Measurement module and three-dimensional data measurement system using the same

Abstract

To provide a new measurement module and a new three-dimensional data measurement system that enable measurement of three-dimensional data without using a prism-fitted pole.SOLUTION: A three-dimensional data measurement system 1 comprises: a prism 51; a light wave distance meter 52; an inertia measurement device 53; a communication unit 58 for acquiring the position coordinates of the prism; and at least one processor 60. The processor 60 is a measurement module 50 constituted so as to calculate the position coordinates of the own position on the basis of position coordinates of the prism 51 and attitude information, and calculate the position coordinates of an irradiation point on the basis of the position coordinates of the own position, the distance to the irradiation point, and the attitude information. The processor 60 determines that the irradiation point has entered a measurement schedule point range set with a prescribed threshold in the surrounding of a measurement schedule point set to a measurement range in the data of a measurement region, and then executes measurement.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a three-dimensional data measurement system, and more particularly to a measurement module equipped with a prism and a three-dimensional data measurement system using the module and a surveying instrument. [Background technology]

[0002] Conventionally, for measuring current conditions in construction work, a 3D data measurement system equipped with a total station with an automatic tracking function and a pole with a prism attached has been used. In such a system, a worker places a pole on the measurement point and measures the prism while allowing the total station to automatically track it. At this time, the worker must visually check the vial to ensure that the prism is level while performing the measurement, which places a heavy burden on the worker when the work takes a long time. In addition, the length of the pole to be used must be measured in advance and this value must be entered into the system.

[0003] In recent years, a three-dimensional data measurement system has been disclosed that is equipped with a GNSS receiver, a tilt sensor, a direction sensor, and an optical range finder, and is capable of measuring three-dimensional position information of the illumination point of the optical range finder without using a pole (Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2007-248156 A Summary of the Invention [Problem to be solved by the invention]

[0005] The 3D data measurement system of Patent Document 1 allows for measurement without the need for poles, but cannot perform measurement in indoor environments where it is difficult to receive radio waves from satellites. Even in outdoor environments where radio waves from satellites can be received, there is a problem in that the measurement accuracy deteriorates depending on the time of day (the number of satellites, the geometric arrangement of the satellites) during which the measurement is performed.

[0006] The present invention has been made in consideration of the above circumstances, and has an object to provide a new measurement module and a new three-dimensional data measurement system that enable measurement of three-dimensional data without using a prism pole. [Means for solving the problem]

[0007] In order to achieve the above object, a measurement module according to one aspect of the present invention has the following configuration. 1. A measurement module comprising a prism that retroreflects incident light, an electronic range finder that sends out distance measuring light into a measurement range and detects the distance to the irradiation point by receiving the reflected distance measuring light reflected from the irradiation point of the distance measuring light, an inertial measurement device that measures three-dimensional acceleration and angular velocity and detects posture information, a communication unit that acquires the position coordinates of the prism, and at least one processor, wherein the processor is configured to calculate the position coordinates of its own position based on the position coordinates of the prism and the posture information, and to calculate the position coordinates of the irradiation point based on the position coordinates of its own position, the distance to the irradiation point, and the posture information, and the processor determines that the irradiation point has entered a planned measurement point range set at a predetermined threshold around the planned measurement point set in the measurement range in the measurement area data, and performs measurement.

[0008] 2. In the above aspect 1, it is also preferable that the measurement range is partitioned into a mesh pattern, and the intended measurement points are set in each mesh.

[0009] 3. In the above aspect 2, it is preferable that the device further comprises a display unit for displaying a measurement screen showing the measurement status of the measurement range, and that the display unit displays the progress of the measurement for each mesh in real time in a identifiable manner.

[0010] 4. In the above aspect 2 or 3, it is also preferable that the measurement screen displays the measured mesh in a color scale in which the measured mesh is painted in different colors according to its height, based on the measurement results of the mesh.

[0011] 5. In the above aspects 1 to 4, it is also preferable that the processor calculates the angle of incidence of the ranging light on the measurement surface based on the attitude information, determines that the angle of incidence is within a range that satisfies the required accuracy, and performs measurement.

[0012] 6. In the above aspects 1 to 5, it is also preferable that the processor calculates the angle of incidence of the distance measuring light on the measurement surface based on the posture information, determines that the angle of incidence is not within a range that satisfies the required accuracy, and notifies an operator to that effect.

[0013] 7. In the above aspects 1 to 6, it is also preferable that the measurement module is composed of a measurement module main body consisting of at least the prism, the optical distance meter, the inertial measurement device, and at least one processor, and a measurement module controller having at least one processor and a display unit and capable of communicating with the measurement module main body, wherein the measurement module main body is attached to a moving body, and the moving body can be remotely controlled by the processor of the measurement module controller.

[0014] Moreover, a three-dimensional data measuring system according to another aspect of the present invention has the following configuration. 8. A surveying instrument comprising: a measurement module according to any one of aspects 1 to 7 above; and an automatic tracking function for automatically tracking the prism, sending distance measuring light to the prism, receiving reflected distance measuring light, measuring the distance and angle of the prism, calculating the position coordinates of the prism, and comprising a communication unit, which outputs the position coordinates of the prism to the measurement module via the communication unit. Effect of the Invention

[0015] According to the above aspect, it is possible to provide a new measurement module and a new three-dimensional data measurement system that enable measurement of three-dimensional data without using a pole with a prism. [Brief description of the drawings]

