Method for measurement and measurement system

Abstract

To provide a method for measurement that realizes measurement related to the height of a floor surface at a site by a highly versatile technique, and a measurement system used for the method.SOLUTION: The method includes: a step (step S1) of setting a reference position in a surface of a subject; a step (step S4) of irradiating the subject with laser light; a step (step S5) of capturing an image of the subject such that the set reference position and the irradiation position of the laser light fall within a field of view; and a step (step S7) of analyzing the height of a position at which a measurement apparatus is installed, on the basis of the distance from an imaging position to the subject and the number of pixels from the reference position to the irradiation position on the captured image.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a measurement method carried out on a building or the like, and a measurement system used in the measurement method. [Background technology]

[0002] In recent years, there has been an increase in the introduction of automated transport robots and automated forklifts into logistics warehouses, and at construction sites for buildings used for such purposes, it is necessary to achieve flat floors with high precision. However, immediately after pouring concrete, its surface is not necessarily at a uniform height, and it is necessary to comprehensively measure the height at each location.

[0003] Patent Document 1 discloses a tablet terminal that displays the current surface height relative to the planned finished surface in order to finish the top surface, etc., of concrete at a predetermined height when pouring it. The tablet device is characterized in that when displaying the captured image, it displays the current surface height within the captured range and the height of the planned finished surface in a manner that allows comparison. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2017-181374 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology disclosed in Patent Document 1 involves placing a frame (reference frame) in the area where the concrete is to be poured, setting three or more reference points on its outer surface with a fixed distance between each other, and taking an image so that the three reference points are included in the shooting range, thereby measuring the surface height of the concrete. However, it is not always possible to install such a frame when pouring concrete, and it is difficult to say that this is a highly versatile technique.

[0006] The present invention provides a measurement method that realizes measurement of the height of a floor surface at a site using a highly versatile technique, and a measurement system used in the measurement method. [Means for solving the problem]

[0007] According to the present invention, there is provided a measurement method using a measuring device equipped with a photographing means and an irradiation means for irradiating laser light, the measurement method comprising: a reference setting step of setting a reference position on the surface of a subject; an irradiation step of irradiating the subject with laser light by the irradiation means; a photographing step of photographing the subject with the photographing means so that the reference position set in the reference setting step and the irradiation position of the laser light irradiated in the irradiation step are within the angle of view; and an analysis step of analyzing the height of the position where the measuring device is installed based on the distance from the photographing position to the subject in the photographing step and the number of pixels from the reference position to the irradiation position on the image photographed in the photographing step.

[0008] According to the present invention, there is provided a measurement system comprising a measuring device including an irradiation means for irradiating a subject having a reference position set on its surface with laser light, and an imaging means for imaging the subject so that the set reference position and the irradiation position of the irradiated laser light fit within the angle of view, and an analysis device for analyzing the height of the position where the measuring device is installed based on the distance from the imaging position to the subject and the number of pixels from the reference position to the irradiation position on the captured image.

[0009] The above invention utilizes a measuring device equipped with a photographing means and an illuminating means, and can measure the height of the installation surface (floor surface) in a simple manner. Therefore, the present invention can be implemented anywhere as long as the measuring device can be installed, and can be said to be a highly versatile technology. [Effects of the Invention]

[0010] The present invention provides a measurement method that realizes measurement of the height of a floor surface at a site using a highly versatile technique, and a measurement system used in the measurement method. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a diagram showing the appearance of a measurement device according to an embodiment of the present invention; [Figure 2] 3 is a flowchart showing the procedure of a measurement method according to the present embodiment. [Figure 3] FIG. 2 is a simplified diagram of a section to be measured in the first embodiment. [Figure 4] 4 shows images taken during the measurement of the section shown in FIG. 3. FIG. [Figure 5] FIG. 4 shows the results of measuring the sections shown in FIG. 3. [Figure 6] FIG. 10 is a simplified diagram of a section to be measured in the second embodiment. [Figure 7] 7A and 7B show images taken during the measurement of the section shown in FIG. 6. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same components are denoted by the same reference numerals, and the description thereof will be omitted where appropriate.

[0013] <Configuration of the measuring device 10 according to this embodiment> FIG. 1 is a diagram showing the appearance of a measurement device 10 according to this embodiment. As shown in FIG. 1, the measurement device 10 includes a cart 11, a light irradiation unit 12, a distance measurement unit 13, a camera 14, and a tablet terminal 15.

[0014] The cart 11 is a base on which other components are mounted, and is configured to move the measuring device 10. Note that the cart 11 according to this embodiment is configured to move the measuring device 10 by being pushed by hand, but the cart 11 may be replaced with a configuration that allows movement by remote control, or the cart 11 may be replaced with a traveling robot that is capable of autonomous traveling.

