Positioning system and positioning method

Abstract

To provide a position measurement system which can measure a position in a measurement target region of each measurement object with a simple configuration even when there are the plurality of measurement objects.SOLUTION: A position measurement system comprises: a measurement device having a first detection unit which includes a cylindrical reflection part and a target displaying a prescribed display pattern and measures detection data including the detection direction of a measurement object, and a second detection unit which acquires an image including the measurement object in the detection direction of the first detection unit; and a calculation device which calculates coordinates of the measurement object in a coordinate system with the measurement device expanding in a measurement target region as reference on the basis of the detection data, recognizes an ID of the measurement object on the basis of the display pattern displayed on the target of the image, and generates position information associating the ID with the coordinates.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a position measurement system and a position measurement method for measuring the position of an object in a measurement target area. [Background technology]

[0002] Facilities with wide open spaces, such as indoor stadiums, require the ability to detect positions within the space. For example, if the facility has a large concrete floor, and if any areas requiring repair, such as bulges or cracks in the floor, are found, it is necessary to detect their location. Position measurement is also necessary when operating an autonomous mobile device that moves automatically on such a flat surface. Furthermore, it is also necessary to simultaneously detect the positions of multiple objects on such a flat surface.

[0003] Conventional position measurement methods include using the Global Positioning System (GPS), as well as a method of attaching a prism to a target object placed at a measurement location and measuring the position of the target object using a total station, an automatic surveying instrument. However, as described in Cited Document 1, the Global Positioning System (GPS) requires radio waves from an artificial satellite to set the position, making it impossible to measure the position inside a building. Furthermore, the method using a total station with a tracking function requires randomly scanning the tracking light up, down, left, and right over the entire perimeter to detect the target object until the position where the tracking light is reflected by the prism is detected, which takes a long time to complete. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-343238 Summary of the Invention [Problem to be solved by the invention]

[0005] As described in Patent Document 1, position measurement using a GPS is not possible inside a building, so position measurement using a total station is considered. However, position measurement using a total station requires time, even if a total station equipped with a tracking function is used. Furthermore, when multiple position measurements are performed, each measurement position must be measured individually, which requires even more time. On the other hand, when multiple position measurements are performed using a total station equipped with a tracking function, only information on each measurement position is output, and no information identifying each measurement position is provided. Therefore, even if the location of the area to be repaired can be identified, there is a problem in that it is not possible to link the information to identify the type of repair required.

[0006] The present invention aims to provide a position measurement system and a position measurement method that have a simple configuration and are capable of measuring the position of each of multiple measurement objects in a measurement area, even when there are multiple measurement objects. [Means for solving the problem]

[0007] One aspect of the present invention is a position measurement system for measuring a detection target position within a measurement target area, the position measurement system comprising: a cylindrical reflecting portion; and a target on which a predetermined display pattern is displayed; and a measurement target placed at the detection target position within the measurement target area; and a laser beam reflected by the reflecting portion to the measurement target. Inspection a measuring device including a first detecting unit that measures detection data including an emission direction, and a second detecting unit that is oriented in the detection direction of the first detecting unit and acquires an image including the measurement object; and a computing device that calculates coordinates of the measurement object in a coordinate system based on the measuring device that extends over the measurement object area based on the detection data, recognizes an ID of the measurement object based on the display pattern displayed on the target in the image, and generates position information that associates the ID with the coordinates. a third detection unit that three-dimensionally measures a floor surface of the measurement target area, and generates a height difference image in which the measurement target area is color-coded based on a result of three-dimensionally measuring the floor surface of the measurement target area; and a third detection unit that calculates the coordinates of each of the measurement targets based on the detection data, recognizes the IDs corresponding to the measurement targets individually based on the image, and associates the IDs with the coordinates corresponding to each ID to generate a plurality of pieces of position information. The position measurement system is characterized by the above.