[0016] [Figure 1] 1 is a diagram showing an overview of a survey system according to a first embodiment of the present invention; [Diagram 2] FIG. 2 is a configuration block diagram of the measurement system. [Diagram 3] FIG. 1A is a diagram for explaining the setting of a measurement range in measurement region data used in the measurement system, and FIG. 1B is a diagram for explaining mesh-like divisions set in the measurement range. [Figure 4] 4 is a flowchart showing an example of a procedure for setting measurement conditions for measurement using the measurement system. [Diagram 5] 13 is a flowchart showing an example of processing by a measurement module in three-dimensional data measurement using the measurement system. [Figure 6] 5(A) to 5(C) are diagrams showing examples of measurement screens displayed on the measurement module. [Figure 7] 6(A) to 6(C) are diagrams illustrating the relationship between the emission angle of distance measuring light from the measurement module, the incidence angle of distance measuring light on a measurement surface, and the beam shape of distance measuring light. [Figure 8] 13 is a flowchart showing an example of processing by a measurement module in three-dimensional data measurement using the three-dimensional data measurement system according to one modified example of the above embodiment. [Figure 9] FIG. 11 is a diagram showing an example of measurement range data used in a three-dimensional data measurement system according to another modified example of the above embodiment. [Figure 10] FIG. 13 is a diagram showing an overview of a three-dimensional data measuring system according to a second embodiment of the present invention. [Figure 11]FIG. 2 is a configuration block diagram of the three-dimensional data measurement system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited thereto. In addition, in each embodiment, the same components are given the same reference numerals, and duplicated descriptions are omitted.

[0018] I. First embodiment 1. Overall structure FIG. 1 is a diagram showing the general configuration of a three-dimensional data measurement system (hereinafter simply referred to as the system) 1 according to a first embodiment of the present invention. The system 1 is preferably used for measuring the current surface condition at a construction site. FIG. 2 is a configuration block diagram of the system 1. The system 1 generally comprises a surveying instrument 10 and a measurement module 50.

[0019] In the illustrated example, the surveying instrument 10 is a motor-driven total station with an automatic tracking function. The surveying instrument 10 is installed at a known point and used with the coordinates and direction angle as known. In this specification, "installing a surveying instrument at a known point" does not only mean installing the surveying instrument at a known point, but also includes installing the surveying instrument at an arbitrary point and then creating the coordinates of the known point by resection or the like.

[0020] 1, the surveying instrument 10 externally comprises a base portion 6a, a support portion 6b which is rotated horizontally around an H axis relative to the base portion 6a, and a telescope 6c which is rotated vertically around a V axis at the center of the support portion 6b. The base portion 6a is attached to a leveling stand 4 which is attached to a tripod 2.

[0021] The measurement module 50 also includes a handheld, generally rectangular parallelepiped housing 5. A prism 51, which will be described later, is fixed to the front of the upper surface of the housing 5. A display serving as a display unit 57, which will be described later, is provided on the rear of the upper surface of the housing 5, so that an operator OP can irradiate the distance measurement light L3 onto the measurement object while checking the display unit 57.

[0022] 2. Surveying instrument 10 As shown in Figure 2, the surveying instrument 10 includes a distance measuring unit 11, a horizontal angle detector 12, a vertical angle detector 13, a horizontal rotation drive unit 14, a vertical rotation drive unit 15, a tracking unit 16, an input unit 17, an output unit 18, a surveying instrument control and calculation unit 20, a memory unit 23, a clock 24, and a surveying instrument communication unit 25.

[0023] The distance measuring unit 11 includes a light transmitting unit having a light emitting element such as a laser diode that emits a laser beam (e.g., infrared laser beam) as the distance measuring light L1, a distance measuring optical system, and a light receiving unit having a light receiving element such as an avalanche photodiode (not shown). The distance measuring unit 11 is housed in the telescope 6c, and the optical axis of the distance measuring light is the collimation optical axis of the telescope 6c. The distance measuring unit 11 emits the distance measuring light L1 to a prism 51 (described later) via the distance measuring optical system, receives the reflected light at the light receiving unit, and measures the distance to the center of the prism 51 from the phase difference or time difference between the distance measuring light L1 and the internal reference light.

[0024] The horizontal angle detector 12 and the vertical angle detector 13 are absolute encoders or incremental encoders. The horizontal angle detector 12 detects the horizontal angle of the base portion 6a, i.e., the horizontal angle of the collimation optical axis of the telescope 6c. The vertical angle detector 13 detects the vertical angle of the collimation optical axis of the telescope 6c.

[0025] The horizontal rotation drive unit 14 and the vertical rotation drive unit 15 are motors. They are controlled by the survey instrument control calculation unit 20. The horizontal rotation drive unit 14 drives a rotation shaft provided on the base unit 6a to rotate the base unit 6b horizontally. The vertical rotation drive unit 15 drives a rotation shaft that rotatably supports the telescope 6c relative to the base unit 6b to rotate the telescope 6c vertically. The cooperation of these two drive units rotates the telescope 6c in the horizontal and vertical directions.

[0026] The tracking unit 16 includes a tracking light transmitting unit having a light emitting element such as a laser diode, a tracking optical system, and a tracking light receiving unit having an imaging element such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal-Oxide-Semiconductor) (not shown). The tracking unit 16 emits an infrared laser light having a wavelength different from that of the distance measuring light L1 as the tracking light L2, obtains landscape images in the collimation direction when the tracking light L2 is emitted and when the tracking light L2 is turned off, and outputs both images to the survey instrument control calculation unit 20. The survey instrument control calculation unit 20 obtains the center of the image of the target prism 51 from the difference between the two images, and calculates the position of the prism 51. Based on the detection result of the position of the prism 51, the survey instrument control calculation unit 20 drives the horizontal rotation drive unit 14 and the vertical rotation drive unit 15 so that the distance between the center of the prism 51 and the center of the visual axis of the telescope 6c falls within a certain value. As a result, the telescope 6c always faces the direction of the prism 51.

[0027] The input unit 17 is an input device such as buttons and keys, which accepts inputs such as commands and settings for the measurement work by an operator, and outputs them to the survey instrument control and calculation unit 20. The output unit 18 is, for example, a liquid crystal display, which displays a measurement condition setting screen, a measurement result confirmation screen, etc. under the control of the survey instrument control and calculation unit 20. The input unit 17 and the output unit 18 may be integrated into a touch panel display.

[0028] The storage unit 23 is a computer-readable storage medium such as a hard disk drive (HDD) or a flash memory. The storage unit 23 stores programs for the surveying instrument 10 to execute various functions such as a surveying function and an automatic tracking function. The storage unit 23 also stores various data such as measurement data acquired by the surveying instrument 10.

