Three-dimensional data measurement system using measurement module

Abstract

To provide a three-dimensional data measurement system capable of measuring three-dimensional data with good accuracy.SOLUTION: Provided is a three-dimensional data measurement system comprising: a measurement module including a prism, a light wave range finder for detecting the distance to an irradiation point, an inertial measurement device for detecting attitude information, a notification unit for issuing an alarm, a communication unit for receiving the position coordinate of the prism, and a control arithmetic unit constituted to calculate the position coordinate of the position itself and calculate the position coordinate of the irradiation point on the basis of the position coordinate of the prism and the attitude information; and a surveying instrument for measuring the distance and angle of the prism to acquire the position coordinate of the prism and transmitting it to the communication unit. The control arithmetic unit divides a measurement range into meshes and acquires three-dimensional data for each divided region, confirms whether or not a condition is met each time a measurement value is acquired in the divided region and causes the notification unit to issue an alarm when the condition is met, and re-divides a region applicable to the condition into a plurality of smaller regions.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] Conventionally, as-built surface measurements in construction work have used 3D data measurement systems equipped with a total station with an automatic tracking function and a pole with a prism attached. With such systems, workers place the pole over the measurement point and measure the prism while the total station automatically tracks it. During this process, workers must visually check the vial to ensure the prism is level while taking measurements, which places a heavy burden on workers when the work takes a long time. In addition, the length of the pole to be used must be measured in advance and entered into the system.

[0003] Therefore, 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 pole (Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-248156 Summary of the Invention [Problem to be solved by the invention]

[0005] The 3D data measurement system of Patent Document 1 allows for measurements without poles, but is unable to perform measurements 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, the measurement accuracy deteriorates depending on the time of day (number of satellites, geometric arrangement of satellites). There is also a need for accurate measurement of the measurement area when performing measurements without poles.

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

[0007] In order to solve the above problem, a first aspect of the present disclosure provides a control processor 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 unit that detects attitude information; a notification unit that issues a warning; a communication unit that receives position coordinates of the prism; and a control processor configured to calculate position coordinates of the own 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 own position, the distance to the irradiation point, and the attitude information. a measurement module including a control and calculation unit; and a surveying instrument that measures the distance and angle of the prism, obtains the position coordinates of the prism, and transmits the coordinates to the communication unit, and obtains three-dimensional data of the measurement range, wherein the control and calculation unit divides the measurement range into a mesh, obtains the three-dimensional data for each divided area, checks whether a condition is met each time a measurement value is obtained in the divided area, and if the condition is met, causes the notification unit to issue a warning, and re-divides the area that meets the condition into multiple areas that are smaller than the original area.

[0008] In addition, as a second aspect, in the first aspect, one of the conditions is that the calculated difference value of the three-dimensional data between the adjacent divided regions is outside a threshold range.

[0009] As a third aspect, in the first or second aspect, one of the conditions is that the amount of the reflected distance measuring light received by the electronic distance meter is outside a threshold range.

[0010] As a fourth aspect, in any one of the first to third aspects, one of the conditions is that the three-dimensional data of the partitioned region is outside a range of a threshold value.

[0011] In addition, as a fifth aspect, in any one of the first to fourth aspects, a display unit is further provided that displays a measurement screen showing the measurement status of the measurement range, and the display unit displays the progress of measurement for each divided area in real time so that it can be identified, and the measurement screen displays the divided areas that have been measured using a color scale that is painted in different colors based on the measurement results of the divided areas, and when the control and calculation unit re-divides an area that meets the conditions, it cancels the measurement value in the corresponding area, and the display unit is configured to display the corresponding area in a color that indicates an unmeasured area. [Effects of the Invention]

[0012] According to the above aspect, it is possible to provide a three-dimensional data measurement system that enables accurate measurement of three-dimensional data without using a pole with a prism. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a diagram showing an overview of a three-dimensional data measurement system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a configuration block diagram of the three-dimensional data measurement system. [Figure 3] Figure 3(A) is a diagram explaining the setting of the measurement range in the measurement area data used in the three-dimensional data measurement system, and Figure 3(B) is a diagram explaining the mesh-like divisions set in the measurement range. [Figure 4]FIG. 10 is an explanatory diagram illustrating division of a measurement range and re-division of a partial area. [Figure 5] 10 is an example of dividing a measurement range and redividing a partial area. 11 is a measurement screen displayed on a display unit during measurement. [Figure 6] 10 is an example of dividing a measurement range and redividing a partial area. 11 is a measurement screen displayed on a display unit during measurement. [Figure 7] 10 is a flowchart of the pre-processing of 3D data measurement using the 3D data measurement system. [Figure 8] 10 is a flowchart of the main process of 3D data measurement using the 3D data measurement system. DETAILED DESCRIPTION OF THE INVENTION

[0014] Preferred embodiments of the present invention will be described below 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.

