Measuring device

Abstract

Provided is a measurement device that shortens measurement time. Comprising a distance measuring unit which comprises a light projection unit for emitting distance measuring light and a light receiving unit for receiving reflected distance measuring light; a deflection optical member configured to rotate in a vertical direction by a vertical rotation axis; a vertical rotation driving unit configured to rotate the deflecting optical member in a vertical direction; a frame unit in which the deflection optical member is disposed; a horizontal rotation driving unit configured to rotate the frame unit in a horizontal direction; the imaging unit can image the to-be-measured object based on external light; and a calculation control unit that calculates a distance to the object to be measured on the basis of a reception result of the reflected ranging light. The ranging unit and the imaging unit are disposed at positions facing each other with the deflection optical member interposed therebetween. The deflecting optical member has two reflective surfaces for reflecting the ranging light at right angles, reflecting the ranging light and the external light. The calculation control unit simultaneously performs ranging by one of the two reflective surfaces and imaging by the other.

Description

TECHNICAL FIELD

[0001] The present invention relates to a measuring device capable of acquiring three-dimensional point cloud data and an image of an object to be measured. BACKGROUND

[0002] Examples of a measuring device for acquiring a profile and three-dimensional point cloud data of an object to be measured include a three-dimensional laser scanner. There is also a laser scanner in which a camera is built-in or attached externally as a measuring device, and by using the laser scanner and the camera, an image having three-dimensional coordinates can be acquired.

[0003] Unfortunately, the known measuring device performs measurement by the laser scanner and imaging by the camera respectively, and thus cannot perform one process until the other process is completed, making the measurement time longer.

[0004] PRIOR ART DOCUMENTS PATENT DOCUMENTS Patent Document 1: JP 2021-117013 A SUMMARY

[0005] PROBLEMS TO BE SOLVED BY THE INVENTION The present invention provides a measuring device that shortens the measurement time.

[0006] SOLUTION TO THE PROBLEM One aspect of the present invention is a measuring device including: a distance measuring unit including a light projecting unit configured to emit distance measuring light and a light receiving unit configured to receive reflected distance measuring light from an object to be measured; a deflection optical member configured to be rotated in a vertical direction by a hollow vertical rotation shaft; a vertical rotation driving unit configured to rotate the deflection optical member in the vertical direction; a frame unit in which the deflection optical member is provided; a horizontal rotation driving unit configured to rotate the frame unit in a horizontal direction; an imaging unit capable of imaging an image of the object to be measured based on external light passing through the inside of the vertical rotation shaft; and a calculation control unit configured to calculate a distance to the object to be measured based on a result that the reflected distance measuring light is received into the light receiving unit. The distance measuring unit and the imaging unit are provided at positions facing each other with the deflection optical member interposed therebetween. The deflection optical member has two reflection surfaces for reflecting the distance measuring light, the reflected distance measuring light, and the external light at right angles. The calculation control unit simultaneously performs distance measurement through one of the two reflection surfaces and imaging through the other of the two reflection surfaces.

[0007] One aspect of the present invention is a measuring device in which the distance measuring unit and the imaging unit are provided so that a point cloud acquisition origin of the distance measuring unit coincides or substantially coincides with a pupil position of the imaging unit.

[0008] One aspect of the present application is a measurement device, wherein the distance measuring unit further includes a beam splitter configured to transmit the distance measuring light and reflect the reflected distance measuring light.

[0009] One aspect of the present application is a measurement device further including a second concave lens configured to reduce a diameter of the external light, wherein an imaging range of the imaging unit is enlarged by the second concave lens.

[0010] One aspect of the present application is a measurement device further including a first concave lens configured to increase a diameter of the distance measuring light, wherein a measurement range of the distance measuring unit is enlarged by the first concave lens.

[0011] One aspect of the present application is a measurement device, wherein the first concave lens and the second concave lens are disposed closer to the object to be measured than the deflection optical member, and rotate integrally with the deflection optical member.

[0012] One aspect of the present application is a measurement device, wherein the first concave lens and the second concave lens are disposed closer to the light receiving side than the deflection optical member.

[0013] One aspect of the present application is a measurement device, wherein the first concave lens and the second concave lens rotate integrally with the deflection optical member.

[0014] One aspect of the present application is a measurement device, wherein the distance measuring unit is a two-dimensional distance measuring sensor capable of acquiring distance measuring data in a planar manner.

[0015] One aspect of the present application is a measurement device, wherein the distance measuring sensor is a flash LiDAR, and the light projecting unit includes at least one light emitting element configured to emit the distance measuring light.

[0016] One aspect of the present application is a measurement device, wherein the light projecting unit further includes a MEMS mirror capable of deflecting the distance measuring light in two axial directions.

[0017] One aspect of the present application is a measurement device, wherein the deflection optical member is a rectangular prism obtained by joining two triangular prisms, and each reflection surface is formed on a front surface and a rear surface of a joining surface of the rectangular prism.

[0018] One aspect of the present application is a measurement device, wherein the deflection optical member is a triangular prism having a shape of a right isosceles triangle, and each reflection surface is formed on a front surface and a rear surface of the triangular prism on a long side of the triangular prism.

[0019] One aspect of the present application is a measurement device, wherein the deflection optical member is a mirror having a plate shape, and each reflection surface is formed on a front surface and a rear surface of the mirror.

