Surveying method of laser scanner, laser scanner, and surveying program

Abstract

To acquire point group data by a plurality of laser scans with a simple operation without including a known point in a scanning range for each scan.SOLUTION: A surveying method of a laser scanner includes: first laser scan of a plurality of reflection prisms at unknown positions and a survey target range; second laser scan of a range including the plurality of reflection prisms that were subjected to the first laser scan and that is different from the range of the first laser scan; extraction of relative positions of the plurality of reflection prisms from first point group data and second point group data which are acquired by the first laser scan and the second laser scan; and generation of connection data by connecting the first point group data and the second point group data.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a laser scanner surveying method, a laser scanner, and a surveying program. [Background technology]

[0002] Conventionally, measurement methods have been proposed for combining point clouds using a laser scanner to obtain spatial point cloud data. For example, Patent Document 1 discloses a surveying method that performs a first laser scan using a laser scanner over an area including a plurality of optical reflective targets whose positions are known, extracts bright spots of reflected light from the plurality of optical reflective targets from the laser scan data obtained by performing the first laser scan, performs a second laser scan on the plurality of optical reflective targets based on the bright spots of the plurality of optical reflective targets, calculates the position of the laser scanner by resection based on the measured positions of each of the plurality of optical reflective targets obtained by the second laser scan, and calculates the position of each point in the laser scan data obtained by performing the first laser scan based on the calculated position of the laser scanner. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-120343 Summary of the Invention [Problem to be solved by the invention]

[0004] In the surveying method of Patent Document 1, in order to connect the scan data (point cloud data) of the first and second laser scans, it is necessary to survey including optical reflective targets whose position information in an absolute coordinate system (for example, a site coordinate system) is known. Therefore, if there are no known points within the target range of a new laser scan, it is necessary to create new known points before performing the laser scan, which poses a problem of requiring a lot of work.

[0005] The present disclosure aims to provide a laser scanner surveying method, a laser scanner, and a surveying program that allows for simple acquisition of point cloud data through multiple laser scans without including known points in the scanning range each time. [Means for solving the problem]

[0006] The surveying method using a laser scanner according to the present disclosure includes performing a first laser scan of a plurality of reflective prisms whose positions are unknown and of the range to be surveyed, extracting the relative positions of the plurality of reflective prisms from the first point cloud data obtained by the first laser scan, performing a second laser scan of a range that includes the same plurality of reflective prisms as in the first laser scan but is different from the range of the first laser scan, extracting the relative positions of the plurality of reflective prisms from the second point cloud data obtained by the second laser scan, and creating connection data that connects the first point cloud data and the second point cloud data by aligning the positions of the plurality of reflective prisms.

[0007] The laser scanner according to the present disclosure comprises a scanner unit, a rotation control unit, a scan data acquisition unit, and a control unit, and the control unit executes the following: a first laser scan of a plurality of reflecting prisms whose positions are unknown and the range of the object to be surveyed; extraction of the relative positions of the plurality of reflecting prisms from the first point cloud data acquired by the first laser scan; a second laser scan of a range that includes the same plurality of reflecting prisms as in the first laser scan but is different from the range of the first laser scan; extraction of the relative positions of the plurality of reflecting prisms from the second point cloud data acquired by the second laser scan; and creation of connection data that connects the first point cloud data and the second point cloud data by aligning the positions of the plurality of reflecting prisms.

[0008] The surveying program according to the present disclosure is a surveying program that is read and executed by a computer, and causes the computer to perform the following: a first laser scan of a plurality of reflecting prisms whose positions are unknown and the range of the survey object; extraction of the relative positions of the plurality of reflecting prisms from the first point cloud data acquired by the first laser scan; a second laser scan of a range that includes the same plurality of reflecting prisms as in the first laser scan but is different from the range of the first laser scan; extraction of the relative positions of the plurality of reflecting prisms from the second point cloud data acquired by the second laser scan; and creation of connection data that connects the first point cloud data and the second point cloud data by aligning the positions of the plurality of reflecting prisms. [Effects of the Invention]

