JPH10318743A - Method and apparatus for surveying by using flying object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain three-dimensional information on an object, to be measured, by a method wherein the value in the axial direction of a laser beam emitted from a flying object is changed by using the time as a variable and an irradiation point is computed on the basis of values regarding the position and the posture of a reference point, on the basis of the value of the direction of an optical axis and on the basis of the value of a distance. SOLUTION: A coordinate system which is fixed to a helicopter 10 is designated as Q-XYZ. The Y-axis is set in the advance direction of the helicopter 10, the X-axis is set in a direction which is parallel to the bottom face of the helicopter 10 and which is perpendicular to the Y-axis, and the Z-axis is set in a direction which is perpendicular to the bottom face of the helicopter 10. The helicopter 10 flies to a prescribed direction, and a laser beam 21 is scanned in the direction of the X-axis which is perpendicular to a flying route on the ground 20. The helicopter 10 flies in the direction of the Y-axis, the laser beam 21 is scanned in the direction of the X-axis, and the laser beam is scanned two-dimensionally along an irradiation route 22. The time which elapses until the laser beam 21 is received since its emission is measured, and the distance L between the emission point W of the laser beam and its irradiation point S on an object to be measured is measured on the basis of the time. Many distances L are obtained, and the three-dimensional position of the irradiation point S can be obtained on the basis of the distances L and on the basis of the position and the posture of the helicopter 10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for measuring terrain and the like by a flying object. The present method and apparatus can accurately obtain three-dimensional information such as terrain in a measurement area, and can be used to easily create a bird's-eye view, a sectional view, and a contour map of terrain.

[0002]

2. Description of the Related Art Conventionally, in order to obtain a topographic map having three-dimensional numerical values, walking measurement is performed in which the user goes to a site and actually measures the latitude, longitude, and height at that position. In addition, a top view of the terrain is obtained by aerial photography as telemetry.

[0003]

However, there is a problem that it takes enormous effort and time to obtain detailed information of a topographic map by walking measurement. Therefore, for example, when it is desired to urgently obtain the appearance and degree of the landslide, the walking measurement cannot be used. In addition, there is a case where it is impossible to approach the site and the measurement situation is impossible.

On the other hand, an aerial photograph can obtain a topographic map relatively easily, but the information obtained is plane information, and it is difficult to obtain three-dimensional information. It is also possible to obtain altitude information from photos taken from multiple angles,
This advanced analysis takes time and is problematic in terms of accuracy.

Accordingly, the present invention enables a simple and high-speed measurement of the three-dimensional position or attitude of a measurement object such as a terrain by a flying object from a completely new viewpoint, and can easily draw a three-dimensional view of the measurement object. The purpose is to be.

[0006]

According to a first aspect of the present invention, in a flying object, values related to the current position and attitude of a reference point set on the flying object are measured using time as a variable, and the flying object is fired from the flying object. By changing the value related to the optical axis direction of the laser light to be performed with time as a variable, the laser light is scanned over the measurement target, and the measurement target is irradiated with the laser light to detect the reflected laser light. By measuring the value related to the distance from the reference point to the object to be measured by using time as a variable, the value related to the position and orientation of the reference point and the value related to the optical axis direction at each of the same values of the time variable. The method is characterized in that an irradiation point position of the laser beam on the measurement object is calculated based on a value related to the distance, and three-dimensional information of the measurement object in the measurement area is obtained from a set of irradiation point positions.

According to a second aspect of the present invention, in the above survey method, at least values related to the position and orientation of the reference point are obtained by GPS. The scanning is performed in a direction perpendicular to the flight path of the flying object on the object. Further, the invention according to claim 4 is that, during the flight of the flying object, values relating to the position and attitude of the reference point are measured and stored using time as a variable, and values relating to the optical axis direction are stored using time as a variable. Remember,
A value related to the measured distance is stored with time as a variable. Then, after the end of the flight, the irradiation point position is calculated based on each stored value at the same value of the time variable in each of the stored values using time as a variable to obtain three-dimensional information.