[0029] The clock 24, which may be a system clock or a hardware clock, adds a time to the transmitted data in order to synchronize the timing of the measurement with the measurement module 50.

[0030] The survey instrument communication unit 25 is a communication interface that enables the transmission and reception of information between the survey instrument 10 and the measurement module 50. The communication means may be Wi-Fi, Bluetooth (registered trademark), infrared communication, or the like. The communication means is not limited to these, and known wired and wireless communication standards may be used. The survey instrument 10 assigns a time to the prism measurement result, i.e., the position coordinates of the prism, and transmits it to the measurement module 50 via the survey instrument communication unit 25.

[0031] The surveying instrument control and calculation section 20 is a control and calculation unit that includes at least one processor 21, such as a CPU (Central Processing Unit), and at least one memory 22, such as an SRAM (Static Random Access Memory) or a DRAM (Dynamic Random Access Memory). When the processor 21 is a software-based processor such as a CPU, it reads a program for executing the function into the memory 22 and executes it to execute the function of the surveying instrument 10 described below.

[0032] Furthermore, at least a part of the processor 21 may be configured with hardware such as a Complex Programmable Logic Device (CPLD) or a Field Programmable Gate Array (FPGA).

[0033] The survey instrument control calculation unit 20 controls the tracking unit 16, the horizontal rotation drive unit 14, and the vertical rotation drive unit 15 to automatically track the prism 51, and measures the distance and angle of the prism 51 at a predetermined timing using the distance measurement unit 11, the horizontal angle detector 12, and the vertical angle detector 13. The survey instrument control calculation unit 20 calculates the center position coordinates of the prism 51 based on the distance and angle measurement results of the prism 51, adds a time stamp, and transmits the calculated coordinates to the measurement module 50 via the survey instrument communication unit 25.

[0034] 3. Configuration of the Measurement Module 50 The measurement module 50 includes a prism 51, an electronic distance meter (EDM) 52, an inertial measurement unit (IMU) 53, a memory unit 54, an operation unit 56, a display unit 57, a communication unit 58, a clock 59, and a control and calculation unit 60.

[0035] Prism 51 is, for example, a so-called omnidirectional prism formed by combining multiple triangular pyramid-shaped prisms in a radial manner, and retroreflects light incident from all around (360°). Prism 51 is not limited to this, and may be any prism used for surveying.

[0036] The optical distance meter 52 includes a light-transmitting unit having a light-emitting element such as a laser diode that emits visible laser light as distance measuring light L3, a distance measuring optical system, and a light-receiving unit having a light-receiving element such as an avalanche photodiode (not shown).The optical distance meter 52 irradiates the measuring object with the distance measuring light L3 emitted from the light-transmitting unit, receives the reflected light from the measuring object, and measures the distance to the irradiation point of the distance measuring light L3 from the phase difference or time difference between the distance measuring light L3 and the internal reference light.

[0037] The inertial measurement unit 53 includes a three-axis gyro and a three-axis acceleration sensor, and detects the angular velocity and acceleration of the measurement module 50 in three axial directions (roll, pitch, yaw) to detect the attitude of the measurement module 50 and detect attitude information. 50 (Figure 1).

[0038] The center of the prism 51, the origin of the distance calculation of the light wave distance meter 52, and the instrument center O 50 The positional relationship between the optical axis of the light-wave distance meter 52 and the center O of the instrument is known in advance. 50 As a result, based on the position coordinates of the center of the prism 51 and the attitude information of the measurement module 50, the instrument center O 50 , that is, the position coordinates of the measurement module 50 can be obtained.

[0039] The storage unit 54 is a computer-readable storage medium such as a HDD, a flash memory, etc. The storage unit 54 stores a program for executing the functions of the measurement module 50, which will be described later. The storage unit 54 also stores three-dimensional information data acquired by the measurement module 50.

[0040] The operation unit 56 is an input device such as buttons and keys, and accepts input of commands, settings, etc. to the measurement module by an operator. The display unit 57 is a display device such as a liquid crystal display or an organic electroluminescence display, and displays an input screen for setting measurement conditions and a measurement screen, etc. under the control of the control and calculation unit 60. In the illustrated example, the operation unit 56 and the display unit 57 are integrally configured as a touch panel display. Furthermore, the operation unit 56 may be equipped with a voice input device such as a microphone in addition to buttons and keys.

[0041] The communication unit 58 is a communication interface that enables transmission and reception of information between the surveying instrument 10 and the measurement module 50. As a communication means, Wi-Fi, Bluetooth (registered trademark), infrared communication, etc., are usable, but one that corresponds to the surveying instrument communication unit 25 is used. The communication unit 58 receives the position coordinates of the prism 51 from the surveying instrument 10.

[0042] The clock 59 may be a system clock or a hardware clock, but is synchronized with the clock of the surveying instrument 10 and is used to synchronize the timing of measurements with the surveying instrument 10.

[0043] The control and calculation section 60 is a control and calculation unit including at least one processor 61, such as a CPU, and at least one memory 62, such as an SRAM or a DRAM. When the processor 61 is a CPU or the like that realizes functions by software, it reads a program for executing the functions into the memory 62 and executes it to execute the functions of the measurement module 50 described below. At least a part of the processor 61 may be configured with hardware, such as a CPLD or an FPGA.

[0044] The control and calculation unit 60 enables remote control of the surveying instrument 10, and transmits measurement and automatic tracking instructions to the surveying instrument 10 via the communication unit 58. The control and calculation unit 60 acquires, at a timing synchronized with the surveying instrument 10, the distance to the irradiation point P measured by the electronic range finder 52 and the attitude information of the measurement module 50 detected by the inertial measurement unit 53. The control and calculation unit 60 acquires the position coordinates of the prism 51, the attitude information of the measurement module 50, and the known instrument center O of the prism 51 and the measurement module 50 received from the surveying instrument 10. 50 Based on the positional relationship with the instrument center O, the measurement module 50 50 Based on the calculated coordinates of its own position, the attitude information of the measurement module 50, and the distance measurement value of the electronic distance meter 52, the position coordinates of the irradiation point P of the distance measurement light L3 are calculated.