[0009] The laser scanner surveying method, laser scanner, and surveying program disclosed herein enable the acquisition of point cloud data through multiple laser scans with simple operations, without including known points in the scanning range each time. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is an overall configuration diagram of a scanner system. [Figure 2] FIG. 1 is a block diagram of a laser scanner. [Figure 3] FIG. 2 is a block diagram of a terminal device. [Figure 4] 10 is a flowchart of the control of the terminal device and the laser scanner. [Figure 5] FIG. 2 is a plan view of a survey range of a survey target from which point cloud data is acquired. [Figure 6] FIG. 10 is a diagram illustrating an example of an operation screen displayed on a display unit of the terminal device. [Figure 7] 10A and 10B are diagrams showing examples of a panoramic image confirmation screen and a floor plan confirmation screen. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a diagram showing the overall configuration of a scanner system 1. The scanner system 1 includes a laser scanner 2 (scanner device), a terminal device 3 (control device), and a reflecting prism 4 (optical reflecting target).

[0012] The laser scanner 2 has a tripod support leg 201, a base 202 supported by the support leg 201, a horizontal rotation unit 203 that can rotate horizontally on the base 202, and a vertical rotation unit 204 that can rotate vertically relative to the horizontal rotation unit 203. The vertical rotation unit 204 is provided with an optical system that emits and receives laser scanner light.

[0013] The laser scanner 2 emits laser scanning light and receives the reflected light at a specific repetition frequency while vertically rotating the vertical rotation unit 204. Laser scanning is performed within a set range by combining the vertical rotation of the vertical rotation unit 204 and the horizontal rotation of the horizontal rotation unit 203.

[0014] The laser scanner 2 can calculate the distance to the reflection point from the difference (phase difference) in the timing of receiving the measurement light that has propagated through a reference optical path provided inside and the actual measurement light. The distance to the reflection point can also be obtained from the propagation time of the measurement light.

[0015] 2 is a block diagram of the laser scanner 2. The laser scanner 2 includes a scanner unit 21, a rotation control unit 22, a scan data acquisition unit 23, a communication unit 24, a control unit 25, and a storage unit 26.

[0016] The scanner unit 21 includes a scanning light emitter, a light receiver, and an optical system. The rotation control unit 22 controls the rotation of the horizontal rotation unit 203 and the vertical rotation unit 204 and measures the rotation angle. The scan data acquisition unit 23 acquires scan data 351 of the laser scan performed by the scanner unit 21. n (Point cloud data PC n The point cloud data includes information on the distance to the reflection point relative to the laser scanner 2, the angle to the reflection point (angle relative to a predetermined reference), and the intensity of received light. The communication unit 24 communicates with the terminal device 3 (control device) via wired or wireless communication.

[0017] The control unit 25 (the same applies to the control unit 31 described below) executes functions and / or methods realized by codes or instructions included in a program stored in the storage unit 26 (storage unit 35). The control unit 25 may be, for example, a central processing unit (CPU), a micro-processing unit (MPU), a graphics processing unit (GPU), a microcontroller unit (MCU), a processor core, a multiprocessor, an ASIC, an FPGA, or the like. The control unit 25 may implement each process disclosed in each embodiment using a logic circuit or dedicated circuit formed in an integrated circuit or the like. Furthermore, these circuits may be implemented using one or more integrated circuits, and multiple processes shown in each embodiment may be implemented using a single integrated circuit.

[0018] The memory unit 26 (same for the memory unit 35) can store acquired information such as measured signals. The memory unit 26 (storage unit 35) is realized by various storage media such as HDD, SSD, and flash memory. The memory unit 26 (storage unit 35) has the function of storing various programs and data required. The memory unit 26 (storage unit 35) stores the surveying program of this embodiment.

[0019] The laser scanner 2 is equipped with a computer controlled by the control unit 25, and the control unit 25 controls the functions of each functional unit (scanner unit 21, rotation control unit 22, scan data acquisition unit 23, communication unit 24, memory unit 26) by executing programs such as a surveying program stored in the memory unit 26 using the computer.

[0020] 3 is a block diagram of the terminal device 3. The terminal device 3 executes control instructions to the laser scanner 2, displays the acquisition status of point cloud data, etc. The terminal device 3 may be, for example, a portable personal digital assistant (PDA), a smartphone, a personal computer, or other device that can be carried by the worker. The terminal device 3 includes a control unit 31, a communication unit 32, an input unit 33, a display unit 34, and a storage unit 35.

