JP7391231B2 - Measurement system and method - Google Patents

Description

The present disclosure relates to a measurement system and a measurement method for measuring a measurement object partially formed of a transparent member that transmits light.

2. Description of the Related Art Conventionally, there has been known a technique of projecting light onto a measurement target and measuring the shape or state of a region of the measurement target where the light is projected. For example, Patent Document 1 describes an information processing device that irradiates light from an irradiation unit in the imaging direction of an imaging unit and performs image recognition on an image captured by the imaging unit. discloses a technique for controlling the irradiation pattern of light emitted from an irradiation section.

International Publication No. 2019/225349

However, when the object to be measured is partially formed of a transparent member such as a window, such as a building or a vehicle, the technology described in Patent Document 1 does not allow the light irradiated from the irradiation part to pass through the transparent member. This may cause discomfort to people who are not being measured. In addition, there are non-measurement targets other than humans, such as animals or objects, for which it is undesirable to irradiate light.

The present disclosure has been made in view of the above, and an object of the present disclosure is to obtain a measurement system that can suppress light projection onto a non-measurement target in the internal space of the measurement target.

In order to solve the above-mentioned problems and achieve the objective, the measurement system of the present disclosure includes a light projection section, a measurement section, a determination section, a light projection range determination section, and a light projection control section. The light projecting section projects light onto a measurement target that is partially formed of a transparent member that transmits light. The measurement unit measures an area of the object to be measured onto which light is projected by the light projection unit. The determination unit determines a non-light projection area that is a region of the measurement target object in which light may be projected to a non-measurement target in the internal space of the measurement target object via the transparent member. The light projection range determination section determines a light projection range, which is a range of the measurement target object where light is projected by the light projection section, based on the determination result by the determination section. The light projection control section causes the light projection section to project light onto a light projection range. The light projection control section stops the light projection section from projecting light onto a non-light projection area of the measurement target that is not included in the light projection range determined by the light projection range determining section. The light projecting section includes an emitting section that emits light, and a blocking section that blocks part of the light emitted from the emitting section. The light projection control section controls the blocking section to stop the light projection section from projecting light onto the non-light projection area.

According to the present disclosure, it is possible to suppress light projection onto a non-measurement target in the internal space of the measurement target.

A diagram showing the relationship between the measurement system according to Embodiment 1 and a building whose outer surface is measured by the measurement system. An enlarged view of a part of Figure 1 from a different angle. A diagram showing an example of a configuration of a measurement system according to Embodiment 1. A diagram illustrating an example of how a measurement object is measured by the measurement system according to the first embodiment. A diagram illustrating another example of how a measurement target is measured by the measurement system according to the first embodiment. A diagram for explaining shading device control by the shading device control unit according to the first embodiment A diagram illustrating an example of control of a light projecting unit by a light projecting control unit according to Embodiment 1. A diagram showing another example of control of the light projecting section by the light projecting control section according to the first embodiment. A diagram showing an example of a light projection range of the measurement system according to Embodiment 1. A diagram showing still another example of control of the light projecting unit by the light projecting control unit according to the first embodiment. A diagram showing an example of the configuration of a light projecting section according to Embodiment 1. A diagram illustrating how light is projected from some of the plurality of divided light projectors included in the light projector shown in FIG. 11. A diagram showing another example of the configuration of the light projecting section according to Embodiment 1. A diagram showing an example of another configuration of the blocking section in the light projecting section according to Embodiment 1. A diagram showing an example of still another configuration of the blocking section in the light projecting section according to the first embodiment. A diagram showing an example of still another configuration of the light projecting section according to the first embodiment. Flowchart showing an example of processing by the measurement system according to the first embodiment Flowchart showing an example of measurement processing by the measurement system according to the first embodiment A diagram showing an example of the hardware configuration of the measurement system according to Embodiment 1. A diagram showing an example of a configuration of a measurement system according to a second embodiment A diagram showing how the direction of the light projecting unit is changed by the drive unit according to the second embodiment. A diagram showing the relationship between the cleaning robot and the measurement system according to Embodiment 2 A diagram showing an example of the configuration of a measurement system according to Embodiment 3

Below, a measurement system and a measurement method according to an embodiment will be described in detail based on the drawings.

Embodiment 1.
FIG. 1 is a diagram showing the relationship between the measurement system according to the first embodiment and a building whose outer surface is measured by the measurement system. FIG. 2 is an enlarged view of a part of the area in FIG. 1 at a different angle. A measurement system 1 shown in FIGS. 1 and 2 measures the three-dimensional shape of a measurement object 2. The measurement system 1 shown in FIGS.

1 and 2, the measurement object 2 is a building such as a high-rise building or a tower apartment, and the measurement system 1 measures the three-dimensional shape of the outer surface 4 of the measurement object 2. Note that the measurement target object 2 is not limited to a building, and may be any structure partially formed of a transparent member that transmits light, such as a railway vehicle or an aircraft.

On the outer wall 3 of the object to be measured 2, a plurality of rails 5 ₁ to 5 ₄₈ are respectively laid along the vertical direction. Hereinafter, when each of the plurality of rails 5 ₁ to 5 ₄₈ is shown without being individually distinguished, it may be referred to as rail 5. In the example shown in FIGS. 1 and 2, each rail 5 has a shape protruding from the outer wall 3 of the object to be measured 2, but may be formed as a groove inside the outer wall 3 of the object to be measured 2.

Moreover, each rail 5 only needs to have a function that allows the gondola 7 to move repeatedly in the extending direction of the rail 5, and the shape of each rail 5 is not limited to the above-mentioned shape. Further, in the example shown in FIGS. 1 and 2, the rails 5 extend in the vertical direction, but the extending direction of each rail 5 is not limited to the example shown in FIGS. 1 and 2. For example, each rail 5 may be laid on the outer wall 3 so as to extend in the horizontal direction.

The measurement system 1 is placed at a predetermined position on the gondola 7. One end of a wire rope 81 is attached to the gondola 7, and the other end of the wire rope 81 is fixed to the crane 80. The crane 80 can linearly move the gondola 7 downward along the rail 5 by pulling out the wire rope 81 from a reel (not shown).

Further, the crane 80 can linearly move the gondola 7 upward by winding up the wire rope 81 with a reel (not shown). Further, rails 8 are laid on the rooftop of the measurement target 2, and a crane 80 can move on the rooftop of the measurement target 2 along the rails 8.

Note that the drive device for moving the gondola 7 is not limited to the crane 80 and the wire rope 81, and may be a rotary drive device having a motor or the like that rotates a tire rotatably attached to the rail 5 via a transmission mechanism. good. The transmission mechanism is, for example, a gear, a belt, or a chain. Further, the drive device for moving the gondola 7 may be configured to drive a caterpillar movably attached to the rail 5 by a motor via a transmission mechanism. Further, the drive device for moving the gondola 7 may have a push rod, a pull rod, or the like. A configuration including the gondola 7 and a drive device that moves the gondola 7 is an example of a moving mechanism. Note that the measurement system 1 may be placed on a drone as a moving mechanism, for example.

A worker who performs measurement work using the measurement system 1 may or may not be riding the gondola 7 while the outer surface 4 is being measured by the measurement system 1 . Further, the gondola 7 is, for example, a gondola for window cleaning, but it may also be a gondola dedicated to measuring the outer surface 4 by the measurement system 1. Further, the moving body on which the measurement system 1 is arranged is not limited to the gondola 7, as long as it is attached to the rail 5 and movable along the rail 5.

The measurement system 1 measures the three-dimensional shape of the area between the rails 5 on the outer surface 4 of the measurement object 2 while the gondola 7 is moving. When the gondola 7 is in the position shown in FIGS. 1 and 2, the gondola 7 is movably attached to the rails 5 ₂ , 5 ₃ and moves along the rails 5 ₂ , 5 ₃ as a travel path, so the measurement system 1 performs measurement. A region ₆₂ between the rails ₅₂ and ₅₃ on the outer surface 4 of the object 2 is measured.

When the gondola 7 is movably attached to the rails 5 ₁ , 5 ₂ and moves along a travel path composed of the rails 5 ₁ , 5 ₂ , the measurement system 1 is configured to move along the travel path composed of the rails 5 ₁ , 5 ₂ on the outer surface 4 . Measure the area 6 ₁ in between. Further, when the gondola 7 is movably attached to the rails 5 ₁₄ , 5 ₁₅ and moves along a travel path composed of the rails 5 ₁₄ , 5 ₁₅ , the measurement system 1 is configured to detect the rails 5 14 , 5 ₁₅ on the outer surface 4 . Measure the area 6 ₁₄ between 5 ₁₅ . The outer surface 4 includes a plurality of regions 6 ₁ -6 ₄₄ . Hereinafter, when the plurality of regions 6 ₁ to 6 ₄₄ are shown without being individually distinguished from each other, they may be referred to as region 6.

