction detection unit 15 calculates the emission direction of the measurement light 23 based on the refractive indices and rotational positions of the optical prisms 36a and 36b, and the calculation result is input to the calculation control unit 19. FIG. The calculation control unit 19 calculates the horizontal angle θ1 and vertical angle θ2 of the measurement point with respect to the reference optical axis O from the emission direction of the measurement light 23, and associates the horizontal angle θ1 and vertical angle θ2 with the distance measurement data for each measurement point. Thus, three-dimensional data of the measurement points can be obtained.

The posture detection unit 17 will be described. The posture detection unit 17 has a frame 45 , which is fixed to the housing 9 or fixed to a structural member and integrated with the laser scanner 3 . A sensor block 46 is attached to the frame 45 via a gimbal. The sensor block 46 is rotatable through 360 degrees about two orthogonal axes. A first tilt sensor 47 and a second tilt sensor 48 are attached to the sensor block 46 .

The first tilt sensor 47 detects the level with high precision. It is a vial that detects tilt with change. Also, the second tilt sensor 48 detects changes in tilt with high responsiveness, and is, for example, an acceleration sensor.

Relative rotation angles of the sensor block 46 with respect to the frame 45 about two axes are detected by encoders 49 and 50 . Motors (not shown) for rotating the sensor block 46 and maintaining it horizontally are provided for two axes. It is controlled by the arithmetic control unit 19 so as to keep the 46 horizontal.

When the sensor block 46 is tilted (when the laser scanner 3 is tilted), encoders 49 and 50 detect the rotation angle relative to the sensor block 46, and based on the detection results of the encoders 49 and 50, the laser scanner 3 is detected. Since the sensor block 46 is rotatable 360 degrees about two axes, no matter what the attitude of the attitude detector 17 is (for example, even if the attitude detector 17 is turned upside down), it can be detected in all directions. posture detection is possible.

In attitude detection, when high responsiveness is required, attitude detection and attitude control are performed based on the detection result of the second tilt sensor 48, but the second tilt sensor 48 has detection accuracy lower than that of the first tilt sensor 47. is generally bad. The posture detection unit 17 includes a highly accurate first tilt sensor 47 and a highly responsive second tilt sensor 48 , and performs posture control based on the detection result of the second tilt sensor 48 . This enables highly accurate posture detection.

The detection result of the second tilt sensor 48 can be calibrated with the detection result of the first tilt sensor 47 . That is, if there is a deviation between the values of the encoders 49 and 50 when the first tilt sensor 47 detects horizontal, that is, the actual tilt angle and the tilt angle detected by the second tilt sensor 48, the The tilt angle of the second tilt sensor 48 can be calibrated.

Therefore, if the relationship between the tilt angle detected by the second tilt sensor 48 and the tilt angle obtained based on the horizontal detection by the first tilt sensor 47 and the detection results of the encoders 49 and 50 is acquired in advance, the second tilt The tilt angle detected by the sensor 48 can be calibrated, and the accuracy of posture detection with high responsiveness by the second tilt sensor 48 can be improved.

The arithmetic control unit 19 controls the motor based on the signal from the second tilt sensor 48 when the tilt changes greatly or when the tilt changes quickly. Further, the calculation control unit 19 controls the motor based on the signal from the first tilt sensor 47 when the change in tilt is small or when the change in tilt is gradual, that is, when the first tilt sensor 47 can follow. do.

The first storage unit 20 stores comparison data indicating the result of comparison between the detection result of the first tilt sensor 47 and the detection result of the second tilt sensor 48 . Based on the signal from the second tilt sensor 48, the detection result by the second tilt sensor 48 is calibrated. By this calibration, the detection result by the second tilt sensor 48 can be improved to the detection accuracy of the first tilt sensor 47 . Therefore, in posture detection by the posture detection unit 17, high responsiveness can be realized while maintaining high accuracy.

The imaging unit 14 is a camera having an imaging optical axis 43 parallel to the reference optical axis O of the laser scanner 3 and having an angle of view of, for example, 50°, and acquires image data including the scan range of the laser scanner 3 . The relationship between the imaging optical axis 43, the exit optical axis 26, and the reference optical axis O is known. Also, the imaging unit 14 can acquire moving images or continuous images.

The imaging control unit 21 controls imaging by the imaging unit 14 . When the imaging unit 14 captures moving images or continuous images, the imaging control unit 21 synchronizes the timing of acquiring the frame images forming the moving images or the continuous images with the timing of scanning by the laser scanner 3 . ing. The arithmetic control unit 19 also associates the image with the point cloud data.

The imaging element 44 of the imaging unit 14 is a CCD or CMOS sensor, which is an assembly of pixels, and each pixel can specify the position on the imaging element. For example, each pixel has pixel coordinates in a coordinate system with the imaging optical axis 43 as the origin, and the position on the image element is specified by the pixel coordinates. The image processing unit 22 performs image processing such as superimposing information to be displayed by the operation device 4 on the image data acquired by the imaging unit 14 . The image generated by the image processing unit 22 is displayed on the operation screen 4A of the operation device 4 by the arithmetic control unit 19. FIG.

A measurement operation of the laser scanner 3 will be described. A tripod 2 is installed at a known point or a predetermined point, and the reference optical axis O is directed toward the object to be measured. The horizontal angle of the reference optical axis O at this time is detected by the horizontal angle detection function of the turntable 5 , and the inclination angle of the reference optical axis O with respect to the horizontal is detected by the attitude detection section 17 .