[0008] The invention of claim 5 relates to an apparatus for realizing the above survey method. That is, in a flying object, a position and orientation measurement device that measures values related to the current position and orientation of a reference point set in the flying object as a variable of time, and a laser device that irradiates a laser beam onto a measurement target A scanning device that changes the optical axis direction of the laser light with time as a variable so that the laser light is scanned over the measurement target, and detects the reflected laser light by irradiating the measurement target with the laser light A distance measuring device that measures a value related to the distance from the reference point to the object to be measured by using time as a variable, and a value related to the position and orientation of the reference point at the same value of the time variable and the optical axis direction. An irradiation position calculation device that calculates an irradiation point position of the laser beam on the measurement target based on the related value and the value related to the distance.

According to a sixth aspect of the present invention, in the above-mentioned apparatus, an information display device for obtaining three-dimensional information of the object to be measured from a set of irradiation positions calculated by the irradiation position calculation device is further provided. According to a seventh aspect of the present invention, the position and orientation measuring device includes at least a GPS device that obtains a value related to the position and orientation of a reference point by GPS. The laser beam is scanned in a direction perpendicular to the flight path of the flying object above the object.

[0010] The above-mentioned reference point means a point provided at an arbitrary position of the flying object. However, if the reference point for obtaining the position and attitude of the flying object and the reference point of the optical system for obtaining the distance to the object to be measured are set to different positions, the three-dimensional position of the irradiation point is kept unchanged while the reference point is different. When the calculation is performed, the three-dimensional position includes an error by the displacement between the reference points. Such a measurement is also possible if the error is a type of measurement that is recognized as an allowable range. However, for precise measurement, it is necessary to match both reference points. The meaning of the reference point described in the claims has these two meanings.
That is, when the flying object itself is approximated by a point, the point becomes a reference point, which corresponds to a case where the above-described error is allowed.
In addition, if the flying object is an object having a predetermined size, the reference point means any point fixed in the coordinate system of the flying object. For example, a reference point (for example, a reference point of a GPS antenna) for measuring values related to the position and attitude of the flying vehicle, and a reference point (for example, a laser beam) of an optical system for measuring a value related to distance. Launch point and receiving point), and other third points. Therefore, the reference point for determining the position and attitude of the flying object is different from the reference point for measuring the distance,
If each data is a value with respect to each reference point, it is necessary to perform correction due to the difference in the reference point at any stage until the three-dimensional position of the laser beam irradiation point on the measurement object is obtained. This correction can be made at any stage. Therefore, the concept of “measurement of the value related to the current position and attitude of the reference point set on the flying object using time as a variable” in claims 1, 4, and 5 is unique to the measurement value for this common reference point. This is the meaning of a measurement that gives a value that has a relevant relationship. Therefore, the concept of the value obtained by the measurement of the claims is, for example, a raw numerical value obtained with respect to a reference point of a GPS antenna, and a numerical value obtained by converting the raw numerical value with respect to a common reference point. Including. Similarly, the concept of “measuring a value related to the distance from the reference point to the object to be measured with time as a variable” in claims 1, 4, and 5 is unique to the measurement value for the common reference point. Is the meaning of the measurement that gives a certain value. Therefore, the concept of the value obtained by measuring the distance in the claims is, for example, a raw numerical value obtained with respect to a reference point of a laser light emitting point or a light receiving point, and the raw numerical value as a common reference point. Includes numerical values converted to In addition, the position and orientation, the optical axis direction, and the distance can be expressed using various physical quantities and variables that have a unique relationship with those values, and since there is a unique relationship, the final Conversion to the target value is also possible. For example, the attitude can be represented by a trigonometric function such as an angle formed by a reference vector fixed to the flying object and each coordinate axis fixed to the ground and a cosine of the angle. In the optical axis direction, the angle can be expressed by a trigonometric function such as an angle formed by the optical axis and a certain axis fixed to the flying object or a cosine thereof. In addition, the distance can be represented not only by the direct distance but also by the time that the laser light reciprocates. Furthermore, as described above, if there is a displacement between the position of the reference point in each measurement system and the position of the common reference point in the claims, the raw measurement value obtained in each measurement system will be the position relative to the common reference point. And a value related to the posture or the distance. “Related value” in the claims is a concept integrating these circumstances, and means not only a value directly representing position and orientation, optical axis direction, distance, etc., but also all related values that can be converted to those values. I do.