The operator operates the measurement system 1 while moving the gondola 7 in the vertical direction every time the combination of the two rails 5 to which the gondola 7 is attached is changed. As a result, the plurality of regions 6 ₁ to 6 ₄₄ are measured by the measurement system 1. The measurement system 1 generates three-dimensional overall shape data that is data on the overall three-dimensional shape of the outer surface 4 by combining the three-dimensional shapes of the plurality of measured regions 6 ₁ to 6 ₄₄ .

In the example shown in FIGS. 1 and 2, the gondola 7 is attached to two rails 5 and is movable in the vertical direction along a traveling path made up of the two rails 5. It may also be configured to be attached and move along a travel path formed by such one rail 5. Moreover, the gondola 7 may be attached to three or more rails 5 and may be configured to move along a travel path constituted by the three or more rails 5.

Note that the measurement system 1 may be configured to measure a larger area than the area 6 between adjacent rails 5. For example, when the gondola 7 moves along a travel path composed of rails 5, the measurement system 1 may be configured to measure two regions 6 or three or more regions 6.

Further, when the gondola 7 moves along the traveling path composed of the rails 5 ₂ and 5 ₃ , the measurement system 1 detects the left half of the area 6 ₁ in FIG. 1, the area 6 ₂ , and the area 6 ₃ . It may be configured to measure the right half of 1. In this way, the area that the measurement system 1 measures while the gondola 7 is moving on the rail 5 is not limited to one area 6, but the measurement system 1 can measure across a plurality of areas 6. The measurement system 1 can reduce the burden of measurement work by performing measurements across multiple regions 6.

FIG. 3 is a diagram showing an example of the configuration of the measurement system according to the first embodiment. As shown in FIG. 3, the measurement system 1 includes a position detection section 10, a light projection section 11, a measurement section 12, a storage section 13, an output section 14, a first information acquisition section 15, and a second information acquisition section 15. It includes an acquisition section 16, a sensor section 17, a light shielding device control section 18, a determination section 19, a light projection range determining section 20, and a light projection control section 21. Note that the measurement system 1 may have a configuration that includes, for example, a moving mechanism including a gondola 7 and a moving device that moves the gondola 7, or may have a configuration that does not include a part of the configuration shown in FIG. 3.

In the measurement system 1, the light projection section 11 projects light onto the measurement target object 2, and the measurement section 12 measures the three-dimensional shape of the region of the measurement target object 2 where the light projection is performed. FIG. 4 is a diagram illustrating an example of how a measurement target object is measured by the measurement system according to the first embodiment. FIG. 5 is a diagram illustrating another example of how the measurement object is measured by the measurement system according to the first embodiment.

In the example shown in FIG. 4, all of the light emitted from the light projector 11 hits the surface of the measurement object 2, but in the example shown in FIG. The light that enters the internal space of the object to be measured 2 via the flexible member 9 hits the object to be measured 50 . Therefore, in the measurement system 1, a region of the measurement object 2 where there is a possibility that light is projected to the non-measurement object 50 in the internal space of the measurement object 2 through the transparent member 9 is determined, and the result of this determination is Based on this, a light projection range, which is a range of the measurement target object 2 where light is projected by the light projection unit 11, is determined.

The measurement system 1 defines a light projection range that excludes at least a region of the measurement object 2 in which light may be projected to a non-measurement object 50 in the internal space of the measurement object 2 via the transparent member 9. decide. Then, the measurement system 1 causes the light projecting unit 11 to project light onto the determined light projecting range. Thereby, the measurement system 1 can suppress light projection onto the non-measurement object 50 in the internal space of the measurement object 2.

Note that the non-measurement target 50 is, for example, a person, an animal, or an object to which it is not preferable to irradiate light. An example of an object to which it is not preferable to irradiate light is a photosensitive object. Further, the transparent member 9 is glass or transparent resin that forms a window of the measurement target object 2. The transparent resin is, for example, polycarbonate or acrylic. Note that the transparent member 9 may be any member that allows at least part of the light emitted from the light projection unit 11 to pass through, and may be, for example, a member such as a screen door having slits or a member that simply forms an opening. Good too.

Returning to FIG. 3, the configuration of the measurement system 1 will be specifically described. The position detection unit 10 detects the position of the measurement system 1. The position detecting unit 10 receives a plurality of positioning signals transmitted from a plurality of positioning satellites and an error correction signal transmitted from a quasi-zenith satellite, and performs an error correction signal based on the received plurality of positioning signals and error correction signal. , calculate the latitude, longitude, and altitude of the measurement system 1.

The positioning satellite is a GNSS (Global Navigation Satellite System) satellite, and the quasi-zenith satellite is a QZSS (Quasi-Zenith Satellite System) satellite. The error correction signal is also called a QZSS reinforcement signal or an L6 signal, and includes error correction information that is information for correcting centimeter-level errors. Note that the quasi-zenith satellite has a function as a positioning satellite, and the position detection unit 10 receives a positioning signal transmitted from the quasi-zenith satellite in addition to a plurality of positioning signals transmitted from a plurality of positioning satellites. , the altitude of the measurement system 1 can also be calculated based on these multiple positioning signals and error correction signals.

The position detection unit 10 is not limited to the above-described configuration, and may have a configuration that detects the position of the measurement system 1 using, for example, a laser Doppler sensor or a microwave Doppler sensor. In this case, the position detection unit 10 calculates the position of the measurement system 1 from the amount of movement of the gondola 7 measured by a laser Doppler sensor or a microwave Doppler sensor. Note that the position detection unit 10 may include an encoder that measures the amount of winding by a winding machine that winds up the wire rope 81. In this case, the position detection unit 10 is placed on the crane 80 and not on the gondola 7.

The light projecting unit 11 projects light onto the measurement target object 2 . The light projection unit 11 includes a laser light source that emits linear laser light. For example, as shown in FIG. 2, the light projecting unit 11 emits a linear laser beam parallel to a direction perpendicular to the moving direction of the gondola 7 to the measurement target 2. The laser light emitted from the light projector 11 is visible light, but may also be near-infrared light.

The measurement unit 12 generates measurement data of the measurement target 2 by capturing an image of a region of the measurement target 2 onto which light is projected by the light projection unit 11 . The measurement data of the measurement object 2 generated by the measurement unit 12 is data on the three-dimensional shape of the measurement object 2.

The measurement section 12 includes an imaging section 31, a calculation section 32, a storage section 33, and a synthesis section 34. The imaging section 31 is disposed toward a light projection region of the measurement object 2 onto which light is projected by the light projection section 11, and images the light projection region. The imaging unit 31 includes, for example, an imaging element such as a CMOS (Complementary Metal-Oxide-Semiconductor) image sensor and a lens.

The calculation unit 32 determines which part of the measurement target 2 is irradiated with the laser beam based on the irradiation position on the measurement target 2 of the laser beam emitted from the light projection unit 11 from the image of the light projection area captured by the imaging unit 31. A partial shape, which is a three-dimensional shape of the area, is calculated. The calculation unit 32 calculates, for example, a partial shape that is a three-dimensional shape of a region of the measurement target 2 that is irradiated with a linear laser beam using a light cutting method.

The storage unit 33 stores data on the partial shape calculated by the calculation unit 32 in association with position data indicating the position of the measurement system 1 measured by the position detection unit 10. The synthesis unit 34 connects the data of the plurality of partial shapes and synthesizes the plurality of partial shapes based on the data of the plurality of partial shapes and the plurality of position data stored in the storage unit 33 to form the entire measurement target object 2. The overall shape data, which is the three-dimensional shape data, is generated.

The storage unit 13 stores the overall shape data generated by the measurement unit 12. The output unit 14 outputs the overall shape data generated by the measurement unit 12 and stored in the storage unit 13 to the outside. For example, the output unit 14 can output the overall shape data to an external cloud server (not shown) via wireless communication or wired communication.

The first information acquisition unit 15 acquires first information indicating whether there is a possibility that the non-measurement object 50 exists in the internal space of the measurement object 2. The first information includes, for example, at least one of entry information, presence information, device information, locking information, and operating time information. When the measurement target object 2 is a building, the first information acquisition unit 15 acquires the first information from a management system that manages the building through wired communication or wireless communication. Further, when the measurement target object 2 is a railway vehicle, the first information acquisition unit 15 acquires the first information from a boarding management system that manages boarding of the railway vehicle or the like by wired communication or wireless communication.

When the measurement object 2 is a building, the entry information is information indicating whether or not a person has entered the building, a floor inside the building, or a room inside the floor. Further, when the measurement target object 2 is a railway vehicle, the entry information is information indicating whether or not a person has entered the railway vehicle.

When the measurement object 2 is a building, the presence information is information indicating whether a person is present on the floor or in the room. When the measurement object 2 is a railway vehicle, the presence information is information indicating the presence of a person in the railway vehicle, and includes, for example, information indicating the sales history of reserved seat tickets.

When the measurement object 2 is a building, the equipment information is information indicating the operating state of equipment arranged on the floor or in the room. The equipment placed on the floor or in the room is, for example, a light, an air conditioner, or a personal computer.