[0021] The control unit 31 is a processing device such as a CPU, similar to the control unit 25. The terminal device 3 is equipped with a computer controlled by the control unit 31. The terminal device 3 also stores various programs such as a surveying program in the storage unit 35, and the control unit 31 executes the programs using the computer, thereby controlling the functions of each functional unit (the communication unit 32, input unit 33, display unit 34, and storage unit 35). The terminal device 3 and the laser scanner 2 can operate in cooperation with each other through the surveying programs that they each execute.

[0022] The communication unit 32 is configured to be able to communicate with external devices such as the laser scanner 2 via wire or wirelessly.

[0023] The input unit 33 is an operation unit that can input various instructions and settings to the terminal device 3. The display unit 34 is formed of a liquid crystal display or the like. When the display unit 34 is a touch panel, the input unit 33 and the display unit 34 are formed integrally, and the input unit 33 can accept input operations from the worker by a pressure-sensitive system, an electrostatic system, or the like.

[0024] The storage unit 35 stores the scan data 351 n (Point cloud data PC n The PC 350 stores the point cloud data (including the first point cloud data and the second point cloud data), connection data 352, and a surveying program 353. n 3 shows the survey results of the survey range 51 connected to the terminal device 3. The storage unit 35 of this embodiment is a storage medium (or storage device) that stores a survey program 353 that can be read by a computer included in the terminal device 3.

[0025] The reflecting prism 4 is, for example, a corner cube prism provided at an appropriate height on the pinpole. Therefore, the reflecting prism 4 has retroreflective properties and can reflect the light from the laser scanner 2 back toward the laser scanner 2, in the direction opposite to the incident direction. Note that other retroreflective members may also be used for the reflecting prism 4. The retroreflective member may be, for example, another member (e.g., a reflective sheet, a target plate, etc.) that reflects the light irradiated from the laser scanner 2 and allows the laser scanner 2 to detect the reflected light with a relatively high light intensity.

[0026] Next, we will explain the surveying method of the laser scanner 2. Figure 4 is a flowchart of the control of the laser scanner 2. Note that each step (process) in Figure 4 is performed by the laser scanner 2, or by the laser scanner 2 receiving instructions from the terminal device 3 and executing a surveying program.

[0027] 5 is a plan view of a survey range 51, which is a survey target (for example, a farm field, a civil engineering work site, etc.) from which point cloud data is acquired. n(n is the section number to distinguish different information. The same applies below.) n The laser scanner 2 installed in n (Scan data 351 n ) is the measurement range that can be acquired. n When viewed from above the survey range 51, point K n This is the approximate assumed area where point cloud data can be acquired, shown as an approximately circular shape centered on the point.

[0028] In step S01, first, the laser scanner 2 scans an arbitrary point K1 (K n ) and the equipment is set up and leveled.

[0029] A plurality of reflecting prisms 4A1(4A), 4A1(4A) are installed inside or outside the survey range 51, before or after the installation of the laser scanner 2. The reflecting prism 4A is an unknown point whose position on the absolute coordinates (on-site coordinate system, etc.) relative to the survey object is unknown. The reflecting prism 4A is used to measure a plurality of points K. n It is installed at a location that can be surveyed from (for example, points K1 and K2).

[0030] Reflector prism 4 is a measurement range R that allows point cloud data to be acquired in one survey. n However, the reflected light from the reflecting prism 4 can be detected with a higher intensity than the reflection points from land or buildings, so the range R n Furthermore, the reflecting prism 4 may be placed outside the measurement range 51.

[0031] In this embodiment, first, the two reflecting prisms 4A1 and 4A2 are placed in the ranges R3 and R6, respectively, and the laser scanner 2 is placed at the point K1.

[0032] In step S02, the laser scanner 2 performs a first laser scan. Fig. 6 is a diagram showing examples of operation screens 61 to 63 displayed on the display unit 34 of the terminal device 3. When the terminal device 3 receives an input instruction from the user to the automatic connection mode selection unit 611 on the operation screen 61, it transitions the operation screen 61 to the next operation screen 62.