[0011]

According to the above invention, for example, a flying object such as a helicopter or a light aircraft is caused to fly on a measurement object such as a terrain, and a laser beam is irradiated from the flying object onto the measurement object. By detecting the reflected laser light, three-dimensional information of the measurement object is obtained. A laser beam is applied to the object to be measured and the object is scanned. Due to the movement of the flying object and the scanning of the laser beam, the laser beam scans a plane area on the measurement object. Then, by measuring the reflected laser light, the distance from the reference point set on the flying object to the measurement target can be obtained using time as a variable.

On the other hand, the position and orientation of the reference point set on the flying object can be determined by, for example, one of a three-dimensional GPS (global positioning system) which is a positioning system using satellites and a positioning system based on inertial navigation using a gyro. , Or both. When both are used, for example, since the position and orientation obtained by GPS can be provided with a time interval, the position and orientation during the time interval can be obtained by interpolation using inertial navigation. The position and orientation of the obtained reference point are measured using time as a variable. Also, the optical axis direction of the laser light can be obtained using time as a variable. In these three variables using these times as variables, namely, the position and orientation of the reference point, the optical axis direction, and the measured distance,
The three-dimensional position of the irradiation point of the laser on the measurement object is obtained using a value having a common time variable. The set of the three-dimensional positions of the irradiation points is the 3
Dimensional information will be given. Using a set of three-dimensional positions of irradiation points, it is possible to obtain a terrain cross section that represents the height of the terrain, a perspective view or a bird's eye view that three-dimensionally represents the terrain, an iso-altitude curve diagram, and the like. Further, since the irradiation point is obtained discretely in the measurement object, the three-dimensional position of the point between them can be obtained by interpolation.

As described above, the scanning of the flying object and the laser beam can be performed very easily, at a high speed and with high accuracy.
It is possible to obtain dimensional position information.

According to another aspect of the present invention, the scanning of the laser beam is performed perpendicularly to the flight path of the flying object on the object to be measured. By this scanning and flight of the flying object, a laser beam can scan a two-dimensional area on the measurement object,
A three-dimensional position in a two-dimensional area can be obtained with high efficiency.

According to the present invention, the position and attitude of the reference point of the flying object, the direction of the optical axis of the laser beam, and the distance from the reference point to the irradiation point on the measurement object are measured during the flight of the flying object. The three-dimensional position of each irradiation point on the measurement target is calculated from the three variables. The calculation of the three-dimensional position may be performed in real time with the measurement by the flying object. As described above, the three variables may be stored with time as a variable, and after flight, the three-dimensional position of each irradiation point may be calculated based on each stored value. As described above, the calculation of the three-dimensional position is performed off-line, so that the devices mounted on the flying object can be simplified. In addition, the video of the measurement object may be photographed by a video camera during the flight of the flying object. At this time, the image stores time as a variable. This makes it possible to easily compare the image and the obtained three-dimensional position information of the measurement target.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described based on specific embodiments. The present invention is not limited to the following examples. FIG. 2 is a diagram showing the concept of the surveying method according to the present invention. The coordinate system fixed to the helicopter 10, which is the flying object, is defined as Q-xyz. Helicopter 1 on the y-axis
The traveling direction of 0, the x-axis is parallel to the floor of
The direction perpendicular to the axis and the z-axis are perpendicular to the floor of the helicopter 10. The helicopter 10 flies in a predetermined direction, and is scanned by the laser light 21 in the x-axis direction perpendicular to the flight path 21 on the ground 20. 2 by the flight of the helicopter 10 in the y-axis direction and the scanning of the laser beam 21 in the x-axis direction.
As shown in (b), the laser light 21 is two-dimensionally scanned on the ground 20 along the irradiation path 22.