When the measurement object 2 is a building, the locking information is information indicating the locked state of the building, floor, or room. When the object to be measured 2 is a building, the operating time information is information indicating the business hours of the business occupying the floor or room. Moreover, when the measurement target object 2 is a railway vehicle, the operation time information is information indicating the operation time of the railway vehicle.

The second information acquisition unit 16 acquires second information including position information indicating the position of the transparent member 9 and light shielding device information indicating the state of a light shielding device provided corresponding to the transparent member 9. The position information is, for example, information indicating the position of a window provided in the measurement target object 2. The shading device information is, for example, information indicating the state of a shading device provided on a window, and includes a state indicating the control state of the shading device by the shading device control unit 18. The second information acquisition unit 16 acquires the second information from, for example, a management system that manages the blueprint of the measurement target object 2 through wired communication or wireless communication. Note that the second information may be information input by the user.

The sensor section 17 is arranged facing the measurement target object 2 . The sensor unit 17 detects at least one of brightness, temperature, sound, polarization, reflection distance, and movement of the non-measurement object 50. The sensor unit 17 includes, for example, a plurality of sensors. Each sensor provided in the sensor section 17 detects brightness, temperature, sound, polarization, reflection distance, or operation of the non-measurement target 50.

The sensor unit 17 detects the brightness, temperature, sound, polarization, reflection distance, or movement of the non-measurement target 50 in the range where the light is projected by the light projecting unit 11 before the light is projected by the light projecting unit 11 . For example, when the measuring system 1 measures the object 2 to be measured while moving the measuring system 1 downward by the moving mechanism, the sensor section 17 is arranged below the light projecting section 11 . Further, when the measuring system 1 measures the measurement target 2 while moving the measuring system 1 upward by the moving mechanism, the sensor section 17 is arranged above the light projecting section 11 .

The sensor that detects brightness is, for example, a brightness sensor. The sensor that detects temperature is a temperature sensor. The sensor that detects sound is, for example, a microphone. The sensor that detects polarized light is a polarization sensor. The sensor that detects the reflection distance is, for example, a reflection distance sensor such as a radar that transmits radio waves such as millimeter waves and receives reflected waves of the transmitted radio waves at the measurement target object 2 . The sensor that detects the motion of the non-measurement target 50 is, for example, an image sensor and a motion sensor that analyzes an image captured by the image sensor and detects the motion of the non-measurement target 50.

When the transparent member 9 is a window, the shading device control unit 18 controls a shading device provided in the window. The light blocking device switches between blocking and non-blocking of light from the window to the internal space of the structure under the control of the light blocking device control unit 18. The light shielding device is, for example, a curtain, a roll screen, a bamboo blind, a shade, a screen, a shutter, or a shutter, and is sometimes called a blind. For example, when the measurement target object 2 is a building, the shading device control unit 18 can output a control command to the control system in the building through wired communication or wired communication. When the control system in the building receives the control command, it controls the shading device according to the control command.

For example, when the control command is an ON command, the control system in the building controls the shading device to put it in a blocking state, which is a state in which the shading device blocks light from entering the building from the window. Further, when the control command is an off command, the control system in the building controls the shading device to bring it into an open state, which is a state in which light from the window into the building is not blocked by the shading device.

The light blocking device may be an electrically controlled light blocking device provided facing the window, or may be a liquid crystal film that is attached to the window and can be switched between transparent and opaque. Further, the light shielding device may be formed integrally with the window, such as a light control glass that has a light shielding function that can be switched between transparent and opaque states.

FIG. 6 is a diagram for explaining the light shielding device control by the light shielding device control unit according to the first embodiment. As shown in FIG. 6, the light blocking device control unit 18 puts the light blocking device into a blocking state before the position to which light is irradiated by the measurement system 1 becomes a window. Thereby, the measurement system 1 can avoid projecting light onto the non-measurement object 50 located inside the measurement object 2.

Returning to FIG. 3, the description of the measurement system 1 will be continued. The determination unit 19 of the measurement system 1 determines at least one of the first information acquired by the first information acquisition unit 15, the second information acquired by the second information acquisition unit 16, and the detection result by the sensor unit 17. Based on this, a region of the measurement object 2 where light may be projected onto the non-measurement object 50 in the internal space of the measurement object 2 via the transparent member 9 is determined as a non-light projection region.

For example, when the measurement object 2 is a building, the determination unit 19 determines that a person is entering a floor within the building or a room inside the floor based on the entry information included in the first information. , the area corresponding to the floor or room where the person is entering is determined as a non-light projection area. For example, if the floor where it is determined that a person is entering is the third floor, the area corresponding to the floor is the outer surface of the third floor of the building. Further, the area corresponding to the room inside the floor is, for example, the outer surface of room 301 on the third floor of the building when the room determined to be occupied by a person is room 301 on the third floor.

When the measurement object 2 is a building, the determination unit 19 determines that a person is present on a floor inside the building or a room inside the floor based on the presence information included in the first information. In this case, the area corresponding to the floor or room where a person is present is determined to be a non-light projection area.

When the measurement target object 2 is a railway vehicle, if it is determined that there is a person in the seat of the railway vehicle based on the presence information included in the first information, the determination unit 19 determines that the seat corresponding to the seat determined to be occupied is The area where the light is projected is determined to be a non-light projection area. For example, if the seat determined to be occupied is the seat in the 10th row, the area corresponding to the seat is the window in the 10th row.

If the measurement target object 2 is a building, and the determination unit 19 determines that the equipment on the floor or room is operating based on the equipment information included in the first information, the determination unit 19 determines whether the equipment is on the floor or in the room where the equipment is operating. The area corresponding to the room is determined to be a non-light projection area.

If the measurement target object 2 is a building and the determination unit 19 determines that the floor or room is unlocked based on the lock information included in the first information, the determination unit 19 determines that the floor or room corresponds to the unlocked floor or room. The area where the light is projected is determined to be a non-light projection area.

When the measurement target object 2 is a building, the determination unit 19 determines that the business hours of the business occupying the floor or room are set based on the operating time information included in the first information. The area corresponding to the floor or room of the business operator where the area is designated as a non-light projection area is determined.

The determination unit 19 determines the area corresponding to the position of the transparent member 9 as a non-light projection area based on the position information included in the second information. For example, assume that the transparent member 9 is a window. In this case, the determination unit 19 determines, based on the position information and the light shielding device information included in the second information, that if the light shielding device corresponding to the window is in an open state, the area corresponding to the window position is set as a non-light emitting area. If the light blocking device is in the blocking state, the area corresponding to the window position is not determined as a non-light projecting area.

Further, the determining unit 19 determines the non-light projection area by giving priority to the state determined based on the first information over the position of the transparent member 9 and the state of the light shielding device determined based on the second information. For example, the determination unit 19 determines that even if the area corresponds to the position of a window where the light shielding device is open, no one has entered the area, there is no person in the seat, the door is not locked, the equipment is not in operation, or the area is not open for business. If it is included in the area corresponding to the floor or room determined as such, it will not be determined as a non-light projection area.

The determination unit 19 determines that the area corresponding to the window position where the light shielding device is open is a floor where a person has entered, a person is present, the door is unlocked, the equipment is in operation, or the area is open for business. Or, if it is included in an area corresponding to a room, it is determined as a non-light projection area.

Further, the determining unit 19 determines that even if the area corresponds to the position of the window where the shading device is in the open state, the shading device control unit 18 causes the shading device to be in the blocked state before the light projecting unit 11 projects light. , it is not determined as a non-light projection area.

Further, the determination unit 19 determines the non-light projection area based on the detection result by the sensor unit 17. For example, the determination unit 19 determines an area where the brightness detected by the brightness sensor is equal to or higher than a preset threshold value as a non-light projection area. Further, the determination unit 19 determines a region where the temperature detected by the temperature sensor is equal to or higher than a preset threshold value as a non-light projection region. Further, the determination unit 19 determines an area where the loudness of the sound detected by the microphone is equal to or greater than a preset threshold value as a non-light projection area.

Further, the determination unit 19 determines an area where the reflection distance detected by the reflection distance sensor is equal to or greater than a preset threshold value as a non-light projection area. The reflection distance sensor detects the reflection distance by receiving the radio waves that have passed through the transparent member 9 and are reflected in the internal space of the object to be measured 2 . The area where the reflection distance detected by the reflection distance sensor is equal to or greater than a preset threshold is the area in the internal space of the measurement object 2 where the radio wave passes through the transparent member 9 and reaches it.

Further, the determination unit 19 determines a region where the magnitude of polarized light detected by the polarization sensor is equal to or greater than a preset threshold value as a non-light projection region. The region where the magnitude of the polarized light detected by the polarization sensor is equal to or greater than a preset threshold value is the region where the transparent member 9 is present.

The determination unit 19 determines a region where the magnitude of the motion detected by the motion sensor is equal to or greater than a preset threshold value as a non-light projection region. The detection target of the motion sensor is, for example, a person or an animal, and the determination unit 19 determines an area where the magnitude of the movement of the person or animal is equal to or greater than a preset threshold as a non-light projection area.

