Three-dimensional data measurement system and three-dimensional data measurement method

Abstract

To provide a three-dimensional data measurement system that makes it possible to efficiently measure three-dimensional data without using poles.SOLUTION: A three-dimensional data measurement system 1 comprises: a measurement module 50 including a prism 51, a light wave distance meter 52, an inertial measurement device 53 for detecting attitude information, a communication unit 58, and a control arithmetic unit 60 for calculating the position coordinate of the own position on the basis of the position coordinate of the prism 51 and attitude information, and calculating the position coordinate of an irradiation point on the basis of the position coordinate of the own position, the distance to the irradiation point, and the attitude information; and a surveying instrument 10 for measuring the distance and angle of the prism 51, acquiring the position coordinate of the prism 51, and transmitting to a communication unit 58. When a measurement range, in the data of the measuring instrument, is larger than a measurable range in which measurement is possible that satisfies required accuracy without moving the position of the measurement module 50, the measurement range is portioned to meshes of a size within the measurable range and a measurement route is set so that the movement distance between each large mesh is shortest, and measurement execution is made in accordance with guidance data in which the measurement route is set.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a three-dimensional data measurement system, and more particularly to a three-dimensional data measurement system and a three-dimensional data measurement method using a measurement module equipped with a prism 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 the pole on the measurement point and measures while the total station automatically tracks it. At this time, the worker must visually check the vial to ensure that the prism is horizontal 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 distance meter, and is capable of measuring the three-dimensional position information of the illumination point of the optical distance meter without using a total station and 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 three-dimensional data measurement system of Patent Document 1 is capable of measurement without 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 that the measurement accuracy deteriorates depending on the time period during which the measurement is performed (the number of satellites, the geometric arrangement of the satellites). Furthermore, a method for efficiently measuring a measurement area in a pole-free measurement has not been proposed. For this reason, there has been a demand for a three-dimensional data measurement system that is capable of three-dimensional data measurement without using a prism-equipped pole or a GNSS receiver, and that can efficiently measure a measurement area.

[0006] The present invention has been made in consideration of the above circumstances, and aims to provide a three-dimensional data measurement system and a three-dimensional data observation method that enable efficient measurement of three-dimensional data without using a prism pole or a GNSS device. [Means for solving the problem]

[0007] In order to achieve the above object, a three-dimensional data measuring system according to one embodiment of the present invention has the following configuration.

[0008] 1. A measurement module including a prism that retroreflects incident light, an electronic distance meter that transmits distance measuring light to a measurement range and receives the reflected distance measuring light reflected from an irradiation point of the distance measuring light to detect the distance to the irradiation point, an inertial measurement device that detects attitude information, a communication unit that receives position coordinates of the prism, and a control and calculation unit configured to calculate position coordinates of the measurement module based on the position coordinates of the prism and the attitude information, and to calculate position coordinates of the irradiation point based on the position coordinates of the measurement module, the distance to the irradiation point, and the attitude information; and The three-dimensional data measurement system is equipped with a surveying instrument that measures the distance and angle of the prism, obtains the position coordinates of the prism, and transmits them to the communication unit, and obtains three-dimensional data of the measurement range.When the measurement range in the data of the measurement area is larger than the measurable range in which measurements that satisfy the required accuracy can be made without moving the position of the measurement module, the measurement range is divided into meshes of a size within the measurable range, and measurements are performed according to guidance data that sets a measurement route so that the movement distance of the measurement module between the meshes is the shortest.

[0009] 2. In the above aspect 1, it is also preferable that the measurement route with the shortest travel distance passes through the center of each mesh, is the shortest route in a single stroke, and has the fewest number of corners.

[0010] 3. In the above aspects 1 and 2, it is also preferable that the measurable range is set according to the distance on the measurement surface between the position of the measurement module and the position of the irradiation point of the distance measuring light when the distance measuring light is incident on the measurement surface at a threshold angle of incidence of the distance measuring light of the measurement module to the measurement surface, which is set according to the required accuracy.

[0011] 4. In the above aspects 1 to 3, it is also preferable that the measurable range is set in accordance with the three-dimensional shape of the measurement surface.