As shown in FIG. 3, the laser light 21 is a pulse, the reflected light of which is received, and the time Δt from emission of the laser light 21 to reception of the light is measured. This time Δ
The emission point W of the laser beam and the irradiation point S on the object to be measured by t
Is measured. Many such distances L are obtained with the passage of time. The three-dimensional position of the irradiation point S can be obtained from the distance L and the position and orientation of the helicopter 10. Then, a cross-sectional view of the terrain can be obtained from the three-dimensional position as shown in FIG.

Next, a method for obtaining the three-dimensional position of the irradiation point S will be described in more detail. FIG. 1 is a diagram for explaining the concept of the surveying method of the present invention. The coordinate system fixed to the ground is O-αβh. The α axis is longitude, the β axis is latitude, and the h axis is altitude. Further, the coordinate system fixed to the helicopter pig 10 as described above is defined as Q-xyz. Point Q is a reference point for position and orientation measurement by GPS. Q by GPS
The position and orientation of the point are measured with time as a variable. The position of the point Q is given by the following equation.

[0019]

Q (t) = (α _Q (t), β _Q (t), h _Q (t)) (1) The attitude of the Q point is defined as θ _x1 (t), θ _x2 which is the angle formed by the unit vectors in the x-axis, y-axis, and z-axis directions with the α-axis, β-axis, and h-axis, respectively. (t),
θ _x3 (t), θ _y1 (t), θ _y2 (t), θ _y3 (t), θ _z1 (t), θ _z2 (t), θ
_z3 (t) is obtained by the following attitude matrix F.

(Equation 2)

Since data is obtained once a second in the GPS, during the one second, the position and orientation of the Q point at each time are calculated by integrating the acceleration of each axis by inertial navigation using a gyro. Desired. In the present embodiment, the position and orientation of the point Q, which is interpolated 10 times per second and uses time as a variable, are obtained at 0.1 second intervals. In this embodiment, the position measurement error is ± 20 cm, and the posture error is ± 0.2 in angle.
Degree is confirmed. The calculation of the position and attitude by GPS and the method of calculation of the position and attitude by inertial navigation are well known and will not be described.

Next, since the laser device is fixed to the helicopter 10, the reference point W, which is the emission point and the light receiving point of the laser beam, is a point fixed to the coordinate system Q-xyz. The displacement vector A for the point is known.
The following expression is obtained for the component expression of the displacement vector A.

[0022]

A = (A _x, A _y , A _z ) (3) The optical axis of the laser beam is always on a plane parallel to the xz plane, and the optical axis of this laser beam and the −z axis 22 An optical axis direction γ (t), which is an angle (hereinafter, referred to as a “reference axis”) and an angle (an angle taken in the x-axis direction is positive), is obtained with time as a variable. This γ (t) can be obtained from the rotation angle of the mirror provided at the launch point W of the laser device. Next, irradiate laser light in the optical axis direction γ (t), receive reflected laser light,
The distance L (t) is obtained from the time Δt required from emission to light reception using time as a variable. The distance L (t) is obtained from the time Δt by the following equation.

[0023]

L (t) = cΔt / 2 (4) where c is the speed of light.

Next, a method of calculating the position of the irradiation point S of the laser beam 21 on the ground 20 will be described. Laser light 2
The position of the launch point W (reference point) of 1 is obtained by the following equation.

W (t) = (α _Q (t), β _Q (t), h _Q (t)) + (A _x, A _y , A _z ) (5) Also, a unit in the optical axis direction Regarding the vector U, the component display U _Q in the Q-xyz coordinate system is represented by the following equation.

U _Q (t) = (sinγ (t), 0, -cosγ (t)) (6)

Therefore, the component representation U _O (t) of the unit vector U in the O-αβh coordinate system is calculated by the following equation.