[0020] Further, one aspect of the present application is a measurement device in which a recess in which the deflection optical member is housed is formed in the frame unit, and a tapered portion that is cut into a taper is formed at an edge portion of the recess.

[0021] Inventive Effects One aspect of the present application includes: a distance measuring unit including a light projecting unit configured to emit distance measuring light and a light receiving unit configured to receive reflected distance measuring light from an object to be measured; a deflection optical member configured to be rotated in a vertical direction by a hollow vertical rotation shaft; a vertical rotation driving unit configured to rotate the deflection optical member in the vertical direction; a frame unit in which the deflection optical member is provided; a horizontal rotation driving unit configured to rotate the frame unit in a horizontal direction; an imaging unit capable of imaging an image of the object to be measured based on external light that passes through the inside of the vertical rotation shaft; and a calculation control unit configured to calculate a distance to the object to be measured based on a result that the reflected distance measuring light is received into the light receiving unit. The distance measuring unit and the imaging unit are provided at positions facing each other with the deflection optical member interposed therebetween. The deflection optical member has two reflecting surfaces for reflecting the distance measuring light, the reflected distance measuring light, and the external light at right angles. The calculation control unit simultaneously performs distance measurement by one of the two reflecting surfaces and imaging by the other of the two reflecting surfaces. This has the advantageous effects that measurement and imaging can be simultaneously performed, measurement time is shortened, parallax between the distance measuring unit and the imaging unit is eliminated or significantly reduced, and coloring accuracy of a point cloud is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a front cross-sectional view showing a measurement device according to a first example. Figure 2 is a plan cross-sectional view showing the measurement device according to the first example. Figure 3 is an explanatory diagram showing an optical system of a distance measuring unit and an imaging unit according to a second example. In FIG. 4, (A) is an explanatory diagram showing an optical system of a distance measuring unit and an imaging unit according to a third example, and (B) is a view seen from an arrow A in (A). In FIG. 5, (A) is an explanatory diagram showing an optical system of a distance measuring unit and an imaging unit according to a modified example of the third example, and (B) is a view seen from an arrow B in (A). In FIG. 6, (A) is an explanatory diagram showing an optical system of a distance measuring unit and an imaging unit according to a fourth example, and (B) is a view seen from an arrow C in (A). In Fig. 7, (A) is an explanatory diagram illustrating an optical system of a distance measuring unit and an imaging unit according to a fifth example, and (B) is a view from an arrow D in (A). In Fig. 8, (A) is an explanatory diagram illustrating an optical system of a distance measuring unit and an imaging unit according to a sixth example, and (B) is a view from an arrow E in (A). Figure 9 is an explanatory diagram illustrating an optical system of a distance measuring unit and an imaging unit according to a seventh example. DETAILED DESCRIPTION

[0023] Examples of the present application will next be described with reference to the drawings.

[0024] Reference will be made to Figure 1 and Figure 2 a measuring device according to a first example of the present application will be described.

[0025] The measuring device 1 is, for example, a laser scanner, and includes a leveling unit 2 attached to a tripod (not shown), and a measuring device main body 3 attached to the leveling unit 2.

[0026] The leveling unit 2 includes a leveling screw 10. The leveling screw 10 levels the measuring device main body 3 horizontally.

[0027] The measuring device main body 3 includes (houses) a fixing unit 4, a frame unit 5, a horizontal rotation shaft 6, a horizontal rotation bearing 7, a horizontal rotation motor 8 as a horizontal rotation drive unit, a horizontal angle encoder 9 as a horizontal angle detection unit, a vertical rotation shaft 11, a vertical rotation bearing 12, a vertical rotation motor 13 as a vertical rotation drive unit, a vertical angle encoder 14 as a vertical angle detection unit, a rotation unit 15, an operation panel 16 serving as both an operation unit and a display unit, a calculation control unit 17, a storage unit 18, a distance measuring unit 19, and an imaging unit 21. A CPU dedicated to the device or a general-purpose CPU is used as the calculation control unit 17.

[0028] The horizontal rotation bearing 7 is fixed to the fixing unit 4. The horizontal rotation shaft 6 has a vertical shaft center 6a. The horizontal rotation bearing 7 rotatably supports the horizontal rotation shaft 6. The horizontal rotation shaft 6 supports the frame unit 5. The frame unit 5 rotates integrally with the horizontal rotation shaft 6 in a horizontal direction.

[0029] The horizontal rotation motor 8 is provided between the horizontal rotation bearing 7 and the frame unit 5. The calculation control unit 17 controls the horizontal rotation motor 8. The calculation control unit 17 causes the horizontal rotation motor 8 to rotate the frame unit 5 around the shaft center 6a.

[0030] The horizontal angle encoder 9 detects a relative rotation angle of the frame unit 5 with respect to the fixed unit 4. A detection signal from the horizontal angle encoder 9 is input to the calculation control unit 17. The calculation control unit 17 calculates horizontal angle data. The calculation control unit 17 performs feedback control on the horizontal rotation motor 8 based on the horizontal angle data.

[0031] The frame unit 5 includes a vertical rotation shaft 11 having a horizontal axis 11a. The vertical rotation shaft 11 is rotatable by a vertical rotation bearing 12. An intersection between the axis 6a and the axis 11a is an incident position of the ranging light, and is a mechanical center of the measuring device main body 3, that is, an origin of a coordinate system (point cloud acquisition origin).