[0015] 1. Overall structure FIG. 1 is a diagram showing the general configuration of a three-dimensional data measurement system 1 (hereinafter simply referred to as system 1) according to a preferred embodiment of the present invention. System 1 is preferably used for measuring the current surface condition at a construction site. FIG. 2 is a block diagram showing the configuration of system 1. System 1 generally comprises a surveying instrument 10 and a measurement module 50.

[0016] 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 its coordinates and direction angle 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 generating the coordinates of the known point by resection or the like.

[0017] 1, the surveying instrument 10 externally comprises a base 6a, a support 6b that rotates horizontally around the H axis relative to the base 6a, and a telescope 6c that rotates vertically around the V axis at the center of the support 6b. The base 6a is attached to a leveling base 4 that is attached to a tripod 2.

[0018] The measurement module 50 also includes a handheld, substantially rectangular parallelepiped housing 5. A prism 51, which will be described later, is fixed to the front top surface of the housing 5. A display serving as a display unit 57, which will be described later, is provided on the rear top surface of the housing 5, so that the operator OP can irradiate the measurement object with the distance measurement light L3 while checking the display unit 57.

[0019] The measurement module 50 is a so-called handheld module. A grip 5a is provided on the housing 5, and the operator OP holds the grip 5a in one hand to perform measurements. The distance measurement light L3 is emitted from the front of the housing 5. If a trigger-type measurement switch is provided on the grip 5a, it is easy for the operator to intuitively grasp the measurement direction, making measurement easier and more convenient, which is preferable.

[0020] 2. Surveying instrument 10 As shown in Figure 2, the surveying instrument 10 includes a distance measurement 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 surveying instrument memory unit 23, a surveying instrument clock 24, and a surveying instrument communication unit 25.

[0021] The distance measuring unit 11 includes a light transmitting unit having a light emitting element such as a laser diode that emits laser light L1 (e.g., infrared laser light) as distance measuring light, a distance measuring optical system, and a light receiving unit having a light receiving element such as an avalanche photodiode (not shown). The distance measuring unit 11 is housed in the telescope 6c, and the optical axis of the distance measuring light is the collimation optical axis of the telescope 6c. The distance measuring unit 11 emits the laser light L1 to a prism 51 (described later) via the distance measuring optical system, receives the reflected light with the light receiving unit, and measures the distance to the center of the prism 51 from the phase difference or time difference between the laser light L1 and the internal reference light.

[0022] 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.

[0023] The horizontal rotation drive unit 14 and the vertical rotation drive unit 15 are motors. They are controlled by the surveying instrument control and 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.

[0024] 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 CMOS (Complementary Metal-Oxide-Semiconductor) (not shown). The tracking unit 16 emits an infrared laser beam with a wavelength different from that of the laser beam L1 as the tracking light L2, acquires landscape images in the collimation direction when the tracking light L2 is on and when the tracking light L2 is off, and outputs both images to the surveying instrument control and calculation unit 20. The surveying instrument control and calculation unit 20 determines 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 surveying instrument control and calculation unit 20 drives the horizontal rotation drive unit 14 and the vertical rotation drive unit 15 so that the distance between the center of the prism 51 and the center of the visual axis of the telescope 6c is within a certain value. As a result, the telescope 6c always faces the direction of the prism 51.

[0025] The input unit 17 is an input device such as a button key, which accepts inputs such as commands and settings for measurement work from an operator and outputs them to the surveying 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 surveying instrument control and calculation unit 20. The input unit 17 and the output unit 18 may be configured integrally as a touch panel display.

[0026] The surveying instrument storage unit 23 is a computer-readable storage medium such as a hard disk drive (HDD), flash memory, etc. The surveying instrument storage unit 23 stores programs that enable the surveying instrument 10 to execute various functions such as a surveying function and an automatic tracking function. The surveying instrument storage unit 23 also stores various data such as measurement data acquired by the surveying instrument 10.

[0027] The surveying instrument clock 24 is a system clock, which may be a hardware clock, and adds a time to the transmitted data in order to synchronize the timing of measurements with the measurement module 50 .

[0028] The surveying instrument communication unit 25 is a communication interface that enables the sending and receiving of information between the surveying instrument 10 and the measurement module 50. Wi-Fi, Bluetooth (registered trademark), infrared communication, etc. may be used as the communication means. The communication means is not limited to these, and known wired and wireless communication standards may also be used. The surveying instrument 10 assigns a time stamp to the prism measurement results, i.e., the position coordinates of the prism, and transmits them to the measurement module 50 via the surveying instrument communication unit 25.

[0029] The survey instrument control and calculation unit 20 is a control and calculation unit that includes a survey instrument processor 21, which is at least one processor such as a CPU (Central Processing Unit), and a survey instrument memory 22, which is at least one memory such as an SRAM (Static Random Access Memory), a DRAM (Dynamic Random Access Memory), etc. If the survey instrument processor 21 realizes its functions using software such as a CPU, it reads a program for executing the function into the survey instrument memory 22 and executes it, thereby executing the functions of the survey instrument 10 described below.