[0012] 5. In the above aspects 1 to 4, it is also preferable that a display unit is further provided, and the control and calculation unit displays a guidance display on the display unit to guide an operator holding the measurement module to move in the direction of the measurement path set in the guidance data.

[0013] 6. In the above aspects 1 to 5, it is also preferable that the control and calculation unit notifies an operator when there is an unmeasured measurement point behind the current position in the traveling direction of the measurement path during measurement.

[0014] Also, a three-dimensional data measurement method according to another aspect of the present invention includes a measurement module including a prism that retroreflects incident light, an electronic distance meter that transmits distance measuring light to a measurement range and receives the reflected distance measuring light reflected from an irradiation point of the distance measuring light to detect a distance to the irradiation point, an inertial measurement unit that detects attitude information, a communication unit that receives position coordinates of the prism, and a control and calculation unit configured to calculate position coordinates of a self-position based on the position coordinates of the prism and the attitude information, and to calculate position coordinates of the irradiation point based on the position coordinates of the self-position, the distance to the irradiation point, and the attitude information; and and a three-dimensional data measurement method using a three-dimensional data measurement system that has a surveying instrument that measures the distance and angle of the prism, obtains the position coordinates of the prism, and transmits them to the communication unit, and acquires three-dimensional data of the measurement range, the method including a step of, when the measurement range in the data of the measurement area is larger than a measurable range in which measurements that satisfy the required accuracy can be made without moving the position of the measurement module, dividing the measurement range into meshes of a size within the measurable range, and enabling measurement to be performed according to guidance data that sets a measurement route so that the movement distance of the measurement module between the meshes is the shortest. Effect of the Invention

[0015] According to the above aspects, it is possible to provide a three-dimensional data measurement system and a three-dimensional data observation method that enable efficient measurement of three-dimensional data without using a prism pole or a GNSS device. [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 a measurement module and a surveying instrument that constitute the measurement system. [Diagram 3] 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 4]FIG. 1A is a diagram for explaining the threshold of the angle of incidence for setting the measurable range of the measurement module, and FIG. 1B is a diagram for explaining a method for setting the measurable range of the measurement module. [Diagram 5] 13 is a flowchart showing an example of a process for generating guided data for three-dimensional data measurement using the measurement system. [Figure 6] 11 is a diagram for explaining the setting of a measurement range in measurement area data used in the measurement system. FIG. [Figure 7] 13(A) to 13(E) are diagrams illustrating a process for generating the guidance data when the measurement range is larger than the measurable range. [Figure 8] 13A and 13B are diagrams illustrating a process for generating the guidance data when the measurement range is within a measurable range. [Figure 9] 13 is a flowchart of the basic operation of a measurement module using the system. [Figure 10] 13 is a flowchart of processing when measuring 3D data using the system. [Figure 11] 11(A) to 11(C) are diagrams illustrating a measurement screen displayed on the display unit of the measurement module when measuring the three-dimensional data. [Figure 12] 11(A) to 11(C) are diagrams illustrating a measurement screen displayed on the display unit of the measurement module when measuring the three-dimensional data. [Figure 13] 13 is a flowchart of a modified example of the process for measuring three-dimensional data using the 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 will be omitted as appropriate.

[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 the operator OP can irradiate the measuring light L3 onto the measurement target while checking the display unit. The measurement module 50 also includes guidance data 90, which will be described later, and is adapted to perform measurement in accordance with the guidance data 90.

[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 sending unit having a light emitting element such as a laser diode that emits laser light 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 distance measuring light, such as infrared laser light, 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 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 center of the prism 51 and the center of the visual axis of the telescope 6c coincide with each other. 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), a flash memory, etc. 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. As a communication means, Wi-Fi, Bluetooth (registered trademark), infrared communication, etc. may be used. 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 stamp to the prism measurement result, i.e., the position information of the prism, and transmits it to the measurement module 50 via the survey instrument communication unit 25.

[0031] The survey instrument control and calculation unit 20 is a control and calculation unit including 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 that realizes a function, the survey instrument control and calculation unit 20 reads a program for realizing the function into the memory 22 and executes it to execute the function of the survey 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 storage unit 54, an operation unit 56, a display unit 57, a communication unit 58, a clock 59, and a control and calculation unit 60. In addition, a speaker for outputting sound may be included.