The deflection action and scanning action of the deflection section 35 will be described with reference to FIG. In order to simplify the explanation, FIG. 4 shows the optical prisms 36a and 36b by separating the prism elements 37a and 37b from the prism elements 38a and 38b. Also, FIG. 4 shows a state in which the prism elements 37a, 37b and the prism elements 38a, 38b are positioned in the same direction, and in this state the maximum deflection angle is obtained. Also, the minimum deflection angle is the position where one of the optical prisms 36a and 36b is rotated by 180 degrees, and the mutual optical action of the optical prisms 36a and 36b cancels out, resulting in a deflection angle of 0 degrees. Therefore, the measurement light 23 emitted through the optical prisms 36a and 36b and the reflected measurement light 24 received through the optical prisms 36a and 36b are aligned with the reference optical axis O.

Measurement light 23 is emitted from the light emitting element 27, and the measurement light 23 is collimated by the projection lens 28, transmitted through the measurement light deflector 35a (prism elements 37a and 37b), and directed toward the measurement target or measurement range. is ejected. Here, by passing through the measurement light deflector 35a, the measurement light 23 is deflected in a desired direction by the prism elements 37a and 37b and emitted. The reflected measurement light 24 reflected by the object to be measured or the measurement range is transmitted through the reflected measurement light deflector 35b to be incident thereon, and converged on the light receiving element 33 by the imaging lens 34. FIG.

As the reflected measurement light 24 passes through the reflected measurement light deflector 35b, the reflected measurement light 24 is deflected by the prism elements 38a and 38b so as to be aligned with the light receiving optical axis 31 (FIG. 4). By combining the rotational positions of the optical prisms 36a and 36b, it is possible to arbitrarily change the direction and angle of deflection of the emitted measurement light 23. FIG.

Therefore, the calculation control unit 19 can cause the measurement light 23 to scan along a circular trajectory by controlling the deflection unit 35 while causing the light emitting element 27 to emit a laser beam. Needless to say, the reflected measurement light deflection section 35b rotates integrally with the measurement light deflection section 35a.

Furthermore, by continuously changing the deflection angle of the deflection unit 35 and performing distance measurement while scanning the measurement light 23, distance measurement data (scan data) can be obtained along the scan locus. Regarding the scanning conditions determined by the scanning speed, scanning density, etc., the scanning speed is increased or decreased by increasing or decreasing the rotation speed while maintaining the relationship between the motors 42a and 42b. A desired value can be set by controlling the relationship with the pulse emission period of 23 .

Also, the emission direction angle of the measurement light 23 during measurement can be detected from the rotation angle of the motors 42a and 42b, and three-dimensional distance measurement data can be obtained by associating the emission direction angle during measurement with the distance measurement data. be able to. Therefore, the laser scanner 3 can function as a laser scanner that acquires point cloud data having three-dimensional position data.

Next, a process of acquiring point cloud data of a measurement object by the surveying system 1 of this embodiment will be described. The object to be measured in this embodiment is an electric wire 100 formed to extend linearly. It should be noted that the object to be measured in this embodiment is not limited to a linear object, and may be rod-shaped or column-shaped. In addition, the object to be measured in the present embodiment is not limited to an electric wire, and may be formed in at least one of a line shape, a rod shape, and a column shape. , a plumbing pipe, a utility pole, a pillar of a building, or the like. Furthermore, the object to be measured in this embodiment is not limited to an object extending linearly, and may be an object having a curved portion such as a plumbing pipe. It may extend in a curved shape as shown in FIG. The width of the object to be measured is preferably one-third or less of the length of the object to be measured. The surveying system 1 of this embodiment causes the first storage unit 20 to store only the measurement results of the electric wire 100 portion, instead of storing the measurement results of the entire field of view including the electric wire 100 in the first storage unit 20 .

5 is an XZ plan view of the electric wire 100 viewed along the reference optical axis O. FIG. FIG. 6 is an XY plan view of the electric wire 100 and the survey system 1 viewed from above. FIG. 7 is a YX plan view of the electric wire 100 and the survey system 1 viewed from the horizontal direction.

5 to 7, axis X, axis Y, and axis Z are axes passing through the measurement reference points of the laser scanner 3 of the survey system 1. FIG. An axis Y is an axis that coincides with the reference optical axis O of the laser scanner 3 . Axes X and Z are axes perpendicular to each other at a reference point, and are perpendicular to the axis Y, respectively. A position P (Px, Py, Pz) in the three-dimensional space defined by the axis X, the axis Y, and the axis Z is coordinates with the laser scanner 3 as a reference.

As described above, the horizontal angle of the axis Y (the angle of inclination with respect to the horizontal plane) can be detected by the posture detection section 17 . Therefore, the arithmetic control unit 19 can calculate the position with respect to the horizontal plane by correcting the position P (Px, Py, Pz) based on the horizontal angle detected by the posture detection unit 17 .

5 to 7, the measuring beam 23 is deflected by the deflecting section 35 so as to pass through the position P (Px, Py, Pz) on the wire 100. FIG. Px is the coordinate of the position P on the axis X, Py is the coordinate of the position P on the axis Y, and Pz is the coordinate of the position P on the axis Z.

As shown in FIG. 5, an electric wire 100, which is an object to be measured in this embodiment, has one end 101 attached to a utility pole 110 and the other end 102 attached to a utility pole 120, and is formed in a linear shape. A pair of utility poles 110 and 120 are arranged with a gap in the axis X direction. The electric wire 100 is attached to the utility pole 110 and the utility pole 120, for example, so that the one end 101 and the other end 102 have the same height in the axis Z direction. Due to its own weight, the electric wire 100 has the lowest vertical position along the axis Z at the central portion in the length direction from one end 101 to the other end 102 .

