Three-dimensional shape measurement system and setting method of three-dimensional shape measurement system

Abstract

To acquire a position of a three-dimensional shape measuring instrument based on a reference point measuring instrument in a state in which the three-dimensional shape measuring instrument is provided in a luggage compartment of a vehicle.SOLUTION: A three-dimensional shape measurement system has: a first reference instrument disposed in a position visible from a reference point measuring instrument in a vehicle; a positioning mechanism capable of positioning a three-dimensional shape measuring instrument in a housing position for housing it within a luggage compartment of a vehicle and a measurement position in which measurement light can be applied to an object; and a processing device to which measurement data of the three-dimensional shape measuring instrument and coordinate data of the first reference instrument based on the reference point measuring instrument are input. The processing device converts measurement data of the three-dimensional shape measuring instrument to measurement data based on the reference point measuring instrument on the basis of previously acquired coordinate data which is the coordinate data of the first reference instrument based on the three-dimensional shape measuring instrument and coordinate data of the first reference instrument based on the reference point measuring instrument which is the coordinate data of the first reference instrument measured by the reference point measuring instrument.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a three-dimensional shape measuring system and a method for setting a three-dimensional shape measuring system. [Background technology]

[0002] The three-dimensional shape measuring system of Patent Document 1 includes a three-dimensional shape measuring device that measures the shape of an object, and a reference device that serves as a target when specifying the position of the three-dimensional shape measuring device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-180779 A Summary of the Invention [Problem to be solved by the invention]

[0004] The three-dimensional shape measuring device and the reference device in Patent Document 1 are disposed on the roof of the vehicle. In Patent Document 1, a laser beam is irradiated from a three-dimensional shape measuring instrument onto a reference instrument to obtain coordinate data of the reference instrument as viewed from the three-dimensional shape measuring instrument. Also, a reference point measuring instrument disposed at a position away from the vehicle irradiates a laser beam onto the reference instrument to obtain coordinate data of the reference instrument as viewed from the reference point measuring instrument. Then, based on the coordinate data of the reference instrument based on the three-dimensional shape measuring instrument and the coordinate data of the reference instrument based on the reference point measuring instrument, the coordinate data of the three-dimensional shape measuring instrument based on the reference point measuring instrument is specified.

[0005] Here, in Patent Document 1, the three-dimensional shape measuring device, which is a heavy object, needs to be lifted onto the roof of the vehicle, which imposes a heavy workload. In this case, it is conceivable to place the three-dimensional shape measuring device in the luggage compartment below the roof to reduce the workload. However, if the three-dimensional shape measuring device is placed in the luggage compartment, the laser light emitted from the three-dimensional shape measuring device may be blocked by the roof and not reach the reference device. This may make it impossible to obtain coordinate data of the reference device based on the three-dimensional shape measuring device, and may make it impossible to obtain coordinate data of the three-dimensional shape measuring device based on the reference point measuring device.

[0006] Therefore, there is a demand for making it possible to obtain coordinate data of the three-dimensional shape measuring device based on the reference point measuring device with the three-dimensional shape measuring device installed in the luggage compartment of the vehicle. [Means for solving the problem]

[0007] A three-dimensional shape measuring system according to one aspect of the present invention comprises: a three-dimensional shape measuring device that measures a three-dimensional shape of an object by irradiating the object with measurement light; A first reference device arranged in a position visible from the reference point measuring device on the vehicle; a positioning mechanism that can position the three-dimensional shape measuring device at a storage position in a luggage compartment of the vehicle and at a measurement position where the object can be irradiated with a measurement light and where coordinate data of the first reference device cannot be obtained; a processing device to which measurement data of the three-dimensional shape measuring device and coordinate data acquired by the reference point measuring device, the coordinate data of the first reference device being based on the reference point measuring device, are input; The processing device converts the measurement data of the three-dimensional shape measuring instrument into measurement data based on the reference point measuring instrument based on previously acquired coordinate data of the first reference instrument based on the three-dimensional shape measuring instrument and coordinate data of the first reference instrument measured by the reference point measuring instrument based on the reference point measuring instrument. Effect of the Invention

[0008] According to the present invention, with the three-dimensional shape measuring device installed in the luggage compartment of the vehicle, the coordinate data of the three-dimensional shape measuring device based on the reference point measuring device can be obtained. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic configuration diagram of a three-dimensional shape measuring system. [Diagram 2] 1 is a diagram illustrating a positioning mechanism. [Diagram 3] FIG. 4 is a diagram illustrating a positioning mechanism. [Figure 4] FIG. 4 is a diagram illustrating a slide mechanism. [Diagram 5] FIG. 4 is a diagram illustrating a level adjustment mechanism. [Figure 6] FIG. 4 is a diagram illustrating a lock mechanism. [Figure 7] FIG. 13 is a diagram for explaining a method of acquiring coordinate data of a survey prism based on a laser tracker. [Figure 8] FIG. 13 is a diagram for explaining a method of acquiring coordinate data of a laser tracker based on a total station. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described by taking as an example a case where it is applied to a three-dimensional shape measuring system 1 used for measuring the shape of a tunnel face during excavation. Fig. 1 is a diagram for explaining a three-dimensional shape measuring system 1. Fig. 1(a) is a diagram for explaining the three-dimensional shape measuring system 1 as viewed from the side of a vehicle 6. Fig. 1(b) is a diagram for explaining the three-dimensional shape measuring system 1 as viewed from above the vehicle 6.

[0011] As shown in (a) of Figure 1, the three-dimensional shape measurement system 1 includes a laser tracker 2 (three-dimensional shape measuring instrument) and a survey prism 3 (first reference instrument) mounted on a vehicle 6, a total station TS (reference point measuring instrument) arranged at a position away from the vehicle 6 within the tunnel T, and a computer 5 (processing device).

