Mobile devices and measurement systems

Abstract

To provide a moving device suitable for automatic measurement using a measuring apparatus, and a measurement system that includes the moving device.SOLUTION: A moving device comprises a post stretchable in a first direction, of which the base end is fixed in position and the tip moves in the first direction, a boom stretchable in a second direction that crosses the first direction and swingable in cylindrical plane round an axis parallel to the first direction as the axis of rotation, of which the base end is swingably fixed to the tip of the post, and a drive unit for causing the post to stretch and the boom to stretch and swing, with the tip of the boom moved to a preset position as the post and the boom operate in linkage. The measurement system comprises the moving device, a measuring apparatus mounted at the tip of the boom, and a control device for controlling the operation of each of the measuring apparatus and the moving device.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a mobile device and a measurement system including the mobile device.

Background Art

[0002] As a method for acquiring spatial position information of a structure, a measurement method using a three-dimensional scanner has been conventionally known. For example, Patent Document 1 describes a technique for scanning a small cross-section of a bridge superstructure constructed by a cantilever erection method with a three-dimensional scanner and measuring the formed dimensions of the small cross-section from point cloud data representing the surface shape acquired by the three-dimensional scanner.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In recent years, the population of skilled workers working at construction sites has been decreasing, and the aging process is progressing even compared to other industries. In addition, since the recruitment of young workers is also decreasing, there is concern about a shortage of future successors at construction sites that require a large amount of labor. Therefore, in Patent Document 1, for the purpose of improving productivity, a method for automating the formed shape inspection that has been performed manually is proposed.

[0005] Patent Document 1 mainly proposes a data processing method for deriving the surface shape and dimensions of the small cross-section based on the point cloud data acquired using a three-dimensional scanner in order to accurately measure the dimensions of the small cross-section of the bridge superstructure with a complex surface shape.

[0006] However, in order to completely automate the measurement of the surface shape and dimensions of structures and other objects being measured, it is desirable to realize a measurement system that includes a moving device that moves measuring equipment such as a 3D scanner to a predetermined measurement point, and a control device that controls the operation of the measuring equipment and the moving device, respectively, and transfers the measurement data from the measuring equipment to a computer system that processes point cloud data.

[0007] Patent Document 1 describes an example of a mobile device for moving a 3D scanner, in which rails are laid on a mobile work vehicle used to supply reinforcing bars, formwork, concrete, etc., to blocks under construction, and the 3D scanner (measuring instrument) is driven on these rails. However, in a configuration where the measuring instrument is driven on pre-laid rails, the range of movement of the measuring instrument is limited to the range of the rails. Therefore, it is desirable to have a mobile device that allows the measuring instrument to be moved more freely.

[0008] The present invention was made to solve the problems of the background technology described above, and aims to provide a mobile device and a measurement system including the mobile device that are suitable for automatic measurement using measuring instruments. [Means for solving the problem]

[0009] To achieve the above objective, the present invention provides a moving device comprising a post whose base end is fixed and whose tip portion moves in a first direction, and which is extendable and retractable in the first direction, The base end of the boom is rotatably fixed to the tip of the post, and is extendable and retractable in a second direction intersecting the first direction, and is also capable of pivoting within a cylindrical plane with an axis parallel to the first direction as its axis of rotation. A drive unit that extends and retracts the post and extends and rotates the boom, It has, The post and the boom operate in conjunction to move the tip of the boom to a preset position.

[0010] On the other hand, the measurement system of the present invention includes the above-mentioned mobile device, Measuring instruments mounted on the tip of the boom, Control devices for controlling the operation of the measuring instrument and the mobile device, respectively. It has, The aforementioned mobile device A first measuring instrument for detecting the length of the post, A second length measuring instrument for detecting the length of the boom, An angle detector for detecting the slewing angle of the boom, It further possesses, The control device is configured to move the measuring instrument to a preset measurement point using the moving device based on the detection results of the first length measuring instrument, the second length measuring instrument, and the angle detector, receive measurement data from the measuring instrument measured at the measurement point, and transmit the received measurement data to a processing device that performs predetermined processing on the measurement data. [Effects of the Invention]

[0011] According to the present invention, a mobile device and a measurement system suitable for automatic measurement using measuring instruments can be obtained. [Brief explanation of the drawing]

[0012] [Figure 1] This is a schematic diagram showing one example configuration of the mobile device of the present invention. [Figure 2] Figure 1 is a plan view showing one example of the configuration of the post. [Figure 3] Figure 1 is a side view showing one example of a boom configuration. [Figure 4] This is a block diagram showing one example configuration of the measurement system of the present invention. [Figure 5] Figure 4 is a flowchart showing an example of the processing performed by the control device included in the measurement system. [Modes for carrying out the invention]

[0013] Next, the present invention will be described with reference to the drawings.