[0008] According to the present invention, the position of the object to be measured can be efficiently measured by calculating position information of the object to be measured based on the detection result of the laser measurement by the first detection unit and recognizing the ID of the object to be measured based on the image of the second detection unit. According to the present invention, the coordinates of the object to be measured can be calculated in a space inside a building that cannot be measured by GPS. According to the present invention, the relative position of the object to be measured within a vast area to be measured can be easily calculated by simply installing the first detection unit and the second detection unit at predetermined positions inside the building.

[0010] According to the present invention, even if multiple measurement objects are present within the measurement area, the IDs of the multiple measurement objects can be recognized based on the detection results of the first detection unit and the image of the second detection unit, thereby efficiently measuring multiple position information of the multiple measurement objects.

[0012] According to the present invention, by measuring the floor surface three-dimensionally using the third detection unit, the user can grasp the three-dimensional shape of the object to be measured in real time based on a height difference image in which the measurement target area is color-coded.

[0013] The present invention may also include a projection device that projects an image onto the measurement target area, and the projection device may use projection mapping to project the elevation difference image in accordance with the actual position of the measurement target area.

[0014] According to the present invention, since the height difference image is projected in accordance with the actual floor surface, the correction position of the floor surface can be easily grasped.

[0015] The present invention may also include a floor surface measuring cart that is equipped with a fourth detection unit that acquires height information of the floor surface and the object to be measured, and that automatically moves within the area to be measured, and the calculation device may generate the position information of the floor surface measuring cart and generate the height difference image based on the position information and the height information obtained by the fourth detection unit.

[0016] According to the present invention, the floor surface measuring cart equipped with the fourth detection unit moves through the measurement target area, thereby making it possible to efficiently acquire three-dimensional data of the floor surface.

[0017] The present invention may also include a measurement cart on which the measurement object is provided and which moves while leveling the floor surface of the measurement area.

[0018] According to the present invention, the position of the cart to be measured can be grasped in real time by the terminal device, and correction of the floor surface can be easily performed.

[0019] The present invention may also include a cart to be measured that is provided with the object to be measured and the terminal device and that moves while leveling the floor surface of the area to be measured.

[0020] According to the present invention, the position of the cart to be measured can be grasped in real time by the terminal device, and correction of the floor surface can be easily performed.

[0021] One aspect of the present invention is a position measurement method for measuring a position of a measurement target in a measurement target area, the position of the measurement target including a measurement target having a cylindrical reflecting portion and a target on which a predetermined display pattern is displayed, the measurement target being placed at a position of a detection target in the measurement target area, and a measurement device having a first detection portion capable of irradiating and detecting laser light and a second detection portion capable of acquiring an image, the position measurement method including the steps of: placing the measurement target at the position of a detection target in the measurement target area; irradiating the laser light to the reflecting portion with laser light and detecting the laser light reflected by the reflecting portion, and acquiring detection data including a detection direction of the measurement target; orienting the second detection portion in the detection direction and acquiring an image including the measurement target; calculating coordinates of the measurement target in a coordinate system based on the measurement device that extends over the measurement target area based on the detection data; recognizing an ID of the measurement target based on the display pattern displayed on the target in the image; and generating position information that associates the ID with the coordinates. a third detection unit that calculates the coordinates of each of the plurality of measurement objects based on the detection data, recognizes the IDs corresponding to each of the plurality of measurement objects based on the image, associates the IDs with the corresponding coordinates, and generates the plurality of pieces of position information; and measures the floor surface of the measurement object area three-dimensionally, and generates a height difference image in which the measurement object area is color-coded based on the result of three-dimensionally measuring the floor surface by the third detection unit. The position measurement method is characterized by the above.