[0032] A recess 22 is formed in the frame unit 5. The vertical rotation shaft 11 is hollow. One end portion of the vertical rotation shaft 11 extends into the recess 22. The rotation unit 15 is fixed to the one end portion of the vertical rotation shaft 11. The rotation unit 15 is accommodated in the recess 22, and rotates integrally with the vertical rotation shaft 11.

[0033] A tapered portion 24 tapered into a cone shape is formed at an edge portion of the recess 22 on the upper side, the front surface side, and the rear surface side. The tapered portion 24 is formed on both sides with the rotation unit 15 inserted therebetween. The tapered portion 24 does not block a measurement range of the ranging unit 19 and an imaging range of the imaging unit 21. An angle of the tapered portion 24 is appropriately designed in accordance with a viewing angle of the ranging unit 19 and the imaging unit 21.

[0034] The rotation unit 15 includes a reflection prism 25 as a deflection optical member. The rotation unit 15 includes two concave lenses 26a and 26b as wide-angle optical members. The reflection prism 25 is a rectangular prism formed by joining two triangular prisms, and is substantially a cube such that a joining surface of each of the two triangular prisms becomes a reflection surface. Respective reflection surfaces are formed on a front surface and a rear surface of the joining surface, so that the reflection prism 25 becomes a prism having two reflection surfaces 25a and 25b.

[0035] The concave lenses 26a and 26b are each parallel to the axis 11a, and are disposed adjacent to surfaces of the reflection prism 25 facing the reflection surfaces 25a and 25b. In other words, the concave lenses 26a and 26b are disposed closer to an object to be measured than the reflection prism 25. The concave lenses 26a and 26b are concave lenses in which surfaces facing the reflection prism 25 are concave. The reflection surface 25a on the front surface side faces the first concave lens 26a. The reflection surface 25b on the rear surface side faces the second concave lens 26b.

[0036] The concave lenses 26a and 26b can be single lenses or a lens group in which a plurality of lenses are combined. The first concave lens 26a and the second concave lens 26b are lenses having the same focal length, and are disposed so that the respective focal point positions coincide with each other.

[0037] The vertical angle encoder 14 is provided at the other end portion of the vertical rotation shaft 11. The imaging unit 21 is provided inside the vertical rotation shaft 11. The optical axis of the imaging unit 21 coincides with the shaft center 11a. The position of the imaging unit 21 is set in accordance with the focal length of the imaging unit 21. For example, when an imaging unit 21 having a long focal length is used, the imaging unit 21 is disposed at a position away from the other end portion of the vertical rotation shaft 11, that is, outside the vertical rotation shaft 11.

[0038] The distance measuring unit 19 is provided on the opposite side of the imaging unit 21 with the reflection prism 25 therebetween. The distance measuring unit 19 is, for example, a light detection and ranging (LiDAR) capable of acquiring distance measuring data in a planar manner. The distance measuring unit 19 includes a light projection unit 28 that emits distance measuring light 27, and a light receiving unit 31 that receives reflected distance measuring light 29 reflected by an object to be measured. Other two-dimensional sensors such as a TOF camera can be used as the distance measuring unit 19.

[0039] The vertical rotation motor 13 is provided on the vertical rotation shaft 11. The calculation control unit 17 controls the vertical rotation motor 13. The calculation control unit 17 causes the vertical rotation motor 13 to rotate the vertical rotation shaft 11. Accordingly, the rotation unit 15, that is, the reflection prism 25 and the concave lenses 26a and 26b, rotate around the shaft center 11a.

[0040] The rotation angle of the reflection prism 25 is detected by the vertical angle encoder 14. The detection signal is input to the calculation control unit 17. The calculation control unit 17 calculates vertical angle data of the rotation unit 15 on the basis of the detection signal, and performs feedback control of the vertical rotation motor 13 on the basis of the vertical angle data.

[0041] The horizontal angle data, the vertical angle data, and the measurement results calculated by the calculation control unit 17 are saved in the storage unit 18. Various storage devices such as an HDD as a magnetic storage device, a CD or a DVD as an optical storage device, a memory card as a semiconductor storage device, and a USB memory are used as the storage unit 18. The storage unit 18 can be attached to and detached from the frame unit 5, or can be able to transmit data to an external storage device or an external data processing device through a communication device (not shown).

[0042] The storage unit 18 stores various programs, such as a sequence program for controlling the distance measurement operation, a calculation program for calculating the distance by the distance measurement operation, a calculation program for calculating the angle based on the horizontal angle data and the vertical angle data, a program for calculating the three-dimensional coordinates of the desired measurement points based on the distance and the angle, an imaging program for controlling the imaging operation by the imaging unit 21, a point cloud data creation program for creating the three-dimensional point cloud data of the full 360° circumference based on the measurement (distance measurement and angle measurement) results, a shading program for creating the shaded point cloud data based on the point cloud data and the image imaged by the imaging unit 21, and a three-dimensional coordinate assignment program for assigning the three-dimensional coordinates to each pixel of the image imaged by the imaging unit 21 based on the point cloud data. The various programs are executed by the calculation control unit 17 that executes various processes.

[0043] The operation panel 16 is, for example, a touch panel, and functions as both an operation unit and a display unit. The operation unit is used to instruct the distance measurement and change the measurement conditions, such as changing the amount of overlap between adjacent images. The display unit is used to display the distance measurement results and the images.