[0014] FIG. 1 is a schematic diagram showing a configuration example of the mobile device of the present invention. FIG. 2 is a plan view showing a configuration example of the post shown in FIG. 1, and FIG. 3 is a side view showing a configuration example of the boom shown in FIG. 1. FIG. 4 is a block diagram showing a configuration example of the measurement system of the present invention.

[0015] As shown in FIG. 1, the mobile device 1 of the present invention includes a post 2 that is fixed at the base end portion 21 and whose tip end portion 22 moves in the first direction and is extendable and retractable in the first direction, and a base end portion 31 that is rotatably fixed to the tip end portion 22 of the post 2 and is extendable and retractable in a second direction intersecting the first direction, and a boom 3 that is rotatable within a cylindrical surface 26 having an axis 25 parallel to the first direction as a rotation axis, and a drive unit 4 that extends and retracts the post 2 and extends, retracts, and rotates the boom 3. The post 2 and the boom 3 operate in conjunction with each other to move the tip end portion 32 of the boom 3 to a preset position.

[0016] The Z-axis shown in FIG. 1 is the vertical direction, and the X-axis and Y-axis are directions perpendicular to the Z-axis, respectively. Also, the X-axis and Y-axis are perpendicular to each other. In FIG. 1, the Y-axis is a direction parallel to the surface of the structure 5 to be measured, and the X-axis is a direction perpendicular to the surface (depth direction). An example of the first direction is the vertical direction (the Z-axis direction in FIG. 1). An example of the second direction is a direction parallel to the XY plane in FIG. 1 or a direction intersecting the Z-axis.

[0017] The structure 5 to be measured by the mobile device 1 of the present invention is, for example, the small cross-section of the upper part of a bridge constructed by the overhanging erection method schematically shown in FIG. 1. The structure 5 to be measured is not limited to the upper part of a bridge, and may be various civil engineering structures and buildings constructed at a construction site, or precast members manufactured in a factory, etc. Also, the shape of the measurement target surface is not limited to the box shape shown in FIG. 1, and may be other shapes (for example, T-shaped, I-shaped, polygonal shapes such as square and triangle, or shapes including curves, etc.). Furthermore, the material of the structure 5 to be measured may be any material such as concrete, metal, or wood.

[0018] Post 2 has its base end 21 fixed to an aerial beam 6, for example, located vertically above the structure 5 being measured, such as the aforementioned mobile work vehicle or scaffolding positioned opposite the structure 5, and its tip end 22 moves vertically downward. In Figure 1, to show that post 2 and boom 3 extend and retract, the upper part of the figure shows post 2 and boom 3 in their retracted state, and the lower part of the figure shows post 2 and boom 3 in their extended state. In practice, only one boom 3 is mounted on the tip end 22 of one post 2.

[0019] The boom 3's tip 32 is movable within a predetermined angular range between a first direction and a direction perpendicular to the first direction. This allows the boom 3 to pivot within a cylindrical surface 26 with an axis 25 parallel to the first direction as its axis of rotation.

[0020] Figure 1 shows an example configuration in which post 2 is fixed vertically upward and expands and contracts vertically downward. However, post 2 may also be fixed vertically downward and expands and contracts vertically upward. Furthermore, post 2 may be fixed in a direction perpendicular to the vertical direction or in a direction intersecting the vertical direction.

[0021] Furthermore, although Figure 1 shows an example in which the base end 21 of post 2 is fixed, the base end 21 of post 2 may be moved in a direction perpendicular to the extension direction (first direction). For example, the base end 21 of post 2 may be configured to travel on rails laid on the aerial beam 6. In such a configuration, the range of movement of the tip 32 of boom 3 can be further increased.

[0022] In the configuration example shown in Figure 1, the boom 3 is mounted on the tip 22 of the post 2 so that it extends and retracts in a direction intersecting the extension and retraction direction of the post 2. Therefore, the range of rotation of the boom 3 is limited to a range that does not physically interfere with the post 2.

