Support structure for three-dimensional measuring apparatus, and vehicle equipped with support structure

Abstract

To provide a support structure capable of improving the accuracy of deviation correction.SOLUTION: A support structure 100 for a three-dimensional measuring apparatus comprises: a stage 20 on which a 3D-LiDAR 30 and an attitude displacement amount detection sensor for estimating the position of the 3D-LiDAR 30 are mounted, and which is slidable in a front-rear direction of a vehicle 110 and displaceable between a first position and a second position; a roof carrier 10 which is fixed to a roof 120 of the vehicle 110 and on which the stage 20 is mounted in a slidable manner; and a pair of support members 50 which has a vehicle-side contact portion 51 in contact with the roof 120 and a stage-side fixing portion 52 fixed to the stage 20, and supports the stage 20. A center of gravity G1 of the 3D-LiDAR and a center of gravity G2 of the attitude displacement amount detection sensor are arranged between the stage-side fixing portions 52 in a vehicle width direction. The stage 20 can be positioned such that both the center of gravity G1 and the center of gravity G2 are located either in front of or behind the stage-side fixing portions 52.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a support structure for a three-dimensional measuring device and a vehicle equipped with the support structure. [Background technology]

[0002] Conventionally, the TOF (Time of Flight) method is known, which measures the distance to an object from the time difference between the timing at which light is projected from a light-emitting element onto the object and the timing at which the reflected light from the object is received.

[0003] Known as a measurement device using such a TOF method is a scanning LIDAR (Light Detection and Ranging) device that scans laser light emitted from a laser light source with a rotating mirror and detects the light reflected or scattered by an object with a light receiving element via the rotating mirror again, thereby obtaining the presence or absence of an object within a desired range and the three-dimensional position of the object (see, for example, Patent Document 1). Scanning LIDAR (Light Detection and Ranging) devices are used, for example, mounted on a vehicle. Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 discloses 3D (three-dimensional) measurement using LiDAR, but does not disclose 3D measurement in combination with LiDAR and an IMU (Inertial Measurement Unit) that estimates the position of the LiDAR. Patent Document 1 does not disclose anything about preventing the LiDAR and the IMU from being displaced in different directions.

[0005] The present invention aims to provide a support structure for a 3D measurement device that can improve the accuracy of deviation correction when using an IMU to correct deviations in point cloud positions measured using LiDAR. [Means for solving the problem]

[0006] A support structure for a three-dimensional measuring apparatus according to one aspect of the present invention includes: a stage that is equipped with a 3D-LiDAR having an emission unit that emits a laser and performs three-dimensional measurement, and an attitude displacement amount detection sensor that estimates the position of the 3D-LiDAR, and that is slidable in the front-rear direction of the vehicle and displaceable between a first position and a second position; a roof carrier that is fixed to the roof of a vehicle and that slidably mounts the stage; a pair of support members that support the stage and have a vehicle-side contact portion that contacts the roof and a stage-side fixed portion that is fixed to the stage, the first position is a position where the stage does not protrude rearward beyond the rear end of the vehicle, the second position is a position where the stage protrudes rearward from the rear end of the vehicle and the injection unit is disposed rearward from the rear end of the vehicle, When the stage is disposed at the second position, the stage-side fixing portion is disposed rearward of the vehicle-side contact portion, and the pair of support members are inclined when viewed in the vehicle width direction of the vehicle, the stage-side fixing portions of the pair of support members are disposed outward in a vehicle width direction of the vehicle relative to the vehicle-side contact portions, and the pair of support members are inclined as viewed in the front-rear direction; a center of gravity of the 3D-LiDAR and a center of gravity of the attitude displacement amount detection sensor are disposed between the stage-side fixing portions of the pair of support members in a vehicle width direction of the vehicle; The stage can be arranged so that the center of gravity of the 3D-LiDAR and the center of gravity of the attitude displacement amount detection sensor are both located in front of or behind the stage-side fixed parts of the pair of support members. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a support structure for a three-dimensional measuring device that can improve the accuracy of deviation correction when using an IMU to correct the deviation of point cloud positions measured using LiDAR. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view illustrating an example of a vehicle equipped with a support structure for a three-dimensional measuring apparatus according to an embodiment, showing a state in which a stage 20 protrudes rearward. [Figure 2] 1 is a plan view illustrating a vehicle on which a support structure for a three-dimensional measuring apparatus according to an embodiment is mounted. [Figure 3] 1 is a rear view illustrating an example of a vehicle equipped with a support structure for a three-dimensional measuring apparatus according to an embodiment. [Figure 4] FIG. 2 is a rear view illustrating the support structure of the three-dimensional measuring apparatus according to the embodiment. [Figure 5] FIG. 2 is a rear view illustrating the support structure of the three-dimensional measuring apparatus according to the embodiment. [Figure 6] 10 is a rear view illustrating the support structure of the three-dimensional measuring device according to the first comparative example, and is a diagram illustrating forces acting on the support structure according to a modified example and the state of deformation of the support structure. FIG. [Figure 7] FIG. 1 is a side view illustrating an example of a vehicle equipped with a support structure for a three-dimensional measuring apparatus according to an embodiment, showing a state in which a stage protrudes rearward. [Figure 8] FIG. 1 is a side view illustrating an example of a vehicle equipped with a support structure for a three-dimensional measuring apparatus according to an embodiment, showing a state in which a stage protrudes rearward. [Figure 9] FIG. 10 is a side view illustrating an example of a support structure of a three-dimensional measuring apparatus according to a second comparative example. [Figure 10] FIG. 2 is a side view illustrating the support structure of the three-dimensional measuring apparatus according to the embodiment, showing a state in which the stage protrudes rearward. [Figure 11] FIG. 2 is a side view illustrating the support structure of the three-dimensional measuring apparatus according to the embodiment, showing a state in which the stage does not protrude rearward. [Figure 12] 2 is a rear view illustrating a stage and a pair of support members of the support structure of the three-dimensional measuring apparatus according to the embodiment. FIG. [Figure 13] FIG. 10 is a rear view illustrating the support member. [Figure 14] FIG. 10 is a side view illustrating the support member. [Figure 15] FIG. 10 is a bottom view illustrating the support member. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following describes the preferred embodiments of the present invention with reference to the accompanying drawings. In the drawings, the same components are designated by the same reference numerals, and redundant explanations may be omitted.