[0015] The light irradiating section 12 is configured to irradiate laser light in the horizontal direction, and corresponds to the irradiating means according to the present invention.

[0016] The distance measuring unit 13 is configured to measure the distance from its own position to an object (for example, the subject of the camera 14), and corresponds to the distance measuring means according to the present invention. Note that the distance measuring unit 13 according to this embodiment employs a method (LiDAR: Light Detection And Ranging) in which infrared rays or the like are irradiated onto the object and the reflected light is captured by a light receiving sensor to measure the distance to the object, but other methods may be used instead.

[0017] Camera 14 is configured to capture an image of a subject and corresponds to the imaging means of the present invention. Camera 14 according to this embodiment is configured to be rotatable 360 ​​degrees horizontally, and can capture an image of a subject arbitrarily designated by the measurer while keeping it within the angle of view.

[0018] The tablet terminal 15 is a mobile communication terminal, and in this embodiment is detachably mounted on the handle portion of the cart 11. The tablet terminal 15 is communicably connected to the camera 14 and can display images captured by the camera 14. The tablet terminal 15 can determine the height of the position where the measuring device 10 is installed by analyzing the captured images, and corresponds to the analysis means according to the present invention. In the following description, the height analyzed by the tablet terminal 15 may be referred to as "floor level," and the details of the analysis process will be described later.

[0019] In implementing the present invention, the configuration corresponding to the analysis means only needs to be communicatively connected to the camera 14, and does not necessarily need to be mounted on the measuring device 10; it may be installed at a location away from the measuring device 10.

[0020] <First Example> A first embodiment of the measuring method according to the present invention will now be described. FIG. 2 is a flowchart showing the procedure of the measurement method according to this embodiment. FIG. 3 is a simplified diagram of a section to be measured in the first embodiment. FIG. 4 shows images taken during the measurement of the section shown in FIG. FIG. 5 shows the results of measuring the sections shown in FIG.

[0021] First, the measurer marks the surfaces of multiple pillars (pillars H1, H2, H3, and H4 shown in Figure 3) in the area to be measured with inked marks that will serve as measurement references (Step S1). The marks on each pillar are marked at a position that is a predetermined distance (for example, +1000 mm) higher than the designed floor surface, and it is preferable that all of them be at the same height. The mark marked in step S1 corresponds to the "reference position" according to the present invention, and step S1 corresponds to the "reference setting step" according to the present invention. In the following description, the mark may be referred to as a "level mark."

[0022] Next, the measurer inputs the conditions for measurement in the section to be measured into the tablet terminal 15 (step S2). The conditions input in step S2 include the movement path of the measuring device 10 within at least one section, and step S2 corresponds to the "movement path setting step" of the present invention. In FIG. 3, the movement path from the start position S1 to the end position S2 is shown by a broken line.

[0023] Other conditions to be entered in step S2 include the height of each means constituting the measuring device 10 (such as the height of the laser light emitted by the light irradiation unit 12 and the height of the camera 14), the measurement interval within the movement path (the distance from one measurement position to the next measurement position), and the pillars to be photographed during measurement (which of the multiple pillars will have the level markings used for the measurement). It is preferable that the level mark set in step S2 be the same at all positions included in the movement route set for one section, because measuring the floor level at each position using the same level mark as a reference improves the measurement accuracy.

[0024] Next, the measurer manually pushes the measuring device 10 to move it to the start position S1 (step S3). In step S3, the current position of the measuring device 10 (its own position measured by the distance measuring unit 13) may be displayed on the tablet terminal 15 to assist the measurer in moving the measuring device 10.

[0025] Next, the measurer uses the light irradiating unit 12 to irradiate the pillar set in step S2 with laser light (step S4). The pillar will be the subject of photography in step S5, which will be described later, and therefore step S4 corresponds to the "irradiation step" of the present invention.

[0026] Next, the measurer uses the camera 14 to photograph the pillar set in step S2 (step S5). In photographing in step S5, as shown in FIG. 4, the level mark set in step S1 (line LS shown in FIG. 4) and the irradiation position of the laser light irradiated in step S4 (line LL shown in FIG. 4) are photographed so as to fit within the angle of view of camera 14, and therefore step S5 corresponds to the "photographing process" according to the present invention.

[0027] If there are still positions that have not been measured (if step S6 is NO), the process returns to step S3, and the measurer manually pushes the measuring device 10 to move it to the next measurement position. The steps after moving to the next measurement position are the same as steps S4 to S6 described above, and therefore a detailed description thereof will be omitted.