[0044] The distance measurement unit 19 will be described next. The light projection unit 28 of the distance measurement unit 19 has a light projection optical axis 32. The light projection unit 28 includes, in order from the light emission side, a light emitting unit provided on the light projection optical axis 32, a beam splitter 34, a reflection prism 25 provided on a transmission optical axis of the beam splitter 34, and a first concave lens 26a provided on a reflection optical axis of the reflection prism 25.

[0045] In the present example, the light projection optical axis 32, the light projection optical axis 32 that passes through the beam splitter 34, and the light projection optical axis 32 that is reflected by the reflection prism 25 are collectively referred to as the light projection optical axis 32. In the present example, the optical axis that passes through the beam splitter 34 and coincides with the light reception optical axis 35 (described later) is referred to as the light projection optical axis 32.

[0046] The light emitting unit is constituted by one light emitting element 33. The light emitting element 33 is, for example, a laser diode (LD) that emits near-infrared light having a predetermined wavelength as the distance measurement light 27 at a predetermined divergence angle. The light emitting element 33 can be disposed so that the optical axis of the distance measurement light 27 coincides with the light projection optical axis 32. The light emitting element 33 can be disposed so that the optical axis of the distance measurement light 27 is parallel to the light projection optical axis 32, and so that the distance between the optical axes is a known distance.

[0047] The beam splitter 34 has an optical property of transmitting the distance measurement light 27 and reflecting the reflected distance measurement light 29. The transmission optical axis of the beam splitter 34 coincides or substantially coincides with the axis center 11a.

[0048] The reflection surface 25a reflects the distance measurement light 27 at a right angle, and the first concave lens 26a enlarges the diameter of the distance measurement light 27 so that the distance measurement light 27 has a predetermined divergence angle (measurement range).

[0049] The first concave lens 26a has optical characteristics such that the focal position (entrance pupil position 20) at the time of receiving the reflected ranging light 29 coincides or substantially coincides with the mechanical center (point cloud acquisition origin 23) of the measurement device main body 3. In the present example, the spread angle of the first concave lens 26a is 75°. The ranging unit 19 can perform measurement in a range of 75° x 75°.

[0050] When the spread angle of the ranging light 27 increases, the measurement range widens, but the number of acquired measurement results (point cloud density) decreases, and the measurable distance also decreases. When the spread angle of the ranging light 27 decreases, the measurement range narrows, but the number of acquired measurement results (point cloud density) increases, and the measurable distance also increases. The spread angle of the ranging light 27 (optical characteristics of the first concave lens 26a) is appropriately designed in the range of 20° to 180° according to the distance to the object to be measured and the intended application. The angle of the tapered portion 24 is appropriately designed according to the optical characteristics of the first concave lens 26a and the second concave lens 26b described later.

[0051] The light receiving unit 31 has a light receiving optical axis 35. The light receiving unit 31 includes, in order from the light receiving side, a light receiving sensor 36 disposed on the light receiving optical axis 35, a light receiving system lens group 37, the beam splitter 34, the reflection prism 25 disposed on the reflection optical axis of the beam splitter 34, and the first concave lens 26a disposed on the reflection optical axis of the reflection prism 25.

[0052] In the present example, the light receiving optical axis 35, the light receiving optical axis 35 reflected by the beam splitter 34, and the light receiving optical axis 35 reflected by the reflection prism 25 are collectively referred to as the light receiving optical axis 35.

[0053] A light filter (for example, a band pass filter) for removing external light can be provided separately in the optical path of the light receiving unit 31. By providing a band pass filter, it is possible to prevent external light (background light) from being received by the light receiving sensor 36 together with the reflected ranging light 29.

[0054] The light receiving sensor 36 is, for example, a two-dimensional LiDAR sensor (ToF sensor) including an imaging element composed of a large number of pixels. In the light receiving sensor 36, each light receiving element receives the reflected ranging light 29, and each light receiving element emits a light receiving signal. The light receiving signal output from each element includes position information on the light receiving sensor 36, and the position of each light receiving element can be specified in the light receiving sensor 36. The light receiving sensor 36 can be formed by providing a plurality of unit element sensors.

[0055] The light-receiving-system lens group 37 is composed of a plurality of concave lenses and convex lenses. The light-receiving-system lens group 37 causes the reflected ranging light 29 reflected by the beam splitter 34 to be incident on the light-receiving sensor 36 at a predetermined angle of incidence.

[0056] Next, the imaging unit 21 will be described. The imaging unit 21 has an imaging optical axis 38. The imaging unit 21 includes, in order from the light-receiving side, an imaging element 39 disposed on the imaging optical axis 38, an imaging lens group 41, the reflection prism 25, and the second concave lens 26b disposed on the reflection optical axis of the reflection prism 25.

[0057] In the present example, the imaging optical axis 38 and the optical axis of the light incident on the reflection prism 25 and reflected to coincide with the imaging optical axis 38 are collectively referred to as the imaging optical axis 38. The optical path of the imaging unit 21 can include an IR cut filter for removing infrared and near-infrared wavelengths. By providing the IR cut filter, it is possible to prevent infrared or near-infrared light from being received by the imaging element 39 together with the external light 42.

[0058] The imaging element 39 is a CCD or CMOS sensor, which is a combination of pixels. The position of each pixel can be specified on the imaging element 39. For example, each pixel has a pixel coordinate with the center of the imaging element 39 (the imaging optical axis 38) as the origin. The position of the pixel on the imaging element 39 is specified by the pixel coordinate.