[0010] [Support structure 100 for a three-dimensional measurement device according to an embodiment] Fig. 1 is a side view illustrating a vehicle 110 equipped with a support structure 100 for a three-dimensional measurement device according to an embodiment. Fig. 2 is a plan view illustrating a vehicle equipped with a support structure for a three-dimensional measurement device according to an embodiment. Fig. 3 is a rear view illustrating a vehicle equipped with a support structure for a three-dimensional measurement device according to an embodiment.

[0011] In addition, arrows indicating the mutually perpendicular X-axis, Y-axis, and Z-axis directions may be illustrated in each figure. The X-axis direction is along the front-to-rear direction of the vehicle 110. The Y-axis direction is along the width direction of the vehicle 110. The Z-axis direction is along the up-and-down direction. The X-axis direction includes the direction indicated by the arrow and its opposite direction. The Y-axis direction includes the direction indicated by the arrow and its opposite direction. The Z-axis direction includes the direction indicated by the arrow and its opposite direction. The X-axis, Y-axis, and Z-axis directions may be other directions. The arrangement and orientation of the support structure 100 for the three-dimensional measuring device are not particularly limited.

[0012] 1 to 3 is a structure that is mounted on a vehicle 110 and supports a 3D-LiDAR 30 and an IMU 40. The 3D-LiDAR 30 is a three-dimensional measuring device.

[0013] [Vehicle 110] The vehicle 110 is a typical automobile, and is equipped with a support structure 100 for a 3D measurement device on its roof 120. The vehicle 110 is a tunnel wall point cloud measurement vehicle that acquires 3D point cloud information of the entire circumference of the tunnel, including the road surface, in the cross-sectional direction of the tunnel. The vehicle 110 can acquire 3D point cloud information of the entire circumference of the tunnel using the 3D-LiDAR 30 while traveling inside the tunnel.

[0014] [3D-LiDAR30] The 3D-LiDAR 30 can perform point cloud measurements of the tunnel inner wall surface. The 3D-LiDAR 30 is a device that can capture the tunnel shape. The vehicle 110 is equipped with the 3D-LiDAR 30 and acquires point cloud data while traveling, thereby continuously acquiring cross-sectional data along the longitudinal direction of the tunnel. The 3D-LiDAR 30 can measure the three-dimensional shape of the tunnel wall surface in millimeter units, for example.

[0015] [IMU40] The IMU 40 can estimate the position of the 3D-LiDAR 30. The IMU 40 can correct the deviation of the point cloud position due to the displacement of the 3D-LiDAR 30. The IMU 40 can grasp the measurement position inside a tunnel where GPS cannot be used. The IMU 40 is an example of an attitude displacement amount detection sensor.