(7) U _O (t) = U _Q (t) F (t) = (Cosθ _x1 (t) sinγ (t) -cosθ _z1 (t) cosγ (t), cosθ _x2 (t) sinγ (t)-cosθ _z2 (t) cosγ (t), cosθ _x3 (t) sinγ (t )-cosθ _z3 (t) cosγ (t))… (7)

Next, the irradiation point S of the laser beam on the ground 20 is calculated by the following equation.

S (t) = (α _s (t), β _s (t), h _s (t)) = W (t) + L (t) U _O (t) (8) Is obtained by the following equation.

[Equation 9] _{α S (t) = α Q} (t) + A x + L (t) (cosθ x1 (t) sinγ (t) - cosθ z1 (t) cosγ (t)) ... (9)

Β _S (t) = β _Q (t) + A _y + L (t) (cos θ _x2 (t) sin γ (t) −cos θ _z2 (t) cos γ (t) (10)

[Number 11] _{h S (t) = h Q} (t) + A z + L (t) (cosθ x3 (t) sinγ (t) - cosθ z3 (t) cosγ (t)) ... (11)

As described above, the three-dimensional position (α
_S (t), β _S (t), h _S (t)) can be obtained. In this embodiment, the set of points is obtained at intervals of 0.1 second at time t. With this set of points, three-dimensional information of the ground 20 can be obtained. Incidentally, due to the shaking of the helicopter 10, etc.
This set of points does not always have the same density on the ground 20. Therefore, in this embodiment, 3 points between points are used.
The dimensional position information is obtained by an interpolation operation.

For example, as shown in FIG. 4, it is possible to obtain a cross-sectional view of the ground 20 in a certain direction. The amount of sediment of the dam, the elevation of the terrain, the snow depth, the tree height, etc. can be represented in a diagram.
Further, as shown in FIG. 5, a bird's-eye view and a contour map which are perspective views can be displayed. Can be easily performed.

Next, the surveying device of this embodiment will be described in more detail. As shown in FIG. 6, four GPS antennas 12a, 12b, 1
2c and 12d are provided. With these four GPS antennas, GPS information transmitted from satellites is received, and data for calculating the position and attitude of the Q point described above is output from the 3D GPS device 70 shown in FIG.
The motion detection device 71 detects the acceleration by the gyro, and outputs data for interpolating the position and orientation from the integration of the acceleration twice. These values are
5 is input.

The CPU 55 executes processing according to the flowchart shown in FIG. In step 100, 3
Data is input from the DGPS device 70 and the motion detection device 71. Next, at step 102, the position Q (t) of the equation (1) and the attitude F (t) of the equation (2) are calculated by interpolation. Then, this value is recorded in the data recording unit 56 as the position and orientation of the Q point at 0.1 second intervals. That is,
The above-described Q (t) and F (t) are recorded in the data recording unit 56.

The surveying device 30 shown in FIG.
Laser radar head 4 disposed on the bottom 13 outside
0 and a signal processing unit 50 provided in the room 14 of the helicopter pig 10. The laser oscillator 45 is driven by an AOQ switch driver 46, and pulse laser light having a predetermined period is transmitted through a transmission / reception optical unit 47 to the scanner mirror unit 4.
2 is output. The pulse laser beam 21 is reflected by the mirror 60 (FIG. 8) of the scanner mirror section 42, and is reflected by the window 41.
Is irradiated toward the ground 20 via. The reflected laser light 23 from the ground 20 is transmitted through the window 41 to the scanner mirror unit 4.
The light is received by the second mirror 60 and detected by the photodetector 48 via the transmission / reception optical unit 47.

The distance measuring unit 51 controls the timing of laser pulse oscillation by the AOQ switch driver 46.
In the measurement of the distance, as shown in FIG. 8, a part of the emitted pulse laser light 21 is branched and detected by the photodetector 48,
The emission timing of the pulse laser light is detected. The reflected laser light 23 is detected by the photodetector 48, and the light reception timing is detected. Then, the clock pulse of the clock 512 is measured by the counter 510 via the gate 511 from the emission time of the laser light to the light reception time. This measured value is the above-mentioned time Δt (t), and is measured using time as a variable. This value Δt (t) is determined in step 104 by the CPU 5
5 and is converted into a distance L (t) by equation (4).
The data is recorded in the data recording unit 56. Note that the clock 512,
The gate 511, the counter 510, and the like constitute the distance measuring unit 51.