[0022] According to the present invention, the position of the object to be measured can be efficiently measured by calculating the position information of the object to be measured based on the detection results of the laser measurement by the first detection unit and recognizing the ID of the object to be measured based on the image of the second detection unit. [Effects of the Invention]

[0023] According to the present invention, it is possible to provide a position measurement system and a position measurement method that can measure the position of each measurement object in a measurement area with a simple configuration, even when there are multiple measurement objects. [Brief explanation of the drawings]

[0024] [Figure 1] 1 is a diagram showing a configuration of a position measurement system according to an embodiment of the present invention; [Figure 2] FIG. 1 is a block diagram showing a configuration of a position measurement system. [Figure 3] 3A and 3B are diagrams for explaining the measurement principle of the first detection unit. [Figure 4] FIG. 2 is a diagram showing a measurement target area. [Figure 5] FIG. 10 is a diagram showing a state in which a plurality of measurement targets are detected. [Figure 6] FIG. 2 is a diagram for explaining the principle of detecting a measurement object. [Figure 7] FIG. 10 is a diagram showing an image of a target. [Figure 8] FIG. 10 is a diagram showing the calculation results of each piece of position information of a plurality of measurement targets. [Figure 9] 1 is a flowchart showing the flow of each step of a position measurement method. [Figure 10] FIG. 10 is a diagram showing location information displayed on a terminal device. [Figure 11] FIG. 10 is a diagram showing a measurement cart moving on a floor surface. [Figure 12] FIG. 2 is a diagram showing the configuration of a floor surface measuring cart for measuring unevenness of a floor surface. DETAILED DESCRIPTION OF THE INVENTION

[0025] Hereinafter, with reference to the drawings, an embodiment of a positioning system and a positioning method according to the present invention will be described. The positioning system is, for example, a system that calculates the position of a detection target within a building. The building has a large indoor space, such as a stadium or exhibition hall. The positioning system, for example, uses the floor surface of the indoor space of the building as a measurement target area and calculates the position of the detection target within the measurement target area.

[0026] As shown in Figures 1 and 2, the position measurement system 1 includes, for example, a measurement object 2 installed at a detection target position in a measurement target area within a building, a measurement device 10 that measures the relative position of the measurement object 2, and a calculation device 20 that calculates the coordinates of the measurement object in the measurement target area based on the measurement results.

[0027] The measurement object 2 is installed, for example, at a detection target position on the floor surface in a measurement target area within a building. Multiple measurement objects 2 are installed in the measurement target area. The detection target position is, for example, a location where repairs are required for cracks or unevenness on the floor surface, or a location where equipment is to be installed. The measurement object 2 includes a main body 3, a reflecting unit 4, and a target 5.

[0028] The main body 3 is formed, for example, in a cylindrical shape. The main body 3 is formed, for example, from a resin material, a metal material, wood, etc. The main body 3 is used, for example, in an upright state with the lower end in contact with the position to be detected and the upper end facing vertically upward.

[0029] A reflecting section 4 that reflects laser light, for example, is provided at the upper end of the main body 3. The reflecting section 4 is provided at a position higher than the height of the operator so as not to interfere with measurement. The reflecting section 4 is formed, for example, from a reflective material that easily retroreflects laser light, and in this embodiment, is cylindrical.

[0030] Furthermore, a target 5 is provided on the main body 3 below the reflecting unit 4. The target 5 is provided at a position higher than the height of the operator so as not to interfere with measurement. The target 5 is made up of a barcode (striped pattern) corresponding to ID information for identifying the measurement target 2, which varies depending on the measurement target position. In this embodiment, the barcode is made up of multiple endless lines arranged vertically and surrounding the main body 3. This improves the visibility of the barcode, and ID information for identifying the measurement target 2 can be reliably obtained from the barcode from any direction.

[0031] The target 5 may be a barcode or may be color-coded according to the ID, as long as it is an identification mark from which ID information for identifying the measurement object 2 can be obtained, and a display form that can ensure reading accuracy can be selected depending on the usage environment. In this embodiment, a member on which the barcode serving as the target 5 is displayed is provided on the main body 3, but this is not limiting, and the barcode serving as the target 5 may be directly drawn on the main body 3. The reflecting portion 4 of the measurement object 2 and the target 5 are measured by the measuring device 10.