[0033] When the terminal device 3 receives an input instruction from the user to the starting point scan selection section 621 on the operation screen 62, the terminal device 3 causes the laser scanner 2 to detect the reflecting prism 4 and the range R of the survey object. n The terminal device 3 controls the laser scanner 2 to perform a laser scan (first laser scan) on the laser scanner 2. This laser scan is performed in response to an instruction input to a start point scan selection section 621 (start point scan instruction section) displayed on the display section 34 of the terminal device 3 that controls the laser scanner 2. When the terminal device 3 receives an instruction input by the user to the start point scan selection section 621 on the operation screen 62, the terminal device 3 transitions the operation screen 62 to the next operation screen 63.

[0034] In step S03, the laser scanner 2 performs laser scanning and transmits the scanned data 3511 (351 n )(Point cloud data PC1(PC n The terminal device 3 acquires point cloud data PC1 from a laser scanner 2 installed at a point K1.

[0035] In step S04, the laser scanner 2 extracts the reflecting prism 4 from the point cloud data PC1. The reflecting prism 4 is detected as a bright point with high brightness even when it is placed in range R1. The terminal device 3 can determine that bright points (overflow points) in the point cloud data PC1 that have brightness equal to or greater than a predetermined value are reflecting prisms 4A1 and 4A2.

[0036] In step S05, the terminal device 3 automatically searches for a plurality of connecting reflecting prisms 4A1 and 4A2 from the point cloud data (first point cloud data) acquired by the laser scan (first laser scan) in step S02, and determines the relative positions D 4A11 and D 4A21 (D n ) information and extract it. 4A11 and D 4A21 For example, relative coordinates (K1 coordinate system) with the point K1, which is the position of the laser scanner 2, as the origin are assigned to the reflecting prisms 4A1 and 4A2 as temporary coordinate values. Therefore, at the time of laser scanning, the point cloud data PC n A temporary local coordinate system is used as the coordinate system of

[0037] 7 is a schematic diagram showing an example of a panoramic image confirmation screen 64 and a floor plan confirmation screen 65 that can be displayed on the display unit 34. The panoramic image confirmation screen 64 is a screen showing a panoramic image of a point K n Point cloud data as seen from laser scanner 2 placed on PC n The panoramic image confirmation screen 64 in Fig. 7 displays the reflecting prism 4 and structures 71 and 72 detected by the laser scan.

[0038] In addition, the floor plan confirmation screen 65 shows the location K where the laser scanner 2 is installed. n Point cloud data PC in planar view n The plan view confirmation screen 65 in Fig. 7 displays the reflecting prism 4 detected by the laser scan.

[0039] The terminal device 3 may display the detected candidate points for the reflecting prism 4 on the panoramic image confirmation screen 64 or the floor plan confirmation screen 65, or both, and perform a process to prompt the user to give their consent as to whether or not to use the candidate points as a reflecting prism 4 for connecting multiple point cloud data together (for example, displaying a selection instruction section for whether or not to accept on the display unit 34).

[0040] Furthermore, if it appears that the extraction of the connecting reflector prism 4 has failed, for example, because only one candidate reflector prism 4 is found, the terminal device 3 may notify the user of this through a display on the display unit 34 or the like.

[0041] In step S06, the laser scanner 2 includes the same multiple reflecting prisms 4 as in the previous laser scan (first laser scan), and the range R of the previous laser scan is n range R, which is different from n+1 Point K n+1 Here, the two reflecting prisms 4A1 and 4A2 are placed in ranges R3 and R6, respectively, and the laser scanner 2 is placed at point K2.

[0042] In step S07, the laser scanner 2 performs a second laser scan. When the terminal device 3 receives an input instruction from the user to the starting point scan start selection section 621 on the operation screen 63, the terminal device 3 determines that the laser scanner 2 includes the same multiple reflecting prisms 4A1 and 4A2 as in the previous laser scan (first laser scan) and that the range R1 (R n ) different range R2(R n+1 This laser scan is performed in response to an instruction input to a start point scan selection section 621 (start point scan instruction section) displayed on the display section 34 of the terminal device 3 (control device) that controls the laser scanner 2.

[0043] When the terminal device 3 receives an input instruction from the user to the origin scan start selection section 621 on the operation screen 63, the terminal device 3 transitions the operation screen 62 to the next operation screen 63.

