Surveying system

Abstract

To eliminate a deviation between an imaging reference origin of a camera and a measurement reference point of a laser scanner.SOLUTION: A surveying system includes a surveying device main body 7 provided so as to be rotatable about a vertical center line V, and a wide-angle camera 3 which is provided at a top portion of the surveying device main body and whose camera origin CM is positioned on the center line. A measurement unit 18 has a measurement reference point M in a plane orthogonal to the center line V, and is configured to acquire point-cloud data by performing constant-speed full-circumference rotation about a horizontal rotation axis center C that is included in the plane and passes through the measurement reference point M. A horizontal distance D between the center line V and the measurement reference point M and a vertical distance H between the horizontal rotation axis center C and the camera origin CM are known. An arithmetic control unit 16 converts full-circumference point-cloud data into point-cloud data having the camera origin CM as an origin on the basis of the measurement reference point M and the horizontal distance D, creates a full-circumference image by synthesizing a plurality of wide-angle images, and synthesizes the converted point-cloud data with the full-circumference image to acquire a full-circumference image with three-dimensional data.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a surveying system that acquires point cloud data and an image, and synthesizes the point cloud data with the image to acquire an image with three-dimensional coordinates. [Background technology]

[0002] Surveying devices for acquiring the shape and 3D point cloud data of a measurement object include, for example, laser scanners, and imaging devices for capturing images of a measurement object and its surroundings over a wide area include 360-degree cameras.

[0003] Laser scanners can acquire 3D point cloud data (hereinafter referred to as point cloud data) over a wide area, and by acquiring point cloud data using a laser scanner, it is possible to measure the 3D shape of a wide area of ​​the measurement target. Furthermore, by acquiring images of the measurement target and its surroundings, and combining the image including the measurement target with the point cloud data to create an image with 3D data, the understanding and visibility of the measurement results can be improved.

[0004] On the other hand, since the camera's shooting reference origin (the camera's optical center) and the laser scanner's measurement reference point (the mechanical center) cannot be aligned, parallax occurs between the image and the point cloud data. If the parallax is large, when the point cloud data and the image are combined, the deviation between the image pixels and the point cloud measurement points becomes large, resulting in a decrease in the coloring accuracy and resolution of the point cloud data. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Special Publication No. 2023-509137 [Patent Document 2] Japanese Patent Application Laid-Open No. 2016-218352 [Patent Document 3] Japanese Patent Application Laid-Open No. 2012-204982 [Patent Document 4] Patent No. 6181388 Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention eliminates the discrepancy between the camera's shooting reference origin (hereinafter referred to as the camera origin) and the laser scanner's measurement reference point, reduces the parallax between point cloud data and image data, and improves the accuracy of image-attached point cloud data. [Means for solving the problem]

[0007] The present invention comprises a surveying instrument body rotatable about a vertical center line, and a wide-angle camera mounted on the top of the surveying instrument body and having a camera origin located on the center line, the wide-angle camera acquiring a plurality of wide-angle images centered on the center line in cooperation with the rotation of the surveying instrument body, the surveying instrument body including a measurement unit and an arithmetic and control unit, the measurement unit having a measurement reference point in a plane perpendicular to the center line, being included in the plane and configured to rotate all around at a constant speed about a horizontal rotation axis passing through the measurement reference point, emitting pulsed distance measuring light, and receiving reflected light from a measurement object to acquire point cloud data, the center line and the measurement reference point being intersected by the measurement unit, and the wide-angle camera acquiring a plurality of wide-angle images centered on the center line, the surveying instrument body including a measurement unit and an arithmetic and control unit, the measurement unit having a measurement reference point in a plane perpendicular to the center line, being included in the plane and The horizontal distance between quasi-points and the vertical distance between the horizontal rotation axis and the camera origin are known, the calculation and control unit rotates the surveying device main body at a constant speed around the center line and acquires omnidirectional point cloud data centered on the center line in cooperation with the omnidirectional rotation of the measurement unit, the calculation and control unit converts the omnidirectional point cloud data into point cloud data with the camera origin as its origin based on the measurement reference point and the horizontal distance, the calculation and control unit synthesizes the multiple wide-angle images to create a omnidirectional image, and the calculation and control unit synthesizes the converted point cloud data with the omnidirectional image to acquire a omnidirectional image with 3D data.