[0059] The imaging lens group 41 is composed of a plurality of concave lenses and convex lenses. In the imaging lens group 41, the external light 42 reflected by the reflection surface 25b is received by the imaging element 39 at a predetermined angle of incidence.

[0060] The reflection surface 25b reflects the external light 42 incident along the imaging optical axis 38 at a right angle. The second concave lens 26b converges the external light 42 within a predetermined angular range and causes the external light 42 to be incident on the reflection prism 25.

[0061] The second concave lens 26b has the same focal length as the first concave lens 26a. The entrance pupil position 20 at which the external light 42 is received is the mechanical center of the measurement device main body 3 and coincides or substantially coincides with the point cloud acquisition origin 23 of the ranging unit 19. For example, the angle of view of the imaging unit 21 is appropriately set in the range of 20° to 180° so as to be the same or substantially the same as the measurement range of the ranging unit 19. In the present example, the angle of view of the second concave lens 26b is 75°. The imaging unit 21 has an imaging range of 75° x 75°.

[0062] The computing control unit 17 controls the ranging unit 19 and the imaging unit 21, respectively.

[0063] The operation of the distance measuring unit 19 will be described. The light emitting element 33 emits the distance measuring light 27 on or parallel to the light projection optical axis 32. For example, the distance measuring light 27 is emitted in a pulsed form, passes through the beam splitter 34, is incident on the reflecting prism 25, and is reflected at a right angle by the reflecting surface 25a. The diameter of the distance measuring light 27 reflected by the reflecting surface 25a is enlarged by the first concave lens 26a so as to have a predetermined diffusion angle, and is irradiated onto the object to be measured. The distance measuring light 27 is irradiated in a plane parallel to the axis 11a. The reflecting prism 25 is rotated around the axis 11a so that the distance measuring light 27 is irradiated around the entire circumference around the axis 11a.

[0064] The diameter of the reflected distance measuring light 29 reflected by the object to be measured is reduced by the first concave lens 26a, is incident on the reflecting prism 25, and is reflected at a right angle by the reflecting surface 25a. The reflected distance measuring light 29 reflected by the reflecting surface 25a is reflected at a right angle by the beam splitter 34, passes through the light receiving system lens group 37, and is received by the light receiving sensor 36.

[0065] The light receiving optical axis 35 of the reflected distance measuring light 29 reflected by the reflecting surface 25a is coaxial with the light projection optical axis 32 passing through the beam splitter 34. The light projection optical axis 32 and the light receiving optical axis 35 coincide with the axis 11a.

[0066] The calculation control unit 17 measures the distance (time of flight) of each pulse of the distance measuring light 27 based on the time difference between the light emission timing of the light emitting element 33 and the light receiving timing of the light receiving sensor 36, and the speed of light. The calculation control unit 17 calculates the distance to the object to be measured for each element. Each element of the light receiving sensor 36 simultaneously performs distance measurement for each pulse, and a plurality of distance measurement results can be acquired.

[0067] By rotating the frame unit 5 and the rotating unit 15 (reflecting prism 25) at a constant speed, respectively, while emitting the distance measuring light 27 at a predetermined pulse interval, the rotation of the rotating unit 15 in the vertical direction and the rotation of the frame unit 5 in the horizontal direction work in cooperation to irradiate the distance measuring light 27 over the entire 360° circumference. By detecting the vertical angle and the horizontal angle of each light pulse and each element using the vertical angle encoder 14 and the horizontal angle encoder 9, the vertical angle data and the horizontal angle data can be acquired for each element. The three-dimensional coordinates of the object to be measured and the three-dimensional point cloud data corresponding to the object to be measured can be acquired from the vertical angle data, the horizontal angle data, and the distance measurement data of each element. The acquired point cloud data is stored in the storage unit 18.

[0068] The light emission timing of the light emitting element 33, i.e., the pulse interval, can be changed by the operation panel 16.

[0069] In parallel with the distance measurement operation, the external light 42 incident on the second concave lens 26b is incident on the reflection prism 25 while being converged (diameter is reduced), and is reflected at a right angle by the reflection surface 25b. The external light 42 reflected by the reflection surface 25b passes through the inside of the hollow vertical rotation shaft 11, passes through the imaging lens group 41, and is received by the imaging element 39. An image centered on the imaging optical axis 38 is acquired. The acquired image is stored in the storage unit 18.

[0070] When the measurement by the distance measurement unit 19 and the imaging by the imaging unit 21 are completed, the horizontal rotation motor 8 and the vertical rotation motor 13 are driven. By the cooperative operation of the horizontal rotation of the frame unit 5 and the vertical rotation of the rotation unit 15, the distance measurement unit 19 is moved to a subsequent position, and measurement and imaging, that is, measurement, are performed again. The above-described processing is repeated until the measurement and imaging of the entire 360° circumference are completed. It is desirable to drive the horizontal rotation motor 8 and the vertical rotation motor 13 so that adjacent measurement results and images overlap each other within a predetermined range.

[0071] The calculation control unit 17 creates colored point cloud data or an image with coordinates having three-dimensional coordinates for each pixel based on the measurement results acquired by the distance measurement unit 19 and the images acquired by the imaging unit 21.

[0072] The reflection surfaces 25a and 25b are reflection surfaces formed on the front surface and the rear surface of the joint surface of the reflection prism 25. The position of the intersection of the light projection optical axis 32 (the light reception optical axis 35) and the reflection surface 25a coincides or substantially coincides with the position of the intersection of the imaging optical axis 38 and the reflection surface 25b.