[0044] In step S08, the laser scanner 2 performs laser scanning and then transmits scan data 351 to the terminal device 3. n Point cloud data PC2 (PC n The terminal device 3 receives the point cloud data PC2 (PC n ) to get the

[0045] In step S09, the laser scanner 2 scans the point cloud data PC2 (PC n The reflecting prisms 4A1 and 4A2 are extracted from the range R2 (R n ), the terminal device 3 detects the point cloud data PC1 (PC n ), bright points (overflow points) having a brightness equal to or greater than a predetermined value can be determined to be the reflecting prisms 4A1 and 4A2.

[0046] In step S10, the terminal device 3 automatically searches for the plurality of reflecting prisms 4A1 and 4A2 from the point cloud data (second point cloud data) acquired by the laser scan (second laser scan) in step S07, and determines the relative positions D 4A12 and D 4A22 (D n+1 ) information and extraction is performed.

[0047] Relative position D 4A11 and relative position D 4A11 For example, relative coordinates (K2 coordinate system) with point K2, which is the position of the laser scanner 2 that performed the laser scan of the reflecting prisms 4A1 and 4A2, as the origin are assigned to the reflecting prisms 4A1 and 4A2 as temporary coordinate values. Therefore, at the time of performing the laser scan, a temporary local coordinate system is used as the coordinate system of the point cloud data PC2.

[0048] In step S11, the terminal device 3 obtains transformation parameters that match the deviations of the reflecting prisms 4A1 and 4A2 included in the point cloud data PC1 and point cloud data PC2, which have different scan ranges. For example, the relative coordinates of the reflecting prisms 4A1 and 4A2 in the point cloud data PC1 are converted into the relative position D 4A11 and relative position D 4A21 and the relative position D 4A11 Relative position D 4A12Similarly, the relative coordinates of the reflecting prism 4A1 and the reflecting prism 4A2 in the point cloud data PC2 are expressed as a relative position D 4A12 and relative position D 4A22 and the relative position D 4A12 Relative position D 4A22 The difference is defined as the differential position vector ΔB.

[0049] The terminal device 3, for example, compares the orientation and length of the differential position vector ΔB and the differential position vector ΔA, and determines the orientation and length for matching the two (the state with the highest degree or amount of matching) as transformation parameters.

[0050] In addition, different point cloud data PC n Whether each reflecting prism 4 included in the laser scanner 2 is the same or not can be determined by tracking the movement of the laser scanner 2, a user's selection instruction to a terminal device 3, or the size of the bright spot caused by the reflected light from the reflecting prism 4, the reflection intensity (light amount) or received light intensity, wavelength, or shape of the reflected light, etc.

[0051] In step S12, the terminal device 3 uses the conversion parameters to match the positions of the plurality of reflecting prisms 4A1 and 4A2, and creates connection data 352 that connects the point cloud data PC1 (first point cloud data) and the point cloud data PC2 (second point cloud data). The connection data 352 is, for example, the connection data 352 created by connecting the point cloud data PC2 (PC n+1 ) is the point cloud data PC1 (PC n ), they are connected in the K1 coordinate system of the previously acquired point cloud data PC1.

[0052] In step S13, when the terminal device 3 receives a selection instruction from the point cloud data acquisition end instruction unit 633 via the input unit 33, the terminal device 3 proceeds to the processing of step S14. n+2 If further laser scanning is to be performed, the process proceeds to step S16.

[0053] In step S16, the user moves the laser scanner 2 to point K3 in the next survey range R2, and the instrument is set up and leveled.

[0054] In step S17, the terminal device 3 determines whether or not an instruction (e.g., whether or not a check mark has been entered) has been entered into the origin scan instruction section 632 on the operation screen 63 displayed on the display unit 34. If no instruction has been entered into the origin scan instruction section 632 (step S17, No), the terminal device 3 executes the process of step S07.

[0055] 5, in the measurement range 51, the two reflecting prisms 4A1 and 4A2 can be measured from point K3, just like points K1 and K2. The reflecting prism 4A1 is located inside the range R3 from which point cloud data PC3 can be acquired when the laser scanner 2 is installed at point K3. The reflecting prism 4A2 is located outside the range R3, but the amount of reflected light is sufficient for detection, so the laser scanner 2 can detect the bright points of both the reflecting prisms 4A1 and 4A2 in the point cloud data PC3.