[0028] When measurements have been taken at all positions (YES in step S6), the measurer uses tablet terminal 15 to analyze the images taken at each position (step S7). The analysis process in step S7 is a process of analyzing the floor level based on the distance from the photographing position in step S5 to the pillar (level mark) and the number of pixels from the level mark on the image photographed in step S5 to the position where the laser light is applied, and corresponds to the "analysis process" of the present invention. In other words, since the height of the level mark and the height of the laser light are predetermined, the tablet terminal 15 can calculate the floor level based on these conditions, the number of pixels from the level mark on the image to the irradiation position of the laser light, and the photographing position (the self-position of the measuring device 10). The self-position of the measuring device 10 used in the above analysis process, that is, the distance from the photographing position to the subject, is the distance measured by the distance measuring unit 13.

[0029] FIG. 5 shows a specific example of the output mode of the analysis result in step S7, that is, the floor level measurement result in this embodiment. As shown in Figure 5, the tablet terminal 15 divides one section into a grid so that each measurement position fits into its own square, and outputs the analyzed floor level in step S7 so that it is displayed for each square, and outputs squares that are particularly different from the designed finished height (squares marked "-4" and "-5" in Figure 5) so that they can be distinguished from the other squares. 5, the output mode of "floor level" in this embodiment is the difference from the designed finish height, but the implementation of the present invention is not limited to this. For example, the output mode of "floor level" may be the difference from the height of the "level mark" or may be a height based on a specific point (such as a benchmark that already exists in the measurement environment).

[0030] In the above-described embodiment, the processing of step S7 (analysis process) is executed all at once after step S4 (irradiation process) and step S5 (photography process) are completed at all positions included in the movement path set in step S2 (movement path setting process). However, the implementation of the present invention is not limited to this. For example, when implementing the present invention, the "irradiation process," "photography process," and "analysis process" may each be executed each time the measuring device 10 is moved to one of multiple positions included in the movement path set in the "movement path setting process."

[0031] <Second Example> A second embodiment of the measuring method according to the present invention will now be described. FIG. 6 is a simplified diagram of a section to be measured in the second embodiment. FIG. 7 shows images taken during the measurement of the section shown in FIG. The procedure of the measurement method in the second embodiment is the same as the procedure of the measurement method in the first embodiment (the procedure shown in the flowchart of FIG. 2), so a duplicated description will be omitted.

[0032] The difference between the first embodiment and the second embodiment is that the compartment in the first embodiment is surrounded by multiple pillars (pillars H1, H2, H3, and H4 shown in FIG. 3), whereas the compartment in the second embodiment is surrounded by pillars and walls (pillars H5, H6, and wall W1 shown in FIG. 6). In FIG. 6, the movement path from the start position S3 to the end position S4 is shown by a dashed line.

[0033] As shown in Figure 7, when a level mark is marked on a wall W1 and a laser beam is shone on the wall W1, the level mark (line LS shown in Figure 7) and the irradiation position of the laser beam (line LL shown in Figure 7) exceed the range that can be captured in the angle of view in a single shot. Therefore, if multiple sections to be measured are set up along the wall W1, the floor levels of each section can be compared with high accuracy by photographing the same wall (common level mark) while measuring adjacent sections. In other words, by making the reference position (level mark) photographed in the photographing process the same at each of all positions included in the movement path set for a first section (for example, the section shown in Figure 6) and at each of all positions included in the movement path set for a second section adjacent to the first section (for example, a section not shown set to the left of the section shown in Figure 6), the floor levels of multiple sections can be measured with high accuracy.

[0034] As explained above, the measurement method of the present invention is a novel technology not seen in the past, in which a "level mark" that is marked on a pillar or the like during the construction process in a typical construction method and the irradiation position of the laser light irradiated on the pillar or the like are photographed so that they fit within a single angle of view, and the "floor level" is calculated based on the distance to the photographed subject and the number of pixels in the photographed image. This measurement method is highly versatile and extremely useful because it can be carried out at many construction sites.

[0035] <Other variations> The present invention is not limited to the above-described embodiment, and various modifications and improvements are possible. Modifications not described in the above description are listed below.

[0036] 1 is a specific example, and the present invention is not limited to this example. Components not shown may be added, or some of the components shown may be omitted, as long as the object of the present invention is achieved.

[0037] 2 is a specific example of the procedure of the measurement method, and the present invention is not limited to this example. Within the scope of achieving the object of the present invention, steps not described in the above-described embodiment may be added, some of the steps shown in the figure may be omitted, or the order of the steps shown in the figure (chronological order) may be changed.