Further, the distance measuring section 51 gives a starting time of the scanning signal to the waveform generating section 52, and the scanning signal generated by the waveform generating section 52 is inputted to the scanner control section 53. Then, the scanner mirror section 42 rotates the mirror 60 (FIG. 8) in synchronization with the scanning signal. The rotation signal of the mirror 60 is transmitted from the scanner control unit 53 to the angle measurement unit 5.
7, the CPU 55 calculates the above-mentioned optical axis direction γ (t) of the laser beam 21 from the rotation angle of the mirror 60 using time as a variable, and records it in the data recording unit 56 in step 106.

The CPU 55 adds a predetermined time δ (0.1 seconds) to generate the next timing t at step 108, and then waits for the predetermined time δ at step 110, and at step 112, It is determined whether all surveys have been completed. If all surveys have not been completed,
Returning to step 100, data input, calculation of the position, attitude, and distance at the next measurement time are performed, and the data are stored.

Further, in the present embodiment, a CCD camera 44 is provided to capture an image of the ground 20.
The output image of the CCD camera 44 is recorded in the image recording unit 51.

While the helicopter 10 is in flight, the position Q (t) and the attitude F
(t), the distance L (t), and the optical axis direction γ (t) are recorded as a function of time t. By inputting the data recorded in the data recording unit 56 to the ground apparatus shown in FIG. 9, the three-dimensional position of the reflection point S is calculated by the above equation. The data in the data storage unit 56 is input to the CPU 80 of FIG. 9 from the data input device 81, and the three-dimensional position of the reflection point S on the ground 20 is calculated. FIG. 11 is a flowchart showing the processing procedure of the CPU 80. In step 202, the position Q (t), posture F (t), optical axis direction γ (t), and distance L (t) are input. In step 204, the position W (t) of the expression (5) at the reflection point W of the laser beam is calculated. Then, in step 206, the component display U _Q of the unit vector U in the optical axis direction in the Q-xyz coordinate system is calculated by equation (6), and in step 208, the O-αβh of the unit vector U in the optical axis direction is calculated. The component display U _O (t) in the coordinate system is calculated by equation (7). Next, in step 212, the three-dimensional position of the irradiation point S of the laser beam on the ground 20 is calculated by the equations (8) to (11),
Those values are stored in the magneto-optical storage device 82.

In step 214, the time t is set to a predetermined time (0 .0) in order to process the data of the next time.
1 second), and it is determined in step 216 whether or not processing of all data has been completed. The processing from step 202 is repeatedly executed until processing of all data is completed.

From the set of the three-dimensional positions of the reflection points S on the ground 20 obtained in this way, the values between the data points are calculated by interpolation. Then, various drawings as shown in FIGS. 4 and 5 can be drawn from these three-dimensional position data. In particular, a sectional view, a bird's eye view, and the like can be drawn. In the event of a disaster such as a landslide or a landslide, the helicopter can easily obtain a perspective view of the helicopter and measure the amount of the landslide, which is very effective even in an emergency disaster.

In the above-described embodiment, the position and orientation measuring device is a 3D GPS device 70, a motion detecting device 71, a CPU
55, and its processing steps 100 and 102. The laser device of the claims is realized by a laser oscillator 45, an AOQ switch driver 46, and a transmission / reception optical unit 47 in the embodiment device. The scanning device in the claims is realized by a waveform shaping unit 52, a scanner control unit 53, a scanner mirror unit 42, and a mirror 60. The distance measuring device according to the claims includes a mirror 60, a light detector 48, and a distance measuring unit 5.
1. This is realized by the CPU 55 and its processing step 104. The irradiation position calculation device of the claims is realized by the CPU 80 and the processing steps of FIG.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing the concept of a measuring method according to a specific example of the present invention.