[0056] As a result, laser scanner 2 generates new point cloud data PC3 (PC n ) and this point cloud data PC3 (PC n ) can be connected using the same reflecting prism 4 as last time to create (update) connection data 352.

[0057] On the other hand, when an instruction input to the origin scan instruction unit 632 is accepted (step S17, No), the laser scanner 2 executes the process of step S02. n For the sake of convenience, we will update the identification information associated with each code (K n , R n , PC n ) and add 1 to the subscript "n".

[0058] By re-executing the processes from step S02 to step S12, the laser scanner 2 automatically searches for multiple reflecting prisms 4B (second reflecting prisms) whose positions are unknown, and uses the new reflecting prisms 4B (second reflecting prisms) to create subsequent connection data 352.

[0059] In addition, the reflecting prism 4A is used to collect multiple point cloud data. n The connection data 352 created by connecting the two and the reflecting prism 4B are multiple point cloud data PC n The connection data 352 created by connecting the two is connected as one connection data by the reflecting prism 4A used for the first connection or the reflecting prism 4B used for the second connection. n (In Figure 5, when laser scanning is performed at point K4 to survey range R4, the point cloud data PC n A plurality of reflecting prisms 4A and a plurality of reflecting prisms 4B can be extracted from the image.

[0060] Also, at one or more points K n Once the reflecting prisms 4A and 4B have been extracted, if a new reflecting prism 4B can be detected in a subsequent laser scan (for example, point K5 for surveying range R5), the point cloud data PC4 and PC5 can be continuously connected and the connection data 352 can be updated.

[0061] In step S14, the terminal device 3 converts the coordinates of the point cloud included in the connection data 352 into absolute coordinates based on the known point BM detected in one of the previous laser scans (first laser scan or second laser scan). In the example of FIG. 5, a separate reflector prism 4 is installed at the known point BM, and the coordinate value of the known point BM can be obtained by laser scanning at point K2. In the surveying method using the laser scanner 2, the point cloud data connected in local coordinates is finally converted into the on-site coordinate system, so there is no need to calculate the absolute coordinates (on-site coordinates) of the reflector prism 4 every time. This reduces the overall work man-hours and work time.

[0062] In step S15, the terminal device 3 stores the connection data 352, in which each coordinate of the point cloud is converted into an absolute coordinate (or on-site coordinate), in the storage unit 35. Furthermore, the connection data 352 is output as data or printed, etc., according to an instruction to the input unit 33 as needed.

[0063] The above has described a configuration for the laser scanner surveying program and surveying method disclosed herein, which includes a first laser scan of multiple reflecting prisms 4 whose positions are unknown and the range to be surveyed, extraction of the relative positions of the multiple reflecting prisms 4 from the first point cloud data obtained by the first laser scan, a second laser scan of a range that includes the same multiple reflecting prisms 4 as in the first laser scan but is different from the range of the first laser scan, extraction of the relative positions of the multiple reflecting prisms 4 from the second point cloud data obtained by the second laser scan, and creation of connection data that connects the first point cloud data and the second point cloud data by aligning the positions of the multiple reflecting prisms 4.

[0064] Users can acquire point cloud data through multiple laser scans without including known points in the scanning range each time, making it easy to acquire point cloud data.

[0065] As an example of another conventional surveying method, a point cloud obtained from a laser scanner 2 installed at point Kn and a point cloud obtained from a laser scanner 3 installed at point Kn are n When connecting point clouds acquired from laser scanners installed at point K, point cloud matching is performed. n and point K n+1 The alignment is performed using a common point cloud in a common area of ​​the scan range of the two points. n The more overlapping there is in the point cloud matching, the more accurately the point cloud data can be matched.

[0066] However, if overlapping of the scan ranges is required, the range or amount of newly acquired point cloud data will be reduced, and the number of times the laser scanner 2 needs to be installed will increase. This reduces the efficiency of creating point cloud data. Furthermore, point cloud matching is dependent on the environment, making accuracy unstable. For example, because a distinctive shape is required, it is not easy to connect point cloud data with high accuracy on grounds with distinctive topography or few structures.