[0073] The measurement results and the images acquired by the distance measurement unit 19 and the imaging unit 21 at the same timing are measurement results and images at positions shifted by 180° from each other. Therefore, by acquiring the measurement results and the images at positions shifted by 180° from each other based on the detection results of the vertical angle encoder 14, it is possible to match the measurement range of the distance measurement unit 19 with the imaging range of the imaging unit 21, and to match the positions of the measurement results and the images.

[0074] As described above, in the first example, the distance measurement unit 19 and the imaging unit 21 are disposed at symmetrical positions with the reflection prism 25 interposed therebetween. By the two reflection surfaces 25a and 25b formed on the front surface and the rear surface of the reflection prism 25, it is possible to acquire the measurement results and the images at positions shifted by 180° from each other at the same time.

[0075] Therefore, since it is not necessary to separately perform measurement and imaging at different timings, it is possible to shorten the measurement time.

[0076] Since the ranging unit 19 and the imaging unit 21 are disposed such that the point cloud acquisition origin 23 of the ranging unit 19 and the entrance pupil position 20 of the imaging unit 21 coincide with or substantially coincide with each other, a parallax between the ranging unit 19 and the imaging unit 21 can be eliminated or significantly reduced.

[0077] As a result, a wide range of images acquired by the imaging unit 21 can be used for coloring point cloud data acquired by the ranging unit 19. Thus, coloring accuracy of the point cloud data or assignment accuracy of three-dimensional coordinates to each pixel on the entire panoramic image can be improved. The amount of overlap between adjacent images can be reduced, and the measurement time can be shortened.

[0078] The ranging unit 19 and the imaging unit 21 each including the concave lens 26a and 26b can perform measurement and imaging over a range equal to or greater than the diffusion angle of the light emitting element 33. This can reduce the number of times of performing measurement and imaging when acquiring the entire panoramic point cloud data, and shorten the measurement time.

[0079] Since the tapered portion 24 is formed at the edge of the recess 22 of the frame unit 5, the frame unit 5 can be prevented from blocking the ranging light 27 emitted from the first concave lens 26a and the external light 42 incident on the second concave lens 26b.

[0080] A second example of the present application will be described with reference to Figure 3 The same reference numerals are attached to parts equivalent to those in the first example, and the description thereof is omitted. Figure 3 Figure 2 In the second example, the same reference numerals are attached to parts equivalent to those in the first example, and the description thereof is omitted.

[0081] In the second example, the rotating unit 15 includes a mirror 45 as a deflection optical member. Reflective surfaces 45a and 45b are formed on the front surface and the rear surface of the mirror 45, respectively.

[0082] The imaging optical axis 38 of the imaging unit 21 coincides with the axis 11a, and the light projection optical axis 32 (the light receiving optical axis 35) of the ranging unit 19 is offset from the imaging optical axis 38 by the thickness of the mirror 45, i.e., for example, about 1 mm to 3 mm. The other configurations are the same as those of the first example.

[0083] In the second example, the point cloud acquisition origin 23 of the ranging unit 19 and the entrance pupil position 20 of the imaging unit 21 are located at positions offset from each other by the thickness of the mirror 45. However, the thickness of the mirror 45 is about 1 mm to 3 mm, and the amount of deviation is small. Thus, it can be considered that the point cloud acquisition origin 23 and the entrance pupil position 20 substantially coincide with each other.

[0084] ​Accordingly, the parallax between the distance measuring unit 19 and the imaging unit 21 can be reduced, and the coloring accuracy of the point cloud data or the assignment accuracy of the three-dimensional coordinates to each pixel on the entire panoramic image can be improved.

[0085] In the second example, the deflection optical member is a mirror 45 that is light and inexpensive. Accordingly, the weight of the rotation unit 15 can be reduced, and the core deviation of the vertical rotation axis 11 (see Figure 1 ) can be suppressed. At the same time, the manufacturing cost of the measurement device main body 3 (see Figure 1 ) can be reduced.

[0086] A third example of the present application will be described with reference to FIG. 4(A) and FIG. 4(B). In FIG. 4(A) and FIG. 4(B), the same reference numerals are attached to parts equivalent to those in Figure 2 , and the description thereof is omitted.

[0087] In the third example, the light emitting unit of the light projection unit 28 is composed of two light emitting elements 46 (light emitting elements 46a and 46b). The other configurations are the same as those of the first example.

[0088] Each of the light emitting elements 46a and 46b emits the distance measuring light 27. The optical axis of the distance measuring light 27 is parallel to the light projection optical axis 32, and is disposed at a position symmetrical with respect to the light projection optical axis 32. The distance between the respective optical axes of the distance measuring light 27 and the light projection optical axis 32 is known.

[0089] In the third example, the light emitting unit is composed of two light emitting elements 46a and 46b, and the distance measuring light 27 is also emitted from each of the light emitting elements 46a and 46b. Accordingly, since the light amount of the distance measuring light 27 can be increased, the reaching distance of the distance measuring light 27 can be extended. At the same time, even when the measurement range is widened, the light amount of the reflected distance measuring light 29 can be sufficiently acquired.

[0090] Since the point cloud acquisition origin 23 of the distance measuring unit 19 and the entrance pupil position 20 of the imaging unit 21 can be made to coincide or substantially coincide with each other, the parallax between the distance measuring unit 19 and the imaging unit 21 can be eliminated or substantially eliminated, and the coloring accuracy of the point cloud data or the assignment accuracy of the three-dimensional coordinates to each pixel on the entire panoramic image can be improved.