[0038] In the above-described embodiment, the level mark corresponds to the "reference position" according to the present invention, but other elements (for example, a specified marker or an existing benchmark) may be substituted for the "reference position."

[0039] <Additional Notes> The present embodiment encompasses the following technical idea. (1) A measurement method using a measuring device equipped with a photographing means and an irradiation means for irradiating laser light, comprising: a reference setting step of setting a reference position on the surface of a subject; an irradiation step of irradiating the subject with laser light by the irradiation means; a photographing step of photographing the subject with the photographing means so that the reference position set in the reference setting step and the irradiation position of the laser light irradiated in the irradiation step are within an angle of view; and an analysis step of analyzing the height of a position where the measuring device is installed based on the distance from the photographing position to the subject in the photographing step and the number of pixels from the reference position to the irradiation position on the image photographed in the photographing step. A measuring method comprising: (2) The measurement method described in (1), in which the measurement device is configured to be movable and includes a movement path setting step for setting a movement path of the measurement device within one section, and the irradiation step, the photographing step, and the analysis step are performed for each of a plurality of positions included in the movement path set in the movement path setting step, or the irradiation step and the photographing step are performed for each of a plurality of positions included in the movement path set in the movement path setting step, and the analysis step is performed all at once after the irradiation step and the photographing step have been completed at all positions. (3) The measurement method according to (2), wherein the reference position for photographing in the photographing step is the same at all positions included in the movement path set for one section. (4) The measurement method described in (3), wherein in the reference setting step, a reference position is set in an area that exceeds the range that can be captured within the angle of view in a single photograph by the photographing means, and the reference position photographed in the photographing step is the same at all positions included in the movement path set for the first section and at all positions included in the movement path set for the second section adjacent to the first section. (5) A measurement method described in any one of (1) to (4), wherein the measurement device further comprises a distance measuring means for measuring the distance from its own position to the subject, and the distance from the shooting position to the subject used in the analysis process is the distance measured by the distance measuring means. (6) A measurement system comprising a measuring device including an irradiation means for irradiating a subject having a reference position set on its surface with laser light, and an imaging means for photographing the subject so that the set reference position and the irradiation position of the irradiated laser light fit within the angle of view, and an analysis device for analyzing the height of the position where the measuring device is installed based on the distance from the imaging position to the subject and the number of pixels from the reference position to the irradiation position on the photographed image. [Explanation of symbols]

[0040] 10. Measuring equipment 11 Cart 12 Light irradiation unit 13 Ranging section 14 Camera 15 Tablet devices H1~H6 pillar W1 Wall

Claims

1. A measurement method using a measurement device including an imaging means and an irradiation means for irradiating laser light, a reference setting step of setting a reference position on the surface of the subject; an irradiation step of irradiating a subject with laser light by the irradiation means; an imaging step of imaging the subject by the imaging means so that the reference position set in the reference setting step and the irradiation position of the laser light irradiated in the irradiation step are within an angle of view; an analyzing step of analyzing the height of the position where the measuring device is installed based on the distance from the photographing position to the subject in the photographing step and the number of pixels from the reference position to the irradiation position on the image photographed in the photographing step; A measuring method comprising:

2. The measuring device is configured to be movable, a movement path setting step of setting a movement path of the measurement device within one section, The irradiating step, the photographing step, and the analyzing step are performed for each of a plurality of positions included in the movement path set in the movement path setting step, or the irradiation step and the imaging step are performed for each of a plurality of positions included in the movement path set in the movement path setting step, and the analysis step is performed collectively after the irradiation step and the imaging step are completed at all positions. The measurement method according to claim 1.

3. The reference position for photographing in the photographing step is the same at all positions included in the movement path set for one section. The measurement method according to claim 2.

4. In the reference setting step, a reference position is set in an area beyond the range that can be captured within the angle of view in one photographing by the photographing means, the reference positions to be photographed in the photographing step are the same at all positions included in the movement path set for the first section and at all positions included in the movement path set for the second section adjacent to the first section; The measurement method according to claim 3.

5. the measuring device further comprises a distance measuring means for measuring a distance from its own position to a subject, The distance from the photographing position to the subject used in the analysis step is the distance measured by the distance measuring means. The measurement method according to any one of claims 1 to 4.

6. a measuring device including: an irradiation means for irradiating a laser beam onto an object having a reference position set on its surface; and an imaging means for imaging the object so that the set reference position and the irradiation position of the irradiated laser beam are included in the angle of view; an analysis device that analyzes the height of a position where the measurement device is installed based on the distance from the photographing position to the subject and the number of pixels from a reference position on the photographed image to an irradiation position; A measurement system comprising:

Images