[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. When measurement starts, the distance measuring light L3 is emitted constantly or at a predetermined timing.

[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 is known in advance, and the instrument center O of the measurement module 50 is determined based on the position coordinates of the center of the prism 51 and the attitude information of the measurement module 50. 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 50 by the operator OP. The display unit 57 is a display device such as a liquid crystal display, an organic EL display, etc., and displays an input screen for setting measurement conditions, a measurement screen 70, 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. The operation unit 56 may also include a voice input device such as a microphone in addition to buttons and keys. The measurement screen 70 displays various information such as the measurement path, the current position, and the irradiation point position, superimposed on the measurement area data.

[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 corresponding 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 software-based processor like a CPU, it reads a program for implementing the function into the memory 62 and executes it to perform the function 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 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 60 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 point 82, the measurement module 50 calculates the coordinates of its own position. 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 range finder 52, the measurement module 50 calculates the position coordinates of the irradiation point Q of the distance measurement light. The measurement module 50 also determines whether the irradiation point Q is within a planned measurement point range 83 that is within a predetermined distance range from the set planned measurement point 82, and when it is determined that the irradiation point Q is within the planned measurement point range 83, it executes the measurement and records the measurement value as the measurement result.

[0045] The control and calculation unit 60 divides the measurement range 80 into meshes based on the measurement region data 72 so that the measurement range 80 is divided into sections (large meshes) of a size within the measurable range 87, and generates guidance data 90 in which the measurement order of each large mesh is set. The measurable range 87 is a range in which the operator OP holding the measurement module 50 can measure without moving. The guidance data 90 is generated in which a measurement path of the large mesh is set so that the moving distance of the operator OP is the shortest. The guidance data 90 and the generation of the guidance data 90 will be described later. In addition, the control and calculation unit 60 guides the operator OP by displaying a guidance display 94 on the display unit 57 so that the operator OP can proceed with the measurement according to the measurement path 89 set in the guidance data 90. In addition, the control and calculation unit 60 displays on the display unit 57, for each section of the mesh, a mesh that has been measured and a mesh that has not been measured in a distinguishable manner.

[0046] 4.Induced Data Here, the guidance data 90 and a method for generating the guidance data 90 will be described. The guidance data 90 is data in which a measurement route 89, which will be described later, is set in order to efficiently proceed with measurement while satisfying the required accuracy. For this purpose, first, a measurable range 87 is considered in which an operator OP holding the measurement module 50 can perform measurement while satisfying the required accuracy without moving his / her position.

[0047] 4-1. Measurable range 87 As described above, the measurable range 87 is a range in which measurement that satisfies the required accuracy set in step S03 can be performed without the measurement module 50 (or the operator OP holding it) moving from its position to another location. In other words, it is a range in which measurement can be performed without moving the position of the measurement module 50. Since the measurement module 50 in this embodiment is a portable three-dimensional data measurement device that uses the optical distance meter 52, it is possible to measure a certain range by changing the posture of the measurement module 50 or moving it by moving the arm, even if the operator OP does not move from its position.

[0048] There are various factors that affect the accuracy of the measurement using the measurement module 50.50 The shape of beam B is a particularly influential factor. 50 The shape of the beam B of the distance measuring light L3 changes depending on the angle of incidence of the distance measuring light L3 on the plane of the measurement range 80 (hereinafter referred to as the measurement plane 84). 50 FIG.

[0049] The angle of the distance measuring light L3 with respect to the vertical downward direction will be described as the emission angle of the distance measuring light L3. As shown in FIG. 3A, if the measurement surface 84 is a horizontal plane, the distance measuring light L3 will be emitted at an emission angle of 0° and will be incident on the measurement surface 84 at an incidence angle of 0°. At this time, the beam B 50 The shape of the beam B is almost a perfect circle. On the other hand, as shown in FIG. 3B, if the measurement surface 84 is also a horizontal surface and the distance measuring light L3 is emitted at an emission angle α larger than 0°, the incident angle β1 becomes equal to the emission angle α. Here, 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.