As shown in FIG. 6, on the XY plane (the plane on which the axis X and the axis Y are arranged), the angle formed by the axis Y and the emission direction of the measurement light 23 is equal to the horizontal angle θ1 and It's becoming As shown in FIG. 7, on the YZ plane (the plane on which the axis Y and the axis Z are arranged), the angle formed by the axis Y and the measurement light 23 on the YZ plane is a vertical angle θ2. . The exit direction detector 15 calculates a horizontal angle θ1 and a vertical angle θ2 indicating the exit direction of the measurement light 23 based on the refractive indices and rotational positions of the optical prisms 36a and 36b.

Next, processing executed by the arithmetic control unit 19 will be described with reference to FIGS. 8 and 9. FIG. 8 and 9 are flowcharts showing the processing executed by the arithmetic control unit 19. FIG. The arithmetic control unit 19 is composed of, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a computer-readable storage medium, and the like. A series of processes for realizing various functions are stored in a storage medium or the like in the form of a program, for example, and the CPU reads out this program to a RAM or the like, and executes information processing and arithmetic processing. As a result, various functions are realized.

In step S801, the arithmetic control unit 19 selects a search start point Pst, which is the starting point for starting the search for the electric wire 100, based on the operator's instruction. As shown in FIG. 10, the arithmetic control unit 19 displays the image captured by the imaging unit 14 on the operation screen 4A of the operation device 4, and prompts the operator to input the search start point Pst. The reference numerals shown in FIG. 10 are attached for explanation and are not displayed on the operation screen 4A.

The calculation control unit 19 displays, for example, a message "Please touch the search start point Pst" on the operation screen 4A. The operation screen 4A incorporates, for example, a touch sensor. The arithmetic control unit 19 recognizes the position on the operation screen 4A touched by the operator's finger as the search start point Pst.

In step S<b>802 , the arithmetic control unit 19 selects a search end point, which is the end point for ending the search for the electric wire 100 , based on the operator's instruction. As shown in FIG. 10, the arithmetic control unit 19 displays the image captured by the imaging unit 14 on the operation screen 4A of the operation device 4, and prompts the operator to input the search end point Pen. The calculation control unit 19 displays, for example, a message "Please touch the search end point Pen" on the operation screen 4A. The arithmetic control unit 19 recognizes the position on the operation screen 4A touched by the operator's finger as the search end point Pen.

In step S803, the arithmetic control unit 19 determines whether or not an instruction to start searching for the electric wire 100 has been given by the operator. If it is determined that an instruction to start searching has been given, the process proceeds to step S804. The arithmetic control unit 19 displays, for example, a message “Do you want to start searching?” and buttons “YES” and “NO” on the operation screen 4A. If so, it is determined that the search start has been instructed.

At step S804, the arithmetic control unit 19 sets the center position of the scan based on the search start point Pst selected at step S801. The arithmetic control unit 19 calculates the horizontal angle θ1 and the vertical angle θ2 of the measurement point with respect to the reference optical axis O so as to perform a circular scan around the search start point Pst. Here, scanning refers to an operation of scanning the measurement light 23 by one rotation in the circumferential direction about a predetermined center. From the two-dimensional coordinates of the search start point Pst on the operation screen 4A, the arithmetic control unit 19 calculates the horizontal angle θ1 and the vertical angle θ2 so as to circularly scan around the search start point Pst on the electric wire 100. .

In step S805, the arithmetic control unit 19 performs circular scanning based on the horizontal angle θ1 and vertical angle θ2 calculated in step S804 or step S811. The arithmetic control unit 19 rotates the optical prisms 36a and 36b so that the rotational positions corresponding to the horizontal angle θ1 and the vertical angle θ2 are obtained, so that the measurement light 23 is shifted in the circumferential direction by 1 with respect to a predetermined center. Scan by rotation. Based on the light reception signal from the light receiving element 33 for the measurement light 23 , the distance measurement calculation unit 13 measures the distance of the measurement point for each of the plurality of pulses included in the measurement light 23 . The arithmetic control unit 19 stores the distance measurement data obtained by the distance measurement operation unit 13 in the first storage unit 20 .

FIG. 11 is a diagram showing a state in which the electric wire 100 is circularly scanned. FIG. 11 is a diagram of the electric wire 100 viewed along the reference optical axis O as in FIG. In FIG. 11, symbol _Cn indicates the position of the center position of scanning. Reference character _Tn indicates the scanning trajectory of the measurement light 23 that scans the center position _Cn . Reference SP _n denotes a plurality of measurement points with the pulsed measuring light 23 .

By controlling the rotation of the optical prisms 36a and 36b of the deflection unit 35, the arithmetic control unit 19 can adjust the size (circle diameter) of the circle indicating the scanning trajectory of the measurement light 23 shown in FIG. can. When executing step S805 after step S804, the arithmetic control unit 19 adjusts the size of the circle to a predetermined size. On the other hand, if step S805 is executed after step S810, which will be described later, the circle is scanned according to the size of the circle changed in step S810.

As shown in FIG. 11, when the electric wire 100 is scanned circularly, the scanning trajectory _Tn of the measurement light 23 and the electric wire 100 intersect at two points. At each of these two locations, the measurement light 23 from the electric wire 100 is reflected at a plurality of measurement points _SPn and received by the light receiving element 33 . Here, n is an arbitrary integer greater than or equal to 0, n=0 at the search start point Pst, and n is added each time the horizontal angle θ1 and the vertical angle θ2 are changed from the search start point Pst. do. The example shown in FIG. 11 shows a state in which the horizontal angle .theta.1 and the vertical angle .theta.2 are changed n times from the search start point Pst, and then circularly scanned.