[0023] The drive unit 4 includes, for example, a hydraulic cylinder for extending and retracting the post 2 and boom 3, a hydraulic motor for rotating the boom 3, a hydraulic generator and various control valves for operating the hydraulic cylinder and hydraulic motor. Since the hydraulic cylinder, hydraulic motor and control valves are incorporated into the post 2 and boom 3, only the hydraulic generator is shown as part of the drive unit 4 in Figure 1. In Figure 1, the drive unit (hydraulic generator) 4 is shown lying flat, but the drive unit (hydraulic generator) 4 can be installed on the aforementioned mobile work vehicle, on scaffolding positioned opposite the structure 5, or on top of the structure 5.

[0024] The extension and retraction of post 2 and boom 3, as well as the rotation of boom 3, may be operated using a well-known electric motor. In that case, the drive unit 4 should be equipped with a mechanism for converting the rotational motion of the electric motor into linear motion or rotational motion, as well as a well-known power control circuit for driving the electric motor.

[0025] As shown in Figure 2, the post 2 is a multi-stage telescopic arm comprising multiple (five in the example shown in Figure 2) arms 23, each consisting of a box-shaped structure, in which subsequent arms 23 are sequentially and slidably inserted into the first-stage arm 23 at the base end 21. The post 2 shown in Figure 2 can be extended and retracted by, for example, using a hydraulic cylinder to send out the subsequent arms 23 from within the first-stage arm 23, or to house the subsequent arms 23 within the first-stage arm 23. Figure 2(a) shows the post 2 in a retracted state, and Figure 2(b) shows the post 2 in its maximum extended state. A turntable 24, on which the boom 3 is rotatably mounted, is attached to the tip 22 of the post 2.

[0026] As shown in Figure 3, the boom 3, like the post 2, is a multi-stage telescopic arm comprising multiple arms, for example, box-shaped structures, in which subsequent arms are sequentially and slidably inserted into the first stage arm at the base end 31. Figure 3 shows only the retracted state of the boom 3. The boom 3 can be extended and retracted by, for example, using a hydraulic cylinder to send out subsequent arms from the first stage arm, or by housing subsequent arms within the first stage arm. The boom 3 is configured such that its base end 31 is mounted on a turntable 24 fixed to the tip 22 of the post 2, and it can rotate within a predetermined range of angles with the base end 31 as a pivot point. The rotational movement of the boom 3 can be achieved, for example, by providing a hydraulic motor and a rotation mechanism.

[0027] The boom 3 may be equipped with a luffing mechanism 33 for raising and lowering the tip 32 side relative to the base 31. By providing such a luffing mechanism 33, the tip 32 can be moved within a predetermined angular range between a first direction and a direction perpendicular to the first direction. The luffing mechanism 33 can be realized, for example, by using a hydraulic cylinder or the like to raise and lower the tip 22 side of the first stage arm.

[0028] In Figure 3, an example configuration is shown in which the base end 31 of the boom 3 is mounted on a slewing platform 24 facing vertically upward. However, the base end 31 of the boom 3 may also be attached to a slewing platform 24 that is fixed facing vertically downward relative to the tip 22 of the post 2.

[0029] As shown in Figure 4, the measurement system 10 of the present invention comprises the aforementioned mobile device 1, a measuring instrument 7, and a control device 8 that controls the operation of the measuring instrument 7 and the post 2, boom 3, and drive unit 4 provided on the mobile device 1, respectively.

[0030] The measuring instrument 7 is a three-dimensional scanner, such as a laser scanner. The measuring instrument 7 is attached to a frame or the like fixed to the tip 31 of the boom 3 so that it can be moved to a preset measurement point using the moving device 1.

[0031] The control device 8 includes, for example, an operation panel 81 for operation by workers, and a well-known PLC (Programmable Logic Controller) 82, which controls the operation of the measuring instrument 7, post 2, boom 3, and drive unit 4 according to a pre-created program. The operation panel 81 includes various switches, including a main switch for turning the power of the entire measuring system 10 ON / OFF, an emergency switch for turning the power OFF in an emergency, and an operation switch for starting or stopping the measurement operation, as well as a display device for showing the results of operation by workers, etc., and the operating status of the measuring instrument 7, post 2, boom 3, and drive unit 4. The PLC 82 may be installed inside the operation panel 81. The control device 8 only needs to be configured to control the operation of the measuring instrument 7, post 2, boom 3, and drive unit 4 according to a pre-created program, and may include a well-known computer system instead of the PLC 82. Alternatively, a well-known computer system may be included in addition to the PLC 82, and the processing may be divided and executed between the PLC 82 and the computer system. If the control device 8 is equipped with a computer system, the functions of the processing device 9, which will be described later, may be realized by the computer system provided in the control device 8.