The determination unit 19 determines the non-light projection area by giving priority to the detection result of the sensor unit 17 over the state determined based on the first information and the position of the transparent member 9 determined based on the second information. For example, the determining unit 19 determines that the area corresponds to a floor or room that has been determined to be unoccupied, unoccupied, unlocked, equipment not in operation, and not open for business, and corresponds to the position of a window. Even if it is a region, a region in which the detection result of the sensor of the sensor unit 17 is equal to or higher than a threshold value is determined as a non-light projection region.

Further, even if there is no light shielding device information in the second information and there is no detection result of the sensor unit 17, the determination unit 19 determines the non-light emitting area according to the control state of the light shielding device by the light shielding device control unit 18. can be determined. The determining unit 19 does not determine the area of the window corresponding to the shading device whose control state by the shading device control unit 18 is in the blocking state as a non-light emitting area. Further, the determination unit 19 determines the area of the window corresponding to the shading device whose control state by the shading device control unit 18 is in the open state as a non-light emitting area.

Note that the method of determining the non-light projection area by the determination unit 19 is not limited to the example described above, and is based on at least the first information, the second information, the detection result by the sensor unit 17, and the control state by the light shielding device control unit 18. It is only necessary to be able to determine the non-light projection area based on one.

The determination unit 19 determines in real time whether or not there is a non-light projection area in the area to be measured of the object 2 to be measured by the measurement system 1 . Note that, instead of determining the non-light emitting area in real time, for example, the determination unit 19 determines all the non-light emitting areas of the measurement object 2 before the measurement system 1 measures the measurement object 2. It is also possible to judge.

The light projection range determination unit 20 determines a light projection range, which is a range of the measurement target object 2 where light is projected by the light projection unit 11, based on the non-light projection area determined by the determination unit 19. The light projection range determining unit 20 determines a range excluding at least a non-light projection area of the measurement target object 2 as a light projection range.

The light projection range determination unit 20 determines in real time the light projection range in a region of the measurement target object 2 to be measured by the measurement system 1 . Note that, instead of determining the light projection range in real time, the light projection range determination unit 20 determines, for example, all the light projection ranges of the measurement target object 2 before the measurement system 1 measures the measurement target object 2. can also be determined.

If the measurement target area of the measurement target object 2 by the measurement system 1 does not include a non-light projection area, the light projection control unit 21 sets the measurement target area of the measurement target object 2 as the light projection range. , causes the light projecting unit 11 to project light onto the measurement target object 2 . In addition, when a non-light emitting area is included in the measurement target area of the measurement target 2 by the measurement system 1, the light emitting control unit 21 sets the light emitting range to zero or non-emitting light to the light emitting range. The light projecting unit 11 is not caused to project light to the non-light projecting region by excluding the light region.

For example, the light projection control unit 21 can prevent the light projection unit 11 from projecting light to a non-light projection area by not allowing the light projection unit 11 to project light onto the measurement target object 2, and By not allowing part of the light to be emitted from the light projector 11, it is possible to prevent the light projector 11 from projecting light to the non-light projecting area.

FIG. 7 is a diagram illustrating an example of control of the light projecting section by the light projecting control section according to the first embodiment. In the example shown in FIG. 7, in the three-story building that is the measurement target object 2, there is no non-light projection area that is a region where light may be projected to the non-measurement target 50 through the transparent member 9. Therefore, in the example shown in FIG. 7, the measurement system 1 measures the three-dimensional shape of the measurement object 2 by projecting light onto the entire outer surface 4 of the measurement object 2, including the transparent member 9.

FIG. 8 is a diagram showing another example of control of the light projecting section by the light projecting control section according to the first embodiment. In the example shown in FIG. 8, there is a non-measurement object 50 on the second floor of a three-story building, which is the measurement object 2, and when light is projected toward the transparent member 9 on the second floor, the non-measurement object 50 exists on the second floor. There is a possibility that light may fall on the object 50. Therefore, in the example shown in FIG. 8, the measurement system 1 projects light onto the outer surface 4 of the measurement object 2 excluding the transparent member 9 on the second floor or the outer surface 4 of the measurement object 2 excluding the second floor. The three-dimensional shape of the measurement object 2 is measured.

FIG. 9 is a diagram illustrating an example of a light projection range of the measurement system according to the first embodiment. In the example shown in FIG. 9, the measurement system 1 divides the area 6 of the measurement target 2 into five areas 61, 62, 63, 64, and 65 in the left and right direction, which is a direction perpendicular to the moving direction of the gondola 7. measure. That is, in the measurement system 1 shown in FIG. 9, the length in the left-right direction that can be projected by the light projector 11 at one time is narrower than the length in the left-right direction of the area 6, and is 5 minutes of the length in the left-right direction of the area 6. It is about 1.

As shown in FIG. 9, the measurement system 1 measures by projecting light while moving vertically in the order of regions 61, 62, 63, 64, and 65, but some of the regions 62 and 63 are non-light emitting regions. Therefore, when the areas 62 and 63 become non-light emitting areas, no light is emitted. In this way, in the measurement system 1, the length in the horizontal direction that can be projected at one time by the light projecting unit 11 is shortened, so that the length in the horizontal direction that can be projected at one time is the length in the horizontal direction of the area 6. It is possible to set the range of light emitted more precisely than in the case of Therefore, in the measurement system 1, the range in which no light is projected can be brought closer to the non-light projected area.

In the above, an example has been described in which the measurement system 1 measures the measurement object 2 while the gondola 7 on which the measurement system 1 is arranged moves vertically. However, when the rail 5 extends in the left-right direction, the gondola 7 The measurement system 1 measures the measurement object 2 while moving in the left-right direction.

FIG. 10 is a diagram showing still another example of control of the light projecting section by the light projecting control section according to the first embodiment. In the example shown in FIG. 10, the measurement system 1 is moving in the left-right direction, and the light projection control section 21 turns on the light projection section 11 when the light projection section 11 is in a position facing the light projection range. Light is projected from a light projecting unit 11 to a light projecting range. Further, the light projection control section 21 turns off the light projection section 11 and prevents the light projection section 11 from projecting light to the non-light projection region when the light projection section 11 is located at a position facing the non-light projection region.

In this way, the light projection control section 21 controls the light projection control section 21 when the light projection section 11 is moving the light projection section 11 and the measurement section 12 by the moving mechanism and the position of light projection by the light projection section 11 becomes a non-light projection area. The light projection by the light projection unit 11 to the light projection area is stopped. Thereby, the measurement system 1 can suppress light projection onto the non-measurement object 50 in the internal space of the measurement object 2.

In the examples shown in FIGS. 9 and 10, the light projecting section 11 cannot change the range of light projection, so the light projection control section 21 controls the light projecting section 11 to determine whether or not to project light. However, the light projecting section 11 may be configured to narrow the range of light projecting.

For example, the light projecting section 11 may have a configuration including a plurality of divided light projecting sections each capable of projecting light onto different areas of the measurement target object 2. When a non-light projection area is included in a part of the area that can be irradiated with a linear laser beam by the light projection unit 11, the light projection range determination unit 20 determines a light projection range that does not include the non-light projection area. . The light projection control section 21 then projects light from one or more of the divided light projection sections corresponding to the non-light projection area among the plurality of divided light projection sections based on the light projection range determined by the light projection range determining section 20. Don't let it shine.

FIG. 11 is a diagram illustrating an example of the configuration of the light projecting section according to the first embodiment. FIG. 12 is a diagram showing a state in which light is projected from some of the plurality of divided light projecting sections included in the light projecting section shown in FIG. 11. The light projecting section 11 shown in FIG. 11 includes a plurality of divided light projecting sections 71, 72, 73, 74, 75, and 76 that can each project light onto different areas of the measurement target 2 in the left and right directions. When all of the plurality of divided light projectors 71, 72, 73, 74, 75, and 76 are in the on state, laser light is emitted from the light projector 11 to the light projection range of the measurement target object 2. In the following, when each of the plurality of divided light projectors 71, 72, 73, 74, 75, and 76 is shown without being individually distinguished, it may be referred to as a divided light projector 70. Note that the number of divided light projectors 70 is not limited to the example shown in FIG. 11, and may be 5 or less, or 7 or more.

The light projection control section 21 can individually turn on and off each of the plurality of divided light projection sections 71, 72, 73, 74, 75, and 76. When the area facing the divided light projectors 73 and 74 becomes a non-light projecting area, the light projection range determining unit 20 determines, for example, the area facing the divided light projectors 71, 72, 75, and 76 as the light projection range. decide. In this case, as shown in FIG. 12, the light projection control section 21 turns on the divided light projection sections 71, 72, 75, and 76, and turns off the divided light projection sections 73 and 74. Therefore, the divided light projectors 71, 72, 75, and 76 project light onto the measurement target object 2, and the divided light projectors 73 and 74 do not project light onto the measurement target object 2.