[0045] Further, the control calculation unit 60 reads the measurement area data 72 and sets the measurement range 80 on the data. FIG. 3(A) is a diagram for explaining the setting of the measurement range 80 on the display unit 57. In the illustrated example, the measurement area data 72 is map data. The measurement range 80 is a region of the measurement area 70 where the measurement of three-dimensional data is actually performed. The measurement range 80 may be set, for example, as shown in FIG. 3(A), by displaying the measurement area data 72 on the display unit 57 and tapping four vertices 80a that define the measurement range 80 on the touch panel with a fingertip to select and set the measurement range 80 in a rectangular shape. Alternatively, the measurement range 80 may be set by swiping diagonally using a rectangular selection tool. In the illustrated example, the measurement range 80 is set to a square, but is not limited to this. That is, it may be a rectangle or a polygon other than a square. It may also be any shape that can be selected by tracing around it with a fingertip.

[0046] The control and calculation unit 60 sets mesh-like sections with a pitch p in the measurement range 80. FIG. 3B is a diagram for explaining a state in which the measurement range 80 in FIG. 3A is divided into meshes. Here, the mesh-like sections shown in FIG. 3B are displayed superimposed on the measurement area data 72 displayed in FIG. 3A, but the measurement area data 72 itself is omitted for convenience of explanation. In the illustrated example, each mesh is a square for the square measurement range 80. The pitch p defines one side of each square, that is, the size of each mesh. Each mesh is not limited to a square, but may be a rectangle. In addition, each mesh has the same shape in principle, but may have an irregular shape at the periphery of the measurement range 80 depending on the shape of the measurement range 80. For example, for the purpose of observing the current state of construction work, the pitch p is preferably 10 to 50 cm. Not limited to this, the pitch p can be appropriately determined depending on the size of the measurement range 80 and the required accuracy of the product.

[0047] A planned measurement point 82 is set at a predetermined position, for example, at the center, of each mesh in the measurement range 80. A region set around the planned measurement point 82 with a predetermined threshold value is set as a planned measurement point range 83. The planned measurement point ranges 83A and 83B in FIG. 3B are examples of different shapes of the planned measurement point range. For example, the planned measurement point range 83A is set as a square shape with one side having a length of 2d1 and centered on the planned measurement point 82. The planned measurement point range 83B is set as a circle with a radius of d2 and centered on the planned measurement point 82. When the planned measurement point ranges 83A and 83B are not distinguished from each other, they are called the planned measurement point range 83. It is assumed that the measurement value of any point within the planned measurement point range 83 can be considered to be the measurement value of the mesh. The planned measurement point 82 and the planned measurement point range 83 do not necessarily need to be displayed on the display unit 57, but may be set on the data.

[0048] The control and calculation unit 60 determines whether the irradiation point P when the optical distance meter 52 of the measurement module 50 is directed toward the measurement range 8 of the site and the distance measuring light L3 is within the planned measurement point range 83, and when it is determined that the irradiation point P is within the planned measurement point range 83, it performs the measurement and records the measurement value as the measurement result.

[0049] 4. How to use System 1 Next, how to use the system 1 will be described. First, when using the surveying instrument at the site, as a preliminary preparation, the surveying instrument 10 is placed at a known point, and the coordinates and direction angle of the surveying instrument are inputted into the surveying instrument 10.

[0050] Also, a connection is established between the communication unit 58 of the measurement module 50 and the survey instrument communication unit 25 of the survey instrument 10. Also, calibration is performed on the measurement module 50. Specifically, for example, the survey instrument 10 and the measurement module 50 are faced directly to each other, and the prism 51 is measured by the survey instrument 10 to identify the direction of the measurement module 50, and the opposite direction is set as the roll angle φ=0, pitch angle θ=0, and yaw angle ψ=0 of the inertial measurement unit 53.

[0051] FIG. 4 is a flowchart showing an example of measurement using the system 1.

[0052] When measurement is started, first, in S01, the control and calculation unit 60 reads the measurement area data 72. Specifically, the measurement area data 72 is map data or design data of the site where the worker is going to perform measurement. The measurement area data 72 may be read by, for example, storing the measurement area data 72 in advance in the storage unit 54. Alternatively, the measurement module 50 may be configured to have a communication interface connectable to the Internet, and the measurement area data may be stored in a cloud server or the like and read via the Internet.

[0053] Next, in step S02, the control and calculation unit 60 sets the measurement range 80 according to an input by the operator. For example, the operator sets the measurement range 80 by tapping four vertices on the measurement area data 72 displayed on the display unit 57 configured as a touch panel.

[0054] Next, in step S03, the control and calculation unit 60 sets the magnitude of the pitch p that defines the dimensions of each mesh for dividing the measurement range 80 into a mesh shape, according to an input by the operator from the operation unit 56. The setting value of the pitch p can be set, for example, by selecting from a predetermined numerical value or by inputting it into an input window.

[0055] Next, in step S04, the control and calculation unit 60 sets the threshold value of the planned measurement point range 83 according to the input from the operator OP. The threshold value of the planned measurement point range 83 may be determined in advance. In this case, step S04 can be omitted.

[0056] Next, in step S05, according to the range and values ​​set in steps S02 to S04, a measurement range 80 is partitioned, planned measurement points 82 are set, a planned measurement point range 83 is set, measurement range data 85 is generated, and stored in storage unit 54. That is, Fig. 3(B) shows a schematic diagram of measurement range data 85. Steps S01 to S05 are the initial steps in three-dimensional data measurement using system 1, and after step S05, steps from step S11 onwards, which will be described below, are continued.

[0057] A description will now be given of a three-dimensional data measuring method using the system 1. Fig. 5 is a flowchart showing an example of processing by the measuring module 50 in three-dimensional data measurement using the system 1.