[0008] The present invention also relates to a surveying system in which the measurement unit has a scanning mirror that rotates around the horizontal rotation axis, the scanning mirror protruding from the side of the surveying device body, and the intersection of the scanning mirror and the horizontal rotation axis is the measurement reference point.

[0009] The present invention also relates to a surveying system in which the surveying device main body has multiple measuring units, and the measurement reference points of the multiple measuring units are included in a plane perpendicular to the center line and exist on the same circumference.

[0010] The present invention also relates to a surveying system in which the measurement unit comprises a distance measuring light emitting unit that emits pulse distance measuring light and a light receiving unit that receives reflected distance measuring light, the light receiving unit having a light receiving prism that is configured to internally reflect the reflected distance measuring light at least once.

[0011] The present invention also relates to a surveying system in which the wide-angle camera is a commercially available camera and is configured to be detachable from the surveying instrument main body.

[0012] Furthermore, the present invention relates to a surveying system in which a transparent cover for accommodating the scanning mirror is provided on the main body of the surveying instrument. [Effects of the Invention]

[0013] According to the present invention, a surveying instrument is provided with a surveying instrument body rotatable about a vertical center line, and a wide-angle camera mounted on the top of the surveying instrument body and with a camera origin located on the center line, the wide-angle camera acquiring a plurality of wide-angle images centered on the center line in cooperation with the rotation of the surveying instrument body, the surveying instrument body including a measurement unit and an arithmetic and control unit, the measurement unit having a measurement reference point in a plane perpendicular to the center line, being included in the plane and configured to rotate all around at a constant speed about a horizontal rotation axis passing through the measurement reference point, emitting pulsed ranging light, and receiving reflected light from a measurement object to acquire point cloud data, the horizontal distance between the center line and the measurement reference point and the vertical distance between the horizontal rotation axis and the camera origin being known, and the arithmetic and control unit being configured to rotate all around at a constant speed about a horizontal rotation axis passing through the measurement reference point, emitting pulsed ranging light, and receiving reflected light from a measurement object to acquire point cloud data, the horizontal distance between the center line and the measurement reference point and the vertical distance between the horizontal rotation axis and the camera origin being known, the arithmetic and control unit being configured to rotate all around at a constant speed about a horizontal rotation axis passing through the measurement reference point, emitting pulsed ranging light, receiving reflected light from a measurement object The control unit rotates the surveying device body at a constant speed around the center line and acquires omnidirectional point cloud data centered on the center line in cooperation with the omnidirectional rotation of the measurement unit, the calculation and control unit converts the omnidirectional point cloud data into point cloud data with the camera origin as its origin based on the measurement reference point and the horizontal distance, the calculation and control unit synthesizes the multiple wide-angle images to create a omnidirectional image, and the calculation and control unit synthesizes the converted point cloud data with the omnidirectional image to acquire a omnidirectional image with 3D data.This configuration eliminates the misalignment between the camera's shooting reference origin and the laser scanner's measurement reference point, and provides the excellent effect of eliminating or almost eliminating parallax between the point cloud data and image data, thereby improving the accuracy of the image-accompanying point cloud data. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a schematic external view of a surveying system according to a first embodiment. [Figure 2] FIG. 1 is an explanatory diagram showing a surveying instrument according to a first embodiment. [Figure 3] FIG. 2 is an explanatory diagram showing a measurement unit of the first embodiment. [Figure 4] FIG. 10 is a schematic external view of a surveying system according to a second embodiment. [Figure 5] FIG. 10 is a diagram showing a modified example of the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0016] A surveying system according to a first embodiment will be described with reference to FIGS.

[0017] It should be noted that the drawings used in the following description are all schematic, and the dimensional relationships, ratios, etc. of the elements shown in the drawings do not necessarily correspond to the actual ones. Furthermore, the dimensional relationships, ratios, etc. of the elements between multiple drawings do not necessarily correspond to the actual ones.

[0018] The surveying system 1 is configured to include a surveying device 2 and a wide-angle camera 3. The surveying device 2 is a surveying device capable of acquiring three-dimensional data of a measurement point, such as a laser scanner or a total station.