[0091] FIG. 5(A) and FIG. 5(B) show a modified example of the third example. In the modified example, the light receiving unit 31 does not include the beam splitter 34, and the reflected distance measuring light 29 reflected by the reflecting surface 25a is directly incident on the light receiving sensor 36 through the light receiving system lens group 37.

[0092] The light emitting elements 46a and 46b are disposed at positions symmetrical with respect to the light projection optical axis 32 so as to sandwich the light receiving system lens group 37 or the light receiving sensor 36 in between. The light emitting elements 46a and 46b are desirably disposed so that the ranging light 27 is not received by the light receiving system lens group 37.

[0093] Further, in the above-described modified example, since the light amount of the ranging light 27 can be increased, the reaching distance of the ranging light 27 can be increased to expand the measurable distance, and even when the measurement range is expanded, a sufficient light receiving amount of the reflected ranging light 29 can be acquired.

[0094] A fourth example of the present application will be described with reference to FIGS. 6(A) and 6(B). In FIGS. 6(A) and 6(B), the same reference numerals are attached to portions equivalent to those of FIGS. 4(A) and 4(B), and the description thereof is omitted.

[0095] In the fourth example, the reflection prism 47 serving as the deflection optical member is a triangular prism having a right isosceles triangle shape, and reflection surfaces 47a and 47b are formed on the front surface and the rear surface, respectively.

[0096] The first concave lens 48a is disposed between the beam splitter 34 and the reflection prism 47, and the second concave lens 48b is disposed between the imaging lens group 41 and the reflection prism 47. The first concave lens 48a and the second concave lens 48b are each disposed closer to the light receiving side than the reflection prism 47. The reflection prism 47, the first concave lens 48a, and the second concave lens 48b constitute the rotation unit 15. The other configurations are the same as those of the third example.

[0097] In the fourth example, the first concave lens 48a is disposed at a position closer to the light receiving sensor 36 than in the third example, and the second concave lens 48b is disposed at a position closer to the imaging element 39 than in the third example. Therefore, since the sizes of the first concave lens 48a and the second concave lens 48b can be reduced, the cost can be cut, and the weight of the rotation unit 15 can be reduced.

[0098] The reflection prism 47 as a triangular prism can reduce the weight of the reflection prism 47 compared to a rectangular prism, thereby further reducing the weight of the rotation unit 15.

[0099] Although the reflection prism 47 is a triangular prism in the fourth example, the reflection prism 47 can be a rectangular prism as in the third example. By forming the reflection prism 47 as a rectangular prism, both the reflected ranging light 29 and the external light 42 pass through the prism. Therefore, the reflected ranging light 29 and the external light 42 can be deflected in the same manner.

[0100] As a result, it is possible to make the point cloud acquisition origin 23 of the distance measuring unit 19 and the entrance pupil position 20 of the imaging unit 21 coincide with or substantially coincide with each other, and it is possible to reduce the parallax between the distance measuring unit 19 and the imaging unit 21.

[0101] A fifth example of the present application will be described with reference to FIG. 7(A) and FIG. 7(B). In FIG. 7(A) and FIG. 7(B), the same reference numerals are attached to portions equivalent to those of FIG. 6(A) and FIG. 6(B), and the description thereof is omitted.

[0102] In the fifth example, the rotating unit 15 is composed of only the reflection prism 47. The first concave lens 48a is fixed between the beam splitter 34 and the reflection prism 47, and the second concave lens 48b is fixed between the imaging lens group 41 and the reflection prism 47. The first concave lens 48a and the second concave lens 48b do not rotate integrally with the reflection prism 47. The other configurations are the same as those of the fourth example.

[0103] In the fifth example, since the rotating unit 15 is composed of only the reflection prism 47, it is possible to reduce the weight of the rotating unit 15, and it is possible to suppress the core deviation of the vertical rotation axis 11 (see Figure 1 ).

[0104] A sixth example of the present application will be described with reference to FIG. 8(A) and FIG. 8(B). In FIG. 8(A) and FIG. 8(B), the same reference numerals are attached to portions equivalent to those of FIG. 7(A) and FIG. 7(B), and the description thereof is omitted.

[0105] In the sixth example, the distance measuring unit 19 does not include a concave lens for expanding the measurement range. The other configurations are the same as those of the fifth example.

[0106] In the distance measuring unit 19 of the sixth example, the concave lens, which is a transmission component commonly used by the light projecting unit 28 and the light receiving unit 31, is omitted.

[0107] Therefore, it is possible to suppress the occurrence of the return light of the distance measuring light 27 reflected by the concave lens. Therefore, it is possible to suppress the occurrence of the distance measuring error caused by the return light received by the light receiving sensor 36, and it is possible to improve the distance measuring accuracy.

[0108] A seventh example of the present application will be described with reference to Figure 9 . In Figure 9 , the same reference numerals are attached to portions equivalent to those of Figure 2 , and the description thereof is omitted.

[0109] In the seventh example, the light projection unit 28 of the distance measuring unit 19 includes, in order from the light emission side, the light emitting element 33 disposed on the light projection optical axis, the collimator lens 51, the MEMS mirror 53, the beam splitter 34, the reflection prism 25 disposed on the transmission optical axis of the beam splitter 34, and the first concave lens 26a disposed on the reflection optical axis of the reflection prism 25. The other configurations are the same as those of the first example.