As a result, part of the linear laser light is projected from the light projecting unit 11 into the light projecting range onto the measurement object 2, but the light is not projected onto the transparent member 9. In this way, the light projecting section 11 shown in FIGS. 11 and 12 can set the light projecting range in detail, and can bring the non-light projecting range close to the non-light projecting area.

FIG. 13 is a diagram showing another example of the configuration of the light projecting section according to the first embodiment. The light projecting section 11 shown in FIG. 13 includes an emitting section 91 that emits linear laser light, and a blocking section 92 that can block at least a portion of the laser light emitted from the emitting section 91. The blocking section 92 shown in FIG. 13 includes a plate-like member in which a plurality of fixed slits are formed, and a driving section that can change the relative position of the emission section 91 and the fixed slit.

The light projection control section 21 changes the position of the fixed slit through which the laser light emitted from the emission section 91 passes, based on the light projection range determined by the light projection range determination section 20, so that the laser beam emitted from the emission section 91 can be emitted from the emission section 91. It is possible to block at least a portion of the laser light. Furthermore, the light projection control section 21 sets the position of the fixed slit to a position that does not block the laser beam emitted from the emission section 91 based on the light projection range determined by the light emission range determination section 20. The laser beam emitted from the laser beam 91 can be irradiated onto the light projection range without being blocked by the blocking section 92.

FIG. 14 is a diagram showing an example of another configuration of the blocking section in the light projecting section according to the first embodiment. The light projecting section 11 shown in FIG. 14 includes an emitting section 91 that emits linear laser light, and a blocking section 92 that can block at least a portion of the laser light emitted from the emitting section 91. The blocking section 92 shown in FIG. 14 is a variable slit that can change the portion through which the laser beam is transmitted.

The light projection control section 21 controls the variable slit based on the light projection range determined by the light projection range determining section 20, and changes the portion of the blocking section 92 through which the laser light emitted from the emission section 91 passes. . Thereby, the light projection control section 21 can control the light projection range without blocking at least a part of the laser light emitted from the emission section 91 or without causing the cutoff section 92 to block the laser light emitted from the emission section 91. can be irradiated.

FIG. 15 is a diagram illustrating an example of still another configuration of the blocking section in the light projecting section according to the first embodiment. The light projecting section 11 shown in FIG. 15 includes an emitting section 91 that emits linear laser light, and a blocking section 92 that can block at least a portion of the laser light emitted from the emitting section 91. The blocking section 92 shown in FIG. 15 is a vertical blind whose portion through which laser light is transmitted can be changed.

The light projection control section 21 controls the vertical blind based on the light projection range determined by the light projection range determining section 20, and changes the portion of the blocking section 92 through which the laser light emitted from the emission section 91 passes. . Thereby, the light projection control section 21 can control the light projection range without blocking at least a part of the laser light emitted from the emission section 91 or without causing the cutoff section 92 to block the laser light emitted from the emission section 91. can be irradiated.

FIG. 16 is a diagram illustrating an example of still another configuration of the light projecting section according to the first embodiment. The light projection unit 11 shown in FIG. 16 is a projector that projects a linear image. Based on the light projection range determined by the light projection range determining section 20, the light projection control section 21 blackens the image projected from the light projection section 11 onto the non-light projection area among the linear images. Thereby, the light projecting section 11 shown in FIG. 16 can suppress light projecting to non-light projecting areas.

Next, processing by the measurement system 1 will be explained using a flowchart. FIG. 17 is a flowchart illustrating an example of processing by the measurement system according to the first embodiment. As shown in FIG. 17, the measurement system 1 detects the position of the measurement system 1 using the position detection unit 10 (step S10).

Next, the measurement system 1 determines whether the measurement timing has come based on the position of the measurement system 1 (step S11). In the process of step S11, the measurement system 1 determines that the measurement timing has come, for example, every time the gondola 7 moves a preset distance.

When the measurement system 1 determines that the measurement timing has come (step S11: Yes), the measurement system 1 executes the measurement process (step S12). The measurement process in step S12 is the process in steps S20 to S24 shown in FIG. 18, and will be described in detail later.

When the process of step S12 is completed, or when it is determined that the measurement timing has not come (step S11: No), the measurement system 1 determines whether the measurement is completed (step S13). In the process of step S13, the measurement system 1 determines _that the measurement has ended when, for example, the positions facing the areas 6 ₁ to _{6 44 shown} in FIG. 1 are moved in the vertical direction. judge.

When the measurement system 1 determines that the measurement has not been completed (step S13: No), the process moves to step S10. Moreover, when the measurement system 1 determines that the measurement has ended (step S13: Yes), the measurement results for each measurement timing are connected and synthesized (step S14). The measurement system 1 outputs the measurement results synthesized in step S14 (step S15), and ends the process shown in FIG. 17.

FIG. 18 is a flowchart illustrating an example of measurement processing by the measurement system according to the first embodiment. As shown in FIG. 18, the measurement system 1 acquires at least one of the first information, the second information, and the detection result of the sensor unit 17 (step S20).

The determination unit 19 of the measurement system 1 determines the presence or absence of a non-light projection area based on the information acquired in step S20 (step S21). For example, when the measurement target object 2 is a building, if the determination unit 19 determines that a person exists inside the measurement target object 2 based on the first information, the determination unit 19 determines that a person exists in the internal space of the measurement target object 2. Then, the area corresponding to the determined area is determined as a non-light projection area. Further, the determination unit 19 determines the area corresponding to the position of the transparent member 9 as a non-light projection area, for example, based on the position information included in the second information. Further, the determination unit 19 determines, for example, an area where the detection result by the sensor of the sensor unit 17 is equal to or greater than a preset threshold value as a non-light projection area.

Next, the light projection range determination unit 20 of the measurement system 1 determines the light projection range based on the presence or absence of the non-light projection area determined in step S21 (step S22). If the light projecting unit 11 is configured such that it cannot partially turn on/off light projection and it is determined in step S21 that there is a non-light projecting area, the light projection range determination unit 20 determines the light projection range in the process of step S22. Decide on zero. A light projection range of zero means that there is no light projection range. In addition, if the light projecting unit 11 is configured such that the light projecting unit 11 cannot partially turn on/off the light projecting, and it is determined in step S21 that there is no non-light projecting area, the light projecting range determination unit 20 determines that the light projecting area is not set in the process of step S22. The range is determined to be the entire range that can be projected by the light projecting section 11. Furthermore, when the light projecting section 11 is configured to partially turn on and off the light projection and it is determined in step S21 that there is a non-light projecting area, the light projecting range determining unit 20 determines the range excluding the non-light projecting area. Decide on the light projection range.

Next, the light projection control section 21 of the measurement system 1 causes the light projection section 11 to project light onto the light projection range determined in step S22 (step S23). In the process of step S22, the light projection control unit 21 does not cause the light projection unit 11 to perform light projection when the light projection range is zero. Furthermore, when the light projection range is the entire range in which light can be projected by the light projection section 11, the light projection control section 21 causes the light projection section 11 to project light onto the entire range in which light can be projected. Moreover, when the light projection range is part of the range in which light can be projected by the light projecting part 11, the light projection control part 21 causes the light projecting part 11 to project light onto a part of the range in which light can be projected.

Next, the measurement unit 12 of the measurement system 1 images the light projection range, calculates the three-dimensional shape of the measurement target object 2 in the light projection range from the captured image (step S24), and ends the process shown in FIG. do.

In the example shown in FIG. 18, the measurement system 1 determines the light projection range at each measurement timing, but the entire light projection range may also be determined before measuring the measurement object 2. can. Moreover, the measurement system 1 can also determine the light projection range of the area 6 to be measured, for example, before measuring the area 6 to be measured among the plurality of areas 6.

FIG. 19 is a diagram showing an example of the hardware configuration of the measurement system according to the first embodiment. As shown in FIG. 19, the measurement system 1 includes a computer including a processor 101, a memory 102, and an interface circuit 103.

The processor 101, the memory 102, and the interface circuit 103 can exchange information with each other via a bus 104, for example. The storage unit 33 is realized by the memory 102. The processor 101 reads out and executes the program stored in the memory 102, thereby controlling the calculation unit 32 and the synthesis unit 34 of the measurement unit 12, the first information acquisition unit 15, the second information acquisition unit 16, and the shading device control unit 18. , the determining section 19, the light projection range determining section 20, and the light projection control section 21. The processor 101 is an example of a processing circuit, and includes one or more of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a system LSI (Large Scale Integration).

The memory 102 includes one or more of RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory). include. Furthermore, the memory 102 includes a recording medium in which a computer-readable program is recorded. Such recording media include one or more of nonvolatile or volatile semiconductor memory, magnetic disk, flexible memory, optical disk, compact disk, and DVD (Digital Versatile Disc). Note that the measurement system 1 may include integrated circuits such as ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array).