[0016] The support structure 100 for a three-dimensional measuring device can improve coordinate correction accuracy by aligning the vibration direction and vibration timing of the 3D-LiDAR 30 and the IMU 40. When an external force due to acceleration of the vehicle 110 or the like acts, the support structure 100 for a three-dimensional measuring device generates tensile stress on the sensor installation surface, thereby controlling the stress to reduce distortion and thereby suppressing deflection of the sensor installation surface. The "sensor installation surface" is the surface on which the 3D-LiDAR 30 and the IMU 40 are mounted. The support structure 100 for a three-dimensional measuring device can support the 3D-LiDAR 30 and the IMU 40 so that they do not tilt in different directions from each other.

[0017] Furthermore, in the support structure 100 for a three-dimensional measuring device, by limiting the position of the center of gravity G1 of the 3D-LiDAR 30 and the position of the center of gravity G2 of the IMU 40, it is possible to align the bending directions of the installation surface.

[0018] [Support structure 100 for three-dimensional measuring device] Fig. 4 is a rear view illustrating the support structure 100 of the three-dimensional measuring device according to the embodiment. Fig. 5 is a rear view illustrating the support structure 100 of the three-dimensional measuring device according to the embodiment. Fig. 6 is a rear view illustrating the support structure 100a of the three-dimensional measuring device according to a modified example, and is a diagram showing forces acting on the support structure 100a according to the modified example and the state of deformation of the support structure.

[0019] Fig. 7 is a side view illustrating a vehicle 110 equipped with the support structure 100 for a three-dimensional measuring device according to the embodiment, showing a state in which the stage 20 protrudes rearward. Fig. 8 is a side view illustrating a vehicle 110 equipped with the support structure 100 for a three-dimensional measuring device according to the embodiment, showing a state in which the stage 20 protrudes rearward. Fig. 9 is a side view illustrating a support structure 100b for a three-dimensional measuring device according to a second comparative example.

[0020] Fig. 10 is a side view illustrating the support structure 100 of the three-dimensional measuring device according to the embodiment, showing a state in which the stage 20 protrudes rearward. Fig. 11 is a side view illustrating the support structure 100 of the three-dimensional measuring device according to the embodiment, showing a state in which the stage 20 does not protrude rearward.

[0021] As shown in FIGS. 1 to 3 and 7 to 11, a support structure 100 for a three-dimensional measuring device includes a roof carrier 10, a stage 20, and a pair of support members 50.

[0022] [Roof Carrier 10] The roof carrier 10 is mounted on the roof 120 of the vehicle 110 and supports the stage 20 in a slidable manner. The roof carrier 10 may have, for example, a guide rail along the X-axis direction. The roof carrier 10 supports the stage 20 so that it is positioned above the roof 120. The roof carrier 10 includes a fixture that fixes the stage 20 to the roof 120. The support structure 100 for the three-dimensional measuring device is detachable from the roof 120.

[0023] [Stage 20] The stage 20 may include a frame to which the 3D-LiDAR 30 and the IMU 40 are fixed. The stage 20 may include a mounting surface on which the 3D-LiDAR 30 and the IMU 40 are placed. The stage 20 may include a plate-like member on which the 3D-LiDAR 30 and the IMU 40 are placed. The stage 20 is supported by the roof carrier 10 and is slidable in the X-axis direction.

[0024] The stage 20 is displaceable to a first position and a second position. The first position and the second position are different positions in the X-axis direction. The area of ​​the stage 20 arranged at the first position and the area of ​​the stage 20 arranged at the second position include areas that overlap each other.

[0025] The first position may be a position where the stage 20 does not protrude rearward beyond the rear end 111 of the vehicle 110. The second position may be a position where the stage 20 protrudes rearward beyond the rear end 111 of the vehicle 110, and an emission unit of the 3D-LiDAR 30 is disposed rearward beyond the rear end 111 of the vehicle 110. The emission unit may be, for example, an emission unit that emits a laser.

[0026] [Pair of support members 50] Fig. 12 is a rear view illustrating the stage 20 and a pair of support members 50 of the support structure 100 of the three-dimensional measuring device according to the embodiment. Fig. 13 is a rear view illustrating the support member 50. Fig. 14 is a side view illustrating the support member 50. Fig. 15 is a bottom view illustrating the support member 50.

[0027] The pair of support members 50 shown in Figures 1 to 15 are rod-shaped members. The support members 50 have a vehicle-side contact portion 51 and a stage-side fixed portion 52. In the longitudinal direction of the support members 50, one end is the vehicle-side contact portion 51, and the other end is the stage-side fixed portion 52. The vehicle-side contact portion 51 and the stage-side fixed portion 52 are end portions of the support members 50 on opposite sides of each other in the longitudinal direction.