[0012] In the following explanation, when explaining the positional relationships of the components included in the three-dimensional shape measurement system 1 and the positional relationships of the components of each component, etc., the explanation will be based on the up-down direction, the fore-and-aft direction of the vehicle, the width direction of the vehicle, and the direction of a straight line Lx along the fore-and-aft direction of the vehicle in (a) and (b) of Figure 1 as necessary.

[0013] The laser tracker 2 has a head unit 21 (see Figure 5) that irradiates laser light L1 (measurement light) and a light receiving unit (not shown) that receives the laser light L1 reflected by the surface of the object or by a reflector R (see Figure 7) described later. Laser Tracker 2 is a measuring instrument with direct scan and reflector measurement functions. In the direct scan function, the laser light L1 reflected from the surface of the target is received by the light receiving unit. Then, the distance from the laser tracker 2 to the surface of the target and the shape data of the surface of the target in a coordinate system based on the laser tracker 2 (measurement device coordinate system) are obtained. In the reflector measurement function, the laser light L1 reflected by the reflector R is received by the light receiving unit. Then, the distance from the laser tracker 2 to the center of the reflector R and the coordinate data of the center of the reflector in the coordinate system based on the laser tracker 2 (measurement device coordinate system) are obtained.

[0014] Here, in this embodiment, the face Ta of the tunnel T corresponds to the surface of the object. When measuring the shape of the face Ta of the tunnel T, the laser tracker 2 irradiates the face Ta of the tunnel T with laser light L1 to measure the three-dimensional shape of the face Ta. Specifically, three-dimensional shape data showing the surface shape of the face Ta is generated and output based on the time from the irradiation of the laser beam L1 to the reception of the reflected laser beam L1 and the irradiation direction of the laser beam L1. The generated three-dimensional shape data includes coordinate data of the surface of the face Ta.

[0015] 1(b), the survey prism 3 is fixed to a roof portion 61 of a vehicle 6 via a fixing device (e.g., a bracket) not shown. In this embodiment, the survey prisms 3 are arranged at four locations on the roof portion 61. Specifically, two survey prisms 31, 32 are arranged on the front side of the vehicle 6, and two survey prisms 33, 34 are arranged on the rear side of the vehicle 6.

[0016] The survey prisms 31 and 32 are disposed on one side and the other side of the straight line Lx when viewed from above. The survey prisms 33 and 34 are disposed on one side and the other side of the straight line Lx when viewed from above. The number and arrangement of the survey prisms 3 can be changed as appropriate.

[0017] As shown in (a) of Fig. 1, a laser tracker 2 is provided below the survey prism 3 in the vertical direction. The laser tracker 2 is provided in a luggage compartment 60 (see the dashed line in the figure) of a vehicle 6 via a positioning mechanism 4, which will be described later. The luggage compartment 60 opens to the rear side of the vehicle. A back door 62 that closes the opening of the luggage compartment 60 is provided to the rear side of the vehicle 6.

[0018] The total station TS acquires coordinate data of the survey prism 3 in a coordinate system (tunnel coordinate system) based on the total station TS. In order to measure the shape of the face Ta of the tunnel T, the total station TS emits laser light L2 toward a target survey prism 3 when a vehicle 6 equipped with a laser tracker 2 is placed inside the tunnel T. The total station TS receives the laser light reflected by the survey prism 3 and acquires coordinate data of the survey prism 3 in a coordinate system (tunnel coordinate system) based on the total station TS. The survey prism 3 may be a known one equipped with a reflective material that reflects laser light.

[0019] The computer 5 is an information processing terminal connected to the laser tracker 2 and the total station TS by wire or wirelessly. The computer 5 can communicate with an external server SV by wire or wirelessly via the Internet NT (see (a) of FIG. 1).

[0020] The computer 5 acquires the measurement data of the total station TS. Although details will be described later, the storage unit 50 (see (a) of FIG. 1) of the computer 5 stores coordinate data of the survey prism 3 with respect to the laser tracker 2. The coordinate data of the survey prism 3 with respect to the laser tracker 2 may be stored in an external server SV.

[0021] The computer 5 calculates the coordinate data of the laser tracker 2 based on the total station TS, based on the coordinate data of the survey prism 3 acquired by the total station TS and the coordinate data of the survey prism 3 based on the laser tracker 2. The computer 5 also acquires the measurement data of the laser tracker 2 and analyzes the shape of the face Ta.

[0022] As shown in FIG. 1(b), when measuring the shape of the face Ta of tunnel T, the vehicle 6 is parked between the face Ta and the total station TS. At this time, the vehicle 6 is positioned so that its fore-and-aft direction is oriented along a straight line Lx. The straight line Lx is a straight line along the excavation direction of the tunnel T. In this state, the front end 6a of the vehicle 6 faces the total station TS with a gap in between in the direction of the straight line Lx. The rear end 6b of the vehicle 6 faces the face Ta with a gap in between in the direction of the straight line Lx.

[0023] In the three-dimensional shape measurement system 1 of the present embodiment, the back door 62 of the vehicle 6 is opened and the laser tracker 2 is pulled out from the luggage compartment 60 to the rear side of the vehicle, and then the laser light L1 is irradiated toward the face Ta.

[0024] Figure 2 is a diagram explaining the positioning mechanism 4, showing a vehicle 6 as seen from the rear side. Figure 2(a) shows the laser tracker 2 placed in the measurement position. Figure 2(b) shows the laser tracker 2 placed in the storage position. Fig. 3 is a diagram for explaining the positioning mechanism 4. Fig. 3 is a diagram showing the positioning mechanism 4 in Fig. 2(a) as viewed from above. In Fig. 3, in order to make it easier to understand the positional relationship, the slide rail 73 and the bottom wall 601 of the luggage compartment 60 are hatched, and the movable plate 71 is cross-hatched. 4 is a diagram illustrating the slide mechanism 7. FIG 4 is a view taken along the line AA in FIG 3. In Figures 3 and 4, laser tracker 2 placed in the stored position is shown by virtual lines. 5 is a diagram for explaining the level adjustment mechanism 8. FIG 5 is an enlarged view of a main part of FIG 4. Fig. 6 is a diagram illustrating the lock mechanism 9. Fig. 6(a) is a perspective view of the lock mechanism 9. Fig. 6(b) is a schematic view of a cross section of the lock mechanism 9 cut along the vehicle width direction.