[0032] The measuring device 10 includes a first detection unit 11 that detects the reflecting portion 4 and a second detection unit 15 that identifies the target 5. The first detection unit 11 is a two-dimensional laser scanner that includes an irradiation unit that irradiates laser light and a receiving unit that receives laser light, and measures the position of the object 2 to be measured, and thus the relative position of the object 2 to be measured. The second detection unit 15 is a camera that captures an image including the target 5. In response to the target 5 being disposed below the reflecting portion 4 on the object 2 to be measured, the measuring device 10 includes a second detection unit 15 that identifies the target 5 disposed below the first detection unit 11 that detects the reflecting portion 4. In this way, the first detection unit 11 and the second detection unit 15 are supported by the same tripod so that when they are driven, the tripods that support the first detection unit 11 and the second detection unit 15 do not interfere with the detection of the reflecting portion 4 by the first detection unit 11 and the identification of the target 5 by the second detection unit 15.

[0033] The first detection unit 11 irradiates the measurement object 2 with laser light from an irradiation unit, and receives the laser light reflected by the reflection unit 4 of the measurement object 2 with a receiving unit. Specifically, the first detection unit 11 is rotatable with respect to the tripod 5 on which it is supported, with the vertical direction as its axis of rotation. As a result, the first detection unit 11 is configured to irradiate laser light while changing the irradiation direction horizontally with an irradiation unit consisting of a pulsed laser that repeatedly irradiates laser light at short time intervals, and to detect the reflected light reflected by the reflection unit 4 with a receiving unit. The first detection unit 11 outputs to the calculation device 20 the irradiation timing at which the irradiation unit irradiates the laser light, the detection timing at which the receiving unit detects the reflected light of the irradiated laser light reflected by the reflection unit 4, and the irradiation angle of the laser light when the irradiation unit irradiates the laser light.

[0034] The second detection unit 15 is directed toward the measurement target position, and ultimately the measurement target 2, and acquires an image in which the target 5 is reflected. In this embodiment, the second detection unit 15 is rotatable together with the first detection unit 11 with the vertical direction as the rotation axis relative to the tripod on which it is supported, and the second detection unit 15 is directed in the direction in which the irradiation unit of the first detection unit 11 emits laser light. As a result, the second detection unit 15 is installed so that the target 5 falls within the angle of view of the second detection unit 15 when the receiving unit of the first detection unit 11 receives the laser light reflected by the reflecting unit 4. The second detection unit 15 acquires an image at the irradiation timing when the irradiation unit of the first detection unit 11 emits the laser, and outputs the image to the calculation device 20.

[0035] The calculation device 20 includes, for example, a calculation unit 22 that performs various calculations, a memory unit 24 that stores data and programs necessary for the calculations, and a communication unit 26 that communicates with the measurement device 10 and the terminal device 30. The memory unit 24 is a storage device that stores data acquired from the first detection unit 11 and the second detection unit and the calculation results of the calculation unit 22. The memory unit 24 is configured with a storage medium such as an HDD or flash memory. The communication unit 26 is a communication interface that communicates with the terminal device 30.

[0036] The memory unit 24 stores the irradiation timing at which the irradiating unit irradiates laser light, the detection timing at which the receiving unit detects the reflected light of the irradiated laser light reflected by the reflecting unit 4, and the irradiation angle of the laser light when the irradiating unit irradiates the laser light, which are acquired from the first detecting unit 11. The calculation unit 22 calculates the relative positional relationship of the measurement object 2 with respect to the first detecting unit 11 in the measurement target area, based on the irradiation timing, detection timing, and irradiation angle read from the memory unit 24. Based on the calculation result, the calculation unit 22 calculates the coordinates of the measurement object 2 in a coordinate system extending parallel to the floor of the indoor space of the building, which is the measurement target area.

[0037] Furthermore, the memory unit 24 stores images acquired from the second detection unit 15 that were captured at the timing of irradiation when the irradiation unit of the first detection unit 11 emitted a laser. The calculation unit 22 extracts an image corresponding to the target 5 from the images acquired from the memory unit 24, and acquires ID information of the measurement object 2 based on the extracted image. The calculation unit 22 then links the acquired ID information of the measurement object 2 to the relative positional relationship of the measurement object 2 with respect to the first detection unit 11 in the measurement object area. Therefore, information related to a specific measurement object position and coordinate information of the measurement object position are tagged by the ID, making them searchable simultaneously.