[0058] When the measurement is started, first, the control and calculation unit 60 reads the measurement range data 85 in step S11.

[0059] Next, in step S12, the control and calculation unit 60 instructs the surveying instrument 10 to start measurement via the communication unit 58. As a result, the surveying instrument 10 thereafter tracks the prism 51, measures the prism 51 at predetermined intervals, and transmits the position coordinates of the prism 51 together with the time to the measurement module 50.

[0060] Next, in step S13, the control and calculation unit 60 receives the position coordinates of the prism 51 from the surveying instrument 10, detects the attitude information of the measurement module 50 at a timing synchronized with the measurement of the position coordinates of the prism 51, and calculates the position coordinates of its own position.

[0061] At the same time, in step S14, the control and calculation unit 60 measures the distance to the irradiation point P using the optical distance meter 52 at a timing synchronized with the measurement of the position coordinates of the prism 51, and calculates the position coordinates of the irradiation point P using the attitude information of the measurement module 50.

[0062] Thereafter, each time the control and calculation unit 60 receives the position coordinates of the prism 51 or at a predetermined timing, it calculates the position coordinates of the measurement module 50 itself and the position coordinates of the irradiation point P. Then, in step S15, the control and calculation unit 60 displays the measurement screen 90 on the display unit 57.

[0063] 6(A) shows an example of a measurement screen 90 displayed at this time. The measurement screen 90 displays a measurement range 80 partitioned into a mesh shape, a planned measurement point 82, a current position mark 91 indicating the current position of the measurement module 50, and an irradiation point mark 92 indicating the position of the irradiation point P. In addition to this, a coordinate value 93 of the detected irradiation point P (corresponding to the irradiation point mark 92 on the measurement screen 90) may be displayed as a numerical value.

[0064] Next, in step S16, the operator OP starts scanning the measurement surface with the measurement module 50 while irradiating the visible distance measuring light L3. After this, the operator OP can perform scanning while checking the measurement range 80 and irradiation point mark 92 on the measurement screen 90 and the measurement range 8 and irradiation point P on-site, so that the operator OP can reliably irradiate the distance measuring light L3 to the position to be measured. In addition, the operator OP can easily irradiate the distance measuring light L3 to the position he or she wishes to measure.

[0065] 6(A), if the operator OP wants to start measurement from the upper left planned measurement point 821 where the planned measurement point range 83B is displayed, by moving the measurement module 50 slightly to the right while checking the irradiation point mark 92, it is possible to bring the irradiation point mark 92 (actually, the irradiation point P) closer to the intended planned measurement point 821. After that, in the illustrated example, the operator OP moves the measurement module left and right, reciprocating from the upper left of the measurement screen 90, from left to right, one step down, and from right to left, while swinging the measurement module left and right, to move the small mesh 81 and proceed with the measurement.

[0066] Next, in step S17, the control and calculation unit 60 determines whether or not the irradiation point P is within the intended measurement point range 83. The determination whether or not the irradiation point P is within the intended measurement point range 83 is performed, for example, as follows.

[0067] In the case of the square measurement prediction point range 83A shown in FIG. 3(B), assume that the coordinates of the following measurement prediction point 82 are (x, y) and the threshold value is d1. When the coordinate value of the irradiation point P is (X, Y) and it falls within the range of x - d1 < X < x + d1, y - d1 < Y < y + d1, it is determined that the irradiation point P is within the measurement prediction point range 83A. Also, in the case of the circular measurement prediction point range 83B shown in FIG. 3(B), assume that the coordinates of the following measurement prediction point 82 are (x, y) and the threshold value is d2. In this case, when the coordinate value of the irradiation point P is (X, Y), (x - X) 2 +(y - Y) 2 < d2 2 is satisfied, it is determined that the irradiation point P has entered the measurement prediction point range 83B.

[0068] Then, in step S17, when the irradiation point P is within the measurement prediction point range 83 (Yes), in step S18, the control arithmetic unit 60 stores the calculated measured value of the irradiation point P in the storage unit 54 as the measured value of the mesh.

[0069] Also, in step S17, when the irradiation point P is not within the measurement prediction point range 83 (No), the process returns to step S16, and the operator OP moves the measurement module 50 so that the irradiation point P approaches the measurement prediction point 82.

[0070] In step S18, when the measurement is executed and the measured value is recorded, the process proceeds to step S19, and the control arithmetic unit 60 updates the display of the measurement screen 90 indicating the measurement status. FIG. 6(B) is an example of the measurement screen 90 updated after measuring the first measurement point. Specifically, the measured area 96 and the unmeasured area 97 may be represented in different colors to display the progress of the measurement for each mesh in real time in a distinguishable manner. More specifically, the unmeasured area 97 may be white, and the measured area 96 may be color-scaled according to the height value (the value of the Z coordinate) to display the three-dimensional shape of the measured area in a recognizable manner.

[0071] Next, in step S20, the control and calculation unit 60 determines whether there is a next scheduled measurement point to be measured, and repeats steps S16 to S20 until there are no more scheduled measurement points, and ends the process when all scheduled measurement points have been measured. FIG. 6(C) shows an example of the measurement screen 90 after the measurement has progressed halfway. In FIG. 6(C), the measured area 96 is displayed with a color scale according to the height value. The control and calculation unit 60 may also store the updated measurement screen 90 in the storage unit 54 every time the display is updated. In this embodiment, it is possible to obtain three-dimensional data indicating the three-dimensional shape of such a measurement surface 84.

[0072] 5. Technical Effects As described above, in this embodiment, the measurement module 50 is provided with the prism 51, the light wave distance meter 52, and the inertial measurement device 53, and the position coordinates of the prism 51 can be obtained. Therefore, even if the operator moves the measurement module 50 in any posture, the coordinates of the distance measurement light irradiation point can be obtained. Therefore, it is possible to measure three-dimensional data without using a pole with a prism. Furthermore, in the system 1, the self-position of the measurement module is measured by the surveying instrument 10, and a GNSS receiver is not used, so that it is possible to measure indoors with the same accuracy as outdoors. Furthermore, there is no need to worry about the number of satellites or the geometric arrangement of the satellites.