[0025] 2(a), a positioning mechanism 4 is interposed between the laser tracker 2 in the vertical direction and the luggage compartment 60 of the vehicle 6. The positioning mechanism 4 includes a slide mechanism 7 that slides the laser tracker 2, and a lock mechanism 9 that fixes the position of the laser tracker 2.

[0026] The slide mechanism 7 has a fixed plate 70 fixed to the bottom wall 601 of the luggage compartment 60, a movable plate 71 (support base) provided above the fixed plate 70, and a slide rail 73 provided straddling the fixed plate 70 and the movable plate 71 in the vertical direction.

[0027] As shown in FIG. 3, the fixing plate 70 has a substantially rectangular shape when viewed from above. The fixing plate 70 has long sides 701, 702 along the straight line Lx, a short side 703 connecting the ends of the long sides 701, 702 on the front side of the vehicle, and a short side 704 connecting the ends on the rear side of the vehicle. Brackets B1 are provided near the four corners of the fixing plate 70.

[0028] 2(a), the bracket B1 is formed by bending a strip-shaped metal piece into an L shape, and is provided across the fixing plate 70 and the bottom wall 601 of the luggage compartment 60. The bracket B1 is fixed to the fixing plate 70 by a bolt Ba, and is fixed to the bottom wall 601 by a bolt Bb.

[0029] As shown in Fig. 3, fixed plate 70 is provided with a side plate 705 along a short side 703 on the front side of the vehicle. Side plate 705 extends upward in the vertical direction from fixed plate 70 (see Fig. 4). Battery 28 and control device 29 for driving laser tracker 2 are attached to side plate 705. Battery 28 and control device 29 are electrically connected to laser tracker 2 by wiring (not shown). In addition, laser tracker 2 communicates data with computer 5 via control device 29.

[0030] The fixed plate 70 is provided with a stopper 706 at a position adjacent to the side plate 705 on the rear side of the vehicle in the direction of the straight line Lx. The stopper 706 prevents the movable plate 71 from colliding with the side plate 705.

[0031] As shown in Fig. 4, the movable plate 71 is disposed above the fixed plate 70. In the vertical direction, a gap is provided between a lower surface 71b of the movable plate 71 and an upper surface 70a of the fixed plate 70. A laser tracker 2 is provided on the upper surface 71a of the movable plate 71 via a level adjustment mechanism 8, which will be described later. The movable plate 71 constitutes a support base that supports the laser tracker 2.

[0032] As shown in FIG. 3, the movable plate 71 has a substantially rectangular shape when viewed from above. The movable plate 71 has long sides 711, 712 along the straight line Lx, a short side 713 connecting the ends of the long sides 711, 712 on the front side of the vehicle, and a short side 714 connecting the ends of the long sides 711, 712 on the rear side of the vehicle.

[0033] 3, in the vehicle width direction, slide rails 73, 73 (a pair of slide rails) are provided between a long side 701 of the fixed plate 70 and a long side 711 of the movable plate 71, and between a long side 702 of the fixed plate 70 and a long side 712 of the movable plate 71. The slide rails 73 are provided in a direction along the straight line Lx.

[0034] 4, the slide rail 73 has an outer rail 731 fixed to the fixed plate 70 via a bracket B2, an inner rail 732 fixed to the movable plate 71, and an intermediate rail 733 provided between the outer rail 731 and the inner rail 732. The outer rail 731, the inner rail 732, and the intermediate rail 733 have approximately the same length as the long side 712 of the movable plate 71 in the direction of the straight line Lx (see FIG. 3).

[0035] The bracket B2 has a band-shaped base B21 provided along the line Lx and a leg B22 extending downward from the base B21. A plurality of the leg B22 are provided at intervals in the line Lx. The bracket B2 has the base B21 fixed to the outer rail 731 by a bolt Bc, and the leg B22 fixed to the fixing plate 70 by a bolt Bd.

[0036] As shown in Fig. 4, the inner rail 732 is fixed to the movable plate 71 by a bolt Be. Between the outer rail 731 and the intermediate rail 733, and between the inner rail 732 and the intermediate rail 733, balls (not shown) and retainers (not shown) that hold the balls are interposed. This allows the movable plate 71 to move relatively to the fixed plate 70 in the direction of the straight line Lx along the slide rail 73. In the slide mechanism 7, the movable plate 71 can move back and forth between the inside and outside of the luggage compartment 60 (see Figs. 2(a) and (b)).

[0037] The movable plate 71 is formed to have an area smaller than that of the fixed plate 70. As shown in Fig. 3, when the movable plate 71 is disposed at a position where it abuts against the stopper 706 in a plan view, the movable plate 71 is arranged to be within the range in which the fixed plate 70 is provided (see the imaginary line in the drawing).

[0038] A grip portion 715 is provided at a substantially middle position in the vehicle width direction on a short side 714 on the vehicle rear side of the movable plate 71 (see FIG. 3). Therefore, an operator can pull out the movable plate 71 from the luggage compartment 60 or store it in the luggage compartment 60 while gripping the grip portion 716.

[0039] 6(a), the lock mechanism 9 has an engaging portion 91 and engaged portions 95 (95F, 95R) that engage with the engaging portion 91. The engaging portion 91 is provided on the fixed plate 70. The engaged portions 95 are provided on the movable plate 71.