[0038] As a result, when there are multiple measurement positions, and therefore multiple measurement objects 2, in the measurement area, information about each measurement position can be easily retrieved by using targets 5 that differ depending on the measurement position. In addition, by arranging multiple measurement objects 2, each with targets 5 that differ depending on the measurement position, in the measurement area, it becomes possible to measure multiple measurement positions at once with a single measuring device 10. In this way, in this embodiment, the positions of multiple measurement positions (measurement objects) can be measured with a simple configuration, and it is possible to recognize where each measurement position is located in the measurement area.

[0039] In this embodiment, the position measurement system 1 further includes a terminal device 30 carried by an operator who installs the measurement target 2 at the measurement target position. The terminal device 30 is a communication-enabled terminal device configured from a tablet terminal, a smartphone, a personal computer, or the like. The terminal device 30 includes a communication unit 32 that communicates with the calculation device 20, an input unit 34 for inputting information to the terminal device 30, such as the ID of the measurement target 2, and a display unit 36 ​​that displays various information. The input unit 34 is configured so that the user can input information related to the ID, such as a number assigned to the measurement target 2 and the measurement target position. The input unit 34 is an information input interface such as a touch panel, keyboard, or microphone. The display unit 36 ​​is an image display device such as a liquid crystal display or an organic EL display.

[0040] When a user inputs an ID via the input unit 34, the ID information is transmitted from the terminal device 30 to the calculation device 20 via the communication unit 32. Based on the received ID information, the calculation device 20 transmits the measurement target 2 corresponding to the ID, and in turn, coordinate data of the measurement target position, to the terminal device 30 via the communication unit 26. Then, based on the coordinate data of the measurement target position, the terminal device 30 displays on the display unit 36 ​​the position of the measurement target 2 corresponding to the received ID on a floor plan within the building. In this way, the terminal device 30 displays the coordinates of the measurement target position related to the input ID on the display unit 36, allowing the user to recognize the measurement target position related to the ID.

[0041] The terminal device 30 may have an imaging unit such as a camera or a sensor. The terminal device 30 may acquire information such as an image of the measurement target position associated with the ID and a detection result of the sensor, and transmit the information from the terminal device 30 to the computing device 20 via the communication unit 32, tagging the information related to the measurement target position and coordinate information of the measurement target position, so that the information can be searched by ID.

[0042] Next, the measurement principle of the position measurement system will be described in detail.

[0043] As shown in FIG. 3, the irradiating section of the first detecting section 11 scans the laser light R in the horizontal direction at angular resolution units Δθ, and the receiving section of the first detecting section 11 detects the reflected light that strikes the object and is reflected. The calculating section 22 detects the position of the object, and ultimately the measurement object 2, based on the detection data. When the distance between the first detecting section 11 and the measurement object 2 is L, if N detection pulses of the reflected light that is irradiated and reflected by the measurement object 2 are detected, the outer diameter D of the cylindrical reflecting section 4 is approximately calculated as D = L × sin Δθ × N. Since Δθ is sufficiently small, sin Δθ = Δθ. Then, the number N of detection data is calculated using the following formula: N ≒ D / (L Δθ). Therefore, the number N is inversely proportional to the distance L, and the longer the distance L, the fewer detection pulses are detected.

[0044] Based on the detection data, the calculation unit 22 extracts, from the point cloud, a point cloud sequence that is continuous in the scanning direction of the laser light R. Based on a comparison result between the number of point cloud sequences and the number N of detection data, the calculation unit 22 extracts a point cloud sequence whose number is close to the number N of detection data as a candidate for the object, and therefore the point cloud of the measurement target 2.

[0045] First, as shown in FIG. 4, the measuring device 10 is installed at a predetermined position within or near the measurement target area. The first detection unit 11 scans the measurement target area and acquires detection data that serves as initial values. The calculation unit 22 extracts the distance and position of structures K, such as pillars and walls, within the measurement target area based on the detection data that serves as initial values. The calculation unit 22 compares the detection data that serves as initial values ​​with basic data within the measurement target area, such as a blueprint, and calculates the relative positional relationship between the predetermined position where the measuring device 10 is installed and the measurement target area. Based on the calculated positional relationship between the predetermined position and the measurement target area, the calculation unit 22 sets a coordinate system (x, y) within the measurement target area based on the installation position of the measuring device 10.