[0050] Furthermore, if the measurement surface 84 is an inclined surface rather than a horizontal surface, the angle of incidence of the distance measurement light L3 varies according to the inclination. For example, as shown in FIG. 3(C), when a surface perpendicular to the measurement surface 84 is inclined away from the measurement module 50, even if the emission angle α of the distance measurement light L3 is the same as in FIG. 3(B), the angle of incidence β2 to the measurement surface 84 becomes larger than in FIG. 3(B). Accordingly, the beam B of the distance measurement light L3 50 The shape of the distance measuring light L3 is even flatter than that of Fig. 3(B). On the other hand, although not shown, when the measurement surface 84 is inclined in the opposite direction to that of Fig. 3(C), the angle of incidence of the distance measuring light L3 is smaller than that of Fig. 3(B).

[0051] In the above, an example was described in which the measurement surface 84 is a surface based on the horizontal and the distance measurement light L3 is emitted downward. However, even if the measurement surface 84 is a surface other than the ground (a vertical surface or other inclined surface), the emission angle of the distance measurement light L3 and the incidence angle with respect to the measurement surface 84 can be calculated based on the direction perpendicular to the measurement surface 84.

[0052] Beam B 50 The flatter the beam shape, the more the received light signal varies, and the greater the distance measurement error of the electronic distance meter 52. Specifically, the flatter the beam shape, the wider the irradiation range of the measurement object even if the distance is the same, so that signals of different distances are mixed, and the greater the error. 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. 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 obtained from the attitude information of the measurement module 50, and the three-dimensional shape of the measurement surface 84, such as the inclination of the measurement surface 84 and the unevenness present on the measurement surface 84. The incident angle is set based on an allowable threshold value β according to the required measurement accuracy. TH For example, as shown in Table 1, if the required measurement accuracy is 10 mm (level 1), then β TH1 , 50mm (Level 2) β TH2, When it is 100 mm (level 3), β TH3 It is set as follows.

[0053] [Table 1]

[0054] FIG. 4(A) shows the incident angle at the threshold β TH When the instrument center is O 50 Horizontal distance D from the target point Q of the measuring light L3 H The instrument center O 50 Horizontal distance D from H However, it can be said that measurements that satisfy the required accuracy are possible within the horizontal distance D H is the instrument center O 50 Since it changes depending on the height (distance from the measurement surface 84) H of the instrument, 50 It is necessary to determine the height H of the instrument. For example, 50The height H of the operator OP may be preset based on the average height of the operator OP when held in the hand in normal use, or may be calculated from the operator OP's own height.

[0055] And the measurement position is the center of the instrument O 50 When the worker OP does not move (i.e., does not move from that position), the measurement module 50 held by the hand (arm) is swung in front of the body within the movable range of the arm to perform the measurement. As shown in FIG. 4B, the measurement module 50 is swung around the center of the position of the worker OP, and the measurement module 50 is swung around the center of the position of the worker OP, and the measurement module 50 is swung around the center of the position of the worker OP. H The range within this circle is the range 87a where the operator can perform measurement without moving while satisfying the required accuracy. Therefore, the square range inscribed in this semicircular range 87a is set as the measurable range 87. In this way, the measurable range 87 is set based on the angle of incidence of the distance measuring light L3 of the measurement module 50 on the measurement surface 84.

[0056] In the system 1, in order to perform measurement efficiently, the operator OP is guided according to guidance data 90 in which a measurement route 89 is set, and measurement is performed. First, an overview of a method for generating the guidance data 90 will be described with reference to Figs. 5 to 8. Fig. 5 is a flowchart of the method for generating the guidance data 90.

[0057] When the process starts, first, in step S01, the control calculation unit 60 reads the measurement area data 7a. Specifically, the measurement area data 7a is map data or CAD data of the area where the operator OP is going to perform the measurement. The measurement area data 7a may be read by, for example, storing the measurement area data 7a in advance in the storage unit 54. Alternatively, the measurement area data 7a may be stored in a cloud server or the like and read via the Internet by the communication unit 58 or a communication interface different from the communication unit 58.