[0040] As shown in FIG. 3, two engagement portions 91 are provided on the fixing plate 70 near the corners on the rear side of the vehicle. As shown in the enlarged area of ​​FIG. 6(a), the engagement portion 91 has a fixing member 93 fixed to the upper surface 70a of the fixing plate 70 by a bolt Bf. As shown in FIG. 6(b), the fixing member 93 is formed with a through hole 931 penetrating in the direction of a straight line Ly. The direction of the straight line Ly is a straight line along the vehicle width direction. A screw is formed on the inner periphery of the through hole 931. A shaft portion 922 of a screw 92 is screwed into the through hole 931. By rotating the screw 92 around the straight line Ly, the screw 92 reciprocates in the direction of the straight line Ly (the direction of the arrow in FIG. 6(b)). The shaft portion 922 of the screw 92 only needs to have a length sufficient to pass through a through hole 953 of an engaged portion 95 described later when the head portion 921 abuts against the fixing member 93 (see FIG. 6(b)).

[0041] 3, four engaged portions 95 are provided near corners of the movable plate 71. In the following description, the engaged portion 95 on the vehicle front side will also be referred to as engaged portion 95F, and the engaged portion 95 on the vehicle rear side will also be referred to as engaged portion 95R. It is sufficient that the engaged portion 95 is provided at least on the vehicle front side of the movable plate 71 in the vehicle front-rear direction.

[0042] Hereinafter, the shape of the engaged portion 95 will be described using as an example the engaged portion 95R on one side in the vehicle width direction in FIG. 3 (the lower side in the figure). 6(a), the engaged portion 95R is formed by bending a plate-shaped metal piece. The engaged portion 95R has a fixed piece 951 fixed to the short side 714 of the movable plate 71 with a bolt Bg, and a protruding piece 952 protruding from the fixed piece 951 toward the rear of the vehicle. The protruding piece 952 is provided flush with the long side 712 of the movable plate 71 (see the enlarged area in FIG. 3).

[0043] 6(a), the protruding piece 952 extends downward beyond the movable plate 71 in the up-down direction. A through hole 953 is formed in a region of the protruding piece 952 that extends downward beyond the movable plate 71. The through hole 953 penetrates the protruding piece 952 in the vehicle width direction. The through hole 953 has a hole diameter that allows the shaft portion 922 of the screw 92 of the engagement portion 91 to be inserted therethrough.

[0044] 3, the engaged portion 95R on the other side in the vehicle width direction (upper side in the figure) is provided symmetrically with the engaged portion 95R on one side in the vehicle width direction (lower side in the figure) across the straight line Lx. Also, the engaged portions 95F, 95F on the vehicle front side are provided symmetrically with the engaged portions 95R, 95R across the movable plate 71. The engaged portions 95F, 95R are arranged at positions overlapping the engaging portion 91 in the vehicle width direction when the movable plate 71 is moved in the vehicle front-rear direction.

[0045] 6(b), for example, the through hole 953 of the engaged portion 95F is positioned concentrically with the screw 92, and the screw 92 of the engaging portion 91 is rotated in a tightening direction. When the screw 92 moves in the direction of the straight line Ly and the tip of the shaft portion 922 passes over the through hole 953 of the engaged portion 95F, the movable plate 71 is fixed to the fixed plate 70 via the screw 92 so as to be immovable.

[0046] In this state, the movable plate 71 is positioned in a state where it is exposed to the outside of the luggage compartment 60. The laser tracker 2 supported by the movable plate 71 is positioned at a position (measurement position PA) a predetermined distance D1 away from the opening 60a of the luggage compartment 60 toward the rear of the vehicle (see FIG. 4).

[0047] On the other hand, the through hole 953 of the engaged portion 95R is positioned concentrically with the screw 92, and then the screw 92 is rotated in a direction to tighten the screw 92. Then, when the tip of the shaft portion 922 passes through the through hole 953 of the engaged portion 95R, the movable plate 71 is positioned in a state where it is housed within the luggage compartment 60. The laser tracker 2 supported by the movable plate 71 is positioned at a position (storage position PB) a predetermined distance D2 away from the opening 60a of the luggage compartment 60 toward the front of the vehicle (see the imaginary line in FIG. 4).

[0048] 4, the laser tracker 2 is supported by a movable plate 71 via a level adjustment mechanism 8. The level adjustment mechanism 8 adjusts the laser tracker 2 to be horizontal.

[0049] As shown in FIG. 3, the level adjustment mechanism 8 has a level platform 80 that is substantially triangular in top view, and leveling bolts 81, 81, 81 provided on three apexes of the level platform 80.

[0050] 5, the leveling bolt 81 has a shaft 811 that passes through the level table 80 in the up-down direction, and a head 812 provided at the upper end of the shaft 811. A screw is formed on the outer periphery of the shaft 811, and is screwed into a nut N fixed to the lower surface 80b of the level table 80. The lower end of the shaft 811 is supported by a leveling plate 83. The leveling plate 83 is fixed to the upper surface 71a of the movable plate 71 so as to be immovable.

[0051] The leveling platform 80 is supported at three points by three leveling bolts 81 and a leveling plate 83. When the leveling bolt 81 is turned in the direction of tightening the screw, the leveling platform 80 is displaced upward. When the leveling bolt 81 is turned in the direction of loosening the screw, the leveling platform 80 is displaced downward. This allows the inclination of the leveling platform 80 to be adjusted.

[0052] A laser tracker 2 and a spirit level 85 are provided on an upper surface 80a of the level table 80. An operator can adjust the inclination of the level table 80 and level the laser tracker 2 by operating the leveling bolts 81 while checking the display of the spirit level 85.

[0053] As shown in Fig. 5, in this embodiment, two leveling bolts 81 (see Fig. 3) located on the rear side of the vehicle are provided with handles 813. The handles 813 are fitted onto the heads 812 of the leveling bolts 81. This allows an operator to operate the leveling bolts 81 by hand tightening without using tools, making it possible to easily level the laser tracker 2.

[0054] Here, the laser tracker 2 has a head unit 21 that irradiates laser light, a main body unit 22 that supports the head unit 21, and a mount unit 23 that connects the main body unit 22 to the level stand 80.

[0055] 3, a drive motor M1 is built into the main body 22. An output shaft Ma of the drive motor M1 is oriented along a straight line Lp (see FIG. 2(a)) that is perpendicular to the up-down direction.