[0019] 1 and 2, a laser scanner is shown as the surveying device 2. The wide-angle camera 3 includes a camera that captures an image at a predetermined angle of view, or a panoramic (all-around) camera, and for example, the cameras shown in Patent Documents 1 to 4, or a commercially available panoramic camera may be used.

[0020] The surveying device 2 can measure desired three-dimensional coordinates with respect to the machine center M (measurement reference point M), and can also measure three-dimensional point cloud data of the entire 360° circumference around a horizontal rotation axis C that passes through the measurement reference point M. The horizontal rotation axis C is located in a plane perpendicular to the center line V.

[0021] The surveying instrument 2 has a leveling unit 5 mounted on a tripod 4, a horizontal rotation drive unit 6 mounted on the leveling unit 5, and a surveying instrument main body 7, and the surveying instrument main body 7 is connected to the horizontal rotation drive unit 6 via a rotation shaft 8, and can be rotated horizontally by the horizontal rotation drive unit 6 via the rotation shaft 8. In other words, the measurement reference point M can be rotated horizontally around the center line V of the rotation shaft 8. The horizontal distance D (horizontal offset distance D) between the center line V and the measurement reference point M is known.

[0022] The horizontal rotation drive unit 6 is equipped with a horizontal rotation motor 11 and a horizontal angle encoder 12 as a rotation angle detector, and the horizontal rotation motor 11 drives the rotation shaft 8 to rotate, while the horizontal angle encoder 12 can detect the rotation angle of the rotation shaft 8 (i.e., the horizontal rotation angle of the surveying device main body 7).

[0023] The leveling unit 5 has a sensor (not shown) that detects the inclination of the leveling unit 5 and a leveling motor (not shown) for leveling the leveling unit 5, and is configured to automatically level the surveying instrument main body 7 based on the detection results of the sensor.

[0024] The wide-angle camera 3 is provided on the top of the surveying instrument main body 7. The wide-angle camera 3 may be provided integrally with the surveying instrument main body 7, or may be provided detachably on the surveying instrument main body 7.

[0025] The camera shooting reference origin of the wide-angle camera 3 (hereinafter referred to as the camera origin CM) is set to be located on the center line V, and the vertical distance H (vertical offset distance H) between the measurement reference point M and the camera origin CM is known.

[0026] The upper part of the surveying device main body 7 is shaped like a truncated cone so as not to obstruct the angle of view of the wide-angle camera 3, and the wide-angle camera 3 is provided at the top of the truncated cone.

[0027] The apex angle of the cone is, for example, 90°, and the angle formed by the center line V and the generatrix of the cone is 135°. The angle of view of the wide-angle camera 3 is selected from the range of 135° to 180°.

[0028] The surveying instrument main body 7 is equipped (housed) with an operation panel 15 that serves as both an operation unit and a display unit, an arithmetic and control unit 16, a memory unit 17, etc. The arithmetic and control unit 16 may be a CPU specialized for this instrument or a general-purpose CPU. The memory unit 17 may be any of various storage means such as a HDD as a magnetic storage device, a CD or DVD as an optical storage device, a memory card as a semiconductor storage device, a USB memory, etc. The memory unit 17 may be detachable from the surveying instrument main body 7, or may be capable of sending data to an external storage device or an external data processing device via a communication means (not shown).

[0029] The storage unit 17 stores programs such as a control program for integrally controlling the surveying instrument main body 7 and the wide-angle camera 3, a sequence program for controlling distance measurement operations, a distance measurement program for calculating distance by distance measurement operations, an angle measurement program for calculating the extension direction (angle) of the distance measurement optical axis based on the detection results of the horizontal angle encoder 12 and the vertical angle encoder 25 (described later), a measurement program for calculating three-dimensional coordinates of a desired measurement point based on the distance and angle, a leveling program for causing the leveling unit 5 to perform leveling, a communication program for communicating with a remote control device (not shown), a drive control program for controlling the horizontal rotation drive unit 6 and the distance measurement light scanning unit 26 (described later), an image processing program for synthesizing wide-angle images acquired by the wide-angle camera 3 to create a panoramic image, a synthesis program for synthesizing the panoramic image with point cloud data to create colored point cloud data or a panoramic image with three-dimensional coordinates, and a display program for displaying measurement results and the like on the display unit (not shown). Furthermore, the storage unit 17 stores image data such as three-dimensional point cloud data and wide-angle images.