[0058] Next, in step S02, the control calculation unit 60 sets the measurement range 80. FIG. 6 is a diagram for explaining the setting of the measurement range 80 on the display unit 57. In FIG. 6, the measurement area data 7a is map data. The measurement range 80 is an area in the measurement area 7 where three-dimensional data is actually measured. The measurement range 80 may be set, for example, by displaying the measurement area data 7a on the display unit 57 and tapping points surrounding the measurement range 80 on the touch panel with a fingertip to select and set the measurement range 80 in a polygonal shape. Alternatively, the measurement range 80 may be set by selecting and setting a rectangular shape by swiping diagonally using a rectangular selection tool. Also, the measurement range 80 may be set in any shape that can be selected by tracing the measurement range 80 with a fingertip.

[0059] Next, in step S03, the control and calculation unit 60 sets the required accuracy according to the input of the operator OP. The required accuracy may be set by selecting from the levels in Table 1, for example.

[0060] Next, in step S04, the control and calculation unit 60 compares the size of the set measurement range 80 with the size of the measurable range 87.

[0061] 7(A) to (E) are diagrams for explaining the process in step S04 when the measurement range 80 is larger than the measurable range 87 (Yes). As shown in Fig. 7(A), when the set measurement range 80 is larger than the measurable range 87 (Yes), the process proceeds to step S05, and the measurement range 80 is partitioned into a mesh shape with a pitch P that falls within the measurable range 87, as shown in Fig. 7(B). The mesh with this pitch P is called a large mesh 88.

[0062] Then, in step S06, the measurement order between the large meshes 88 and the measurement route 89 within the large meshes 88 are calculated so as to minimize the moving distance of the measurement module 50 (or the worker OP holding it). The route (shortest route) that minimizes the moving distance of the worker OP is, for example, a route that passes through the center of each large mesh, is the shortest in one stroke, and has the fewest corners. For example, for the measurement range 80 in Fig. 7(A), the two measurement routes 89 in Fig. 7(C) and (D) can be said to be the shortest routes.

[0063] Next, in step S07, as shown in FIG. 7(E), the control and calculation unit 60 divides each large mesh 88 into small meshes 81 with a pitch p. The pitch p is set in advance in the control and calculation unit 60, and for example, for the purpose of observing the current state of a construction work, the pitch p is preferably 10 to 50 cm. The pitch p may be set to any value. A measurement target point 82 is set at the center of the small mesh 81. In addition, a predetermined area around the measurement target point 82 is set as a measurement target point range 83 in which the measurement module 50 performs measurement when the irradiation point Q falls within that range.

[0064] 7 is a diagram for explaining the process when, in step S04, the measurement range 80 is within the measurable range 87 (No). As shown in Fig. 8(A), when the measurement range 80 is smaller than the measurable range 87 (No), the process proceeds to step S08, and the measurement range 80 is partitioned into small meshes with the same pitch p as in step S07, as shown in Fig. 8(B). The planned measurement points 82 and the planned measurement point range 83 are also set, as in step S07.

[0065] After step S07 or step S08, in step S09, the control and calculation unit 60 stores the data of the measurement range 80 in which the measurement path 89 is set as guidance data 90 in the storage unit 54, and ends the process. Here, when there are multiple pieces of guidance data 90, the center of the first large mesh and the guidance data 90 are associated with each other and stored.

[0066] 5. 3D data measurement Next, a description will be given of a three-dimensional data measurement method using the system 1. Fig. 9 is a flowchart of the basic operation of the measurement module 50 in three-dimensional data measurement using the system 1.

[0067] 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.

[0068] 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.

[0069] Then, as a basic operation, in step S11, the control calculation unit 60 instructs the surveying instrument 10 to start measurement via the communication unit 58. As a result, the surveying instrument 10 then 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.

[0070] Next, in step S12, the control and calculation unit 60 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 self-position (the instrument center O of the measurement module 50). 50 Calculate the position coordinates of

[0071] Next, in step S13, the control and calculation unit 60 displays the measurement screen 70 on the display unit 57, and displays the own position (the instrument center O of the measurement module 50) on the measurement screen 70. 50 After that, the control calculation unit 60 repeats steps S11 to S13, and calculates the position coordinates of the instrument center O50 of the measurement module 50 each time the position coordinates of the prism 51 are received or at a predetermined timing, displays a self-position mark 91 (FIG. 11(B)) on the measurement screen 70, and updates the display.