[0056] The head unit 21 is supported by the main body unit 22 via the output shaft Ma. The head unit 21 is connected to the output shaft Ma so as to be non-rotatable relative to the output shaft Ma. When the drive motor M1 is driven, the head unit 21 rotates together with the output shaft Ma around a straight line Lp. This enables the head unit 21 to irradiate the laser light L1 from the upper end to the lower end of the face Ta of the tunnel T (see FIG. 1(a)).

[0057] 5, the main body 22 is supported at its lower side in the up-down direction by a mount 23. The mount 23 is positioned on a level base 80 via a fitting portion K (for example, fitting between a parallel key and a key groove).

[0058] The mount 23 includes a built-in drive motor M2. The output shaft Mb of the drive motor M2 is oriented along a straight line Lq. The straight line Lq is a straight line along the vertical direction and perpendicular to the straight line Lp. The output shaft Mb extends upward from the drive motor M2.

[0059] The main body 22 is supported by the mount 23 via the output shaft Mb. The main body 22 is connected to the output shaft Mb so as to be non-rotatable relative to the output shaft Mb. When the drive motor M2 is driven, the main body 22 rotates around the straight line Lq together with the output shaft Mb while supporting the head 21. This allows the head 21 to irradiate the laser light L1 from one end to the other end of the face Ta of the tunnel T in the vehicle width direction (see FIG. 1(b)).

[0060] 1(a), in the three-dimensional shape measurement system 1 according to this embodiment, the laser tracker 2 is placed at measurement position PA (see FIG. 4) to measure the face Ta of the tunnel T. Note that, although the laser tracker 2 can also be placed at the storage position PB to perform the measurement, in order to ensure a wide irradiation range of the laser tracker 2 (the range of rotation around the straight lines Lp and Lq), it is preferable to place the laser tracker 2 at measurement position PA to measure the shape data.

[0061] In the three-dimensional shape measuring system 1 of this embodiment, the measurement data (measuring instrument coordinate system) of the face Ta measured by the laser tracker 2 is converted into measurement data (tunnel coordinate system) based on the origin P2 of the total station TS. To this end, coordinate data of the laser tracker 2 relative to the total station TS is acquired (see (a) in Figure 1).

[0062] Specifically, based on the coordinate data of the survey prism 3 based on the origin P2 of the total station TS and the coordinate data of the survey prism 3 based on the origin P1 of the laser tracker 2, the coordinate data of the origin P1 of the laser tracker 2 based on the origin P2 of the total station TS is acquired. The origin P1 of the laser tracker 2 can be the intersection of the straight line Lp (see FIG. 3) and the straight line Lq (see FIG. 5). Although not shown, the origin P2 of the total station TS can be the center point of the irradiation area of ​​the laser light L2.

[0063] 1A, the laser tracker 2 placed at the measurement position and the survey prism 3 are separated by a roof part 61 and a back door 62. Therefore, even if the laser tracker 2 irradiates the laser light L1, it may not reach the survey prism 3. In this case, it is not possible to directly obtain coordinate data of the survey prism 3 from the laser tracker 2.

[0064] Therefore, in this embodiment, coordinate data of the survey prism 3 with respect to the origin P1 of the laser tracker 2 as a reference is acquired in advance and stored in the storage unit 50 of the computer 5.

[0065] (Method of acquiring coordinate data of survey prism 3 in measuring instrument coordinate system) A method for acquiring coordinate data (measurement instrument coordinate system) of the survey prism 3 with reference to the origin P1 of the laser tracker 2 will be described below. Fig. 7 is a schematic diagram explaining a method for acquiring coordinate data of the survey prism 3 with reference to the origin P1 of the laser tracker 2. Fig. 7(a) is a diagram explaining a first acquisition step. Fig. 7(b) is a diagram explaining a second acquisition step. Fig. 7(c) is a diagram explaining the amount of movement D of the laser tracker 2.

[0066] Acquisition of the coordinate data of the survey prism 3 with reference to the origin P1 of the laser tracker 2 can be performed outside the tunnel T. For example, it can be performed during advance preparations such as work to attach the positioning mechanism 4 to the vehicle 6.

[0067] (First acquisition step) As shown in (a) of Figure 7, laser tracker 2 is installed in a position separated from vehicle 6. Laser tracker 2 is supported on ground G by a tripod W. The origin of laser tracker 2 in this state is designated as P1'. Note that (a) of Figure 7 shows laser tracker 2 placed further into the paper than vehicle 6.

[0068] Also, a reflector R (second reference device) serving as a target is placed at a position separated from the vehicle 6 and the laser tracker 2. The reflector R is attached to something whose position is fixed, such as a wall of a building. Although four reflectors R are shown in (a) to (c) of FIG. 7, the number of reflectors R is arbitrary. Also, the reflector R may be a known one equipped with a reflective material that reflects laser light.

[0069] 7(a), the laser tracker 2 irradiates laser light L1 toward the survey prism 3 and the reflector R provided on the vehicle 6. This acquires each coordinate data of the survey prism 3 (survey prisms 31 to 34: see FIG. 1(b)) based on the origin P1' of the laser tracker 2 and each coordinate data of the reflector R (first acquisition step).

[0070] For example, the first acquisition step acquires coordinate data (X1, Y1, Z1) of the survey prism 31 with respect to the origin P1' and coordinate data (X11, Y11, Z11) of the reflector R1 with respect to the origin P1'. Below, the survey prism 31 arranged on the front side of the vehicle and one of the four reflectors R (reflector R1) will be described as an example.

[0071] (Second acquisition step) Next, as shown in Fig. 7(b), the back door 62 of the vehicle 6 is opened, and the movable plate 71 of the slide mechanism 7 is pulled out from the luggage compartment 60 toward the rear side of the vehicle. Then, after the movable plate 71 is pulled out to the measurement position PA, the engaging portion 91 of the lock mechanism 9 is engaged with the engaged portion 95F (see Fig. 6(a)).