In the example described above, the measurement system 1 is composed of one unitary device, but may be composed of two or more devices. When the measurement system 1 is composed of two or more devices, each of the two or more devices has the hardware configuration shown in FIG. 19, for example. Note that communication between two or more devices is performed via a communication device (not shown). Furthermore, the measurement system 1 may include a terminal device and a server device.

In the above-described example, the measurement system 1 emits a linear laser beam from the light projecting unit 11 or projects a linear image from the light projecting unit 11, and measures the object to be measured using a light cutting method or the like. However, the method for measuring the three-dimensional shape of the object to be measured 2 is not limited to the example described above. For example, the measurement system 1 may be configured to measure the three-dimensional shape of the measurement object 2 using a LiDAR (Light Detection And Ranging) method. In this case, the measurement system 1 includes a light receiving section instead of the imaging section 31. The calculation unit 32 calculates the area of the measurement target 2 irradiated with the linear laser beam based on the time taken for the laser light emitted from the light projecting unit 11 to be reflected on the measurement target 2 and received by the light receiving unit. A partial shape that is a three-dimensional shape can be calculated. In addition, when the measurement target object 2 is irradiated with a plurality of laser beams modulated by the light projecting unit 11, the calculation unit 32 calculates the following: It is possible to calculate a partial shape that is a three-dimensional shape of a region of the measurement object 2 that is irradiated with the linear laser beam.

As described above, the measurement system 1 according to the first embodiment includes the light projection section 11, the measurement section 12, the determination section 19, the light projection range determination section 20, and the light projection control section 21. The light projecting unit 11 projects light onto the measurement object 2, which is partially formed by a transparent member 9 that transmits light. The measurement unit 12 measures an area of the measurement target object 2 onto which light is projected by the light projection unit 11 . The determination unit 19 determines a non-light projection region of the measurement object 2 that is a region where light may be projected to a non-measurement object 50 in the internal space of the measurement object 2 via the transparent member 9. . The light projection range determining section 20 determines the light projection range, which is the range of the measurement target object 2 where light is projected by the light projecting section 11, based on the determination result by the determining section 19. The light projection control section 21 causes the light projection section 11 to project light onto a light projection range. Thereby, the measurement system 1 can suppress light projection onto the non-measurement object 50 in the internal space of the measurement object 2.

The measurement system 1 also acquires first information indicating whether there is a possibility that the non-measurement object 50 exists inside the measurement object 2. The determination unit 19 determines the non-light projection area based on the information acquired by the first information acquisition unit 15. Thereby, the measurement system 1 can suppress light projection to the non-measurement object 50 in the internal space of the measurement object 2 based on the acquired information.

Furthermore, the measurement object 2 is a building, and the non-measurement object 50 is a person. The first information acquisition unit 15 includes entry information indicating whether or not a person has entered a building, a floor inside the building, or a room inside the floor; presence information indicating whether or not a person is present on the floor or the room; At least equipment information indicating the operating status of equipment placed on the floor or room, locking information indicating the locking status of the building, floor, or room, and information indicating the business hours of the business occupying the floor or room. One is acquired as the first information. Thereby, the measurement system 1 can suppress the projection of light onto a person present inside the measurement target object 2 based on the acquired information.

Furthermore, the measurement system 1 acquires second information including position information indicating the position of the transparent member 9. The determination unit 19 determines the non-light projection area based on the second information acquired by the second information acquisition unit 16. Thereby, the measurement system 1 can accurately suppress the projection of light onto a person present inside the measurement target object 2 based on the acquired information.

Furthermore, the transparent member 9 forms a window in the measurement target object 2 . The second information acquisition unit 16 acquires, as second information, information including shading device information indicating the state of a shading device that switches between blocking and non-blocking of light from the window provided in the window to the internal space of the structure. Thereby, the measurement system 1 can measure the measurement target object 2 according to the state of the light blocking device even when the light projecting section 11 is in a position to project light onto the window.

The measurement system 1 also includes a light shielding device control section 18 that controls the light shielding device. The determination unit 19 determines the non-light projection area based on the control state of the light shielding device by the light shielding device control unit 18. Thereby, the measurement system 1 can appropriately measure the measurement object 2 according to the control state of the light blocking device even when the light projecting unit 11 is in a position to project light onto the window. .

Furthermore, the measurement system 1 includes a sensor section 17 that is arranged facing the measurement target object 2 . The determination unit 19 determines the non-light projection area based on the detection result by the sensor unit 17. Thereby, the measurement system 1 can accurately determine the non-light projection area, for example, even when information is not acquired from the outside.

Further, the sensor unit 17 detects at least one of brightness, temperature, sound, polarization, reflection distance, and movement of the non-measurement target 50. Thereby, the measurement system 1 can determine the non-light projection area with higher accuracy.

Further, the light projection control section 21 stops the light projection section 11 from projecting light onto a non-light projection area of the measurement target object 2 that is not included in the light projection range determined by the light projection range determination section 20 . Thereby, the measurement system 1 can suppress light projection onto the non-measurement object 50 in the internal space of the measurement object 2.

Further, the light projecting section 11 includes a plurality of divided light projecting sections 71 , 72 , 73 , 74 , 75 , and 76 that can each project light onto different regions of the measurement target object 2 . The light projection control section 21 stops light projection by some of the plurality of divided light projection sections 71, 72, 73, 74, 75, and 76 that correspond to non-light projection areas. Thereby, the measurement system 1 can avoid that the range in which light is not projected by the light projecting section 11 becomes too large relative to the non-light projecting area.

Furthermore, a moving mechanism for moving the positions of the light projecting section 11 and the measuring section 12 is provided. The light projection control unit 21 controls the light projection area for the non-light projection area when the light projection position by the light projection unit 11 becomes a non-light projection area while the light projection unit 11 and the measurement unit 12 are being moved by the moving mechanism. Light projection by the light projection unit 11 is stopped. Thereby, the measurement system 1 can suppress light projection onto the non-measurement object 50 in the internal space of the measurement object 2.

Further, the light projecting section 11 includes an emitting section 91 that emits light, and a blocking section 92 that can block at least a portion of the light emitted from the emitting section 91. The light projection control section 21 controls the blocking section 92 to stop the light projection section 11 from projecting light onto the non-light projection area. Thereby, the measurement system 1 can bring the range in which light is not projected by the light projecting unit 11 closer to the non-light projecting area.

Further, the blocking section 92 includes a fixed slit whose relative position with respect to the emission section 91 can be changed, a variable slit whose portion through which light is transmitted can be changed, or a vertical blind. Thereby, the measurement system 1 can accurately control the range in which the light projecting section 11 does not project light.

Further, the light projector 11 is a projector that projects an image. The light projection control unit 21 blackens the image projected from the projector onto the non-light projection area. Thereby, the measurement system 1 can accurately control the range in which the light projecting section 11 does not project light.

Further, the light projecting section 11 emits linear light. The measurement unit 12 includes an imaging unit 31, a calculation unit 32, and a synthesis unit 34. The imaging unit 31 images an area of the measurement object 2 that is irradiated with the laser beam. The calculation unit 32 calculates the three-dimensional shape of the non-measurement object 50 based on the image captured by the imaging unit 31. The synthesizing unit 34 connects the three-dimensional shapes calculated by the calculating unit 32 to generate data indicating the three-dimensional shape of the measurement target object 2. Thereby, the measurement system 1 can accurately measure the three-dimensional shape of the non-measurement object 50 while suppressing light projection onto the non-measurement object 50 in the internal space of the measurement object 2.

Embodiment 2.
The measurement system according to the second embodiment includes a drive unit that changes the direction of each of the light projection unit and the measurement unit, and is also capable of determining non-light projection areas based on information from the cleaning robot. , which is different from the measurement system 1 according to the first embodiment. In the following, components having the same functions as those in Embodiment 1 will be denoted by the same reference numerals and explanations will be omitted, and differences from measurement system 1 in Embodiment 1 will be mainly explained.

FIG. 20 is a diagram illustrating an example of the configuration of a measurement system according to the second embodiment. As shown in FIG. 20, the measurement system 1A according to the second embodiment is different from the embodiment in that it further includes a drive section 22 and also includes a second information acquisition section 16A instead of the second information acquisition section 16. This is different from the measurement system 1 according to the first embodiment.

The drive unit 22 changes the orientation of each of the light projecting unit 11 and the measuring unit 12. FIG. 21 is a diagram showing how the direction of the light projecting section is changed by the driving section according to the second embodiment. The drive section 22 shown in FIG. 20 rotates the light projecting section 11 to change the direction of the light projecting section 11, as shown in FIG. 21. Furthermore, in accordance with the change in the orientation of the light projecting section 11, the driving section 22 changes the direction of the measuring section 12 so that the area onto which light is projected from the light projecting section 11 can be imaged.

When the gondola 7 moves in the vertical direction, the directions of each of the light projecting section 11 and the measuring section 12 are changed in the horizontal direction; The direction is changed vertically.