[0073] Moreover, data of the measurement area 70 (measurement area data 72) is read in advance into the measurement module 50, a measurement range 80 is set, the measurement range 80 is divided into a mesh, a planned measurement point 82 is set in each mesh, and a planned measurement point range 83 is set around the planned measurement point 82. Then, the operator OP moves the measurement module 50 held in his / her hand to scan the measurement range with the distance measuring light L3, and measurement is automatically performed when the irradiation point of the distance measuring light enters the planned measurement point range 83. Therefore, it is not necessary to stop at each measurement point and stop the pole to measure, which reduces the workload and shortens the work time.

[0074] In observing the current state surface, it is preferable to divide the measurement range 80 into a mesh and set a planned measurement point 82 in each mesh 81, but this is not essential, and it is also possible to simply set the planned measurement points 82 as necessary in the measurement range 80. In this case as well, the same technical effect can be achieved.

[0075] Furthermore, the measurement module 50 is configured to display on the display unit 57 a measurement screen 90 showing the measurement module's own position and the irradiation point P of the distance measuring light L3 within the measurement range 80 when measuring the measurement range 80 partitioned in a mesh pattern. The measurement screen 90 is configured to distinguishably display a measured area 96 and an unmeasured area 97, so that the operator OP can smoothly proceed with the measurement while checking the progress of the measurement on the measurement screen 90 in real time.

[0076] In addition, since the measuring light L3 in the measuring module 50 is visible light, the operator OP can move the measuring module 50 while checking the irradiation point P of the measuring light L3 at the site, thereby improving workability.

[0077] Furthermore, since the measured area 96 and the unmeasured area 97 are displayed in a distinguishable manner for each measurement and the display is updated in real time, the unmeasured areas can be easily recognized and measurements can be made without omissions. If the measured area 96 is displayed in a color scale according to the height value, the three-dimensional shape of the measurement range can be visually recognized in real time.

[0078] In the above description, the data of the measurement area 70 (measurement area data 72) (FIG. 3(A)) is map data and the measurement range is the ground, but as mentioned above, the measurement area data 72 may be 3D CAD (Computer Aided Design) data, and the measurement range is not limited to the ground, but may be something other than the ground, such as a wall surface, the surface of a structure, or a ceiling surface. The measurement module 50 is configured to have portable dimensions, and is therefore capable of measuring various measurement ranges. Therefore, the system 1 can be used to measure three-dimensional data of various measurement objects depending on the purpose.

[0079] 6. Variations Next, a modified example of the present embodiment will be described. Prior to the detailed description of the modified example, the emission angle of the distance measurement light by the measurement module 50, the incidence angle of the distance measurement light L3 on the measurement surface 84, and the beam spot (hereinafter simply referred to as the beam) B of the distance measurement light L3 will be described. 50 The relationship with the shape of

[0080] 7A to 7C show the incidence angle of the distance measuring light L3 emitted from the measurement module 50 to a plane in the measurement range (hereinafter referred to as a measurement plane 84) and the beam B of the distance measuring light L3. 50 FIG.

[0081] In the following description, the angle of the distance measurement light L3 with respect to the vertical downward direction is referred to as the emission angle. As shown in FIG. 7A, when the distance measurement light L3 is emitted at an emission angle of 0° and the measurement surface 84 is a horizontal plane, the distance measurement light L3 is incident at an incidence angle of 0°. At this time, the beam B of the distance measurement light L3 50 The shape of the beam B is almost a perfect circle. On the other hand, as shown in FIG. 7B, when the measuring light L3 is emitted at an emission angle α larger than 0° and the measurement surface 84 is a horizontal plane, the incident angle on the measurement surface 84 is β, which is equal to the emission angle α. In this case, the larger the emission angle α, the larger the incident angle β. The larger the incident angle β, the larger the beam B 50 The shape becomes a flatter ellipse.

[0082] In addition, as shown in FIG. 7C, when the measurement surface 84 is not a horizontal plane, but the plane perpendicular to the measurement surface 84 is inclined away from the measurement module, even if the emission angle α of the distance measurement light L3 is equal to that in FIG. 7B, the incidence angle γ to the measurement surface 84 becomes larger than that in FIG. 7B where the measurement surface 84 is horizontal, and the beam B of the distance measurement light L3 50 The shape becomes even flatter.

[0083] Here, the flatter the beam shape, the more the received light signal varies compared to the case of a circular shape, and the greater the error in the distance measurement value of the electronic distance meter 52. Specifically, the flatter the beam shape, the wider the irradiation range of the measurement object becomes even for the same distance, so that signals of different distances are mixed, and the error increases. Alternatively, if the measurement object is not an isotropic scatterer, the greater the incident angle, the lower the amount of received light, the lower the signal-to-noise ratio of the signal, and the greater the error in the distance measurement value. That is, the measurement accuracy of the electronic distance meter 52 changes depending on the incident angle on the measurement surface 84. In addition, the incident angle on the measurement surface 84 is determined based on the emission angle of the distance measurement light L3, which can be grasped from the attitude information of the measurement module 50, and the three-dimensional shape of the measurement surface 84, such as the inclination and unevenness.

[0084] For this reason, in the system of variant example 1, when measuring the next planned measurement point, if the angle of incidence of the distance measurement light L3 during 3D data measurement is such that the distance measurement value does not satisfy the required accuracy, the measurement is not performed, and the system is configured to guide the operator OP to change the position and attitude of the measurement module 50 so that measurement that satisfies the required accuracy is possible.

[0085] Hereinafter, a three-dimensional measurement method according to Modification 1 will be described. The mechanical configuration of the system according to this modification is similar to that of the system 1 according to the first embodiment. Fig. 8 is a flowchart showing an example of processing of the measurement module 50 in three-dimensional data measurement according to Modification 1.