[0072] Then, the laser tracker 2 is transferred from the tripod W (see (a) of FIG. 7) to the level stand 80 on the movable plate 71. This places the laser tracker 2 at the measurement position PA. The origin of the laser tracker 2 at the measurement position PA is set to P1.

[0073] The laser tracker 2 irradiates the laser light L1 toward the reflector R. This allows each piece of coordinate data of the reflector R based on the origin P1 of the laser tracker 2 to be acquired (second acquisition step). By the second acquisition step, the coordinate data (X21, Y21, Z21) of the reflector R1 based on the origin P1 is acquired.

[0074] The difference (X21-X11, Y21-Y11, Z21-Z11) between the coordinate data (X21, Y21, Z21) of the reflector R1 measured in the second acquisition step and the coordinate data (X11, Y11, Z11) of the reflector R1 measured in the first acquisition step is calculated. This difference corresponds to the amount of movement of the laser tracker 2 (the amount of movement D (Dx, Dy, Dz) from the origin P1' to the origin P1) (see (c) of Figure 7).

[0075] By adding the movement amount D (Dx, Dy, Dz) to the coordinate data (X1, Y1, Z1) of the survey prism 31 measured in the first acquisition step, the coordinate data (X2, Y2, Z2) of the survey prism 31 based on the origin P1 is calculated ((X2, Y2, Z2) = (X1 + Dx, Y1 + Dy, Z1 + Dz)).

[0076] This allows obtaining results similar to those obtained by directly irradiating the survey prism 31 with laser light L1 from the laser tracker 2 placed at the measurement position PA (see the virtual line in (c) of Figure 7).

[0077] (How to obtain the coordinate data of Laser Tracker 2 in the tunnel coordinate system) FIG. 8 is a diagram explaining a method of acquiring coordinate data (tunnel coordinate system) of the laser tracker 2 based on the total station TS.

[0078] In this embodiment, the coordinate data (X2, Y2, Z2) of the survey prism 31 with respect to the origin P1 is stored in the storage unit 50 of the computer 5. Then, as shown in Fig. 8, the coordinate data of the laser tracker 2 with respect to the total station TS in the tunnel T is acquired.

[0079] Specifically, the total station TS irradiates the survey prism 31 with laser light L2. This allows the coordinates (X4, Y4, Z4) of the survey prism 31 to be acquired with reference to the origin P2 of the total station TS.

[0080] The computer 5 adds the coordinate data (X2, Y2, Z2; see the virtual line in the figure) of the survey prism 31 with respect to the origin P1 to the coordinate data (X4, Y4, Z4) of the survey prism 31 with respect to the origin P2 of the total station TS. This obtains the coordinate data (X4+X2, Y4+Y2, Z4+Z2) of the origin P1 of the laser tracker 2 with respect to the origin P2 of the total station TS.

[0081] In this way, the three-dimensional shape measurement system 1 of the present embodiment can identify the coordinates of the laser tracker 2 with respect to the total station TS, with the laser tracker 2 installed in the luggage compartment 60 of the vehicle 6. This makes it possible to convert the shape data of the face Ta measured by the laser tracker 2 into measurement data based on the total station TS.

[0082] As described above, the three-dimensional shape measuring system 1 according to this embodiment has the following configuration. (1)(7) The three-dimensional shape measurement system 1 is It has a laser tracker 2 (three-dimensional shape measuring device) that measures the three-dimensional shape of the face Ta (object) of the tunnel T by irradiating the face Ta with laser light L1 (measurement light). The vehicle 6 has a survey prism 3 (first reference device) arranged at a position visible from a total station TS (reference point measuring device). The laser tracker 2 has a storage position PB where it is stored in the luggage compartment 60 (luggage compartment) of the vehicle 6, and a positioning mechanism 4 that enables it to be positioned at a measurement position PA where laser light L2 can be irradiated onto the face Ta and where coordinate data of the survey prism 3 cannot be obtained. The system has a computer 5 (processing device) to which measurement data from the laser tracker 2 and coordinate data acquired by the total station TS, which is coordinate data of the survey prism 3 based on the total station TS, are input. The computer 5 converts the measurement data of the laser tracker 2 into measurement data based on the total station TS, based on coordinate data of the survey prism 3 based on the laser tracker 2, which is acquired in advance, and coordinate data of the survey prism 3 measured by the total station TS, which is coordinate data of the survey prism based on the total station TS.

[0083] Here, the survey prism 3 is often provided on the roof portion 61, which is the upper portion of the vehicle 6, so as to be visible from the total station TS. In that case, when the laser tracker 2 is stored in the luggage compartment 60, even if the laser tracker 2 is placed at the measurement position PA, the survey prism 3 cannot be seen from the laser tracker 2, so that the coordinate data of the survey prism 3 cannot be directly acquired in some cases.

[0084] Therefore, by configuring as described above, the measurement data of the laser tracker 2 can be converted into measurement data based on the total station TS, so that the measurement position of the laser tracker 2 in the vehicle 6 can be set to a position (measurement position PA) where the coordinate data of the survey prism 3 cannot be acquired. This increases the degree of freedom in installing the laser tracker 2, and eliminates the need to lift the laser tracker 2 onto the roof portion 61 of the vehicle 6. Therefore, the workload involved in preparation for shape measurement using the laser tracker 2 can be reduced.

[0085] In addition, the laser tracker 2 is a measuring instrument that has a direct scan function and a reflector measurement function. The coordinate data of the survey prism 3 acquired using the reflector measurement function is highly accurate. Therefore, the measurement data of the face Ta acquired using the direct scan function can be converted with higher accuracy into measurement data based on the total station TS.

[0086] (2) A plurality of survey prisms 3 (31 to 34) are provided on the roof portion 61 of the vehicle 6. Coordinate data of the survey prism 3 based on the laser tracker 2 is prepared for each of the multiple survey prisms 3 (31 to 34). The survey prisms 3 (31 to 34) are disposed at intervals in the vehicle width direction (width direction) of the vehicle 6 and in the front-rear direction of the vehicle 6.