[0046] Next, as shown in Fig. 5, multiple users place multiple measurement objects 2 at multiple detection positions within the measurement area. The first detection unit 11 scans the measurement area with laser light R and acquires detection data. At this time, the second detection unit 15 captures an image of the measurement objects 2 at an angle of view that includes the detection range of the first detection unit 11. The second detection unit 15 may acquire a panoramic image that includes the multiple measurement objects 2.

[0047] 6, the calculation unit 22 compares the detection data measured when the measurement target 2 is placed with the detection data serving as the initial value, subtracts the data of the structure K inside the building from the detection data, and extracts the point cloud sequence D whose number is closest to N as the measurement target 2. The calculation unit 22 calculates the coordinates of each point cloud sequence based on the position data of the point cloud sequence D.

[0048] 7, the calculation unit 22 performs image processing based on the image M captured by the second detection unit 15 to extract multiple targets 5 within the image. The calculation unit 22 individually identifies the ID of each target 5 based on display patterns such as barcodes and colors shown on the multiple targets 5.

[0049] As shown in Figure 8, the calculation unit 22 calculates coordinate data Z that associates each point cloud sequence D with the ID assigned to the measurement object 2 based on the positional relationship of the multiple point cloud sequences D (see Figure 6) extracted based on the detection data of the first detection unit 11 and the positional relationship of the multiple identified point cloud sequences D.

[0050] Next, the procedure of each step of the position measurement method using the position measurement system 1 will be described.

[0051] 9 shows a flowchart of each step of the position measurement method. The measuring device 10 and the calculation device 20 are placed within the measurement area (step S10). The measurement object 2 is placed at a detection target position within the measurement area (step S12). In step S12, multiple measurement objects 2 may be placed at multiple detection target positions within the measurement area. The first detection unit 11 performs laser measurement using laser light to measure the relative position of the measurement object 2 with respect to the first detection unit 11 and ultimately the measurement device 10, and acquires detection data including the detection direction of the measurement object 2 (step S14). The second detection unit 15 is directed in the detection direction of the first detection unit 11 and acquires an image M including the measurement object 2 (step S16).

[0052] The arithmetic device 20 calculates the coordinates of the measurement object 2 in a coordinate system extending over a measurement target area with the measuring device 10 as the reference based on the detection data acquired by the first detection unit 11 (step S18). The arithmetic device 20 extracts an image area of ​​the target 5 from the image M acquired by the second detection unit 15, and recognizes the ID of the measurement object 2 based on the display pattern of the target 5 in the extracted image area (step S20). The arithmetic device 20 generates position information that associates the ID with the coordinates (step S22). In step S22, if multiple measurement objects 2 are installed at multiple detection target positions, the arithmetic device 20 may generate position information for the multiple measurement objects 2.

[0053] As described above, the positioning system 1 can calculate the coordinates of a measurement object in a space inside a building that cannot be measured by GPS. The positioning system 1 can easily calculate the relative position of the measurement object 2 within a vast measurement area simply by installing the measuring device 10 at a predetermined position inside the building. The positioning system 1 can simultaneously calculate the position information of multiple measurement objects 2. The positioning system 1 has a simple configuration for the measurement object 2, consisting of a main body 3, a reflecting unit 4, and a target 5, which can significantly reduce implementation costs.

[0054] The following describes modified examples of the position measurement system 1. In the following description, the same components as those in the above embodiment are designated by the same names and reference numerals, and overlapping descriptions will be omitted as appropriate.