[0067] In the surveying method of this embodiment, a reflecting prism is used as a reference for connection, and this reflecting prism 4 is used to connect different points K n Therefore, the surveying method of this embodiment can create point cloud data (connection data) of the entire surveying range with high accuracy and with a small number of scanner installations.

[0068] Furthermore, in the above surveying method, the first laser scan includes a plurality of reflecting prisms 4 whose positions are unknown, and is performed multiple times in different ranges to connect the first point cloud data together, and the first laser scan and the second laser scan are performed in response to an instruction input to the starting point scan instruction unit 632 displayed on the display unit 34 of the control device (terminal device 3) that controls the laser scanner, and when the instruction input to the starting point scan instruction unit 632 displayed on the display unit 34 is accepted, a new plurality of second reflecting prisms whose positions are unknown are automatically searched for, and the multiple second reflecting prisms are used to create subsequent connection data.

[0069] When surveying point cloud data, different reflecting prisms 4 can be used to connect point cloud data together, so even if the survey range 51 is wide, there is no need to include known points in the scanning range each time, and point cloud data can be obtained with simple operations.

[0070] This concludes the description of the embodiment of the present disclosure, but the aspects of the present disclosure are not limited to this embodiment.

[0071] For example, if the first scan is aligned with the on-site coordinate system, even if the reflecting prism 4 detected thereafter is an unknown point, the on-site coordinates can be given by connecting point cloud data that does not have absolute coordinates with point cloud data that has absolute coordinates. In this case, for each laser scan, the point cloud data PC with absolute coordinates aligned with the final on-site coordinate system is n can be granted.

[0072] Also, during the first laser scan, the reflecting prism 4 whose coordinates are known can be measured and the coordinates of this reflecting prism 4 in its absolute coordinate system can be used, and then relative temporary coordinates can be used for subsequent connections (searching becomes easier when coordinate values ​​are available).

[0073] In addition, in this embodiment, an example in which two reflecting prisms 4 are used for connection has been described, but three or more reflecting prisms may be used. n In this case, by increasing the number of reflecting prisms 4 used for connection, the conversion parameters can be obtained accurately.

[0074] The configuration of the present disclosure is exemplified as follows. [1] a first laser scan of a plurality of reflective prisms of unknown positions and an area to be surveyed; Extracting relative positions of the plurality of reflecting prisms from first point cloud data acquired by the first laser scan; a second laser scan including the same plurality of reflective prisms as the first laser scan but over a range different from the range of the first laser scan; Extracting relative positions of the plurality of reflecting prisms from second point cloud data acquired by the second laser scan; creating connection data by connecting the first point cloud data and the second point cloud data by aligning the positions of the plurality of reflecting prisms; A surveying method using a laser scanner. [2] A laser scanner surveying method according to [1], wherein the coordinates of the point cloud contained in the connection data are converted to absolute coordinates based on known points detected by either the first laser scan or the second laser scan. [3] the first laser scan includes the plurality of reflecting prisms whose positions are unknown, and is performed a plurality of times in different ranges to connect the first point cloud data; the first laser scan and the second laser scan are performed in response to an instruction input to a scan instruction unit displayed on a display unit of a control device that controls the laser scanner; When an instruction input to the origin scan instruction section displayed on the display section is accepted, a plurality of second reflecting prisms whose positions are unknown are newly automatically searched for, and the plurality of second reflecting prisms are used in subsequent creation of connection data. [1] A laser scanner surveying method as described in [1]. [4] The device includes a scanner unit, a rotation control unit, a scan data acquisition unit, and a control unit, The control unit a first laser scan of a plurality of reflective prisms of unknown positions and an area to be surveyed; Extracting relative positions of the plurality of reflecting prisms from first point cloud data acquired by the first laser scan; a second laser scan including the same plurality of reflective prisms as the first laser scan but over a range different from the range of the first laser scan; Extracting relative positions of the plurality of reflecting prisms from second point cloud data acquired by the second laser scan; creating connection data by connecting the first point cloud data and the second point cloud data by aligning the positions of the plurality of reflecting prisms; A laser scanner that runs [5] A surveying program to be read and executed by a computer, The computer, a first laser scan of a plurality of reflective prisms of unknown positions and an area to be surveyed; Extracting relative positions of the plurality of reflecting prisms from first point cloud data acquired by the first laser scan; a second laser scan including the same plurality of reflective prisms as the first laser scan but over a range different from the range of the first laser scan; Extracting relative positions of the plurality of reflecting prisms from second point cloud data acquired by the second laser scan; creating connection data by connecting the first point cloud data and the second point cloud data by aligning the positions of the plurality of reflecting prisms; A surveying program that executes the following. [Explanation of symbols]