[0110] The collimator lens 51 converts the distance measuring light 27 emitted from the light emitting element 33 into a parallel light beam. The MEMS mirror 53 is a two-axis micro electro mechanical system (MEMS) mirror, and can change the tilt angle in two-axis directions orthogonal to each other.

[0111] Driving the MEMS mirror 53 allows the distance measuring light 27 to be scanned in two-axis directions (two dimensions) within a predetermined range without driving the horizontal rotation motor 8 (see Figure 1 ) and the vertical rotation motor 13 (see Figure 1 ).

[0112] In the seventh example, since the distance measuring light 27 can be scanned in two dimensions by driving the MEMS mirror 53, even when the irradiation range of the distance measuring light 27 is narrower than the imaging range of the imaging unit 21, a measurement range comparable to the imaging range can be measured.

[0113] Therefore, since the divergence angle of the distance measuring light 27 irradiated from the first concave lens 26a can be reduced, and the received light amount of the reflected distance measuring light 29 can be increased, the reach distance of the distance measuring light 27 can be extended, and the measurable distance can be extended.

[0114] Since the divergence angle of the distance measuring light 27 is reduced, the density of the point cloud acquired by the distance measuring unit 19 can be increased.

[0115] Although the MEMS mirror 53 is a two-axis MEMS mirror in the seventh example, two single-axis MEMS mirrors can be provided so that the distance measuring light 27 can be scanned in two-axis directions.

[0116] Furthermore, needless to say, the deflection optical member, the wide-angle optical member, the light emitting unit, and the like in the first to seventh examples can be appropriately combined in addition to the combinations of the above-described examples.

[0117] List of Reference Numerals 1: measurement device 3: measurement device main body 17: calculation control unit 19: distance measuring unit 21: imaging unit 25: reflection prism 27: distance measuring light 29: reflected ranging light 42: external light.

Claims

1. A measuring device, comprising: The ranging unit includes a light projection unit configured to emit ranging light and a light receiving unit configured to receive reflected ranging light from the object to be measured; The deflecting optical component is configured to rotate in the vertical direction via a hollow vertical rotation axis; A vertical rotation drive unit is configured to rotate the deflecting optical component in the vertical direction; A frame unit, wherein the deflecting optical component is disposed; A horizontal rotation drive unit is configured to rotate the frame unit in the horizontal direction; An imaging unit that can image an image of the object under test based on external light passing through the interior of a vertical rotation axis; and The calculation control unit is configured to calculate the distance to the object under test based on the result of the reflected ranging light being received in the light receiving unit, wherein... The ranging unit and the imaging unit are positioned facing each other, with deflecting optics inserted between them. The deflecting optical component has two reflective surfaces for reflecting the ranging light, the reflected ranging light, and the external light at right angles. The computational control unit simultaneously performs ranging through one of the two reflective surfaces and imaging through the other of the two reflective surfaces.

2. The measuring device according to claim 1, wherein, The ranging unit and the imaging unit are configured such that the origin of the point cloud acquisition of the ranging unit coincides or substantially coincides with the entrance pupil position of the imaging unit.

3. The measuring device according to claim 2, wherein, The ranging unit also includes a beam splitter configured to transmit the ranging light and reflect the reflected ranging light.

4. The measuring device according to claim 2, further comprising: A second concave lens is configured to reduce the diameter of the external light, wherein, The imaging range of the imaging unit is expanded by using the second concave lens.

5. The measuring device according to claim 4, further comprising: The first concave lens is configured to increase the diameter of the ranging beam, wherein... The first concave lens is used to expand the measurement range of the ranging unit.

6. The measuring device according to claim 5, wherein, Both the first and second concave lenses are positioned closer to the object under test than the deflecting optical component, and rotate together with the deflecting optical component.

7. The measuring device according to claim 5, wherein, Both the first and second concave lenses are positioned closer to the light-receiving side than the deflecting optical components.

8. The measuring device according to claim 7, wherein, The first and second concave lenses rotate together with the deflecting optical components.

9. The measuring device according to claim 1, wherein, A ranging unit is a two-dimensional ranging sensor that can acquire ranging data in a planar manner.

10. The measuring device according to claim 9, wherein, The ranging sensor is a flash LiDAR, and, The light projection unit includes at least one light-emitting element configured to emit ranging light.

11. The measuring device according to claim 2, wherein, The light projection unit also includes a MEMS mirror capable of deflecting the ranging light in two axial directions.

12. The measuring device according to any one of claims 1 to 11, wherein, The deflecting optical component is a rectangular prism obtained by joining two triangular prisms, and... Each reflective surface is formed on the front and rear surfaces of the mating surface of the rectangular prism.

13. The measuring device according to any one of claims 1 to 11, wherein, The deflecting optical component is a triangular prism with a right-angled isosceles triangle shape, and... Each reflective surface is formed on the front and rear surfaces of the triangular prism on the long side of the prism.

14. The measuring device according to any one of claims 1 to 11, wherein, The deflecting optical component is a plate-shaped mirror, and, Each reflective surface is formed on the front and rear surfaces of the mirror.

15. The measuring device according to any one of claims 1 to 11, wherein, A recess for accommodating the deflecting optical component is formed in the frame unit, and, A tapered portion, cut into a cone shape, is formed at the edge of the recess.

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