[0030] Furthermore, at least a part of the surveying instrument processor 21 may be configured with hardware such as a CPLD (Complex Programmable Logic Device) or an FPGA (Field Programmable Gate Array).

[0031] The surveying instrument control and calculation unit 20 controls the tracking unit 16, horizontal rotation drive unit 14, and 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, horizontal angle detector 12, and vertical angle detector 13. The surveying instrument control and calculation unit 20 calculates the coordinates of the center position of the prism 51 based on the distance and angle measurement results of the prism 51, adds a time stamp, and transmits them to the measurement module 50 via the surveying instrument communication unit 25.

[0032] 3. Configuration of the measurement module 50 The measurement module 50 includes a prism 51, an electronic distance meter (EDM) 52, an inertial measurement unit (IMU) 53, a memory unit 54, an alarm unit 55, an operation unit 56, a display unit 57, a communication unit 58, a clock 59, and a control and calculation unit 60.

[0033] Prism 51 is, for example, a so-called omnidirectional prism formed by combining multiple triangular pyramidal prisms in a radial pattern, and retroreflects light incident from all around (360°). Prism 51 is not limited to this, and may be any prism used in surveying.

[0034] 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 an object to be measured with the distance measuring light L3 emitted from the light-transmitting unit, receives the reflected distance measuring light L3' from the object to measure 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. The optical distance meter 52 is configured so that the light intensity and output of the distance measuring light L3 can be adjusted by adjusting the voltage / current applied to the light-emitting element that emits the laser light.

[0035] The inertial measurement unit 53 is equipped with a three-axis gyro and a three-axis acceleration sensor, and detects the angular velocity and acceleration in the three axial directions (roll, pitch, and yaw) of the measurement module 50 to detect the attitude of the measurement module 50 and obtain attitude information. The inertial measurement unit 53 is disposed at the instrument center O (FIG. 1) of the measurement module 50.

[0036] The positional relationship between the center of the prism 51, the origin of distance calculation of the electronic distance meter 52, and the instrument center O is known in advance. The optical axis of the electronic distance meter 52 is configured to pass through the instrument center O. As a result, the position coordinate of the instrument center O of the measurement module 50, i.e., the position coordinate of the measurement module 50, can be calculated based on the position coordinate of the center of the prism 51 and the attitude information of the measurement module 50.

[0037] 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.

[0038] The notification unit 55 is a device that issues a warning by, for example, sound, light, vibration, etc. to alert the worker. For example, it is a light source that indicates the status by flashing, a speaker that plays audio, a buzzer that emits a buzzing sound, a vibrator that vibrates, etc. The display unit 57 may also function as the notification unit 55, for example, by displaying notification information on a display screen or flashing the display screen.

[0039] 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 an operator. The display unit 57 is a display device such as a liquid crystal display or an organic EL display, and displays an input screen for setting measurement conditions, a measurement screen, etc. under the control of the control and calculation unit 60. In the illustrated example, the operation unit 56 and the display unit 57 are integrated as a touch panel display. Furthermore, the operation unit 56 may be equipped with a voice input device such as a microphone in addition to buttons and keys. Furthermore, the operation unit 56 may be equipped with a voice input device such as a microphone in addition to buttons and keys. The measurement screen 70 displays various information such as the current position and the irradiation point position, superimposed on the measurement area data.

[0040] The communication unit 58 is a communication interface that enables sending and receiving of information between the surveying instrument 10 and the measurement module 50. As a communication means, Wi-Fi, Bluetooth (registered trademark), infrared communication, etc. may be used, but one that corresponds to the surveying instrument communication unit 25 is used. The communication unit 58 receives the position coordinates of the prism 51 from the surveying instrument 10.

[0041] The clock 59 may be a system clock or a hardware clock, is synchronized with the clock of the surveying instrument 10, and is used to synchronize the timing of measurements with the surveying instrument 10.

[0042] The control and calculation unit 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 DRAM. When the processor 61 is a CPU or the like that realizes functions by software, it reads a program for executing the functions into the memory 62 and executes it, thereby performing the functions of the measurement module 50 described below. At least a part of the processor 61 may be configured by hardware such as a CPLD or FPGA.

[0043] 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 Q measured by the electronic 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 calculates the coordinates of the measurement module's own position (instrument center O) based on the position coordinates of the prism 51 received from the surveying instrument 10, the attitude information of the measurement module 50, and the known positional relationship between the prism 51 and the instrument center O of the measurement module 50. The control and calculation unit 60 also calculates the position coordinates of the irradiation point Q of the distance measurement light L3 based on the calculated coordinates of the measurement module's own position, the attitude information of the measurement module 50, and the distance measurement value of the electronic distance meter 52.