[0028] [Position of the center of gravity G1 of the 3D-LiDAR 30 in the vehicle width direction (Y-axis direction) and position of the center of gravity G2 of the IMU 40] 2 and 3, the position of the center of gravity G1 of the 3D-LiDAR 30 and the position of the center of gravity G1 of the IMU 40 are disposed in the Y-axis direction between the stage-side fixing parts 52 of the pair of support members 50. The centers of gravity G1 and G2 are disposed between the pair of stage-side fixing parts 52 in the vehicle width direction of the vehicle 110.

[0029] 7 and 8, the positions of the center of gravity G1 of the 3D-LiDAR 30 and the center of gravity G1 of the IMU 40 are located on either side in the X-axis direction with respect to an imaginary straight line L1 connecting the stage-side fixed parts 52 of the pair of support members 50. The centers of gravity G1 and G2 are located in front of or behind the stage-side fixed parts 52 in the longitudinal direction of the vehicle 110. The 3D-LiDAR 30 and the IMU 40 are arranged so that the centers of gravity G1 and G2 are not located directly above the stage-side fixed parts 52 when viewed in the Y-axis direction.

[0030] [Load acting on the pair of support members 50] Next, with reference to FIG. 4 , a vertical downward force F11 acting on the pair of support members 50 will be described. A downward force F11 that pushes the stage 20 downward acts on the pair of support members 50. The downward force F11 includes a force that pushes the stage 20 downward due to the weight of the 3D-LiDAR 30 and the IMU 40. The downward force F11 includes a force that pushes the stage 20 downward due to an attitude change that accelerates upward while the vehicle 110 is traveling. For example, when the vehicle 110 travels uphill, if the vehicle 110 accelerates, the downward force acting on the stage 20 increases. For example, when the vehicle 110 travels downhill, if the vehicle 110 decelerates, the downward force acting on the stage 20 increases. When the downward force acting on the stage 20 increases, the downward force F11 acting on the pair of support members 50 that support the stage 20 also increases.

[0031] At this time, the pair of support members 50 are inclined so that the stage-side fixing portions 52 of the pair of support members 50 are positioned outward in the vehicle width direction (Y-axis direction) from the vehicle-side contact portions 51. The "outward in the vehicle width direction" is the direction from the center position between the stage-side fixing portions 52 of the pair of support members 50 toward the stage-side fixing portions 52 in the Y-axis direction.

[0032] The vertically downward force can be broken down into a force F12 in the axial direction of the support member 50 and a force F13 in a direction perpendicular to the axial force F12. The axial direction of the support member 50 is the longitudinal direction of the support member 50. The force F13 in the direction perpendicular to the axial direction is directed outward in the vehicle width direction, and therefore acts in a direction that tilts the pair of support members 50 outward in the vehicle width direction.

[0033] Here, the support member 50 has sufficient rigidity so as not to be deformed by the vertically downward force F11. Furthermore, the vehicle-side contact portion 51 is rotatable with respect to a foot 55, which will be described later.

[0034] [Deflection of stage 20] The deflection of the stage 20 will be described with reference to Fig. 5. The weight of the 3D-LiDAR 30 and the IMU 40 causes the stage 20 to deflect downward. That is, the portion 20a of the stage 20 between the stage-side fixed portions 52 of the pair of support members 50 deflects downward. In Fig. 5, the portion 20a of the stage 20 between the stage-side fixed portions 52 of the pair of support members 50 in the downward deflected state is shown by a two-dot chain line.

[0035] At the same time, a force F13 acting in a direction perpendicular to the axial direction of the support member 50 causes an angular change in the support member 50 around the vehicle-side contact portion 51 as the center of rotation. The angular change here refers to a change in the inclination angle of the support member 50 with respect to the upper surface 120a of the roof 120 when viewed in the X-axis direction. This angular change causes a force to be generated in the stage-side fixed portion 52 that twists the stage 20 at the stage-side fixed portion 52. This force twisting the stage 20 causes the portion between the stage-side fixed portions 52 of the pair of support members 50 to bend upward. In FIG. 5, the portion 20b between the stage-side fixed portions 52 of the pair of support members 50 in the stage 20 that is bent upward is shown by a two-dot chain line.

[0036] The pair of support members 50 are also tilted in a direction that moves the pair of stage-side fixed portions 52 away from each other. This tilt of the pair of support members 50 generates a horizontal force that pulls the stage 20 in the vehicle width direction. This horizontal force generates tension in the stage 20 along the Y-axis direction.

[0037] This twisting force on the stage 20 and the tension applied to the stage 20 act as deformation in the opposite direction to the downward deflection caused by the weight of the 3D-LiDAR 30 and the IMU 40. In other words, the twisting force on the stage 20 and the tension applied to the stage 20 act as a drag force that reduces the deformation of the stage 20.