[0072] Then, in step S14, when the distance measuring light L3 of the electronic distance meter 52 is emitted by an instruction from the operator OP or by the control of the control calculation unit 60 (Yes), in step S15, the control calculation unit 60 causes the electronic distance meter 52 to emit the distance measuring light L at a timing synchronized with the measurement of the position coordinates of the prism 51, detects the distance to the irradiation point Q, and calculates the position coordinates of the irradiation point Q by using the attitude information of the measurement module 50. In addition, the position of the irradiation point (the irradiation point mark 92 in FIG. 12(B)) is displayed on the measurement screen 70.

[0073] Then, in step S16, the control and calculation unit 60 constantly repeats steps S12 to S15 until an instruction to end the process is given.

[0074] In this way, the measurement module 50 constantly executes the above basic operations during measurement. Next, Fig. 10 is a flow chart showing an example of the process of the measurement module 50 in three-dimensional data measurement using the system 1. Figs. 11(B), 11(C), 12(B), and 12(C) are diagrams showing the measurement screen 70. Figs. 11(A) and 12(A) are diagrams explaining the positional relationship between the measurement route and the operator corresponding to the displays of Figs. 11(B), 11(C), 12(B), and 12(C). In the figures, XIB, XIC, XIIB, and XIIC correspond to Figs. 11(B), 11(C), 12(B), and 12(C), respectively.

[0075] A measurement area including a measurement range 80 is displayed on the measurement screen 70. The measurement range 80 may be able to be expanded or contracted as appropriate. The measurement screen 70 may display a planned measurement point 82, a current position mark 91 indicating the measurement position, an irradiation point mark 92 indicating the position of the irradiation point Q, and, in addition, a coordinate value 93 of the irradiation point P (corresponding to the irradiation point mark 92 on the measurement screen 70) that is constantly detected during measurement, as a numerical value.

[0076] When measurement is started, first, in step S21, the control calculation unit 60 reads out the guidance data 90 stored in the storage unit 54. Here, if there are multiple pieces of guidance data 90, the first large mesh may select and set the guidance data that is closest to the current position.

[0077] Next, in step S22, the control and calculation unit 60 starts guiding to the measurement start area SA. The measurement start area SA is an area where the first large mesh falls within the measurable range 87 of the operator OP described above. Specifically, as shown in FIG. 11(B), the control and calculation unit 60 calculates the difference between its own position and the measurement start area SA, and displays a guidance display 94 on the measurement screen 70 in the direction in which its own position approaches the measurement start area SA. In addition, for example, a measurement range 80 including information on the small mesh 81 and the large mesh 88 is displayed on the measurement screen 70. The measurement range 80 may be displayed superimposed on the measurement area data 72. Guidance to the measurement start area is not limited to the guidance display 94. The measurement module 50 may be configured to include a speaker, and guidance may be provided by voice in addition to the display or alone.

[0078] Next, in step S24, when the control and calculation unit 60 determines that its own position has entered the measurement start area SA, measurement is started in step S25. When measurement is started, the control and calculation unit 60 starts emitting distance measurement light L3 at a predetermined interval.

[0079] For example, as shown in Figures 11(A) and 11(C), when entering the measurement start area SA, the measurement status display 95 indicates that it is possible to start measurement. The operator OP can start measurement by tapping this.

[0080] When the measurement is started, in step S24, the control calculation unit 60 continues the guidance. Specifically, guidance display 94 is displayed so that the operator OP moves from the measurement start area SA in the direction of travel of the set measurement route 89 (see Figs. 12(B) and 12(C)). That is, guidance display 94 is displayed so that the measurable range 87 advances along the measurement route 89 from the current position and the measurable range 87.

[0081] The worker OP performs measurement by swinging the measurement module 50 held in his / her hand from side to side as shown by the zigzag arrow in Fig. 12(A). Since the electronic distance meter 52 emits visible laser light as distance measuring light L3, the worker OP can measure while checking the measurement range 80 and irradiation point mark 92 on the measurement screen 70, and the measurement surface 84 and irradiation point Q on-site.

[0082] In the process of measurement, in step S26, the control calculation unit 60 determines whether the irradiation point Q is within the planned measurement point range 83. Then, in step S26, if the irradiation point Q is within the planned measurement point range 83 (Yes), in step S27, the control calculation unit 60 executes measurement, calculates the position coordinates of the irradiation point, and stores the measurement result in the memory unit 54.