[0044] 4. Setting the partition area 4.1 Measurement range division The control and calculation unit 60 reads the measurement area data 72, sets a measurement range 80 on the data, and further divides the measurement range 80 into a mesh pattern. FIG. 3A is a diagram illustrating the setting of the measurement range 80 on the display unit 57. In the illustrated example, the measurement area data 72 is map data. The measurement range 80 is a region of the measurement area 7 where 3D data is actually measured. The measurement range 80 may be set, for example, as shown in FIG. 3A, by displaying the measurement area data 72 on the display unit 57 and tapping four vertices 80a defining the measurement range 80 on a touch panel with a fingertip to select and set the measurement range 80 in a rectangular shape. Alternatively, the measurement range 80 may be set by swiping diagonally using a rectangular selection tool. Note that in the illustrated example, the measurement range 80 is set as a square, but this is not limited thereto. That is, it may be a rectangle or a polygon other than a square. It may also be any shape that can be selected by tracing a circle with a fingertip.

[0045] The control and calculation unit 60 sets mesh-like divisions at a pitch p within the measurement range 80. FIG. 3B is a diagram illustrating the state in which the measurement range 80 in FIG. 3A has been divided into mesh-like divisions. Here, the mesh-like divisions shown in FIG. 3B are displayed superimposed on the measurement range data 72 displayed in FIG. 3A, but the measurement range data 72 itself is omitted for ease of explanation. In the illustrated example, each mesh-like division (hereinafter referred to as divided area A) within the square measurement range 80 is square. The pitch p defines one side of each square, i.e., the dimension of each divided area A. Each divided area A is not limited to a square, but may also be rectangular. In principle, each mesh has the same shape, but the periphery of the measurement range 80 may have an irregular shape depending on the shape of the measurement range 80. For example, for the purpose of observing the current state of construction work, a pitch p of 10 to 50 cm is suitable. The pitch p is not limited to this and can be determined appropriately depending on the size of the measurement range 80 and the required accuracy of the product.

[0046] Furthermore, the control and calculation unit 60 displays on the display unit 57, for each of the mesh-shaped divided regions A, measured regions and unmeasured regions in a distinguishable manner. Furthermore, the measurement values ​​are scaled, and each measured region is displayed in a graded color.

[0047] In addition, the control and calculation unit 60 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 determines that it is within the planned measurement point range 83, it performs the measurement and records the measurement value as the measurement result.

[0048] 4.2 Rezoning of Partial Areas Each time the control and calculation unit 60 acquires a measurement value of the divided area A, it checks whether the condition is met, and if the condition is met, it redivides the area that meets the condition into multiple areas smaller than the original dimensions. The measurement value is the measurement result, and includes values ​​acquired by measurement and values ​​calculated by measurement.

[0049] This will be explained using Figure 4. Figure 4(A) is a diagram showing a state in which the measurement range 80 is partitioned at a pitch p1. As an example, the measurement range 80 is partitioned into three rows and three columns. Each mesh-like partitioned area is a square with one side having a pitch p1, and is referred to as partitioned area A1, partitioned area A2, partitioned area A3, etc. Hereinafter, unless a specific partitioned area is specified, they will be collectively referred to as partitioned area A.

[0050] The control and calculation unit 60 repartitions a portion of the measurement range 80 into a plurality of areas smaller than the original partitioned dimensions. For example, if the areas enclosed by the bold frames in FIG. 4(B) (partitioned areas A7, A8, and A9) are the areas to be repartitioned (hereinafter referred to as the relevant area AA, shown in bold), the control and calculation unit 60 repartitions the relevant area AA at a pitch smaller than the original partitioned pitch. In FIG. 4(A), the relevant area AA was originally partitioned into squares with sides each having a pitch p1, so when repartitioning, the area is repartitioned at a size, for example, half the pitch p1.

[0051] As shown in FIG. 4(C), the divided area A7 is redivided into divided areas A7a, A7b, A7c, and A7d. The divided areas A7a to A7d are squares with sides measuring p1 / 2. Similarly, the divided area A8 is redivided into divided areas A8a to A8d, and the divided area A9 is redivided into divided areas A9a to A9d. In the corresponding area AA, the number of areas to be measured is four times larger than initially, and four times as much data can be obtained compared to initially.

[0052] 4.3 Conditions for Redistricting The condition for redividing the relevant area AA is when more careful measurements are required. As described above, the dimensions of the relevant area AA are redivided into multiple areas smaller than the original dimensions, increasing the number of meshes in the relevant area AA and increasing the number of measurements. This avoids the possibility of errors such as measurement degradation and enables more detailed measurement data to be obtained comprehensively.

[0053] In other words, more careful measurements are required when there is a risk of measurement errors and it is desired to increase the measurement frequency, specifically when the amount of reflected distance measuring light L3' of the distance measuring light L3 received by the light receiving unit of the electronic rangefinder 52 is outside the threshold, when the measurement value of a certain divided area A is outside the threshold, or when the difference between the measurement values ​​of adjacent divided areas is outside the threshold.