[0038] [When subjected to a vertical upward force] A case will be described where acceleration of the vehicle 110 occurs in a direction in which the 3D-LiDAR 30 and the IMU 40 receive a vertically upward force. In this case, the force acting on the positions of the centers of gravity G1 and G2 due to the vertically upward acceleration acting on the vehicle 110 is vertically upward. A vertically downward force due to gravity acting in the opposite direction to this vertically upward force is canceled out by the vertically upward force acting on the positions of the centers of gravity G1 and G2.

[0039] [Support structure 100a of a three-dimensional measuring device according to a first comparative example] Next, a support structure 100a for a three-dimensional measuring apparatus according to a first comparative example will be described with reference to Fig. 6. The support structure 100a for a three-dimensional measuring apparatus according to the first comparative example differs from the support structure 100 for a three-dimensional measuring apparatus in that the 3D-LiDAR 30 and the IMU 40 are arranged so that the centers of gravity G31, G32 are located outside the stage-side fixed part 52.

[0040] In the first comparative example, a case will be described in which the position of the center of gravity G31 of the 3D-LiDAR 30 and the position of the center of gravity G32 of the IMU 40 are located outside the stage-side fixed part 52 in the vehicle width direction.

[0041] When the vehicle 110 is displaced upward and acceleration occurs, as described above, a force is applied to the stage-side fixed parts 52 of the pair of support members 50 so that the stage-side fixed parts 52 move outward in the vehicle width direction. As a result, the stage 20 is deformed upward in the bending direction, as in the case shown in Fig. 5. The portion 20b of the stage 20 is deformed upward.

[0042] On the other hand, the forces F31 and F32 due to gravity act downward to press down the portion 20c of the stage 20 outside the stage-side fixed portion 52, and this coincides with the direction of the displacement acting due to the tilt of the pair of support members 50.

[0043] In the support structure 100a for a three-dimensional measuring device according to the first comparative example, the centers of gravity G31, G32 are located outside the pair of stage-side fixing parts 52 in the vehicle width direction, which amplifies the deformation of the stage 20. In the support structure 100 for a three-dimensional measuring device according to the embodiment, the center of gravity G1 of the 3D-LiDAR 30 and the center of gravity G2 of the IMU 40 are located inside the pair of stage-side fixing parts 52 in the vehicle width direction, which makes it possible to suppress the deformation of the stage 20.

[0044] [Position of the center of gravity G1 of the 3D-LiDAR 30 and the position of the center of gravity G2 of the IMU 40 in the longitudinal direction (X-axis direction) of the vehicle] Next, with reference to Figures 7 and 8, the deflection of the stage 20 when the 3D-LiDAR 30 and the IMU 40 are subjected to a downward force will be described. The center of gravity G1 of the 3D-LiDAR 30 and the center of gravity G2 of the IMU 40 are located in front of or behind an imaginary line L1 connecting the stage-side fixed parts 52 of the pair of support members 50. In Figure 7, the centers of gravity G1 and G2 are located behind the stage-side fixed parts 52. In Figure 8, the centers of gravity G1 and G2 are located in front of the stage-side fixed parts 52. In Figures 7 and 8, the stage 20 before deformation is shown by a solid line, and the stage 20 after deformation is shown by a two-dot chain line.

[0045] As a result, the vertical force deforms the stage 20, but even in this case, the 3D-LiDAR 30 and the IMU 40 are displaced simultaneously and in the same direction, with the points supported by the stage-side fixed parts 52 of the pair of support members 50 as fulcrums. As a result, the support structure 100 for a three-dimensional measuring device can limit the direction of position correction for the point cloud. The position correction direction for the point cloud is the direction from the position of the point cloud before correction to the position of the point cloud after correction when correcting the position of the point cloud.

[0046] [Support structure 100b for a three-dimensional measuring device according to a second comparative example] Next, a support structure 100b for a three-dimensional measuring apparatus according to a second comparative example will be described with reference to Fig. 9. The support structure 100b for a three-dimensional measuring apparatus according to the second comparative example differs from the support structure 100 for a three-dimensional measuring apparatus in that, when viewed in the Y-axis direction, the center of gravity G41 is located behind the stage-side fixed part 52 and the center of gravity G42 is located in front of the stage-side fixed part 52.

[0047] In the support structure 100b for a three-dimensional measuring apparatus according to the second comparative example, the stage 20 is deformed so that, when viewed in the Y-axis direction, both ends of the stage 20 in the X-axis direction lower from the stage-side fixed part 52 as the apex. In Fig. 9, the stage 20 before deformation is indicated by a solid line, and the stage 20 after deformation is indicated by a two-dot chain line.

[0048] In this case, the centers of gravity G41 and G42 after the deformation of the stage 20 move in opposite directions relative to the centers of gravity G41 and G42 before the deformation of the stage 20. The center of gravity G41 displaces backward, and the center of gravity G42 displaces forward.