[0086] When the measurement is started, in steps S21 to S27, the position coordinates of the prism 51, the attitude information of the measurement module 50, and the distance between the center of the prism 51 and the instrument center O are acquired in the same manner as in steps S11 to S17. 50 The positional relationship between the two is acquired synchronously, and while calculating the position coordinates of the subject's own position and the irradiation point P of the distance measuring light L3, it is determined whether the irradiation point P is within the range of the next planned measurement point.

[0087] If the irradiation point P is within the range of the planned measurement points in step S27 (Yes), the process proceeds to step S28, where the control and calculation unit 60 determines whether the current angle of incidence of the distance measurement light L3 to the measurement surface 84 is within a range that satisfies the required accuracy.

[0088] Specifically, for example, when the measurement surface 84 is the ground and the measurement area data 72 is map data that does not include three-dimensional shape information of the measurement surface 84, the control and calculation unit 60 assumes that the measurement surface 84 is a horizontal plane, calculates the emission angle of the ranging light L3 based on the attitude information of the measurement module 50, and calculates the incident angle of the ranging light L3 onto the measurement surface 84.

[0089] Alternatively, for example, if the measurement area data 72 is CAD data including three-dimensional shape information of the measurement surface 84, the incident angle of the ranging light L3 on the measurement surface 84 is calculated based on the three-dimensional shape of the measurement surface 84 and the emission angle of the ranging light L3 calculated from the posture information of the measurement module 50.

[0090] In this manner, it is determined whether the calculated incidence angle is within an allowable range that satisfies the required accuracy.

[0091] If it is determined in step S28 that the position is within the allowable range (Yes), the control and calculation unit 60 stores the calculated position of the irradiation point P in the storage unit 54 as the measurement value of the mesh in step S28.

[0092] Furthermore, in step S28, if the incident angle deviates from the allowable range (No), the process proceeds to step S32, where the control and calculation unit 60 displays a warning on the display unit 57 indicating that the incident angle is deviating from the allowable range, and / or provides guidance to change the irradiation direction of the distance measuring light L3 so as to maintain the incident angle within the allowable range. The warning and guidance may be provided by display, or the measurement module 50 may be configured to further include a speaker and may provide a voice or warning sound. Steps S26 to S28 are then repeated until the incident angle falls within the allowable range in step S28.

[0093] In step S29, when the measured value is recorded, the process proceeds to step S30, and similarly to step S19, the control and calculation unit 60 updates the display on the measurement screen 90. Then, similarly to step S20, in step S31, steps S26 to S31 are repeated until there are no more planned measurement points 82.

[0094] In this way, in the system 1 according to the first modified example, the angle of incidence of the distance measurement light L3 on the measurement surface 84 is calculated based on the attitude information of the measurement module 50, and the measurement is performed within an allowable range in which the angle of incidence satisfies the required accuracy of the distance measurement value, thereby making it possible to measure three-dimensional data with assured measurement accuracy.

[0095] 8. Variation 2 9A is an example of measurement range data 85A according to the second modification. In the measurement range data 85A, in addition to the measurement range data 85, a measurement order (measurement route) 89 of each mesh 81 is set. In this way, when the measurement route 89 is set in the measurement range data 85A, as shown in FIG. 9B, when the operator OP scans the distance measuring light L3 in steps S16 and S26, a guidance display 94 for sequentially moving the measurement module 50 in the direction of the next planned measurement point 82 set on the measurement route 89 may be displayed. When an efficient route is set as the measurement route 89, the operator can perform efficient measurement simply by scanning the distance measuring light L3 along the route, thereby improving the efficiency of the work.

[0096] 9. Other Variations The system 1 according to this embodiment may be further modified as follows. When setting the measurement range 80, if the measurement area data 72 is CAD design data, the measurement range 80 may be set by selecting a specific area on the design data, such as the surface of one side of a building wall.

[0097] II. Second embodiment Fig. 10 is a schematic diagram of a three-dimensional data measurement system 1A according to a second embodiment. Fig. 11 is a configuration block diagram of the system 1A. The system 1A includes a surveying instrument 10, a measurement module main body 50A, a measurement module controller 50B, and a moving body 30. The measurement module main body 50A is fixed to an upper part of the moving body 30.

[0098] The surveying instrument 10 has the same mechanical configuration as the surveying instrument 10 of the system 1 . The measurement module main body 50A includes a prism 51, an optical distance meter 52, an inertial measurement device 53, and a clock 59, which are equivalent to those of the measurement module 50. Also, instead of the control calculation unit 60 and the communication unit 58, the measurement module main body 50A includes a control calculation unit 60A and a communication unit 58A. The control calculation unit 60A measures the distance of the optical distance meter 52 and detects the attitude information of the inertial measurement device 53 in accordance with an instruction from the control calculation unit 41 of the measurement module controller 50B, and transmits the distance to the irradiation point P and the attitude information of the measurement module main body 50A to the measurement module controller 50B via the communication unit 58A.

[0099] The measurement module controller 50B is a portable terminal computer such as a smartphone or PDA. The measurement module controller 50B includes a control calculation unit 41, a communication unit 44, a storage unit 45, an operation unit 46, and a display unit 47. The control calculation unit 41 includes a processor 42 and a memory 43 equivalent to those of the measurement module 50. In the illustrated example, the operation unit 46 and the display unit 47 are configured as a touch panel display. The control calculation unit 41 receives the distance value measured by the light wave distance meter 52 and the attitude information of the measurement module main body 50A detected by the inertial measurement unit 53 via the communication unit 58A of the measurement module main body 50A.