[0055] [Variation 1] The position measurement system 1 may include a third detection unit that measures the floor surface three-dimensionally, including the unevenness of the floor surface in the measurement target area, i.e., the height of the floor surface. The third detection unit in the first modification is, for example, a three-dimensional laser scanner. The third detection unit is replaced with the first detection unit 11. Based on the results of the three-dimensional measurement of the floor surface by the third detection unit, the calculation device 20 generates a height difference image in which the measurement target area is color-coded according to the degree of height difference of the unevenness of the floor surface. Note that in the first modification, the height difference image is associated with the position information of the measurement target object 2 obtained from the first detection unit 11.

[0056] 10, the terminal device 30 can display an elevation difference image 30M on the display unit 36, and can also display a position 30G of the object to be measured 2 on the elevation difference image 30M based on the position information acquired from the computing device 20. According to the position measurement system 1 of the first modification, the user can grasp the position 30G of the object to be measured 2 based on the elevation difference image 30M displayed on the terminal device 30, and can recognize the positions of unevenness occurring on the floor surface in real time. According to the position measurement system 1 of the first modification, the uneven state of the floor surface can be easily grasped in concrete construction of a floor surface that requires high flatness, such as a skating rink.

[0057] In this configuration, the position measurement system 1 may further include a projection device (not shown) that projects an image onto the measurement target area. The projection device may use projection mapping to project an elevation difference image onto the floor surface of the measurement target area, in which the measurement target area is color-coded according to the degree of elevation difference of the floor surface unevenness, in accordance with the actual position. The projection device may also project an elevation difference image generated based on the detection results detected in real time by the third detection unit onto the floor surface in real time. With this position measurement system 1, for example, after concrete is poured, the position of the elevation difference can be easily grasped by projecting an elevation difference image color-coded according to the degree of elevation difference of the floor surface unevenness onto the floor surface in accordance with the actual position, which can assist in correcting the floor surface.

[0058] [Variation 2] As shown in FIG. 11 , the position measurement system 1 may further include a measurement cart 40 that moves within the measurement area. The measurement cart 40 is, for example, a rider-type trowel used to level and finish concrete pouring surfaces. The measurement cart 40 includes, for example, at least one measurement object 2, a terminal device 30, and a rider-type trowel 41 that moves while leveling the floor surface. The rider-type trowel 41 includes a pair of rotating blades attached to the bottom. The rider-type trowel 41 can move in any direction while leveling the floor surface by balancing the rotation of the pair of rotating blades.

[0059] According to the position measurement system 1 of variant example 2, unevenness occurring on the floor surface can be quickly corrected using the measuring cart 40, and by further configuring the system to include the third detection unit of variant example 1, the position of unevenness on the concrete pouring surface (floor surface) during construction and the degree of correction can be grasped in real time.

[0060] [Variation 3] As shown in Fig. 12, the fourth detection unit 18, which detects the measurement object 2 and the unevenness of the floor surface, i.e., the height of the floor surface, may be provided on a floor surface measurement cart 50 that can move on the floor surface. The floor surface measurement cart 50 is remotely controlled wirelessly or via a cable and moves automatically on the floor surface. As a result, the floor surface measurement cart 50 acquires the unevenness of the floor surface, i.e., floor surface height information, using the fourth detection unit 18 and transmits it to the calculation unit 22. The calculation unit 22 associates the floor surface height information obtained from the fourth detection unit 18 with the position information of the measurement object 2 and, ultimately, the floor surface measurement cart 50 obtained from the first detection unit 11, and generates three-dimensional information about the floor surface.

[0061] According to the position measurement system 1 of the modified example 3, the floor surface measurement cart 50 moves automatically on the floor surface, thereby enabling efficient acquisition of three-dimensional data of the floor surface. According to the position measurement system 1 of the modified example 3, the floor surface measurement cart 50 moves autonomously, thereby enabling efficient acquisition of three-dimensional data of the floor surface.

[0062] The above-mentioned calculation unit 22 is realized by a processor such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit) executing a program (software). Some or all of these functional units may be realized by hardware such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array), or may be realized by a combination of software and hardware. The program may be stored in advance in a storage device such as an HDD (Hard Disk Drive) or flash memory included in the storage unit 24, or may be stored in a removable storage medium such as a DVD or CD-ROM and installed in the storage device by inserting the storage medium into a drive device.