[0054] (Condition 1: Light intensity is outside the threshold) The system 1 is preferably used for measuring the current state of a construction site. Current state surface measurement is the measurement of the height (unevenness) of the surface to be measured. If the material of the surface to be measured is a black material, the distance measuring light L3 is absorbed by the surface to be measured, reducing the amount of reflected distance measuring light L3' and the amount of light received by the electronic distance meter 52. Similarly, if the material of the surface to be measured is a material that diffuses light, the amount of reflected distance measuring light L3' also reduces, reducing the amount of light received by the electronic distance meter 52. The electronic distance meter 52 also acquires the light intensity value of the reflected distance measuring light L3' during measurement, and if the amount of received light is low, errors in the measurement are likely to occur.

[0055] Therefore, when the amount of light received by the electronic distance meter 52 during measurement falls outside the threshold and falls outside the allowable range, the control and calculation unit 60 first causes the alarm unit 55 to issue a warning, such as sound, light, or vibration. This allows the operator OP to recognize the decline in measurement accuracy through the warning from the alarm unit 55. Furthermore, the control and calculation unit 60 repartitions the measured divided area A and its surrounding divided areas A into multiple areas smaller than the original dimensions. Even if a previously measured divided area A is included, the measurement value is reset by the repartitioning. Therefore, the operator OP measures each of the smaller divided areas again. By reducing the dimensions of the divided areas from the original dimensions, the number of measurements of the corresponding area increases, enabling more precise and comprehensive measurements. Similarly, if the light received by the reflected distance measuring light L3' exceeds a predetermined value, for example, due to diffuse reflection on the measurement surface or light from other light sources entering the area, measurement errors are likely to occur. The threshold for the amount of received light may have an upper limit as well as a lower limit.

[0056] (Condition 2: Measurement value is outside the threshold) Another condition for the control and calculation unit 60 to re-divide the relevant area AA is when the measurement value exceeds a threshold value. The control and calculation unit 60 performs measurements in each divided area A and stores the measurement value as the measurement result. If the measurement value exceeds the threshold value, there is a possibility of a measurement error or a decrease in measurement accuracy, so the control and calculation unit 60 re-divides the relevant area AA with smaller dimensions. This will be explained using Figure 5. Figure 5 shows an example of the measurement screen 70 on the display unit 57 during measurement.

[0057] As shown in FIG. 5(A), during measurement, the measurement status is displayed on the display unit 57 as a measurement screen 70. As an example, the measurement screen 70 for measuring the current surface at a construction site is shown. In measuring the current surface, the height (unevenness) of the surface to be measured is measured. The unmeasured divided area A is displayed in white, while the measured divided area A is displayed in a color scale according to the height value (Z coordinate value) so that the three-dimensional shape of the measurement range 80 can be grasped.

[0058] If the measurement result indicates that the allowable range for height values ​​is ±3 mm, the threshold value is ±3 mm. The control and calculation unit 60 acquires the position coordinates from the measurement values, calculates the height value, and if the height value is outside the range of the threshold value, designates the corresponding divided area A as the corresponding area AA to be redivided, and redivides it into multiple smaller areas.

[0059] As shown in FIG. 5(B), for example, if the height value of the divided area AX is +3 mm or more (divided area AX = corresponding area AA to be redivided), the control and calculation unit 60 determines that the height value is outside the threshold range and causes the notification unit 55 to notify. Furthermore, as shown in FIG. 5(C), the divided area AX is redivided at a pitch smaller than the original pitch. Because the divided area AX was originally a square, it is now redivided into a square with one side half the original size. As a result, the divided area AX is redivided into square divided areas AXa, AXb, AXc, and AXd, each with a side half the size of the divided area AX. As a result of the redividing, the control and calculation unit 60 cancels the measurement result of the divided area AX and changes the divided area AX to unmeasured divided areas AXa to AXd, returning it to white on the measurement screen 70.

[0060] The divided area AX is divided into four divided areas AXa to AXd, allowing four times as many measurement results to be obtained compared to the original. In the corresponding area AA, more detailed measurement data can be obtained, avoiding measurement errors and a decrease in measurement accuracy, and enabling more precise and comprehensive measurements.

[0061] (Condition 3: The difference in measurement values ​​between adjacent areas is below the threshold) The other condition for the control and calculation unit 60 to repartition the relevant area AA is when the difference value of the calculated measurement values ​​(three-dimensional data) between adjacent partitioned areas exceeds a threshold. The control and calculation unit 60 performs measurements in each partitioned area A, stores the measurement values ​​as measurement results, and calculates the difference value between the measurement results between adjacent areas each time a measurement result is obtained. If the difference value exceeds the threshold, there is a possibility of a measurement error or a decrease in measurement accuracy, so the control and calculation unit 60 repartitions the relevant area AA with smaller dimensions.

[0062] As an example, the above content will be explained using Fig. 6. Fig. 6 shows a measurement screen 70 on the display unit 57 during measurement. Like Fig. 5, Fig. 6 shows a measurement screen 70 for measuring the current state surface at a construction site.

[0063] As shown in Fig. 6(A), during measurement, the measurement status is displayed as a measurement screen 70 on the display unit 57. Unmeasured divided areas A are displayed in white, and measured divided areas A are displayed in a color scale according to height values ​​(Z coordinate values) so that the three-dimensional shape of the measurement area can be grasped.