[0032] The control device 8 receives signals from various sensors attached to the mobile device 1 and controls the operation of control valves and switches (not shown), thereby enabling control of various operations of the measuring instrument 7 and the mobile device 1, including turning the power supply to the measuring instrument 7 and the drive unit 4 ON / OFF. The control device 8 can be installed together with the drive unit (hydraulic generator) 4 on the aforementioned mobile work vehicle, or on scaffolding positioned opposite the structure 5, or on top of the structure 5.

[0033] The control device 8 and the measuring instrument 7 are connected to each other so that data can be transmitted and received via a well-known wired communication means or wireless communication means. In addition, the control device 8 is connected to a processing unit (computer system) 9 that performs predetermined processing on the measurement data acquired by the measuring instrument 7, so that data can be transmitted and received via a well-known wired communication means or wireless communication means.

[0034] The processing unit 9 is configured to synthesize measurement data obtained from multiple measurement points, calculate the three-dimensional shape and dimensions of the object being measured, display the results on a display device such as a display, and output them in a pre-specified format. An example of a method for processing measurement data in the processing unit 9 is described, for example, in the above-mentioned Patent Document 1.

[0035] A length measuring device (first length measuring device) is attached to post 2 to detect the length of post 2 in the extension direction, so that the total length due to extension can be detected by the control device 8. Similarly, a length measuring device (second length measuring device) is attached to boom 3 to detect the length of boom 3 in the extension direction, so that the total length due to extension can be detected by the control device 8. The first and second length measuring devices can be any devices that can detect the lengths of post 2 and boom 3, for example, a well-known wire-type displacement meter can be used. If it is desired to detect the lengths of post 2 and boom 3 with higher accuracy, for example, a well-known laser displacement meter can be used as the length measuring device.

[0036] Furthermore, an angle detector, such as an encoder, is attached to the base end 31 of the boom 3 so that the slewing angle can be detected by the control device 8. In addition, if the boom 3 is equipped with the luffing mechanism 33 described above, the base end 31 of the boom 3 may be equipped with an angle detector, such as an encoder, for detecting the luffing angle. The angle detector for detecting the slewing angle and luffing angle is not limited to an encoder, but a well-known potentiometer or the like may be used.

[0037] Furthermore, the post 2 and boom 3 may be equipped with acceleration sensors to detect acceleration. The acceleration sensors can be attached, for example, to the tips 22 and 32 of the post 2 and boom 3. In that case, the control device 8 should stop the operation of the moving device 1 when it detects vibrations exceeding a preset threshold, for example, by the acceleration sensor, that is, when it detects abnormal operation of the post 2 or boom 3. In this way, by equipping the transport device 1 with acceleration sensors and stopping the operation of the moving device 1 when vibrations exceeding a threshold are detected in the post 2 or boom 3, the measurement system 10 can be operated safely.

[0038] Furthermore, the tip 32 of the boom 3, for example, the mount on which the measuring instrument 7 is mounted, may be equipped with a tactile switch to detect contact with an object, or a proximity sensor that detects approach to an object non-contactually using light, magnetism, etc. In that case, the control device 8 only needs to stop the operation of the mobile device 1 when it detects contact or approach to an object using the tactile switch or proximity sensor. By equipping the mobile device 1 with a tactile switch or proximity sensor in this way, and stopping the operation of the mobile device 1 when it detects contact or approach to an object, it is possible to prevent the measuring instrument 7, etc. from colliding with any object and being damaged.

[0039] Figure 5 is a flowchart showing an example of the processing performed by the control device included in the measurement system shown in Figure 4.