The light projection control section 21 controls the light projection control section 21 when the position of light projection by the light projection section 11 becomes a non-light projection area while the direction of each of the light projection section 11 and the measurement section 12 is changed by the drive section 22. Light projection by the light projection unit 11 to the non-light projection area is stopped. Thereby, the measurement system 1A can measure a plurality of areas 6 at once, for example, without changing the position of the gondola 7.

Further, the second information acquisition unit 16A shown in FIG. 20 acquires, as second information, information including detection information that is information detected by a cleaning robot that cleans the outer surface 4 of the measurement target object 2. The cleaning robot is, for example, a window cleaning robot, but it may be any robot that cleans the outer surface 4 of the measurement target object 2, and is not limited to a window cleaning robot.

The determination unit 19 detects a non-light projection area based on detection information that is information detected by a cleaning robot that cleans the outer surface of the measurement target object 2. The detection information is, for example, information indicating a cleaned position or information indicating the position of a dirty area on the outer surface 4 of the measurement target object 2. When the cleaning robot is a window cleaning robot, the information indicating the cleaning position is information indicating the window position. The dirty place on the outer surface 4 of the measurement target object 2 is, for example, a region of the outer surface 4 other than the window.

The determination unit 19 determines the position of the window based on, for example, information indicating the cleaned position instead of the second information, and uses the determination result, the first information, the detection result of the sensor unit 17, and the light shielding device control. Based on at least one of the control states by the unit 18, a non-light projection area can be determined. Further, the determination unit 19 determines the area other than the window based on, for example, information indicating the position of a dirty place on the outer surface 4 of the measurement target object 2, and uses the determination result, the first information, and the sensor unit The non-light projection area can be determined based on at least one of the detection result of 17 and the control state by the light shielding device control unit 18.

FIG. 22 is a diagram showing the relationship between the cleaning robot and the measurement system according to the second embodiment. As shown in FIG. 22, the cleaning robot cleans the outer surface 4 of the measurement object 2 while moving along the outer surface of the measurement object 2. As shown in FIG. Further, the cleaning robot outputs information indicating a cleaned position or information indicating a dirty location on the outer surface of the object to be measured 2 to a building management system (not shown) as detection information. The measurement system 1A acquires detection information output from a cleaning robot from a building management system (not shown), and determines a non-light projection area based on the acquired detection information.

An example of the hardware configuration of the measurement system 1A according to the second embodiment is the same as the hardware configuration of the measurement system 1 shown in FIG. 19. The processor 101 reads out and executes the program stored in the memory 102, thereby controlling the calculation unit 32 and the synthesis unit 34 of the measurement unit 12, the first information acquisition unit 15, the second information acquisition unit 16A, and the shading device control unit 18. , the determining section 19, the light projection range determining section 20, the light projection control section 21, and the driving section 22.

In the example described above, the measurement system 1A is composed of one unitary device, but may be composed of two or more devices. When the measurement system 1A is composed of two or more devices, each of the two or more devices has, for example, the hardware configuration shown in FIG. 19. Note that communication between two or more devices is performed via a communication device (not shown). Furthermore, the measurement system 1A may include a terminal device and a server device.

Note that the measurement system 1A may be configured to include a second information acquisition section 16 instead of the second information acquisition section 16A. Furthermore, the measurement system 1A may have a configuration that does not include the drive unit 22.

As described above, the measurement system 1A according to the second embodiment includes the drive unit 22 that changes the direction of each of the light projection unit 11 and the measurement unit 12. The light projection control section 21 controls the light projection control section 21 when the position of light projection by the light projection section 11 becomes a non-light projection area while the direction of each of the light projection section 11 and the measurement section 12 is changed by the drive section 22. Light projection by the light projection unit 11 to the non-light projection area is stopped. Thereby, the measurement system 1A can measure a plurality of areas 6 at once, for example, without changing the position of the gondola 7.

Further, the second information acquisition unit 16A acquires second information including position information indicating the position of the transparent member 9. The measurement object 2 is a building or a vehicle, and the transparent member 9 is glass forming a window in the measurement object 2. The second information acquisition unit 16A acquires information including information detected by a cleaning robot that cleans the outer surface 4 of the measurement target object 2 as second information. Thereby, the measurement system 1A can accurately determine the position of the transparent member 9.

Embodiment 3.
The measurement system according to the third embodiment differs from the measurement system 1 according to the first embodiment in that it measures a two-dimensional image showing the surface state of the measurement object 2 instead of the three-dimensional shape of the measurement object 2. . In the following, components having the same functions as those in Embodiment 1 will be denoted by the same reference numerals and explanations will be omitted, and differences from measurement system 1 in Embodiment 1 will be mainly explained. Note that the measurement system according to the third embodiment is configured to measure a two-dimensional image showing the surface state of the measurement object 2 instead of the three-dimensional shape of the measurement object 2 in the measurement system 1A according to the second embodiment. It may be.

FIG. 23 is a diagram illustrating an example of the configuration of a measurement system according to the third embodiment. As shown in FIG. 23, the measurement system 1B according to the third embodiment includes a light projection section 11B, a measurement section 12B, and a storage section 13B instead of the light projection section 11, the measurement section 12, and the storage section 13. This differs from the measurement system 1 according to the first embodiment in this point.

The light projecting section 11B includes an emitting section 91B that includes a light source that emits illumination light, and a blocking section 92B that can block at least a portion of the illumination light emitted from the emitting section 91B. Note that the blocking section 92B is a fixed slit whose relative position with respect to the emission section 91B can be changed, a variable slit whose portion that transmits the illumination light emitted from the emission section 91B can be changed, or a vertical blind. Further, the light projector 11B may be a projector. The illumination light emitted from the light projector 11B is visible light, but may also be near-infrared light.

The measurement unit 12B differs from the measurement unit 12 in that it includes a storage unit 33B and a synthesis unit 34B instead of the storage unit 33 and the synthesis unit 34, and does not include the calculation unit 32. The imaging unit 31 of the measurement unit 12B images the light projection area of the light projection unit 11B and outputs data of a two-dimensional image of the light projection area. The storage unit 33B of the measurement unit 12B stores partial image data, which is data of a two-dimensional image of the region of the measurement object 2 captured by the imaging unit 31, at a position indicating the position of the measurement system 1B measured by the position detection unit 10. Store in association with data.

The synthesis unit 34B connects the plurality of partial image data to synthesize a plurality of partial images based on the data of the plurality of partial images stored in the storage unit 33B and the position data of the plurality of measurement systems 1B, and synthesizes the plurality of partial images to measure the measurement target. Entire image data, which is data of a two-dimensional image of the entire object 2, is generated.

The storage unit 13B stores the entire image data generated by the measurement unit 12B. The output unit 14 outputs the entire image data generated by the measurement unit 12B and stored in the storage unit 13B to the outside. For example, the output unit 14 can externally output the entire image data to a cloud server (not shown) via wireless communication or wired communication.

Note that the measurement system 1B may be configured to include a calculation unit 32 and generate overall shape data in addition to the overall image data. In this case, the measurement system 1B may selectively or time-divisionally execute a three-dimensional shape measurement mode for measuring the three-dimensional shape of the measurement object 2 and a measurement mode for measuring a two-dimensional image of the measurement object 2. Can be done.

An example of the hardware configuration of the measurement system 1B according to the third embodiment is the same as the hardware configuration of the measurement system 1 shown in FIG. 19. The processor 101 reads and executes the program stored in the memory 102, thereby controlling the composition section 34B of the measurement section 12B, the first information acquisition section 15, the second information acquisition section 16, the shading device control section 18, and the determination section 19. , the light projection range determining section 20, the light projection control section 21, and the like.

In the example described above, the measurement system 1B is composed of one unitary device, but may be composed of two or more devices. When the measurement system 1B is composed of two or more devices, each of the two or more devices has the hardware configuration shown in FIG. 19, for example. Note that communication between two or more devices is performed via a communication device (not shown). Furthermore, the measurement system 1B may include a terminal device and a server device.

As described above, the measurement system 1B according to the third embodiment includes the light projection section 11B, the measurement section 12B, the determination section 19, the light projection range determination section 20, and the light projection control section 21. The light projecting unit 11B projects light onto the measurement object 2, which is partially formed by the transparent member 9. The measurement unit 12B measures a two-dimensional image of a region of the measurement target object 2 onto which light is projected by the light projection unit 11B. The determination unit 19 determines a non-light projection region of the measurement object 2 that is a region where light may be projected to a non-measurement object 50 in the internal space of the measurement object 2 via the transparent member 9. . The light projection range determining section 20 determines the light projection range of the measurement target object 2, which is the range in which light is projected by the light projecting section 11B, based on the determination result by the determining section 19. The light projection control section 21 causes the light projection section 11B to project light onto a light projection range. Thereby, the measurement system 1B can suppress light projection onto the non-measurement object 50 inside the measurement object 2 space. Thereby, the measurement system 1B can suppress light projection onto the non-measurement object 50 in the internal space of the measurement object 2.