In step S806, the arithmetic control unit 19 converts the horizontal angle θ1 and vertical angle θ2 of the measurement light 23 calculated in step S804 and the distance measurement data of the plurality of measurement points SP _n stored in the first storage unit 20 to Based on this, point cloud data, which is an aggregate of three-dimensional coordinates of a plurality of measurement points _SPn , is obtained. Specifically, the arithmetic control unit 19 acquires the point cloud data by associating the horizontal angle θ1 and the vertical angle θ2 of the measurement light 23 with the distance measurement data of each measurement point _SPn . The arithmetic control unit 19 stores the acquired point cloud data in the first storage unit 20 .

In step S807, the arithmetic control unit 19 extracts a pair of intersection points _Pn indicating positions where the scanning trajectory _Tn of the measuring light 23 and the electric wire 100 intersect from the point group data stored in the first storage unit 20 in step S806. Detect the coordinates of A pair of intersection points _Pn are arranged to the left and right of the center position _Cn in FIG. For example, the arithmetic control unit 19 obtains the coordinates of the intersection point _Pn on the left of the center position _Cn by calculating the average value of the coordinates of a plurality of point cloud data on the left of the center position _Cn . Further, the arithmetic control unit 19 obtains the coordinates of the intersection point _Pn on the right side of the center position _Cn , for example, by calculating the average value of the coordinates of a plurality of point cloud data on the right side of the center position _Cn .

Here, the point cloud data is calculated based on the horizontal angle θ1 and vertical angle θ2 of the measurement light 23 and the distance measurement data (measurement results) of the plurality of measurement points SP _n stored in the first storage unit 20. data. Therefore, the arithmetic control unit 19 detects the coordinates of the pair of intersection points _Pn based on the distance measurement result of the distance measurement unit 3A and the horizontal angle θ1 and the vertical angle θ2 detected by the emission direction detection unit 15 .

Here, the average value of the coordinates of a plurality of point cloud data is calculated to obtain the coordinates of the intersection point _Pn , but other modes may be used. For example, the intensity of light received by the light receiving element 33 of the reflected measurement light 24 corresponding to each point cloud data is stored together with the coordinates of a plurality of point cloud data, and the one with the highest light reception intensity among the plurality of point cloud data is the intersection point P It is good also as a coordinate of _n .

In step S808, the arithmetic control unit 19 determines whether or not the coordinates of the pair of intersection points _Pn have been detected in step S807. If YES, the process proceeds to step S809. Let The arithmetic control unit 19 determines NO when no intersection is detected or when only one intersection is detected.

At step S809, the arithmetic control unit 19 calculates the electric wire vector _Vn based on the coordinates of the pair of intersection points _Pn detected at step S807. The wire vector _Vn is a vector whose end point is the center position Cn ₊₁ of the scan to be performed next to the center position _Cn of the current scan. The arithmetic control unit 19 calculates a vector starting from the coordinate _Mn of the middle point of the pair of intersections _Pn detected in step S807 and having a length α times the diameter _Dn of the circular scanning trajectory _Tn . . The calculation control unit 19 determines the direction of the electric wire vector _Vn in a direction passing through the intersection point _Pn on the side closer to the search end point Pen among the pair of intersection points _Pn .

The calculation control unit 10 sets α to a value of 1/3 or more and 2/3 or less, for example. By setting α to ⅓ or more, it is possible to prevent the scan density of the electric wire 100 from becoming excessively large, the amount of point cloud data of the electric wire 100 to become large, and the acquisition time of the point cloud data to become long. be able to. By setting α to ⅔ or less, the scanning trajectory of the measurement light 23 in the next circular scanning and the electric wire 100 reliably intersect at two points. Therefore, it is possible to suppress the problem that the length of the electric wire vector _Vn becomes excessively large, and a pair of intersection points cannot be obtained when the electric wire 100 having a curved shape is circularly scanned.

12 and 13 are diagrams showing intersection points and electric wire vectors detected when circular scanning is performed a plurality of times from the search start point Pst. FIG. 12 shows a case where the electric wire 100 extends linearly, and FIG. 13 shows a case where the electric wire 100 extends curvedly. As shown in FIGS. 12 and 13, the arithmetic control unit 19 detects a pair of intersection points _P0 when circular scanning is performed at the search start point Pst.

The calculation control unit 19 calculates a wire vector _V0 having a length α times the diameter _D0 of the circular scanning trajectory _T0 , starting from the coordinate _M0 of the middle point of the pair of intersection points _P0 . The arithmetic control unit 19 determines the direction of the electric wire vector _V0 in a direction passing through the intersection _point P0 on the side closer to the search end point Pen among the pair of intersection points _P0 . Similarly, the arithmetic control unit 19 calculates a wire vector _V1 having a length α times the diameter _D1 of the circular scanning trajectory _T1 , starting from the coordinate _M1 of the middle point of the pair of intersection points _P1 . . The calculation control unit 19 determines the direction of the electric wire vector _V1 in a direction passing through the intersection point _P1 on the side closer to the search end point Pen among the pair of intersection points _P1 .

The arithmetic control unit 19 also calculates a wire vector _V2 having a length _α times the diameter _D2 of the circular scanning trajectory _T2 , starting from the coordinates _M2 of the middle point of the pair of intersections P2. _The arithmetic control unit 19 determines the direction of the electric wire vector _V2 in a direction passing through the intersection point _P2 on the side closer to the search end point Pen among the pair of intersection points P2.

14 and 15 are diagrams showing intersections and wire vectors detected when circular scans are performed from n times to n+3 times. FIG. 14 shows a case where the electric wire 100 extends linearly, and FIG. 15 shows a case where the electric wire 100 extends curvedly. As shown in FIGS. 14 and 15, the arithmetic control unit 19 detects a pair of intersection points _Pn when circular scanning is performed at the center position _Cn .