[0030] The arithmetic and control unit 16 develops and executes various programs stored in the storage unit 17, and executes various processes.

[0031] Next, the measurement unit 18 will be described with reference to Figures 2 and 3. The measurement unit 18 mainly includes a distance measurement light scanning unit 26 and a distance measurement unit 28.

[0032] First, the distance measuring light scanning unit 26 will be described.

[0033] A hollow rotary shaft 22 is rotatably mounted on the surveying instrument body 7 via a bearing 21, and the axis of the rotary shaft 22 coincides with the horizontal axis C of rotation.

[0034] A scanning mirror 23 is provided at the outer end of the rotation shaft 22, and the scanning mirror 23 protrudes from the side of the surveying instrument main body 7. The reflecting surface of the scanning mirror 23 is inclined at an angle of 45° with respect to the horizontal rotation axis C, and the intersection of the reflecting surface and the horizontal rotation axis C is the measurement reference point M.

[0035] The rotary shaft 22 is provided with a scanning motor 24 and the vertical angle encoder 25. The scanning motor 24 rotates the rotary shaft 22, and the vertical angle encoder 25 detects the rotation angle of the rotary shaft 22, i.e., the rotation angle of the scanning mirror 23. The scanning motor 24 is driven and controlled by the arithmetic and control unit 16, and the detection result of the vertical angle encoder 25 is input to the arithmetic and control unit 16.

[0036] The rotary shaft 22, the scanning mirror 23, the scanning motor 24, the vertical angle encoder 25, etc. constitute a distance measurement light scanning unit 26. In Figures 2 and 3, reference numeral 27 denotes a distance measurement light exit window, which is tilted with respect to the distance measurement optical axis to eliminate the influence of returning light of the distance measurement light.

[0037] Next, a description will be given of the distance measurement unit 28. The distance measurement unit 28 is provided on the horizontal rotation axis C.

[0038] The distance measurement unit 28 has a distance measurement light emitting unit 31, a distance measurement light receiving unit 32, a tracking light emitting unit 33, and a tracking light receiving unit 34. The distance measurement unit is composed of the distance measurement light emitting unit 31 and the distance measurement light receiving unit 32, and the tracking light emitting unit 33 and the tracking light receiving unit 34.

[0039] The distance measuring light emitting unit 31 has a light emitting element 36 that emits near-infrared light of a predetermined wavelength as distance measuring light 35, and the tracking light emitting unit 33 has a tracking light emitting element 38 that emits near-infrared light of a different wavelength from the distance measuring light 35 as tracking light 37. Furthermore, the distance measuring light emitting unit 31 and the tracking light emitting unit 33 are provided on a common optical path of the distance measuring light 35 and the tracking light 37, and have a common light projection optical system 39 for emitting the distance measuring light 35 and the tracking light 37 coaxially.

[0040] The distance measuring light receiving unit 32 has a light receiving element 42 that receives the distance measuring light 35 reflected by the object to be measured, i.e., reflected distance measuring light 41, and the tracking light receiving unit 34 has a tracking light receiving element 44 that receives the tracking light 37 reflected by the object to be measured, i.e., reflected tracking light 43.

[0041] The distance measuring light receiving unit 32 and the tracking light receiving unit 34 are provided on a common optical path of the reflected distance measuring light 41 and the reflected tracking light 43, which are incident coaxially with the distance measuring light 35 and the tracking light 37, and have a common light receiving optical system 45 that separates the reflected distance measuring light 41 and the reflected tracking light 43.

[0042] The light receiving optical system 45 has a light receiving prism 46, and the light receiving prism 46 has a dichroic film 47 as a separation surface. The dichroic film 47 has optical properties of reflecting the reflected distance measuring light 41 and transmitting the reflected tracking light 43.

[0043] The light-receiving prism 46 is configured to internally reflect the reflected distance-measuring light 41 and the reflected tracking light 43 reflected by the object to be measured at least once, and separate the reflected distance-measuring light 41 and the reflected tracking light 43 by the dichroic film 47. By using the light-receiving prism 46, the length in the optical axis direction is shortened, and the light-receiving unit can be made smaller.