[0049] [Stage 20 is in the second position] Next, a state in which the stage 20 is disposed at the second position will be described with reference to Fig. 10. As described above, the second position may be a position in which the stage 20 protrudes rearward from the rear end 111 of the vehicle 110, and the emission section of the 3D-LiDAR 30 is disposed rearward from the rear end 111 of the vehicle 110. When the 3D-LiDAR 30 is performing measurement, the stage 20 is disposed at the second position.

[0050] During measurement by the 3D-LiDAR 30, the pair of support members 50 are configured to apply a force in a direction that separates the stage 20 and the roof 120. In other words, the force acting on the stage 20 is transmitted to the roof 120 via the pair of support members 50. Alternatively, the vehicle-side contact portions 51 of the pair of support members 50 may be in contact with the roof 120, and the pair of support members 50 may be receiving a force from the stage 20.

[0051] [Stage 20 is positioned in the first position] Next, with reference to Fig. 11, a state in which the stage 20 is disposed at the first position will be described. As described above, the first position may be a position in which the stage 20 does not protrude rearward beyond the rear end 111 of the vehicle 110. When the 3D-LiDAR 30 is stored, the stage 20 is disposed at the first position. The stored state refers to when measurement by the 3D-LiDAR 30 is not performed. The stage 20, 3D-LiDAR 30, and IMU 40 disposed at the first position are disposed at positions overlapping the roof 120 in a plan view.

[0052] When the 3D-LiDAR 30 is stored, the pair of support members 50 do not apply force between the stage 20 and the roof 120. In other words, the vehicle-side contact portions 51 of the pair of support members 50 are not in contact with the roof 120, and the pair of support members 50 are not receiving force from the stage 20.

[0053] Vehicle-side contact portions 51 of the pair of support members 50 can be displaced so as to move away from the roof 120. The pair of support members 50 are supported so as to be displaceable in the axial direction of the support members 50. Upper ends (stage-side fixed portions 52) of the pair of support members 50 are supported by the stage 20.

[0054] Furthermore, the pair of support members 50 are supported so as to be able to swing relative to the stage 20. When the stage 20 is placed at the first position, the pair of support members 50 may be placed along the X-axis direction.

[0055] For example, with the stage 20 placed at the second position after measurement, the pair of support members 50 can be swung to displace the vehicle-side contact portion 51 upward. With the stage 20 placed at the second position, the pair of support members 50 may be placed along the X-axis direction, and then the stage 20 may be slid forward to move the stage 20 to the first position.

[0056] [Stage 20 and Pair of Support Members 50 According to the Embodiment] Next, a stage 20 and a pair of support members 50 according to an embodiment will be described with reference to Figs. 12 to 15. The stage 20 has a main body 21 and mounting pieces 22 and 23. The main body 21 is rod-shaped. The main body 21 extends in the Y-axis direction. The 3D-LiDAR 30 and the IMU 40 are placed on the main body 21.

[0057] The mounting pieces 22, 23 protrude downward from the lower surface 21b of the main body 21. The mounting pieces 22, 23 are respectively provided to a pair of the support members 50. The mounting pieces 22, 23 face each other in the Y-axis direction.

[0058] As shown in FIG. 13, the support member 50 has a rod-shaped main body 53, a bracket 54, and a foot 55. The bracket 54 includes a pair of support pieces 54a, 54b and a connecting piece 54c. The pair of support pieces 54a, 54b and the connecting piece 54c are formed, for example, by bending a single plate material. The plate thickness direction of the support pieces 54a, 54b is along the Y-axis direction. The support pieces 54a, 54b face each other in the Y-axis direction. The support piece 54a is disposed inside the support piece 54b in the vehicle width direction. In the Z-axis direction, the support piece 54b extends further downward than the support piece 54a.

[0059] The connecting piece 54c is arranged so as to be inclined when viewed in the X-axis direction. The support piece 54a is bent upward from the inner end of the connecting piece 54c in the vehicle width direction. The support piece 54b is bent upward from the outer end of the connecting piece 54c in the vehicle width direction. In the vehicle width direction, the inner end of the connecting piece 54c is arranged higher than the outer end of the connecting piece 54c.

[0060] The pair of support pieces 54a, 54b are supported so as to be able to swing relative to the mounting pieces 22, 23. The bracket 54 is able to swing around a rotation axis along the Y-axis direction.