[0064] When the measurement results for a certain divided area A are acquired, the height values ​​are displayed in a color scale ranging from white on the display screen of the display unit 57. The control and calculation unit 60 calculates the difference between the measured divided area A and the measurement value of another divided area A that has been measured and is adjacent to the measured divided area A, and determines whether the difference is equal to or greater than a threshold value.

[0065] Let us assume that the threshold for the difference between the measurement values ​​(height values) of adjacent areas is the same as the allowable range of the measurement results, and set the threshold to ±3 mm. The control and calculation unit 60 calculates the difference in elevation between adjacent divided areas A from the measurement values, and if the difference in elevation is outside the range of the threshold, it designates the corresponding divided area A as the corresponding area AA to be redivided, and redivides it into multiple smaller areas.

[0066] As shown in Figure 6(B), if the measurement results show that the height value of the divided area AX is +2 mm and the height of the divided area AY adjacent to the divided area AX is -2 mm, the height difference between the divided areas AX and AY is 4 mm, which exceeds the threshold value.

[0067] The control and calculation unit 60 causes the notification unit 55 to issue a warning that the difference in elevation between adjacent divided areas A has exceeded the threshold, and further re-divides divided areas AX and AY as corresponding areas AA to be re-divided with dimensions smaller than the original dimensions, as shown in Figure 5(C). Because divided areas AX and AY were originally square, they are now re-divided into four squares with sides half the original size. As a result, divided area AX is re-divided into square divided areas AXa to AXd with sides half the size of divided area AX, and divided area AY is re-divided into square divided areas AYa to AYd with sides half the original size, like divided area AX.

[0068] When the control calculation unit 60 re-divides the relevant area AA, it cancels the measurement values ​​of the divided areas AX and AY that are the relevant area AA, resets the divided area AX to the unmeasured divided areas AXa to AXd, and resets the divided area AY to the unmeasured divided areas AYa to AYd, and returns the color on the measurement screen 70 to white, which is the color of unmeasured areas.

[0069] The number of divided areas AX and AY is four times larger, and four times as many measurement results are obtained compared to the initial number. This makes it possible to obtain more detailed measurement data, avoid measurement errors and a decrease in measurement accuracy, and measure the measurement area comprehensively.

[0070] (Light intensity control for optical distance meters) The electronic distance meter 52 emits visible laser light as distance measuring light L3. The light emitting element that emits the laser light is configured so that the light intensity can be adjusted by adjusting the applied voltage / current. Therefore, the output of the distance measuring light L3 is adjustable. When the output is increased, not only the light intensity of the distance measuring light L3 but also the light intensity of the reflected distance measuring light L3' of the distance measuring light L3 increases, thereby improving the reliability of measurements.

[0071] The reason why the initially divided area of ​​the measurement range 80 is redivided into smaller areas is to avoid a decrease in measurement accuracy and measurement errors due to an increase in the number of measurements. Therefore, when the area AA is redivided into multiple smaller areas, the output of the electronic distance meter 52 may be increased, thereby improving the reliability of the remeasurement.

[0072] The control and calculation unit 60 performs threshold determination of the measurement values ​​of the re-divided small divided areas in the same way as for other areas, and calculates the difference value between adjacent areas. At this time, if the threshold is exceeded in the re-divided small divided area as well, the output of the distance measurement light L3 may be increased and measurement may be performed again. Re-measuring twice increases the reliability of the measurement result.

[0073] 5. 3D data measurement Next, a method for measuring three-dimensional data using the system 1 will be described. Figures 7 and 8 are charts showing an example of three-dimensional data measurement using the system 1. Figure 7 is a flowchart of the pre-process of three-dimensional data measurement. Figure 8 is a flowchart of the main process of three-dimensional data measurement.

[0074] First, when using the surveying instrument 10 on-site, as a preliminary preparation, the surveying instrument 10 is set at a known point, and the coordinates and direction angle of the surveying instrument are input into the surveying instrument 10.

[0075] Also, a connection is established between the communication unit 58 of the measurement module 50 and the survey instrument communication unit 25 of the surveying instrument 10. Also, calibration of the measurement module 50 is performed. Specifically, for example, the surveying instrument 10 and the measurement module 50 are placed facing each other, and the prism 51 is measured by the surveying instrument 10 to identify the direction of the measurement module 50, and the opposite direction is set as the roll angle = 0, pitch angle = 0, and yaw angle = 0 of the inertial measurement unit 53.

[0076] (Pre-process flow chart) First, the pre-processing of three-dimensional data measurement will be explained with reference to FIG.

[0077] When measurement starts, first, in step S01, the control and calculation unit 60 reads the measurement area data 72. Specifically, the measurement area data 72 is map data or design data of the site where the worker is going to perform measurement. CAD data may also be used. The measurement area data 72 may be read, for example, by storing the measurement area data 72 in advance in the storage unit 54. Alternatively, the measurement module 50 may be configured to have a communication interface connectable to the Internet, and the measurement area data may be stored in a cloud server or the like and read via the Internet.