[0044] The distance measurement unit 28 is controlled by the arithmetic control unit 16. When the pulsed distance measurement light (pulsed light) 35 is emitted from the light emitting element 36, it passes through the light projection optical system 39 and is incident on the scanning mirror 23, deflected at a right angle by the scanning mirror 23, and irradiated onto the object to be measured.

[0045] As the scanning mirror 23 rotates around the horizontal rotation axis C, the distance measurement light 35 rotates (scans) within a plane that is perpendicular to the horizontal rotation axis C and includes the measurement reference point M.

[0046] Furthermore, the reflection position of the distance measurement light 35 on the scanning mirror 23 is the measurement reference point M of the distance measurement unit 28, and the measurement reference point M is located on the horizontal rotation axis C and at a known horizontal distance D from the center line V.

[0047] The reflected distance measuring light 41 reflected by the object to be measured is reflected at a right angle by the scanning mirror 23, and is reflected by the dichroic film 47 as it passes through the light receiving optical system 45 (the light receiving prism 46), and is received by the light receiving element 42.

[0048] The calculation control unit 16 measures the distance for each pulse of the distance measuring light 35 (time of flight) based on the time difference between the light emission timing of the light emitting element 36 and the light reception timing of the light receiving element 42 (i.e., the round-trip time of the pulsed light) and the speed of light, and calculates the distance to the object to be measured. The distance measurement result is stored in the memory unit 17.

[0049] The timing of light emission of the light emitting element 36, i.e., the pulse interval, is controlled by the calculation control unit 16 and can also be changed via the operation panel 15. Based on the distance measurement results and the horizontal angle data and vertical angle data obtained by the horizontal angle encoder 12 and the vertical angle encoder 25, the three-dimensional coordinates of the object to be measured can be calculated with reference to the measurement reference point M.

[0050] Next, by rotating the scanning mirror 23 and the surveying instrument main body 7 at a constant speed while emitting the distance measuring light 35 at a predetermined pulse interval, the vertical rotation of the scanning mirror 23 and the horizontal rotation of the surveying instrument main body 7 cooperate to perform two-dimensional scanning with the distance measuring light 35. Furthermore, by detecting the vertical angle and horizontal angle for each pulse of light using the vertical angle encoder 25 and the horizontal angle encoder 12, vertical angle data and horizontal angle data can be obtained. From the vertical angle data, horizontal angle data and distance measuring data, the three-dimensional coordinates of the measurement object and three-dimensional point cloud data of the entire circumference including the measurement object and centered on the center line V can be obtained.

[0051] As for the three-dimensional point cloud data of the entire circumference, the three-dimensional point cloud data is offset horizontally from the center line V by a horizontal distance D. Therefore, by correcting the distance measurement results based on the horizontal distance D, it is possible to correct the distance measurement data to be based on the intersection O of the horizontal rotation axis C and the center line V. The distance measurement results may be corrected in real time for each distance measurement, or may be corrected all at once after the distance measurement is completed. By correcting the distance measurement data based on the horizontal distance D, it is possible to obtain three-dimensional point cloud data based on the intersection O. The three-dimensional point cloud data is stored in the memory unit 17.

[0052] Furthermore, the measurement reference point M of the point cloud data acquired by the surveying device (laser scanner) 2 and the camera origin CM are offset by a vertical distance H.

[0053] As described above, the measurement data of the laser scanner 2 has three-dimensional coordinates, so the three-dimensional point cloud data based on the intersection point O can be corrected to measurement data based on the camera origin CM based on the vertical distance H. That is, the calculation control unit 16 can convert the measurement data with the measurement reference point M as the coordinate origin into measurement data in a coordinate system with the camera origin CM as the coordinate origin based on the horizontal distance D and the vertical distance H. The converted measurement data is stored in the memory unit 17.

[0054] Once the point cloud data for the entire circumference has been acquired, the horizontal rotation motor 11 rotates the surveying instrument main body 7 360° at predetermined angular intervals, and at each angular interval, the arithmetic control unit 16 causes the wide-angle camera 3 to acquire a wide-angle image centered on the center line V. Also, at each angular interval, adjacent images are overlapped within a predetermined range to acquire an entire circumference image.