[0083] Also, in step S26, if the irradiation point Q is not within the planned measurement point range 83 (No), the operator OP moves the measurement module 50 while checking the irradiation point mark 96 so that the irradiation point Q approaches the planned measurement point 82 in the direction of travel.

[0084] When the measurement is performed and the measured value is recorded in step S27, the process proceeds to step S28, and the control and calculation unit 60 updates the display of the measurement screen 70 showing the measurement status. FIG. 12(B) is an example of the measurement screen 70 after the measurement has progressed. Specifically, the measured area 77 and the unmeasured area 78 are displayed in different colors. More specifically, the unmeasured area 78 may be displayed colorless, and the measured area 77 may be displayed in a color scale according to the height value (Z coordinate value) and the colors may be superimposed, so that the three-dimensional shape of the measurement area can be grasped. In this embodiment, it is possible to display such three-dimensional data showing the three-dimensional shape of the measurement surface 84 so that it can be confirmed in real time.

[0085] Then, steps S25 to S28 are repeated until it is determined in step S29 that the measurement has ended, and the measurement is continued while guiding the operator OP along the measurement path 89.

[0086] 12(C), when the worker OP reaches a corner of the measurement route 89, a guidance display 94 is displayed, which indicates the direction in which the worker OP should turn in the traveling direction of the set measurement route 89. At this time, the guidance display 94 may be displayed with a highlighted display 94a in the center of the screen, for example. This is preferable because it allows the worker OP to more intuitively grasp the traveling direction.

[0087] 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.

[0088] In addition, the measurement module 50 is configured to divide the measurement range into a mesh having a predetermined pitch p on the data of the measurement area 7 (measurement area data 7a), and the worker OP moves the measurement module 50 held in his / her hand to scan the measurement range with the distance measuring light, so that measurement is automatically performed when the irradiation point of the distance measuring light enters the range 83 of the intended measurement point. Therefore, it is not necessary to stop at each measurement point and hold the pole still to measure, which reduces the workload and shortens the work time.

[0089] Furthermore, the guidance data 90 is compared between the measurement range 80 and a measurable range 87 in which measurement satisfying the required accuracy is possible without moving the position MP of the measurement module 50, and if the measurement range 80 is larger than the measurable range 87, the measurement range 80 is divided into large meshes 88 having a size within the measurable range, and a measurement route 89 is set so that the movement distance between the large meshes 88 of the measurement module 50 (i.e., the operator OP holding the measurement module 50) is minimized, thereby improving work efficiency. Also, since the measurement screen 70 is configured to display guidance displays 94 that inform the operator OP of the direction to proceed during measurement, the operator OP only needs to proceed with the measurement by following the guidance displays 94, reducing the burden on the operator OP.

[0090] In addition, since the measuring module 50 uses visible light as the distance measuring light, the operator OP can move the measuring module 50 while checking the irradiation point Q of the distance measuring light L3 on the actual object, thereby improving workability.

[0091] In addition, the measurement module 50 is configured to distinguishably display the measured area 77 and the unmeasured area 78 on the measurement screen 70 displayed on the display unit 57, so that the operator OP can proceed with the measurement while checking the progress of the work. Furthermore, if the measured area 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.

[0092] In the above description, the data of the measurement area 7 (measurement area data 7a) is map data and the measurement range is the ground, but as mentioned above, the measurement area data 7a may be 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 a portable size, so that it can measure various measurement ranges. Therefore, the system 1 can be used to measure three-dimensional data of various measurement objects depending on the purpose.

[0093] 6. Variations 13 shows another example of the process of the measurement module 50 in three-dimensional data measurement using the system 1. Steps S31 to S38 and S41 correspond to steps S21 to S28 and S29, respectively. As shown in this modification, in the process of performing measurement while being guided, if there is an unmeasured small mesh behind in the direction of travel, the operator is notified of this.