Furthermore, the measurement unit 12B connects the images captured by the imaging unit 31, which captures an image of the area of the measurement target 2 irradiated with light, and the image capture unit 31 to show a two-dimensional image of the measurement target 2. and a synthesizing section 34B that generates data. Thereby, the measurement system 1B can generate data representing a two-dimensional image of the measurement object 2 while suppressing light projection onto non-measurement objects in the internal space of the measurement object 2.

The configurations shown in the embodiments above are merely examples, and can be combined with other known techniques, or can be combined with other embodiments, within the scope of the gist. It is also possible to omit or change part of the configuration.

1, 1A, 1B measurement system, 2 measurement object, 3 outer wall, 4 outer surface, 5, _{5 1} to 5 ₄₈ , 8 rail, 6, 6 ₁ to 6 ₄₄ area, 7 gondola, 9 transparent member, 10 position Detection unit, 11, 11B Light projecting unit, 12, 12B Measuring unit, 13, 13B, 33, 33B Storage unit, 14 Output unit, 15 First information acquisition unit, 16, 16A Second information acquisition unit, 17 Sensor unit, 18 light shielding device control unit, 19 determination unit, 20 light projection range determination unit, 21 light projection control unit, 22 drive unit, 31 imaging unit, 32 calculation unit, 34, 34B synthesis unit, 50 non-measurement target, 70, 71, 72, 73, 74, 75, 76 split light projection section, 80 crane, 81 wire rope, 91, 91B emission section, 92, 92B blocking section.

Claims (17)

a light projecting unit that projects light onto a measurement target, a part of which is formed of a transparent member that transmits light;
a measurement unit that measures an area of the measurement target where the light is projected by the light projection unit;
a determination unit that determines a non-light projection area that is a region of the measurement object where the light may be projected to a non-measurement object in the internal space of the measurement object through the transparent member;
a light projection range determination unit that determines a light projection range of the measurement target object that is a range in which the light projection unit projects the light based on a determination result by the determination unit;
The light projecting unit executes the light projecting to the light projecting range, and the light projecting unit executes the light projecting to the non-light projecting area of the measurement target that is not included in the light projecting range determined by the light projecting range determining unit. a light projection control section that stops the light projection by the light section;
Equipped with
The light projecting section includes:
an emitting section that emits light;
comprising a blocking part that blocks part of the light emitted from the emitting part,
The light projection control section includes:
A measurement system characterized by controlling the blocking section to stop the light projection by the light projecting section to the non-light projecting area. comprising a first information acquisition unit that acquires first information indicating whether or not there is a possibility that the non-measurement target exists inside the measurement target;
The determination unit includes:
The measurement system according to claim 1, wherein the non-light projection area is determined based on information acquired by the first information acquisition unit. The measurement target is
It is a building,
The non-measurement target is
is a person,
The first information acquisition unit includes:
Entry information indicating whether the person has entered the building, a floor inside the building, or a room inside the floor; presence information indicating whether the person is present on the floor or the room; Equipment information indicating the operating status of equipment placed on the floor or the room, locking information indicating the locking status of the building, floor, or room, and business hours of the business occupying the floor or room. The measurement system according to claim 2, wherein at least one of the information indicating the above is acquired as the first information. comprising a second information acquisition unit that acquires second information including position information indicating the position of the transparent member;
The determination unit includes:
The measurement system according to any one of claims 1 to 3, wherein the non-light projection area is determined based on the second information acquired by the second information acquisition unit. comprising a second information acquisition unit that acquires second information including position information indicating the position of the transparent member;
The measurement target is
a building or vehicle;
The second information acquisition unit includes:
The measurement system according to any one of claims 1 to 3, wherein information including information detected by a cleaning robot that cleans the outer surface of the measurement object is acquired as the second information. comprising a sensor section disposed facing the measurement target,
The determination unit includes:
The measurement system according to any one of claims 1 to 5, wherein the non-light projection area is determined based on a detection result by the sensor section. The sensor section is
The measurement system according to claim 6, wherein at least one of brightness, temperature, sound, polarization, reflection distance, and motion of the non-measurement target is detected. The light projecting section is
comprising a plurality of divided light projecting units each capable of projecting light onto different areas of the measurement target,
The light projection control section includes:
The measurement according to any one of claims 1 to 7, characterized in that the light projection by some of the plurality of divided light projection units corresponding to the non-light projection area is stopped. system. comprising a moving mechanism that moves the positions of the light projecting unit and the measuring unit,
The light projection control section includes:
When the light projecting unit and the measuring unit are moved by the moving mechanism and the position of the light projecting by the light projecting unit is in the area, the light projecting by the light projecting unit to the area is The measurement system according to any one of claims 1 to 8, characterized in that the measurement system is stopped. comprising a drive unit that changes the direction of each of the light projecting unit and the measuring unit,
The light projection control section includes:
When the position of the light emitted by the light emitting part is in the area while the direction of each of the light emitting part and the measuring part is changed by the driving part, the light emitting part is applied to the area. The measurement system according to any one of claims 1 to 8, characterized in that the light projection is stopped. The blocking part is
11. A fixed slit whose relative position with respect to the light emitting part can be changed, a variable slit whose portion through which the light is transmitted can be changed, or a vertical blind. measurement system. The light projecting section is
Emits a linear laser beam,
The measurement unit includes:
an imaging unit that captures an image of a region of the measurement target that is irradiated with the laser light;
a calculation unit that calculates a three-dimensional shape of the measurement target based on the image captured by the imaging unit;
Any one of claims 1 to 11, further comprising: a synthesizing unit that connects the three-dimensional shapes calculated by the calculating unit to generate data indicating the three-dimensional shape of the measurement target object. The measurement system described in . The measurement unit includes:
an imaging unit that captures an image of a region of the measurement target that is irradiated with light;
12. The method according to any one of claims 1 to 11, further comprising: a synthesizing unit that connects images captured by the imaging unit to generate data representing a two-dimensional image of the measurement target. measurement system. a light projecting unit that projects light onto a measurement target, a part of which is formed of a transparent member that transmits light;
a measuring unit that measures an area of the measurement target where the light is projected by the light projecting unit;
a determination unit that determines a non-light projection area that is a region of the measurement object where the light may be projected to a non-measurement object in the internal space of the measurement object through the transparent member;
a light projection range determination unit that determines a light projection range of the measurement target object that is a range in which the light projection unit projects the light based on a determination result by the determination unit;
a light projection control section that causes the light projection section to project the light onto the light projection range;
a second information acquisition unit that acquires second information including position information indicating the position of the transparent member;
Equipped with
The determination unit includes:
determining the non-light projection area based on the second information acquired by the second information acquisition unit;
The transparent member is
forming a window in the measurement object;
The second information acquisition unit includes:
A measurement system characterized in that information including light blocking device information indicating a state of a light blocking device that switches between blocking and non-blocking of light from the window to the interior space is acquired as the second information. a light projecting unit that projects light onto a measurement target, a part of which is formed of a transparent member that transmits light;
a measuring unit that measures an area of the measurement target where the light is projected by the light projecting unit;
a determination unit that determines a non-light projection area that is a region of the measurement object where the light may be projected to a non-measurement object in the internal space of the measurement object through the transparent member;
a light projection range determination unit that determines a light projection range of the measurement target object that is a range in which the light projection unit projects the light based on a determination result by the determination unit;
a light projection control section that causes the light projection section to project the light onto the light projection range;
a second information acquisition unit that acquires second information including position information indicating the position of the transparent member;
Equipped with
The measurement target is
a building or vehicle;
The second information acquisition unit includes:
acquiring information including information detected by a cleaning robot that cleans the outer surface of the measurement target as the second information;
The transparent member is
forming a window in the measurement target;
The second information acquisition unit includes:
A measurement system characterized in that information including light blocking device information indicating a state of a light blocking device that switches between blocking and non-blocking of light from the window to the interior space is acquired as the second information. comprising a shading device control unit that controls the shading device,
The determination unit includes:
The measurement system according to claim 14 or 15, wherein the non-light projection area is determined based on a control state of the light shielding device by the light shielding device control unit. a first step in which a light projecting unit projects light onto a measurement target that is partially formed of a transparent member that transmits light;
a second step of measuring an area of the measurement target where the light is projected in the first step using a measuring unit;
A third step in which the determination unit determines a non-light projection area, which is a region of the measurement object in which the light may be projected to a non-measurement object in the internal space of the measurement object through the transparent member. step and
a fourth step of determining, by a light projection range determining section, a light projection range of the measurement object, which is a range in which the light projection section performs the light projection, based on the determination result in the third step;
A light projection control section causes the light projection section to project light onto the light projection range, and the non-projection part that is not included in the light projection range determined by the light projection range determination section among the measurement target objects. a fifth step of causing a light projection control section to stop the light projection by the light projection section onto the light region;
In the light projecting section, a light emitting section emits light, and a part of the emitted light is blocked by a blocking section,
The measurement method, wherein the light projection control section controls the blocking section to stop the light projection by the light projection section to the non-light projection area.

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