[0040] As shown in Figure 5, when the control device 8 starts the operation of the measurement system 10, it extends and retracts the post 2 and boom 3 and rotates the boom 3 to move the measuring instrument 7 from a predetermined initial position to a preset measurement point (step S1). The initial position can be set to the reference position (zero position) of the first and second length measuring instruments and the angle detector, etc. The initial position may also be set to a position that makes it easy for workers to maintain the moving device 1 and the measuring instrument 7. When the measuring instrument 7 reaches the measurement point, the control device 8 sends an instruction signal to the measuring instrument 7 at the measurement point to perform the measurement (step S2).

[0041] For example, if the measuring instrument 7 is a 3D scanner and the object to be measured is a structure 5, the control device 8 causes the 3D scanner to irradiate the structure 5 with laser light in the vertical and horizontal directions within a predetermined range of angles at predetermined measurement points, and scans the surface of the structure 5. The 3D scanner is equipped with a laser light receiving unit (not shown) and measures the distance to the surface of the structure 5 corresponding to each irradiation angle based on the irradiation angle, the time from irradiation to receiving the reflected light, etc.

[0042] The measurement points should be set at positions where the measuring instrument 7, such as a 3D scanner, can scan the entire object to be measured or a part of it. The measurement points can be set at one location or multiple locations. If there are multiple measurement points, the control device 8 should use the moving device 1 to sequentially move the measuring instrument 7 to each measurement point in a predetermined order, and have the measuring instrument 7 perform measurements at each measurement point.

[0043] When the control device 8 starts measurement using the measuring instrument 7, it determines whether the measurement of the measuring instrument 7 at the current measurement point has been completed (step S3). If the measurement has not been completed, the control device 8 waits for the measurement to be completed. Whether the measurement has been completed can be determined, for example, based on a signal indicating the completion of measurement transmitted from the measuring instrument 7. If the operation of the mobile device 1 or the measuring instrument 7 stops due to an abnormality, etc., and the measurement of the measuring instrument 7 is not completed, the control device 8 may notify the worker of the abnormality using the display device provided in the control panel 81 or the processing device 9. Once the measurement of the measuring instrument 7 is completed, the control device 8 determines whether the measurement at all pre-specified measurement points has been completed (step S4). If the measurement at all measurement points has not been completed, the control device 8 returns to the process of step S1, moves the measuring instrument 7 to the next specified measurement point using the mobile device 1, and repeats the processes from step S2 to step S4. If the operation of the mobile device 1 or the measuring instrument 7 stops due to an abnormality, etc., and the measurement at all measurement points is not completed, the control device 8 may notify the worker of the abnormality using the display device provided in the control panel 81 or the processing device 9. If measurements have been completed at all measurement points, the control device 8 uses the moving device 1 to move the measuring instrument 7 back to its initial position. The control device 8 also sends an instruction signal to the measuring instrument 7 to transmit measurement data for each measurement point (step S5). Finally, the control device 8 transmits all the measurement data for each measurement point received from the measuring instrument 7 to the processing device 9 (step S6) and terminates the process. The control device 8 may also attach position information indicating the location of the corresponding measurement point to each measurement data point and transmit it to the processing device 9.

[0044] The control device 8 may also receive measurement data for each measurement point each time the measurement by the measuring instrument 7 at each measurement point is completed, and transmit it to the processing device 9.

[0045] Furthermore, the control device 8 may start the measurement operation from a reserved time according to a schedule set in advance by the worker or other personnel. Such operation can be achieved by using the scheduling function provided by the PLC 82. By starting the measurement operation from a reserved time in this way, the measurement system 10 can be used to take measurements at any time of day (for example, during the worker's break, at night, etc.).

[0046] Preferably, the control device 8 controls the movement of the moving device 1 so that the extension and retraction of the post 2, the extension and retraction of the boom 3, and the rotation of the boom 3 are not performed simultaneously (they operate non-simultaneously). Such movements can be achieved by a program for controlling the movement of the moving device 1 provided in the PLC. For example, if the boom 3 is first moved in a first direction (e.g., vertically) using the post 2, then the boom 3 is rotated while retracted, and finally the boom 3 is extended, the tip 32 of the boom 3 can be moved within a relatively narrow range. Therefore, even in a narrow space, the measuring instrument 7 mounted on the tip 32 of the boom 3 can be moved to the desired measurement point.