[0087] The roof portion 61 located on the upper part of the vehicle 6 is an area that is relatively easy to see even if there are obstacles around the vehicle 6. Therefore, by arranging the survey prisms 3 as described above, even if the relative positional relationship between the total station TS and the vehicle 6 is changed, at least one survey prism 3 can be viewed from the total station TS. This makes it possible to convert the measurement data of the laser tracker 2 into measurement data based on the total station TS by using the coordinate data of the survey prism 3 measured by the total station TS and the coordinate data of the survey prism 3 based on the laser tracker 2. This is expected to improve the yield in three-dimensional shape measurement.

[0088] (3) The coordinate data of the survey prism 3 based on the laser tracker 2 is stored in at least one of the storage unit 50 of the computer 5 or the external server SV.

[0089] With this configuration, redundancy can be ensured in obtaining coordinate data of the survey prism 3 based on the laser tracker 2.

[0090] (4) The positioning mechanism 4 has a slide mechanism 7 that slides the movable plate 71 (support base) that supports the laser tracker 2 between the storage position PB and the measurement position PA. The positioning mechanism 4 also includes a locking mechanism 9 that fixes the movable plate 71 at least at the measurement position PA.

[0091] With this configuration, it becomes easy to place and fix the laser tracker 2 at the measurement position PA. The measurement position PA is an area outside the luggage compartment 60 where the laser light L1 does not interfere with parts on the vehicle 6 side (e.g., the back door 62). By placing the laser tracker 2 at this measurement position PA, the irradiation range of the laser light L1 can be secured. This ensures the irradiation range of the laser light L1 with respect to the face Ta, and is therefore expected to reduce the time required to obtain measurement data of the face Ta. Furthermore, by fixing laser tracker 2 to measurement position PA with locking mechanism 9, it is possible to prevent laser tracker 2 from shifting from measurement position PA during measurement due to the reaction force when laser tracker 2 directly rotates around Lp and Lq. Furthermore, if the ground is inclined in a direction such that the front side of the vehicle is lower than the rear side, it is also possible to prevent laser tracker 2 from moving toward storage position PB during measurement due to its own weight.

[0092] (5) The slide mechanism 7 has a pair of slide rails 73, 73 provided on the long sides 711, 712 (both ends) of the movable plate 71 in the vehicle width direction of the vehicle 6.

[0093] With this configuration, rattling is reduced when the movable plate 71 is moved in the direction of the straight line Lx. This makes it possible to smoothly place the laser tracker 2 at the storage position PB or the measurement position PA with a small force.

[0094] (6) The lock mechanism 9 has an engaging portion 91 provided on the fixed plate 70 and an engaged portion 95 (95F, 95R) provided on the movable plate 71 with which the engaging portion 91 engages. The engaged portion 95F is provided at least on the short side 703 (front end portion) of the movable plate 71 in the vehicle front-rear direction.

[0095] With this configuration, the laser tracker 2 is positioned at the measurement position PA simply by engaging the engaging portion 91 with the engaged portion 95F. This makes it easier to position laser tracker 2 at measurement position PA.

[0096] (8) Computer 5: Coordinate data of a reflector R (a second reference device) placed at a position away from the vehicle 6, the coordinate data being based on the origin P1' of a laser tracker 2 (another three-dimensional shape measuring device) placed at a position away from the vehicle 6; When the coordinate data of the reflector R, which is based on the origin P1 of the laser tracker 2 mounted on the vehicle 6, is input, The difference between the coordinate data of the reflector R based on the origin P1' of the laser tracker 2 and the coordinate data of the reflector R based on the origin P1 of the laser tracker 2 is calculated. The computer 5 calculates the coordinate data of the survey prism 3 based on the origin P1 of the laser tracker 2 by using a difference from the coordinate data of the survey prism 3 based on the origin P1' of the laser tracker 2.

[0097] With this configuration, even if there is an obstruction such as the roof portion 61 or the back door 62 between the laser tracker 2 and the survey prism 31, it is possible to acquire coordinate data of the survey prism 31 based on the origin P1 of the laser tracker 2.

[0098] The present invention can also be specified as a method for setting the three-dimensional shape measuring system 1. in particular, (9) a first acquisition step of placing a laser tracker 2 and a reflector R (a second reference device) at a position separated from the vehicle 6, and irradiating a laser beam L1 from the laser tracker 2 to the survey prism 3 and the reflector R to acquire coordinate data of the survey prism 3 and coordinate data of the reflector R; and a second acquisition step of placing a laser tracker 2 at a measurement position PA, irradiating a reflector R with laser light L1 from the laser tracker 2, and acquiring coordinate data of the reflector R. The computer 5 calculates the movement amount D of the laser tracker 2 based on the coordinate data of the reflector R acquired in the second acquisition step and the coordinates of the reflector R acquired in the first acquisition step. The amount of movement D is the difference between the coordinate data of the reflector R acquired in the second acquisition step and the coordinate data of the reflector R acquired in the first acquisition step. The computer 5 adds the movement amount D to the coordinate data of the survey prism 3 acquired in the first acquisition step, and calculates the coordinate data of the survey prism 31 based on the laser tracker 2 placed at the measurement position PA.

[0099] With this configuration, in the laser tracker 2 provided in the luggage compartment 60, even if there is an obstruction such as the roof 61 or the back door 62 between the laser tracker 2 and the surveying prism 3, it is possible to obtain coordinate data of the surveying prism 3 based on the origin P1 of the laser tracker 2.

[0100] In this embodiment, the laser tracker 2 is disposed in the luggage compartment 60 of the vehicle 6, but the present invention is not limited to this embodiment. For example, the laser tracker 2 may be disposed in the bed of a truck. The laser tracker 2 disposed in the bed is considered to be located lower than the roof portion 61. Therefore, the coordinate data of the survey prism 3 cannot be directly acquired from the laser tracker 2. Even in such a case, by acquiring in advance the coordinate data of the survey prism 3 based on the laser tracker 2 on the loading platform, it is possible to convert the measurement data of the laser tracker 2 into measurement data based on the total station TS.