The arithmetic control unit 19 calculates a wire vector _Vn having a length α times the diameter _Dn of the circular scanning trajectory _Tn , starting from the center position _Cn , which is the middle point of the pair of intersections _Pn . The calculation control unit 19 determines the direction of the electric wire vector _Vn in a direction passing through the intersection point _Pn on the side closer to the search end point Pen among the pair of intersection points _Pn . Similarly, the arithmetic control unit 19 generates a wire vector V n+1 having a length α times the diameter D _{n+ 1} of the circular scanning trajectory T n ₊ 1 starting from the central position C _n+1 which is the middle point of the pair of intersections P n+ _1. calculate. The arithmetic control unit 19 determines the direction of the electric wire vector V _n+1 in a direction passing through the intersection point P _n+1 on the side closer to the search end point Pen among the pair of intersection points P _n+1 .

Further, the calculation control unit 19 calculates a wire vector V _n+ 2 having a length α times the diameter D _{n+ 2} of the circular scanning trajectory T _n+2 , starting from the central position C _{n+2 which is the middle point of the pair of intersection points P n+2.} do. The arithmetic control unit 19 determines the direction of the electric wire vector Vn ₊₂ in a direction passing through the intersection point Pn ₊₂ on the side closer to the search end point Pen among the pair of intersection points _Pn+2 .

In step S810, the arithmetic control unit 19 changes the center position of the scan to the end point of the wire vector calculated in step S809. The arithmetic control unit 19 calculates the horizontal angle θ1 and the vertical angle θ2 of the measurement point with respect to the reference optical axis O so as to perform a circular scan centering on the end point of the electric wire vector. The calculation control unit 19 sets α to a value of 1/3 or more and 2/3 or less as described above.

Therefore, the calculation control unit 19 controls the scanning trajectory of the measurement light 23 in the current circular scan to overlap the scanning trajectory of the measurement light 23 in the next circular scan, and the measurement light 23 in the next circular scan. The horizontal angle θ1 and the vertical angle θ2 are changed based on the coordinates of the pair of intersection points _Pn so that the scanning trajectory of 1 and the electric wire 100 reliably intersect at two points.

As described above, the calculation control unit 19 sets the direction of the electric wire vector _Vn to the direction passing through the intersection point _Pn on the side closer to the search end point Pen among the pair of intersection points _Pn . Therefore, the arithmetic control unit 19 changes the horizontal angle θ1 and the vertical angle θ2 so that the center of the coordinates of the pair of intersections _Pn continuously moves toward either the left or the right in the horizontal direction.

Further, as shown in FIGS. 12 to 15, the calculation control unit 19 calculates the electric wire vector _Vn so that a circular scan is performed centering on the extension line of the coordinates of the pair of intersections _Pn . Therefore, the arithmetic control unit 19 changes the horizontal angle θ1 and the vertical angle θ2 so that the center position is arranged on the extension line of the coordinates of the pair of intersection points _Pn .

In step S811, the arithmetic control unit 19 changes the size of the circle (the diameter of the scanning locus) of the measurement light 23 in the next circular scan to an appropriate size. As shown in FIG. 11, the arithmetic control unit 19 changes the diameter _Dn of the scanning locus so that the diameter _Dn of the scanning locus at the position where the electric wire 100 is arranged is β times the thickness E of the electric wire 100. . The scanning trajectory diameter _Dn refers to the diameter of the scanning trajectory at the position where the electric wire 100 is arranged.

The arithmetic control unit 19 is assumed to calculate the thickness E of the electric wire from a plurality of measurement points _SPn . Further, the calculation control unit 10 sets β to a value of 5 or more and 10 or less, for example. The reason why the diameter _Dn of the scanning trajectory at the position where the electric wire 100 is arranged is made proportional to the thickness E of the electric wire is that the distance from the surveying system 1 to the electric wire 100 is constant, regardless of the distance from the electric wire 100. This is for measuring with scan density.

The arithmetic control unit 19 corrects the horizontal angle θ1 and the vertical angle θ2 calculated in step S810 so that the size of the circle of the measurement light 23 (the diameter of the scanning locus) becomes the diameter _Dn . By executing steps S810 and S811, the arithmetic control unit 19 adjusts the horizontal angle so that a circular scan with a diameter _Dn set in step S811 is performed centering on the end point of the electric wire vector calculated in step S809. θ1 and vertical angle θ2 are changed.

In step S812, the arithmetic control unit 19 determines whether or not to search for the electric wire 100. If YES, the processing of this flowchart is terminated, and if NO, the processing after step S805 is executed again. The arithmetic control unit 19 continuously acquires point cloud data of the electric wire 100 from the search start point Pst to the search end point Pen by repeatedly executing the processes from step S805 to step S811. In step S812, the arithmetic control unit 19 determines NO if, for example, the center position of the scan changed in step S840 is within a predetermined distance from the search end point Pen.

The actions and effects of the surveying system 1 of this embodiment described above will be described.
According to the surveying system 1 of the present embodiment, based on the distance measurement result of the distance measurement unit 3A and the horizontal angle θ1 and vertical angle θ2 of the measurement light 23, the measurement is formed in at least one of a linear shape, a rod shape, and a columnar shape. The coordinates of a pair of intersections _Pn between the electric wire 100, which is the object, and the scanning trajectory of the measurement light 23 are detected. When the coordinates of the pair of intersection points _Pn are detected, it means that the wire 100 is being measured by the measuring light 23 scanned in the circumferential direction.