[0063] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment and can be modified as appropriate without departing from the spirit of the present invention. For example, the position measurement system may be applied to outdoor surveying as well as indoor surveying. [Explanation of symbols]

[0064] 1 Positioning system 2. Measurement object 3 Main body 4 Reflector 5. Target 11 First detection unit 15 Second detection unit 18 Fourth detection unit 20 Arithmetic unit 30 Terminal Equipment 30G position 30M height difference image 40 Measuring trolley 50 Floor measurement trolley M Image

Claims

1. A position measurement system for measuring a detection target position within a measurement target area, comprising: a measurement object including a cylindrical reflecting portion and a target on which a predetermined display pattern is displayed, the measurement object being placed at the detection target position in the measurement target area; a measuring device including: a first detection unit that measures detection data including a detection direction of the measurement object using laser light reflected by the reflection unit; and a second detection unit that is directed in the detection direction of the first detection unit and acquires an image including the measurement object; a computing device that calculates the coordinates of the object to be measured in a coordinate system based on the measuring device that extends over the measurement target area based on the detection data, recognizes an ID of the object to be measured based on the display pattern displayed on the target in the image, and generates position information that associates the ID with the coordinates; Equipped with A plurality of the measurement objects are provided, The plurality of measurement objects each include a target on which a different display pattern is displayed, the calculation device calculates the coordinates of each of the plurality of measurement objects based on the detection data, and individually recognizes the plurality of IDs corresponding to each of the plurality of measurement objects based on the image, and generates the plurality of pieces of position information by associating the plurality of IDs with the plurality of corresponding coordinates, respectively; a third detection unit that measures the floor surface of the measurement target area three-dimensionally; The position measurement system is characterized in that the calculation device generates an elevation difference image in which the measurement target area is color-coded based on the results of three-dimensional measurement of the floor surface by the third detection unit.

2. a projection device that projects an image onto the measurement target area; the projection device projects the elevation difference image by using projection mapping to match it with the actual position of the measurement target area. The position measurement system of claim 1 .

3. a floor surface measuring cart that is provided with a fourth detection unit that acquires height information of the floor surface and the measurement object and that automatically moves within the measurement object area; the calculation device generates the position information of the floor surface measuring cart, and generates the height difference image based on the position information and the height information obtained by the fourth detection unit.

3. A position measurement system according to claim 1 or 2.

4. a measuring cart on which the measurement object is provided and which moves while leveling the floor surface of the measurement object area; A position measurement system according to any one of claims 1 to 3.

5. a measurement object having a cylindrical reflecting portion and a target on which a predetermined display pattern is displayed, the measurement object being placed at a detection target position in a measurement target area; a measuring device including a first detector capable of irradiating and detecting laser light and a second detector capable of acquiring an image; A position measurement method for measuring the detection target position in the measurement target area, comprising: placing the measurement object at the detection target position in the measurement target area; a step of irradiating the reflecting portion with laser light by the first detecting unit, detecting the laser light reflected by the reflecting portion, and acquiring detection data including a detection direction of the object to be measured; a step of directing a second detection unit in the detection direction and acquiring an image including the measurement object; calculating coordinates of the object to be measured in a coordinate system based on the measuring device that extends over the measurement target area based on the detection data; a step of recognizing an ID of the measurement object based on the display pattern displayed on the target of the image; generating location information that associates the ID with the coordinates; Equipped with A plurality of the measurement objects are provided, The plurality of measurement objects each include a target on which a different display pattern is displayed, calculating the coordinates of each of the plurality of measurement objects based on the detection data, individually recognizing the plurality of IDs corresponding to each of the plurality of measurement objects based on the image, and generating the plurality of pieces of position information by associating the plurality of IDs with the plurality of corresponding coordinates, respectively; a third detection unit that measures the floor surface of the measurement target area three-dimensionally; A position measurement method characterized in that an elevation difference image in which the measurement target area is color-coded is generated based on the results of three-dimensional measurement of the floor surface by the third detection unit.

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