[0078] Next, in step S02, the control and calculation unit 60 sets the measurement range 80 in accordance with an input by the operator. For example, the operator sets the measurement range 80 by tapping four vertices on the measurement area data 72 displayed on the display unit 57 configured as a touch panel.

[0079] Next, in step S03, the control and calculation unit 60 sets the magnitude of the pitch p that defines the dimensions of each mesh for dividing the measurement range 80 into a mesh, in accordance with input by the operator from the operation unit 56. The set value of the pitch p can be set, for example, by selecting from predetermined numerical values ​​or by inputting it into an input window.

[0080] Next, in step S04, the control and calculation unit 60 sets a threshold value for the planned measurement point range 83 in accordance with input from the operator OP. The threshold value for the planned measurement point range 83 may be determined in advance. In this case, step S04 can be omitted. Note that when the divided area becomes smaller as a result of redividing, the threshold value for the planned measurement point range 83 also becomes smaller.

[0081] Next, in step S05, the control and calculation unit 60 determines various thresholds to be used in determining whether to re-divide the divided area A. The thresholds may be entered by directly inputting numerical values, or may be determined automatically depending on the type of survey, or may be entered numerically directly. Alternatively, the thresholds may be set in stages, such as strict values ​​or lenient values, so that the level can be selected. Furthermore, the size of the re-dividing pitch for the area AA to be re-divided may be set. For example, a predetermined value, such as 1 / 2 or 1 / 3 of the set value of the pitch p, may be selected, or the size may be entered directly into the input window.

[0082] (Main process flow chart) Next, the main process of three-dimensional data measurement will be described with reference to FIG.

[0083] In step S11, the control and calculation unit 60 instructs the surveying instrument 10 to start tracking 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.

[0084] Next, in step S12, the control and calculation unit 60 detects the attitude information of the measurement module 50 in synchronization with the measurement of the position coordinates of the prism 51, and calculates its own position (position coordinates of the instrument center O of the measurement module 50).

[0085] Next, in step S13, the control and calculation unit 60 displays the measurement screen 70 on the display unit 57, and displays a local position mark 91 (the position coordinates of the instrument center O of the measurement module 50) at the local position on the measurement screen 70 (see Figures 5 and 6).

[0086] After this, the control calculation unit 60 repeats steps S11 to S13, and calculates the position coordinates of the instrument center O of the measurement module 50 each time it receives the position coordinates of the prism 51 or at a predetermined timing, displays a local position mark 91 on the display screen of the display unit 57, and updates its local position at any time.

[0087] Then, in step S14, when the distance measuring light L3 of the electronic distance meter 52 is emitted by instruction from the operator OP or by control of the control calculation unit 60, the control calculation unit 60 emits the distance measuring light L3 from the electronic distance meter 52 at a timing synchronized with the measurement of the position coordinates of the prism 51 to detect the distance to the irradiation point Q, and calculates the position coordinates of the irradiation point Q using the posture information of the measurement module 50.

[0088] Then, in step S15, the control calculation unit 60 stores the measurement results, displays the position of the irradiation point Q (irradiation point mark 92 in Figures 5(A) and 6(A)) on the measurement screen 70 of the display unit 57, calculates and scales the height value from the calculated position coordinates of the irradiation point Q, and displays the measured partition area A in color.

[0089] In step S16, the control and calculation unit 60 determines whether the measurement value satisfies the conditions. The conditions refer to whether the measurement value is outside the allowable range. Specifically, the control and calculation unit 60 determines whether the amount of reflected distance measuring light L3′ received by the optical distance meter 52 of the measurement module 50 is outside the threshold range, whether the height value calculated from the acquired position coordinates of the irradiation point Q is outside the threshold range, and whether the calculated height difference between adjacent divided areas A is outside the threshold range. The determination is made based on at least one condition, and may be any one or all three. If any one condition is satisfied (YES), the measurement value is deemed to be outside the allowable range, and the process proceeds to step S17. Otherwise (NO), that is, if none of the conditions for re-division are satisfied and the measurement value is within the allowable range, the process proceeds to step S18.

[0090] In step S17, the control and calculation unit 60 causes the notification unit 55 to issue a warning, re-divides the area AA that exceeds the threshold and should be re-divided into smaller areas, cancels the measurement values ​​of the area, and causes the display unit 57 to display it as an unmeasured area on the measurement screen 70. At this time, the light intensity of the electronic distance meter 52 may be set to be stronger. Then, the process returns to step S14.

[0091] Then, in step S18, the control and calculation unit 60 constantly repeats steps S14 to S18 until an instruction to end the process is given.

[0092] 5. Technical Effects As described above, in this embodiment, the measurement module 50 is equipped with the prism 51, the electronic distance meter 52, and the inertial measurement unit 53, and the position coordinates of the prism 51 can be acquired. Therefore, even if the operator moves the measurement module 50 in any position, the coordinates of the irradiation point of the distance measurement light can be acquired. This makes it possible to measure three-dimensional data without using a pole with a prism. Furthermore, in the system 1, the position of the measurement module is measured by the surveying instrument 10, and a GNSS receiver is not used, so measurements can be made 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.