[0094] That is, after updating the display in step S38, it is determined in step S39 whether there is an unmeasured small mesh 81 behind the measurable range 87 at the current own position in the traveling direction of the measurement path 89. If there is an unmeasured small mesh 81 (Yes), the control calculation unit 60 notifies the operator of that fact in step S40. For example, the operator may be notified of that fact by displaying the fact on the display unit 57, by audio notification, by emitting a warning sound, or the like. With this configuration, it is possible to perform measurements without any omissions.

[0095] 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]

[0096] 1: 3D data measurement system 7: Measurement area 10:Surveying machine 50: Measurement module 51: Prism 52:Light wave distance meter 53: Inertial Measurement Unit 57: Display section 58: Communications Department 60: Control calculation section 76: Measurement position 80: Measurement range 81: Small mesh 82: Planned measurement point 84: Measurement surface 87: Measurable range 87a : Range 88: Large mesh 89: Measurement route 90: Guidance data 94: Guidance display L3: Ranging light

Claims

1. a measurement module including a prism that retroreflects incident light, an electronic distance meter that transmits distance measuring light to a measurement range and receives the reflected distance measuring light reflected from an irradiation point of the distance measuring light to detect a distance to the irradiation point, an inertial measurement device that detects attitude information, a communication unit that receives position coordinates of the prism, and a control and calculation unit configured to calculate position coordinates of the measurement module based on the position coordinates of the prism and the attitude information, and to calculate position coordinates of the irradiation point based on the position coordinates of the measurement module, the distance to the irradiation point, and the attitude information; and a surveying instrument that measures a distance and angle of the prism, acquires position coordinates of the prism, and transmits the position coordinates to the communication unit; and a three-dimensional data measurement system that acquires three-dimensional data of the measurement range, A three-dimensional data measurement system characterized in that, when the measurement range in the data of the measurement area is larger than the measurable range in which measurements that meet the required accuracy can be made without moving the position of the measurement module, the measurement range is divided into meshes of a size within the measurable range, and measurements are performed according to guidance data that sets a measurement path so that the movement distance of the measurement module between the meshes is the shortest.

2. The three-dimensional data measurement system according to claim 1, characterized in that the measurement route having the shortest travel distance is a route that passes through the center of each mesh, is the shortest route in a single stroke, and has the fewest corners.

3. The three-dimensional data measurement system according to claim 1 or 2, characterized in that the measurable range is set according to the distance on the measurement surface between the position of the measurement module and the position of the irradiation point of the distance measurement light when the distance measurement light is incident on the measurement surface at a threshold angle of incidence of the distance measurement light of the measurement module to the measurement surface, which is set according to the required accuracy.

4. 3. The three-dimensional data measuring system according to claim 1, wherein the measurable range is set in accordance with the three-dimensional shape of the measurement surface.

5. Further comprising a display unit, The three-dimensional data measurement system according to claim 1 or 2, characterized in that the control and calculation unit displays a guidance display on the display unit to guide an operator holding the measurement module to move in the direction of the measurement path set in the guidance data.

6. The three-dimensional data measurement system according to claim 1 or 2, characterized in that the control and calculation unit notifies an operator when, during measurement, there is an unmeasured measurement point behind the current position in the direction of travel of the measurement path.

7. a measurement module including a prism that retroreflects incident light, an electronic distance meter that transmits distance measuring light to a measurement range and receives the reflected distance measuring light reflected from an irradiation point of the distance measuring light to detect a distance to the irradiation point, an inertial measurement device that detects attitude information, a communication unit that receives position coordinates of the prism, and a control and calculation unit configured to calculate position coordinates of the measurement module based on the position coordinates of the prism and the attitude information, and to calculate position coordinates of the irradiation point based on the position coordinates of the measurement module, the distance to the irradiation point, and the attitude information; and A surveying instrument is provided which measures the distance and angle of the prism, acquires the position coordinates of the prism, and transmits the coordinates to the communication unit. A three-dimensional data measurement method using a three-dimensional data measurement system for acquiring three-dimensional data, comprising: A three-dimensional data measurement method characterized by comprising a step of, when the measurement range in the data of the measurement area is larger than the measurable range in which measurements satisfying the required accuracy can be made without moving the position of the measurement module, dividing the measurement range into meshes of a size within the measurable range, and enabling measurements to be performed according to guidance data that sets a measurement path so that the movement distance of the measurement module between the meshes is the shortest.

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