Then, while the electric wire 100 is being measured, the horizontal angle θ1 and the vertical angle θ2 of the measuring light 23 are changed so that the scanning trajectory of the measuring light 23 intersects the electric wire 100 . Therefore, even after changing the horizontal angle θ1 and the vertical angle θ2 of the measurement light 23, the state of measuring the electric wire 100 is maintained. By repeating such changes in the horizontal angle θ1 and the vertical angle θ2 of the measurement light 23, the entire electric wire 100 can be measured simply and efficiently.

Further, according to the surveying system 1 of the present embodiment, since the electric wire vector in the direction from the search start point Pst to the search end point Pen is calculated, the area from the one end 101 to the other end 102 of the electric wire is Continuous measurements can be taken along either the left or right side.
Further, according to the surveying system 1 of the present embodiment, the center of the scanning trajectory of the measurement light 23 is arranged on the extension line of the coordinates of the pair of intersection points _Pn . Even after changing the horizontal angle θ1 and the vertical angle θ2 of 23, the electric wire 100 can be reliably measured.

[Second embodiment]
Next, a surveying system according to a second embodiment of the present invention will be described. The surveying system of the second embodiment is a modified example of the surveying system 1 of the first embodiment, and is assumed to be the same as the surveying system 1 of the first embodiment unless otherwise specified below.

_{In the surveying system 1 of the first embodiment, the arithmetic control unit 19 has a length α times the diameter Dn of} the circular scanning trajectory Tn, starting from the coordinates _Mn of the midpoint of the pair of intersections _Pn . It was to calculate the electric wire vector _Vn . On the other hand, the arithmetic control unit 19 of the present embodiment calculates a wire vector _Vn having either one of the pair of intersection points _Pn as an end point.

FIG. 16 is a diagram showing intersection points and electric wire vectors detected when circular scanning is performed from n times to n+3 times in the surveying system of this embodiment. As shown in FIG. 16, the arithmetic control unit 19 detects a pair of intersection points _Pn when circular scanning is performed at the center position _Cn .

The arithmetic control unit 19 calculates a wire vector _Vn having a start point at the center position _Cn and an end point at one of the pair of intersection points _Pn . Similarly, the arithmetic control unit 19 calculates a wire vector V _n+1 whose start point is the center position C _n+1 and whose end point is one of the pair of intersection points P _n+1 . Similarly, the calculation control unit 19 calculates a wire vector V _n+2 whose start point is the center position C _n+2 and whose end point is one of the pair of intersection points P _n+2 . The arithmetic control unit 19 calculates the electric wire vectors V _n , V n+1 such that the intersections P _n , P _{n+1 ,} P _n+2 on the side closer to the search end point Pen among the pair of intersections P _n , P n+1 , P _{n+2 are} the end points. , Vn ₊₂ .

As shown in FIG. 16, the arithmetic control unit 19 calculates the electric wire vector _Vn such that the center position Cn ₊₁ is located at one of the pair of intersections _Pn . Therefore, the arithmetic control unit 19 changes the horizontal angle θ1 and the vertical angle θ2 so that the center position Cn ₊₁ is located at one of the pair of intersections _Pn .

According to the measuring system of the present embodiment, the central position is located at one of the coordinates of the pair of intersection points _Pn . , the electric wire 100 can be reliably measured after changing the horizontal angle .theta.1 and the vertical angle .theta.2.

[Third embodiment]
Next, a surveying system according to a third embodiment of the present invention will be described. The surveying system of the present embodiment is a modification of the surveying system 1 of the first embodiment, and is assumed to be the same as the surveying system 1 of the first embodiment unless otherwise specified below.

In this embodiment, the contents of the processing for detecting the coordinates of the pair of intersections in step S807 of the first embodiment are changed. This embodiment relates to specific processing when the coordinates of three or more points of intersection are detected in step S807.

FIG. 17 is a diagram showing a state in which the electric wire 100 and the electric wire 200 are circularly scanned in the surveying system of this embodiment. Here, the electric wire 100 is an object to be measured by the surveying system 1 , but the electric wire 200 is not an object to be measured by the surveying system 1 . The distance from the surveying system 1 to the electric wire 100 in the axis X direction is shorter than the distance from the surveying system 1 to the electric wire 200 in the axis X direction.

When detecting the coordinates of the pair of intersection points Pn ₊₁ , the arithmetic control unit 19 of the present embodiment estimates the range of the coordinates of the pair of intersection points Pn ₊₁ based on the coordinates of the pair of intersection points _Pn . The calculation control unit 19 estimates the coordinate range A1 of the intersection point Pn ₊₁ on the side closer to the search start point Pst among the pair of intersection points Pn ₊₁ . As shown in FIG. 17, the range A1 is, for example, a cylindrical space formed so as to extend in the same direction as the electric wire 100 with a pair of intersections _Pn as ends. It is desirable that the diameter of the cross section of this cylindrical space be larger than the diameter of the wire 100 . If the coordinates of the intersection point Pn ₊₁ closer to the search start point Pst are included in the range A1, the arithmetic control unit 19 detects the intersection point Pn ₊₁ closer to the search start point Pst as the correct intersection point.

The calculation control unit 19 estimates the coordinate range A2 of the intersection point Pn ₊₁ on the side closer to the search end point Pen among the pair of intersection points Pn ₊₁ . As shown in FIG. 17, the range A2 is, for example, a conical space whose vertices are the pair of intersection points _Pn and whose base is the end point of the wire vector Vn ₊₁ . If the coordinates of the intersection point Pn ₊₁ closer to the search end point Pen are included in the range A2, the arithmetic control unit 19 detects the intersection point Pn ₊₁ closer to the search end point Pen as the correct intersection point.