[0055] Here, if the angle of view of the wide-angle camera 3 is large, the number of images to be acquired can be reduced, and the measurement time can be shortened. For example, if an omnidirectional camera is used, only two images can be captured at a time, thereby shortening the imaging time. Also, if the angle of view of the wide-angle camera 3 is small, the number of images to be acquired increases, but images with less image distortion and high accuracy can be acquired. Therefore, the angle of view of the wide-angle camera 3 is selected depending on the required image quality, image accuracy, etc.

[0056] The amount of overlap is required when synthesizing a panoramic image, and is selected depending on the accuracy of image synthesis, etc. Therefore, the predetermined angular interval is determined by the angle of view of the wide-angle camera 3 and the selected amount of overlap.

[0057] The arithmetic and control unit 16 synthesizes the images at each predetermined angle based on the overlapping portion and the horizontal angle at the time of image capture to create a panoramic image. The photographing reference origin of the resulting panoramic image is the camera origin CM.

[0058] Once the panoramic image is created, the calculation and control unit 16 combines the converted point cloud data with the panoramic image to create colored point cloud data or a panoramic image having 3D coordinates for each pixel. In combining the panoramic image with the converted point cloud data, the origin of the shooting reference of the panoramic image and the origin of the coordinates of the converted point cloud data coincide, resulting in no or almost no parallax. This improves the accuracy of coloring the point cloud data or the accuracy of assigning 3D coordinates to each pixel of the panoramic image, increasing resolution. Furthermore, when measuring a specific measurement point, the panoramic image can be used as a collimation image for highly accurate collimation.

[0059] Furthermore, the periphery of the wide-angle camera 3 is tapered downward from the center to the outside, so the angle of view of the wide-angle camera 3 is not obstructed and images with an angle of view of 90° or more can be obtained.

[0060] Furthermore, when tracking is performed by the tracking unit, the scanning mirror 23 is controlled not for continuous constant speed rotation but for the emission direction of the irradiated light. In parallel with the distance measurement operation, the tracking light 37 is emitted from the tracking light emitting element 38, deflected via the light projecting optical system 39 so as to be coaxial with the distance measurement light 35, and enters the scanning mirror 23. The tracking light 37 reflected by the scanning mirror 23 is irradiated onto the measurement object coaxially with the distance measurement light 35. The reflected tracking light 43 reflected by the measurement object passes through the dichroic film 47 while passing through the light receiving optical system 45 (the light receiving prism 46) and is received by the tracking light receiving element 44.

[0061] The calculation control unit 16 is configured to calculate the position deviation between the center of the tracking light receiving element 44 and the light receiving position of the reflected tracking light 43 relative to the tracking light receiving element 44, and drive the horizontal rotation motor 11 and the scanning motor 24 based on the position deviation to track the object to be measured.

[0062] Fig. 4 shows a second embodiment. In Fig. 4, the same reference numerals are used to designate the same components as those shown in Fig. 1, and the description thereof will be omitted.

[0063] In the second embodiment, measuring units 18, 18' are provided on both sides of the surveying instrument body 7.

[0064] The measuring unit 18 and the measuring unit 18' have the same configuration, and are identical to the measuring unit 18 described in the first embodiment, so a detailed description will be omitted.

[0065] The measurement units 18, 18' are provided on a center line that is perpendicular to the center line V and passes through an intersection point O. A measurement reference point M1 of the measurement unit 18 and a measurement reference point M2 of the measurement unit 18' are each located on the horizontal rotation axis C, and the horizontal distance D between the measurement reference point M1 and the intersection point O and the horizontal distance D' between the measurement reference point M1 and the measurement reference point M2 are known values. In addition, the vertical distance H between the measurement reference points M1, M2 and the camera origin CM of the wide-angle camera 3 is also known. It is preferable that the horizontal distances D and D' are equal.

[0066] When acquiring point cloud data G1 and G2 using the measurement unit 18 and the measurement unit 18', the measurement unit 18 and the measurement unit 18' are rotated at a constant speed around the horizontal rotation axis C while irradiating pulses of distance measurement light, and the surveying device main body 7 is rotated horizontally at a constant speed around the center line V, thereby performing distance measurement.

[0067] The point cloud data G1 acquired by the measuring unit 18 and the point cloud data G2 acquired by the measuring unit 18' can be converted into point cloud data with the camera origin CM as the origin, based on the known horizontal distances D and D' and the known vertical distance H. Furthermore, a panoramic image with three-dimensional data can be acquired by combining the panoramic image acquired by the wide-angle camera 3 with the point cloud data G1 and the point cloud data G2.