[0075] 1 Scanner System 2. Laser scanner 3 Terminal Devices 4 (4A, 4A1, 4A2, 4B) Reflecting Prism 21 Scanner section 22 Rotation control section 23 Scan data acquisition unit 24 Communications Department 25 Control Unit 26 Memory section 31 Control Unit 32 Communications Department 33 Input section 34 Display section 35 Storage section 51 Survey range 61~63 Operation screen 64 Panorama image confirmation screen 65 Floor plan confirmation screen 71,72 Structures 201 Support leg 202 Foundation 203 Horizontal rotation section 204 Vertical Rotation Section 351 n (3511) Scan Data 352 connection data 353 Survey Program 611 Automatic connection mode selection section 621 Starting point scan start selection section 632 Starting point scan instruction section 633 End Instruction BM Known Points D 4A11 ,D 4A12 ,D 4A21 ,D 4A22 Relative Position K n (K1~K5) points R n (R1~R6) Range PC n (PC1~PC4) Point cloud data ΔA,ΔB differential position vector

Claims

1. a first laser scan of a plurality of reflective prisms and an area to be surveyed, the positions of which are unknown; Extracting relative positions of the plurality of reflecting prisms from first point cloud data acquired by the first laser scan; a second laser scan including the same plurality of reflective prisms as the first laser scan but over a range different from the range of the first laser scan; Extracting relative positions of the plurality of reflecting prisms from second point cloud data acquired by the second laser scan; generating connection data by connecting the first point cloud data and the second point cloud data by aligning the positions of the plurality of reflecting prisms; A surveying method using a laser scanner.

2. A laser scanner surveying method as described in claim 1, in which the coordinates of the point cloud contained in the connection data are converted to absolute coordinates based on known points detected by either the first laser scan or the second laser scan.

3. the first laser scan includes the plurality of reflecting prisms whose positions are unknown, and is performed a plurality of times in different ranges to connect the first point cloud data; the first laser scan and the second laser scan are performed in response to an instruction input to a scan instruction unit displayed on a display unit of a control device that controls the laser scanner; When an instruction input to the origin scan instruction section displayed on the display section is accepted, a plurality of second reflecting prisms whose positions are unknown are newly automatically searched for, and the plurality of second reflecting prisms are used in subsequent creation of connection data. The surveying method for a laser scanner according to claim 1 .

4. The device includes a scanner unit, a rotation control unit, a scan data acquisition unit, and a control unit, The control unit a first laser scan of a plurality of reflective prisms and an area to be surveyed, the positions of which are unknown; Extracting relative positions of the plurality of reflecting prisms from first point cloud data acquired by the first laser scan; a second laser scan including the same plurality of reflective prisms as the first laser scan but over a range different from the range of the first laser scan; Extracting relative positions of the plurality of reflecting prisms from second point cloud data acquired by the second laser scan; generating connection data by connecting the first point cloud data and the second point cloud data by aligning the positions of the plurality of reflecting prisms; A laser scanner that runs

5. A surveying program to be read and executed by a computer, The computer, a first laser scan of a plurality of reflective prisms and an area to be surveyed, the positions of which are unknown; Extracting relative positions of the plurality of reflecting prisms from first point cloud data acquired by the first laser scan; a second laser scan including the same plurality of reflective prisms as the first laser scan but over a range different from the range of the first laser scan; Extracting relative positions of the plurality of reflecting prisms from second point cloud data acquired by the second laser scan; generating connection data by connecting the first point cloud data and the second point cloud data by aligning the positions of the plurality of reflecting prisms; A surveying program that executes the following.

Images