The arithmetic control unit 19 does not detect the intersection point Pn ₊₁ on the electric wire 200 as a correct intersection point because it is not included in either the range A1 or the range A2. This is because the intersection point P _n+1 on the wire 200 is located at a position significantly different from the intersection point P _n+1 on the wire 100 . That is, in the example shown in FIG. 17, the arithmetic control unit 19 detects the intersection point Pn ₊₁ on the electric wire 100 as the correct intersection point, and does not detect the intersection point Pn ₊₁ on the electric wire 200 as the correct intersection point. As a result, the arithmetic control unit 19 can detect a pair of intersection points Pn ₊₁ on the electric wire 100, which is the object to be measured, and proceed with the process of acquiring point cloud data.

According to the measurement system of this embodiment, the coordinate ranges A1 and A2 of the pair of intersection points Pn ₊₁ detected after changing the horizontal angle θ1 and the vertical angle θ2 of the measurement light 23 are estimated, and Detect the contained coordinates as the coordinates of a pair of intersections P _n+1 . Therefore, even if another measurement object, the electric wire 200, exists behind the measurement object, the electric wire 100, the coordinates of the intersection point on the electric wire 200 that is not included in the estimated coordinate ranges A1 and A2 are can be eliminated and measurement errors can be suppressed.

[Fourth embodiment]
Next, a surveying system according to a fourth embodiment of the present invention will be described. The surveying system of the present embodiment is a modification of the surveying system 1 of the first embodiment, and is assumed to be the same as the surveying system 1 of the first embodiment unless otherwise specified below.

As shown in FIG. 6, in the surveying system 1 of the first embodiment, the reference optical axis O is arranged so as to be orthogonal to the direction in which the electric wire 100 extends. Moreover, the surveying system 1 of the first embodiment scans the measurement light 23 in a circular shape. In contrast, as shown in FIG. 18, the surveying system 1 of the present embodiment is arranged such that the direction in which the electric wire 100 extends and the direction of the measurement light 23 form an obtuse angle θ3 greater than 90°. It is a thing. Moreover, the surveying system of this embodiment scans the measurement light 23 in an elliptical shape.

FIG. 19 is a diagram showing intersection points and electric wire vectors detected when circular scanning is performed from n times to n+1 times in the surveying system of this embodiment. FIG. 20 is a top view of the electric wire 100 shown in FIG. As shown in FIG. 19, the arithmetic control unit 19 controls the deflection operation of the deflection unit 35 so that the measurement light 23 is scanned in an elliptical shape with the minor axis extending in the direction connecting the pair of intersection points _Pn . The calculation control unit 19 can adjust the length of the short axis of the elliptical scanning locus shown in FIG. 19 by controlling the deflection unit 35 .

The arithmetic control unit 19 of this embodiment adjusts the length of the minor axis of the elliptical scanning locus because the interval between the intersections P _n and P _n+1 on the electric wire 100 is wider than in the first embodiment. This is to prevent If the interval between the intersections P _n and P _n+1 on the electric wire 100 is widened, the scan density is lowered, and it is not possible to acquire point cloud data from the electric wire 100 with a desired scan density. Therefore, the arithmetic control unit 19 of the present embodiment adjusts the length of the minor axis of the scanning trajectory of the measurement light 23 in accordance with the inclination angle θ3, so that the interval between the intersections P _n and P _n+1 on the electric wire 100 becomes the second It is designed to be the same as the first embodiment.

In FIG. 20, the distance between a pair of intersection points _Pn on the electric wire 100 is the same as the diameter _Dn of the circular scanning trajectory _Tn of the first embodiment. The arithmetic control unit 19 adjusts the length of the minor axis of the scanning trajectory of the measurement light 23 _{to Wn} so that the distance between the pair of intersections _Pn on the electric wire 100 is the same as the diameter _Dn . The length _Wn of the minor axis is the length in the direction of the axis X and satisfies _Wn = _Dn ·sin(θ3).
Here, the inclination angle θ3 is the angle formed between the straight line connecting the pair of intersection points _Pn and the measurement light 23 on the XY plane.

By adjusting the length of the minor axis of the scanning locus of the measurement light 23 to _Wn , the arithmetic control unit 19 can make the interval between the intersections _Pn and Pn ₊₁ on the electric wire 100 the same as in the first embodiment. can. The calculation control unit 19 calculates the inclination angle θ3 based on the distance measurement data of the pair of intersection points _Pn , and calculates the length _Wn of the minor axis of the scanning trajectory of the measurement light 23 . As shown in FIG. 20, the arithmetic control unit 19 controls the deflection operation of the deflection unit 35 based on the tilt angle θ3 so that the length connecting the pair of intersection points _Pn is maintained at a constant _Dn .

In this manner, the calculation control unit 19 adjusts the emission direction (horizontal angle θ1 and vertical angle θ2) of the measurement light so that the scanning trajectory of the measurement light 23 forms an ellipse with the direction connecting the pair of intersections _Pn as the minor axis. Control. Further, the calculation control unit 19 controls the emission direction of the measurement light ₍ horizontal angle _θ1 and Control the vertical angle θ2).

FIG. 21 is a diagram showing intersection points and electric wire vectors detected when circular scanning is performed from n times to n+1 times in the surveying system of the comparative example of this embodiment. FIG. 22 is a top view of the electric wire 100 shown in FIG. In the comparative example shown in FIG. 21, the arithmetic control unit 19 controls the deflection operation of the deflection unit 35 so that the measurement light 23 circularly scans around the central position _Cn of the pair of intersection points _Pn .