[0101] In this embodiment, the movement amount D (Dx, Dy, Dz) is calculated based on one reflector R1. However, the present invention is not limited to this embodiment. For example, in the first acquisition step and the second acquisition step, the laser light L1 may be irradiated onto multiple reflectors R. In this case, the movement amount D (Dx, Dy, Dz) may be set to the average value of the differences in the coordinate data of the multiple reflectors R measured in the first acquisition step and the second acquisition step.

[0102] In the present embodiment, the lock mechanism 9 is exemplified as one in which the shaft portion 922 engages with the through hole 953 of the engaged portion 95 by rotating the screw 92 of the engaging portion 91. However, the present invention is not limited to this. For example, the engaging portion 91 may be provided with a spring, and the shaft portion 922 may engage with the through hole 953 by the biasing force of the spring.

[0103] Although the embodiment of the present invention has been described above, the above embodiment merely shows one application example of the present invention, and the technical scope of the present invention is not limited to the specific configuration of the above embodiment. Appropriate modifications are possible within the scope of the technical concept of the invention. [Explanation of symbols]

[0104] 1: Three-dimensional shape measurement system 2: Laser tracker (3D shape measuring device) 3 (31-34): Survey prism (first reference instrument) 4: Positioning mechanism 5: Computer (processing unit) 6: Vehicle 7: Slide mechanism 8: Level adjustment mechanism 9: Locking mechanism 60: Luggage compartment 61: Roof section 70: Fixed plate 71: Movable plate 73: Slide rail 80: Level 85: Level 91: Engagement part 95: Engaged part L1: Laser light (measurement light) L2: Laser light Lx: Straight line R, R1: Reflector (second reference device) T: Tunnel Ta: Face TS: Total station (reference point measuring instrument) P1, P1': Origin of the laser tracker P2: Total station origin PA:Measurement position PB: Storage location

Claims

1. a three-dimensional shape measuring device that measures a three-dimensional shape of an object by irradiating the object with measurement light; a first reference device arranged in a position visible from the reference point measuring device on the vehicle; a positioning mechanism that can position the three-dimensional shape measuring device at a storage position in a luggage compartment of the vehicle and at a measurement position where the object can be irradiated with a measurement light and where coordinate data of the first reference device cannot be obtained; a processing device to which measurement data of the three-dimensional shape measuring device and coordinate data acquired by the reference point measuring device, the coordinate data of the first reference device being based on the reference point measuring device, are input; A three-dimensional shape measuring system characterized in that the processing device converts the measurement data of the three-dimensional shape measuring device into measurement data based on the reference point measuring device based on previously acquired coordinate data of the first reference device based on the three-dimensional shape measuring device and coordinate data of the first reference device measured by the reference point measuring device, the coordinate data of the first reference device based on the reference point measuring device.

2. In claim 1, a plurality of the first reference devices are provided on a roof portion of the vehicle; Coordinate data of the first reference device based on the three-dimensional shape measuring device is prepared for each of the first reference devices, A three-dimensional shape measuring system, characterized in that the first reference device is provided in a plurality of locations spaced apart in a width direction of the vehicle and in a front-to-rear direction of the vehicle.

3. In claim 1, A three-dimensional shape measuring system characterized in that the coordinate data of the first reference device based on the three-dimensional shape measuring device is stored in at least one of the memory unit of the processing device or an external server.

4. In claim 1, The positioning mechanism includes a slide mechanism that slides a support base that supports the three-dimensional shape measuring device between the storage position and the measurement position; and a locking mechanism for fixing the support table at least at the measurement position.

5. In claim 4, A three-dimensional shape measuring system characterized in that the slide mechanism has a pair of slide rails provided at both ends of the support base in the width direction of the vehicle.

6. In claim 4, The lock mechanism has an engaging portion provided in the luggage compartment and an engaged portion provided on the support base and engaged with the engaging portion, A three-dimensional shape measuring system, characterized in that the engaged portion is provided at least at a front end portion of the support base in the fore-and-aft direction of the vehicle.

7. In claim 1, The three-dimensional shape measuring system is characterized in that the three-dimensional shape measuring device is a laser tracker.

8. In any one of claims 1 to 7, The processing device includes: Coordinate data of a second reference device disposed at a position away from the vehicle, the coordinate data being based on another three-dimensional shape measuring device disposed at a position away from the vehicle; and When the coordinate data of the second reference device, which is based on the three-dimensional shape measuring device mounted on the vehicle, is input, Calculating a difference between coordinate data of the second reference device based on the other three-dimensional shape measuring device and coordinate data of the second reference device based on the three-dimensional shape measuring device mounted on the vehicle; A three-dimensional shape measuring system characterized by using the difference to calculate coordinate data of the first reference device based on the three-dimensional shape measuring device mounted on the vehicle from the coordinate data of the first reference device based on the other three-dimensional shape measuring device.

9. A method for setting a three-dimensional shape measuring system according to claim 7, comprising the steps of: a first acquisition step of arranging the laser tracker and a second reference device at a position spaced apart from the vehicle and irradiating the first reference device and the second reference device with laser light from the laser tracker to acquire coordinate data of the first reference device and the second reference device; and a second acquisition step of placing the laser tracker at the measurement position and irradiating the second reference device with laser light from the laser tracker to acquire coordinate data of the second reference device. the processing device calculates a movement amount of the laser tracker based on the coordinate data of the second reference device acquired in the first acquisition step and the coordinate data of the second reference device acquired in the second acquisition step, a processing device that adds the movement amount to the coordinate data of the first reference device acquired in the first acquisition step to calculate coordinate data of the first reference device based on the laser tracker placed at the measurement position, said processing device being characterized in that

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