[0061] A through hole is formed in the connecting piece 54c, through which the main body 53 is inserted. An internal thread is formed on the inner peripheral surface of the through hole. The main body 53 is cylindrical. An external thread is formed on the outer peripheral surface of the main body 53. The external thread of the main body 53 is attached to the internal thread of the connecting piece 54c. By rotating the main body 53 about its axis, the main body 53 can be displaced in the axial direction relative to the connecting piece 54c. This allows the position of the foot 55 to be adjusted. In the pair of support members 50, the rod-shaped main body 53 is displaced in the axial direction, thereby contracting the pair of support members 50.

[0062] The foot 55 is capable of coming into contact with the roof 120. The foot 55 may be, for example, disk-shaped. The foot 55 is provided at the end of the main body 53 that is farther from the bracket 54 in the axial direction. The main body 53 of the pair of support members 50 and the joints of the foot 55 are connected via, for example, a ball joint. The foot 55 is rotatable in the front-to-rear direction and the width direction of the vehicle 110 relative to the main body 53. This allows the surface of the foot 55 to be adjusted to fit the surface of the roof 120 of the vehicle 110.

[0063] [Actions and Effects of the Support Structure 100 for the Three-Dimensional Measuring Device According to the Embodiment] The support structure 100 for a three-dimensional measuring device according to this embodiment includes a stage 20 that is mounted with a 3D-LiDAR 30 having an emission unit that emits a laser and performs three-dimensional measurement, and an IMU (Inertial Measurement Unit) 40 that estimates the position of the 3D-LiDAR 30, and is slidable in the longitudinal direction (X-axis direction) of a vehicle 110 and displaceable between a first position and a second position; a roof carrier 10 that is fixed to a roof 120 of the vehicle 110 and slidably mounts the stage 20; and a pair of support members 50 that support the stage 20 and have vehicle-side contact units 51 that contact the roof 120 and stage-side fixed units 52 fixed to the stage 20. The first position is a position where the stage 20 does not protrude rearward beyond the rear end 111 of the vehicle 110. The second position is a position where the stage 20 protrudes rearward beyond the rear end 111 of the vehicle 110, and the emission unit is disposed rearward beyond the rear end 111 of the vehicle 110. When the stage 20 is disposed in the second position, the stage-side fixed parts 52 are disposed rearward of the vehicle-side contact parts 51, and the pair of support members 50 are inclined when viewed in the vehicle width direction (Y-axis direction) of the vehicle 110. The stage-side fixed parts 52 of the pair of support members 50 are disposed outward of the vehicle-side contact parts 51 in the vehicle width direction of the vehicle 110, and the pair of support members 50 are inclined when viewed in the front-to-rear direction of the vehicle 110. The center of gravity G1 of the 3D-LiDAR 30 and the center of gravity G2 of the IMU (attitude displacement detection sensor) are disposed between the stage-side fixed parts 52 of the pair of support members 50 in the vehicle width direction of the vehicle 110, and the stage 20 can be disposed such that both the center of gravity G1 of the 3D-LiDAR 30 and the center of gravity G2 of the IMU 40 are disposed forward or rearward of the stage-side fixed parts 52 of the pair of support members 50.

[0064] According to this support structure 100 for a three-dimensional measuring device, the pair of support members 50 are inclined so that the centers of gravity G1 and G2 are disposed between the pair of stage-side fixed units 52 in the vehicle width direction and the vehicle-side contact unit 51 is disposed outward of the stage-side fixed units 52 in the vehicle width direction, thereby suppressing curvature of the stage 20. Furthermore, in the support structure 100 for a three-dimensional measuring device, the centers of gravity G1 and G2 are both disposed forward or rearward of the stage-side fixed units 52, allowing the 3D-LiDAR 30 and the IMU 40 to be displaced simultaneously and in the same direction. Therefore, the support structure 100 for a three-dimensional measuring device can limit the direction of position correction of the point cloud. The support structure 100 for a three-dimensional measuring device according to this embodiment can improve the accuracy of deviation correction when the IMU 40 is used to correct deviations in the point cloud positions measured using the 3D-LiDAR 30.

[0065] In the support structure 100 for a three-dimensional measuring device, the pair of support members 50 are extendable and retractable in the axial direction of the pair of support members 50, the vehicle-side contact portion 51 is displaceable in the axial direction together with the pair of support members 50, and the pair of support members cannot swing in the vehicle width direction but can swing in the front-to-rear direction. In the support structure 100 for a three-dimensional measuring device configured as above, the pair of support members 50 can be stored parallel to the stage 20 when sliding the stage 20. This means that the pair of support members 50 do not get in the way when storing the stage 20. In other words, the pair of support members 50 do not interfere with the sliding of the stage 20. Note that "parallel" includes "approximately parallel."

[0066] Although examples of embodiments of the present invention have been described above, the present invention is not limited to such specific embodiments, and various modifications and changes are possible within the scope of the gist of the present invention described in the claims.