[0068] In this case as well, there is no or almost no parallax between the panoramic image and the point cloud data, and an image with high-precision three-dimensional data can be acquired.

[0069] Furthermore, when the surveying device main body 7 is rotated 360° to acquire point cloud data for the entire circumference, the amount of data is doubled compared to the first embodiment, making it possible to acquire a full-circumference image with more detailed 3D data. Furthermore, when the surveying device main body 7 is rotated 180° to acquire point cloud data for half the circumference, the measurement time for acquiring point cloud data is reduced to half.

[0070] In the second embodiment, the measuring unit 18 and the measuring unit 18' are provided at positions 180° apart from the center line V, but they may be provided at any position on a circumference of a circle of radius D centered at the intersection point O within a plane containing the measurement reference point M and the measurement reference point M'. In this case, the angle between the measurement reference point M and the measurement reference point M' is assumed to be known.

[0071] Furthermore, three or more measurement units may be provided so that the measurement reference points M are located on the same circumference. In this case, too, the point cloud data acquired by the three or more measurement units can be converted into point cloud data with the camera origin CM as the origin.

[0072] 5, a transparent cover 49 may be provided to house the measuring unit 18 and protect the measuring unit 18. Furthermore, the cover 49 may be replaceable so that it can be replaced as needed if it is damaged or scratched. [Explanation of symbols]

[0073] 1. Surveying System 2. Laser scanner 3. Wide-angle camera 6 Horizontal rotation drive unit 7 Surveying device body 12 Horizontal angle encoder 16 Calculation control unit 18 Measuring part 23 Scanning mirror 25 Vertical angle encoder 28 Distance measurement unit 31 Distance measurement light emission part 32 Distance measurement light receiver 46 Receiving prism

Claims

1. The surveying instrument comprises a main body of the surveying instrument that is rotatable about a vertical center line, and a wide-angle camera that is mounted on the top of the main body of the surveying instrument and has a camera origin located on the center line, the wide-angle camera acquires a plurality of wide-angle images centered on the center line in cooperation with the rotation of the main body of the surveying instrument, the main body of the surveying instrument includes a measurement unit and an arithmetic and control unit, the measurement unit has a measurement reference point in a plane that is perpendicular to the center line, and is configured to rotate at a constant speed around a horizontal rotation axis that is included in the plane and passes through the measurement reference point, emit pulsed distance measuring light, and receive reflected light from a measurement object to acquire point cloud data, and ... a measurement unit configured to measure the horizontal distance between fixed reference points and the vertical distance between the horizontal rotation axis and the camera origin, the measurement unit configured to rotate the surveying device body at a constant speed around the center line and acquire omnidirectional point cloud data centered on the center line in cooperation with the omnidirectional rotation of the measurement unit, the measurement unit configured to convert the omnidirectional point cloud data into point cloud data with the camera origin as its origin based on the measurement reference points and the horizontal distance, the measurement unit configured to synthesize the plurality of wide-angle images to create an omnidirectional image, and the measurement unit configured to synthesize the converted point cloud data with the omnidirectional image to acquire an omnidirectional image with three-dimensional data.

2. 2. The surveying system according to claim 1, wherein the measurement unit has a scanning mirror that rotates around the horizontal rotation axis, the scanning mirror protruding from a side surface of the surveying device body, and the intersection of the scanning mirror and the horizontal rotation axis is the measurement reference point.

3. The surveying system according to claim 1, wherein the surveying device main body has a plurality of measuring units, and the measurement reference points of the plurality of measuring units are included in a plane perpendicular to the center line and are configured to exist on the same circumference.

4. The surveying system of claim 1, wherein the measurement unit comprises a distance measurement light emitting unit that emits pulse distance measurement light and a light receiving unit that receives reflected distance measurement light, the light receiving unit having a light receiving prism that is configured to internally reflect the reflected distance measurement light at least once.

5. 2. The surveying system according to claim 1, wherein the wide-angle camera is a commercially available camera and is configured to be detachable from the main body of the surveying instrument.

6. 3. A surveying system according to claim 2, wherein a transparent cover for accommodating said scanning mirror is provided on said surveying device body.

Images