[0093] Furthermore, the measurement module 50 is configured so that the measurement screen 70 displayed on the display unit 57 clearly displays measured areas and unmeasured areas, allowing the operator OP to proceed with the measurement while checking the progress of the work. Furthermore, if the measured area is displayed on a color scale based on height values, the operator OP can visually recognize the three-dimensional shape of the measurement range in real time. Furthermore, when the area is rezoned, the operator OP can see at a glance which zoned area A should be remeasured after the rezone.

[0094] Furthermore, since the measurement module 50 uses visible light as the distance measurement light L3, the operator OP can move the measurement module 50 while checking the irradiation point Q of the distance measurement light L3 on the actual object, thereby improving workability.

[0095] In System 1, when measuring area A, the initially defined area is re-divided into several smaller areas depending on the conditions. Each condition detects a decrease in measurement accuracy and measurement error, and if a condition is detected, the single area is divided into several smaller areas, so the number of measurements increases when re-measurements are made. This is to re-examine the decrease in measurement accuracy and measurement error, and re-measurements can increase the reliability of the measurement.

[0096] The operator OP holds the measurement module 50 and irradiates the measurement range 80 with the distance measuring light L3, performing measurements while checking the measurement results in real time on the measurement screen 70. The control and calculation unit 60 determines whether the measurement accuracy has decreased when it acquires a measurement value, and if it detects the possibility of a decrease in measurement accuracy, it causes the notification unit 55 to issue a warning. This allows the operator OP to immediately recognize the possibility of a decrease in measurement accuracy and to immediately re-measure the relevant area precisely. This makes it possible to acquire comprehensive 3D data of the measurement range 80 with high accuracy. In this embodiment, when the measurement value falls outside the threshold range, the divided area is re-divided into smaller areas. However, this is not limited to this; when the measurement value is continuously within the threshold range and the measurement value hardly fluctuates, the divided area may be re-divided into larger areas. This can reduce the labor required for measurement. In this case, it is preferable to set a smaller threshold and stricter conditions.

[0097] The above describes preferred embodiments of the present invention, but 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 forms are also included in the scope of the present invention. [Explanation of symbols]

[0098] 1: 3D data measurement system 10:Surveying machine 50: Measurement module 51: Prism 52:Light wave distance meter 53: Inertial Measurement Unit 55: Information Department 57: Display section 58: Communications Department 60: Control calculation section 70: Measurement screen 80: Measurement range A: Compartment area AA: Applicable area L3: Ranging light L3´: Reflected ranging light Q:Irradiation point

Claims

1. A prism that retroreflects incident light; an optical distance meter that transmits distance measuring light into a measurement range, receives distance measuring light reflected from an irradiation point of the distance measuring light, and detects the distance to the irradiation point; an inertial measurement unit that detects attitude information; a notification unit that issues a warning; a communication unit that receives position coordinates of the prism; a control and calculation unit configured to calculate a position coordinate of its own position based on the position coordinate of the prism and the attitude information, and to calculate a position coordinate of the irradiation point based on the position coordinate of the own position, the distance to the irradiation point, and the attitude information; a measurement module comprising: a surveying instrument configured to measure the distance and angle of the prism, acquire position coordinates of the prism, and transmit the coordinates to the communication unit; and a three-dimensional data measurement system configured to acquire three-dimensional data of the measurement range, the control and calculation unit divides the measurement range into a mesh pattern and acquires the three-dimensional data for each divided area; Each time a measurement value is acquired in the divided area, it is checked whether or not a condition is satisfied, and if the condition is satisfied, the notification unit issues a warning, and the area corresponding to the condition is redivided into a plurality of areas each having a smaller size than the original size. A three-dimensional data measurement system.

2. One of the conditions is that the calculated difference value of the three-dimensional data between the adjacent divided regions is outside a threshold range.

2. The three-dimensional data measurement system according to claim 1.

3. One of the conditions is that the amount of reflected distance measuring light received by the electronic distance meter is outside a threshold range.

3. The three-dimensional data measurement system according to claim 1 or 2.

4. one of the conditions is that the three-dimensional data of the partitioned region is outside a threshold range; 2. The three-dimensional data measurement system according to claim 1.

5. a display unit that displays a measurement screen showing the measurement status of the measurement range, the display unit displays a progress status of measurement for each of the divided areas in real time so that the progress status can be identified, and the measurement screen displays the divided areas that have already been measured using a color scale that is painted in different colors based on the measurement results of the divided areas; When the control and calculation unit repartitions the area that satisfies the condition, the control and calculation unit cancels the measurement value in the area that satisfies the condition, and the display unit displays the area that satisfies the condition in a color indicating that measurement has not been performed.

2. The three-dimensional data measurement system according to claim 1.

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