FIG. 2 is an explanatory diagram showing the concept of the measurement method.

FIG. 3 is an explanatory diagram showing distance measurement.

FIG. 4 is a survey sectional view showing a section of the ground obtained by processing a set of measured three-dimensional positions of reflection points;

FIG. 5 is an explanatory diagram showing an output example of a cross section, a perspective model, contour lines, a composite image with a video image, and the like obtained by processing a set of a flight path according to a position and a three-dimensional position of a reflection point.

FIG. 6 is an explanatory diagram showing a relationship between the surveying device of the embodiment and a helicopter on which the surveying device is mounted.

FIG. 7 is a block diagram showing an electrical configuration of a helicopter mounted device in the surveying device.

FIG. 8 is a block diagram showing a configuration of an optical system of the surveying device.

FIG. 9 is a block diagram illustrating a configuration of a ground apparatus of the surveying apparatus according to the embodiment.

FIG. 10 is a flowchart illustrating a processing procedure of a CPU of the helicopter mounted apparatus.

FIG. 11 is a flowchart showing a processing procedure of a CPU of the ground device.

[Explanation of symbols]

 Reference Signs List 20: ground 21: laser beam 22: reference axis 60: mirror W: emission point of laser beam (common reference point) Q: reference point for position measurement of helicopter pig S: reflection point γ: optical axis direction U: optical axis direction Unit vector of

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI G09B 25/06 G09B 25/06

Claims (8)

[Claims] 1. A flying object, wherein values relating to the current position and attitude of a reference point set on the flying object are measured with time as a variable, and the optical axis direction of laser light emitted from the flying object is measured with respect to time. By changing the variable as a variable, the laser light is scanned over the measurement target, from the reference point to the measurement target by irradiating the measurement target with the laser light and detecting the reflected laser light The value related to the distance is measured with time as a variable, and the value related to the position and orientation of the reference point, the value related to the optical axis direction, and the value related to the distance at each same value of the time variable. Calculates the irradiation point position of the laser beam on the measurement object based on the above, and obtains three-dimensional information of the measurement object in the measurement region from the set of the irradiation point positions. Method. 2. The surveying method according to claim 1, wherein values related to the position and attitude of the reference point are obtained at least by GPS. 3. The flying object according to claim 1, wherein the laser beam is scanned in a direction perpendicular to a flight path of the flying object on the object to be measured. Survey method. 4. During flight of the vehicle, values relating to the position and attitude of the reference point measured on the vehicle are stored with time as a variable, and values relating to the optical axis direction are stored as time. The value related to the distance measured is stored as a variable, and the time is stored as a variable.After the flight, the irradiation point position is stored at each of the time-variable values at each of the same values of the time variable. The surveying method using the flying object according to any one of claims 1 to 3, wherein the three-dimensional information is obtained by calculating based on a stored value. 5. A position and orientation measuring device for measuring a value related to the current position and orientation of a reference point set on the flight object using time as a variable, and irradiating a laser beam onto a measurement object. A laser device that changes a value related to the optical axis direction of the laser light as a variable so that the laser light is scanned over the measurement target; and A distance measuring device that measures a value related to the distance from the reference point to the object to be measured by irradiating light to detect the reflected laser light with time as a variable; and An irradiation position calculation device that calculates an irradiation point position of the laser light on the measurement target based on a value related to the position and orientation of a point, a value related to the optical axis direction, and a value related to the distance. Equipped with A surveying device using a flying object characterized by the following. 6. The flying object according to claim 5, further comprising an information display device that obtains the three-dimensional information of the measurement object from the set of the irradiation positions calculated by the irradiation position calculation device. Surveying equipment used. 7. The surveying apparatus using a flying object according to claim 5, wherein the position and orientation measuring device includes at least a GPS device that obtains the position and orientation of the reference point by GPS. 8. The apparatus according to claim 5, wherein the scanning device scans the laser beam in a direction perpendicular to a flight path of the flying object on the object to be measured.
A surveying device using the flying object described in the paragraph.