[0067] One aspect of the present invention may be as follows.

[0068] <1> a stage that is equipped with a 3D-LiDAR having an emission unit that emits a laser and performs three-dimensional measurement, and an attitude displacement amount detection sensor that estimates the position of the 3D-LiDAR, and that is slidable in the front-rear direction of the vehicle and displaceable between a first position and a second position; a roof carrier that is fixed to the roof of a vehicle and that slidably mounts the stage; a pair of support members that support the stage and have a vehicle-side contact portion that contacts the roof and a stage-side fixed portion that is fixed to the stage, the first position is a position where the stage does not protrude rearward beyond the rear end of the vehicle, the second position is a position where the stage protrudes rearward from the rear end of the vehicle and the injection unit is disposed rearward from the rear end of the vehicle, When the stage is disposed at the second position, the stage-side fixing portion is disposed rearward of the vehicle-side contact portion, and the pair of support members are inclined when viewed in the vehicle width direction of the vehicle, the stage-side fixing portions of the pair of support members are disposed outward in a vehicle width direction of the vehicle relative to the vehicle-side contact portions, and the pair of support members are inclined as viewed in the front-rear direction; a center of gravity of the 3D-LiDAR and a center of gravity of the attitude displacement amount detection sensor are disposed between the stage-side fixing portions of the pair of support members in a vehicle width direction of the vehicle; A support structure for a three-dimensional measuring device in which the stage can be positioned so that the center of gravity of the 3D-LiDAR and the center of gravity of the attitude displacement detection sensor are positioned in front of or behind the stage-side fixed parts of the pair of support members. <2> The pair of support members are extendable and contractible in an axial direction of the pair of support members, the vehicle-side contact portion is displaceable in the axial direction of the pair of support members, 2. The support structure for a three-dimensional measuring device according to claim 1, wherein the pair of support members cannot swing in the vehicle width direction but can swing in the front-rear direction. <3> The above <1> or <2> A vehicle having the support structure for the three-dimensional measuring device described in claim 1 mounted on the roof. [Explanation of symbols]

[0069] 100 Support structure for 3D measurement device 10 Roof carrier 20 stages 30 3D-LiDAR (3D measurement device) 40 IMU (attitude displacement detection sensor) 50 Pair of support members 51 Vehicle side contact part 52 Stage side fixing part 110 vehicles 111 Rear end of vehicle 120 Roof G1 Center of gravity of 3D-LiDAR30 (Center of gravity of 3D-LiDAR30) XX axis direction (front-to-rear direction of the vehicle) YY axis direction (vehicle width direction) ZZ axis direction (vertical direction, up and down direction) [Prior art documents] [Patent documents]

[0070] [Patent Document 1] Japanese Patent Application Publication No. 2020-085798

Claims

1. a stage that is equipped with a 3D-LiDAR having an emission unit that emits a laser and performs three-dimensional measurement, and an attitude displacement amount detection sensor that estimates the position of the 3D-LiDAR, and is slidable in the front-rear direction of the vehicle and displaceable between a first position and a second position; a roof carrier that is fixed to the roof of a vehicle and that slidably mounts the stage; a pair of support members that support the stage and have a vehicle-side contact portion that contacts the roof and a stage-side fixed portion that is fixed to the stage, the first position is a position where the stage does not protrude rearward beyond the rear end of the vehicle, the second position is a position where the stage protrudes rearward from a rear end of the vehicle and the injection unit is disposed rearward from the rear end of the vehicle, When the stage is disposed at the second position, the stage-side fixing portion is disposed rearward of the vehicle-side contact portion, and the pair of support members are inclined when viewed in a vehicle width direction of the vehicle, the stage-side fixing portions of the pair of support members are disposed outward in a vehicle width direction of the vehicle relative to the vehicle-side contact portions, and the pair of support members are inclined as viewed in the front-rear direction; a center of gravity of the 3D-LiDAR and a center of gravity of the attitude displacement amount detection sensor are disposed between the stage-side fixing portions of the pair of support members in a vehicle width direction of the vehicle; A support structure for a three-dimensional measuring device in which the stage can be positioned so that the center of gravity of the 3D-LiDAR and the center of gravity of the posture displacement detection sensor are both located in front of or behind the stage-side fixed portions of the pair of support members.

2. The pair of support members are extendable and contractible in an axial direction of the pair of support members, the vehicle-side contact portion is displaceable in the axial direction of the pair of support members, 2. The support structure for a three-dimensional measuring device according to claim 1, wherein the pair of support members cannot swing in the vehicle width direction but can swing in the front-rear direction.

3. 3. A vehicle having the support structure for a three-dimensional measuring device according to claim 1 or 2 mounted on the roof.

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