[0100] Similarly to the control and calculation unit 60, the control and calculation unit 41 enables remote control of the surveying instrument 10 and transmits measurement and automatic tracking instructions to the surveying instrument 10 via the communication unit 44. The control and calculation unit 41 acquires, at a timing synchronized with the surveying instrument 10, the distance to the irradiation point measured by the light-wave distance meter 52 and the attitude information of the measurement module 50 detected by the inertial measurement unit 53. The control and calculation unit 41 acquires the position coordinates of the prism 51, the attitude information of the measurement module 50, and the prism 51 and the known instrument center O of the measurement module 50, which are received from the surveying instrument 10. 50 Based on the positional relationship with the target object 30, the measurement module 50 calculates the coordinates of its own position based on the positional relationship with the target object 30. Based on the calculated coordinates of its own position, the measurement module 50's attitude information, and the distance measurement value of the electronic range finder 52, the measurement module 41 calculates the position coordinates of the irradiation point P of the distance measurement light. The measurement module 41 also determines whether the irradiation point P is within a range 83 of the target measurement points, and when it determines that the irradiation point P is within the range 83 of the target measurement points, it executes measurement and records the measurement value as the measurement result. Similarly to the control and calculation unit 60, the control and calculation unit 41 also sets the measurement range 80 and performs three-dimensional data measurement. The control and calculation unit 41 is capable of remotely controlling the movement of the moving body 30.

[0101] In the illustrated example, the moving body 30 is a dog-type robot. The moving body 30 includes a control calculation unit 31, a leg motor driving unit 34, a state sensor 35, and a communication unit 36.

[0102] The control calculation unit 31 of the moving body 30 is a control calculation unit including at least one processor 32 such as a CPU and at least one memory 33 such as an SRAM or DRAM. A part of the processor 32 may be configured as hardware. The control calculation unit 31 controls the leg motor driving unit 34 to change the attitude of the moving body and move its position. The control calculation unit 31 controls the attitude and movement of the moving body 30 according to remote control from the control calculation unit 41 of the measurement module controller 50B. This allows the moving body 30 to be remotely controlled from the measurement module controller 50B.

[0103] Four legs 37 are provided at the bottom of the moving body 30. A joint motor is provided at each joint of the leg 37. A leg motor driving unit 34 drives the leg motors while detecting the motor rotation speed, speed, load on the joints, etc. with a status sensor 35, thereby enabling the moving body 30 to walk on four legs. This also makes it possible to change the attitude of the measurement module main body 50A mounted on the moving body 30. As a result, it is possible to adjust the emission angle of the distance measurement light L3.

[0104] As a result, an operator can remotely control the moving body via the measurement module controller 50B, thereby enabling three-dimensional measurement equivalent to that of the measurement module 50 by the measurement module main body 50A.

[0105] With this configuration, the measurement module main body 50A and the measurement module controller 50B can cooperate with the surveying instrument 10 to achieve the same effects as in the first embodiment. Furthermore, by providing the measurement module main body 50A on a moving body, it is possible to perform three-dimensional data measurement even in dangerous places where workers cannot enter.

[0106] The moving body 30 is not limited to the dog-type robot in the above example, but may be, for example, a car or a drone.

[0107] The above describes preferred embodiments of the present invention. However, the above embodiments are merely examples of the present invention, and these can be combined based on the knowledge of those skilled in the art, and such combinations are also included in the scope of the present invention. [Explanation of symbols]

[0108] 1,1A: 3D data measurement system 8: Measurement range 10:Surveying machine 30: Mobile 31: Control calculation section 36: Communications Department 41: Control calculation section 44: Communications Department 47:Display section 50: Measurement module 51: Prism 52:Light wave distance meter 53: Inertial Measurement Unit 57:Display section 58: Communications Department 58A: Communications Department 60, 60A: Control calculation section 70: Measurement area 80: Measurement range 80a: Measurement surface 82: Planned measurement point 83, 83A, 83B: Planned measurement range 84: Measurement surface 90: Measurement screen 94: Guidance display 95: Guidance display 821: Planned measurement point

Claims

1. A prism that retroreflects incident light; an optical distance meter that transmits distance measuring light to a measurement range and detects a distance to an irradiated point by receiving a reflected distance measuring light from the irradiated point of the distance measuring light; an inertial measurement unit that measures three-dimensional acceleration and angular velocity and detects attitude information; A communication unit that acquires position coordinates of the prism; at least one processor; The processor calculates position coordinates of a self-position based on the position coordinates of the prism and the attitude information, A measurement module configured to calculate position coordinates of the irradiation point based on position coordinates of the own position, a distance to the irradiation point, and the posture information, The processor determines that the irradiation point falls within a range of planned measurement points set at a predetermined threshold around a planned measurement point set in the measurement range in the data of the measurement area, and performs measurement.

2. The measurement range is divided into a mesh pattern, The measurement module according to claim 1 , wherein the measurement points are set in each mesh.

3. A display unit that displays a measurement screen showing a measurement status of the measurement range is further provided, 3. The measurement module according to claim 2, wherein the display unit displays a progress status of the measurement for each mesh in real time in a identifiable manner.

4. 4. The measurement module according to claim 3, wherein the measurement screen displays the measured mesh on a color scale in which the measured mesh is painted in different colors according to height, based on the measurement results of the mesh.

5. The measurement module according to claim 1 , wherein the processor calculates an angle of incidence of the distance measuring light on a measurement surface based on the attitude information, determines whether the angle of incidence is within a range that satisfies a required accuracy, and performs measurement.

6. The measurement module according to claim 1, characterized in that the processor calculates an angle of incidence of the distance measuring light on the measurement surface based on the attitude information, determines that the angle of incidence is not within a range that satisfies a required accuracy, and notifies an operator of that fact.

7. a measurement module body including at least the prism, the light-wave distance meter, the inertial measurement unit, and at least one processor; A measurement module controller having at least one processor and a display unit and capable of communicating with the measurement module body; The measurement module body is attached to a moving body, The moving object can be remotely controlled by the processor of the measurement module controller.

2. The measurement module according to claim 1 .

8. A measurement module according to any one of claims 1 to 7; An automatic tracking function for automatically tracking the prism, a distance measuring light is transmitted to the prism, a reflected distance measuring light is received, the distance measuring angle of the prism is measured, and a position coordinate of the prism is calculated; a surveying instrument including a communication unit and configured to output position coordinates of the prism to the measurement module via the communication unit; A three-dimensional data measuring system comprising:

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