In FIG. 22, the distance between the pair of intersections _Pn in the direction of the axis line X is the same as the diameter _Dn of the circular scanning trajectory _Tn of the first embodiment. On the other hand, the distance between a pair of intersection points _Pn on the electric wire 100 is _{D'n ,} which is longer than Dn. Therefore, in this comparative example, the distance between the pair of intersection points _Pn on the electric wire 100 is not the same as the diameter _Dn , but is wider than the diameter _Dn . Therefore, in this comparative example, the arithmetic control unit 19 cannot make the interval between the intersections P _n and P _n+1 on the electric wire 100 the same as in the first embodiment. According to the measurement system of this embodiment, since the length connecting the pair of intersection points _Pn is maintained constant, the coordinates of each part of the electric wire 100 can be acquired at constant intervals (scan density).

The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the scope of the claims. Some of the configurations of the above embodiments may be omitted, or may be arbitrarily combined in a manner different from the above.

In the above description, the object to be measured is an electric wire, but it may be in another form as long as it is formed in at least one of linear, rod-like and columnar shapes. For example, the object to be measured may be H-shaped steel, plumbing pipes, utility poles, building pillars, etc., which are used as building materials. The width of the object to be measured is preferably one-third or less of the length of the object to be measured.

In the above description, the operator selects both the search start point Pst and the search end point Pen of the electric wire 100, but other modes are possible. For example, the operator may select only the search start point Pst. In this case, instead of selecting the search end point Pen, it is desirable to select either left or right in the horizontal direction as the search direction. The search direction is used when determining the direction of the wire vector.

In the above description, the deflecting section 35 is composed of the pair of optical prisms 36a and 36b, but other configurations are possible. For example, a two-axis galvanomirror may be used to achieve the same function as the pair of optical prisms 36a, 36b.

In the above description, the arithmetic control unit 19 scans in a circular or elliptical shape, but the shape of the scanning trajectory of the measurement light 23 is not limited to a circular or elliptical shape. good too. For example, the arithmetic control unit 19 may scan a waveform such as a sine wave or a triangular wave along a measuring object formed in at least one of a line shape, a bar shape, and a column shape.

DESCRIPTION OF SYMBOLS 1... Survey system, 3... Laser scanner, 3A... Ranging part, 4... Operation device, 4A... Operation screen, 11... Measurement light emission part, 12... Light reception Unit 14 Imaging unit 15 Emission direction detection unit 17 Attitude detection unit 20 First storage unit 23 Measurement light 24 Reflection measurement light 27... Light-emitting element 33... Light-receiving element 35... Deflecting part 40... Measurement optical axis 100... Electric wire 110, 120... Utility pole A1, A2... Range , O: reference optical axis, θ1: horizontal angle, θ2: vertical angle, θ3: tilt angle

Claims (8)

a light emitting element that emits measurement light, a measurement light emitting section that emits the measurement light, a light receiving section that receives the reflected measurement light, and a light receiving element that receives the reflected measurement light and generates a light reception signal, a distance measuring unit that measures the distance of an object to be measured based on the received light signal from the light receiving element;
a deflection unit that deflects the emission direction of the measurement light with respect to a reference optical axis and can scan the measurement light in a circumferential direction about a predetermined center;
a control unit that controls the ranging unit and the deflection unit;
The control unit controls the measurement object and the measurement light formed in at least one of a linear shape, a rod shape, and a columnar shape based on the distance measurement result of the distance measurement unit and the emission direction deflected by the deflection unit. and the deflection unit changes the emission direction based on the coordinates of the pair of intersections so that the scanning trajectory of the measurement light intersects the object to be measured. measuring device, characterized in that it controls the deflection actuation of the 2. The measurement according to claim 1, wherein the control unit changes the injection direction so that the center of the coordinates of the pair of intersection points continuously moves toward either the left or the right in the horizontal direction. Device. 3. The measuring apparatus according to claim 1, wherein the control unit changes the injection direction so that the predetermined center is arranged on an extension of coordinates of the pair of intersection points. The control unit changes the emission direction so that the scanning trajectory of the measurement light before changing the emission direction and the scanning trajectory of the measurement light after changing the emission direction overlap. The measuring device according to claim 3. 2. The measuring apparatus according to claim 1 , wherein the control unit changes the injection direction so that the predetermined center is positioned at one of the pair of intersections. The control unit changes the emission direction so that the scanning trajectory of the measurement light becomes a circle and the circle has a size corresponding to the thickness of the measurement object at a position where the measurement object is arranged. The measuring device according to any one of claims 1 to 5 , characterized in that: The controller controls that the scanning trajectory of the measurement light becomes an ellipse with the direction connecting the pair of intersection points as the minor axis, and the minor axis corresponds to the inclination angle between the measurement light and the straight line connecting the pair of intersection points. 6. The measuring device according to any one of claims 1 to 5 , characterized in that the injection direction is changed so as to have a corresponding length . A control method for a measuring device that measures an object to be measured,
The measuring device is
A distance measuring device comprising a light-emitting element that emits measurement light, a measurement-light emitting section that emits the measurement light, a light-receiving section that receives the reflected measurement light, and a light-receiving element that receives the reflected measurement light and generates a light reception signal. Department and
a deflection unit that deflects the emission direction of the measurement light with respect to a reference optical axis and can scan the measurement light in a circumferential direction about a predetermined center;
a distance measuring step of measuring the distance of the object to be measured based on the received light signal from the light receiving element;
the scanning trajectory of the measurement light and the measurement object formed in at least one of a linear shape, a rod shape, and a column shape based on the distance measurement result of the distance measurement step and the emission direction deflected by the deflection unit; an intersection detection step of detecting coordinates of a pair of intersections;
and a control step of controlling the deflection operation of the deflection section so as to change the emission direction based on the coordinates of the pair of intersection points so that the scanning trajectory of the measurement light and the measurement object intersect. A control method for a measuring device, characterized by:

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