[0047] Furthermore, the control device 8 may change the extension / retraction speed of post 2, the extension / retraction speed of boom 3, and the rotation speed of boom 3 when post 2 and boom 3 are extended / retracted and when boom 3 is rotated. For example, post 2 and boom 3 may be extended / retracted at a relatively fast speed (first speed) while they are extended / retracted, and at the start and end of extension / retraction, they may be extended / retracted at a slower speed than the first speed (second speed). Also, boom 3 may be rotated at a relatively fast speed (third speed) while it is rotating, and at the start and end of rotation, it may be rotated at a slower speed than the third speed (fourth speed). The extension / retraction speed and rotation speed do not need to be changed in two stages, but may be changed in more stages.

[0048] When extending and retracting the post 2 and boom 3 using hydraulic cylinders, the extension and retraction speed can be changed by altering the pressure of the oil supplied from the hydraulic pump to the hydraulic cylinders. Similarly, when rotating the boom 3 using a hydraulic motor, the rotation speed can be changed by altering the torque by altering the pressure of the oil supplied from the hydraulic pump to the hydraulic motor. When operating the post 2 and boom 3 using electric motors, for example, by changing the frequency of the power supplied to the electric motor using an inverter, the rotation speed of the electric motor changes, and therefore the extension and retraction speed and rotation speed can be altered.

[0049] By changing the extension / retraction speed of post 2, the extension / retraction speed of boom 3, and the slewing speed of boom 3 in this way, the force (acceleration) applied to post 2, boom 3, and measuring instrument 7 during extension / retraction and slewing can be suppressed, while the travel time of the tip of boom 3 (measuring instrument 7) relative to the measurement point can be shortened. Therefore, a reduction in the measurement time in the measurement system 10 can be expected. In addition, by slowing down the speed at the end of extension / retraction and the speed at the end of slewing, the occurrence of twisting of post 2 and boom 3 during movement can be suppressed, and thus an improvement in the accuracy of the stopping position of the tip of boom 3 (measuring instrument 7) can be expected.

[0050] According to the mobile device 1 of the present invention, by comprising a post 2 that can extend and retract in a first direction, and a boom 3 that can extend and retract in a second direction intersecting the first direction and can rotate within a cylindrical surface 26 with an axis 25 parallel to the first direction as its axis of rotation, the tip 32 of the boom 3 can be moved in three dimensions within the extension and retraction range of the post 2 and boom 3, and within the rotation range of the boom 3.

[0051] Furthermore, according to the measurement system 10 of the present invention, by mounting the measuring instrument 7 on the tip 32 of the boom 3, the control device 8 can use the moving device 1 to move the measuring instrument 7 to a predetermined measurement point and perform measurements, and transmit the measurement data obtained at the measurement point to the processing device 9 which performs predetermined processing on the measurement data. As a result, the measurement of the structure 5 and other objects to be measured can be performed automatically.

[0052] Therefore, a mobile device 1 and a measurement system 10 suitable for automatic measurement using the measuring instrument 7 can be obtained. [Explanation of symbols]

[0053] 1 Mobile device 2 posts 3 Boom 4 Drive Unit 5 Structures 6 aerial beam 7 Measuring Instruments 8 Control device 9 Processing Unit 10 Measurement Systems 21, 31 Proximal end 22, 32 Tip 23 Arms 24 Turntable 25 axes 26 Cylindrical surface 33 Luffing mechanism 81 Control panel 82 PLC

Claims

1. A moving device comprising: a post whose base is fixed and whose tip moves in a first direction and is extendable in the first direction; a boom whose base is rotatably fixed to the tip of the post, which is extendable in a second direction intersecting the first direction and is also capable of rotatable within a cylindrical plane with an axis parallel to the first direction as its axis of rotation; and a drive unit that extends and retracts the post and extends and rotates the boom, wherein the post and the boom operate in conjunction to move the tip of the boom to a preset position. Measuring instruments mounted on the tip of the boom, Control devices for controlling the operation of the measuring instrument and the mobile device, respectively. It has, The first direction is vertical, and the direction of movement of the tip of the post is vertically downward. The aforementioned mobile device A first measuring instrument for detecting the length of the post, A second length measuring instrument for detecting the length of the boom, An angle detector for detecting the slewing angle of the boom, It further possesses, The control device moves the measuring instrument to a preset measurement point using the moving device based on the detection results of the first length measuring instrument, the second length measuring instrument, and the angle detector, receives measurement data from the measuring instrument measured at the measurement point, and transmits the received measurement data to a processing device that performs predetermined processing on the measurement data.

2. The measurement system according to claim 1, wherein the post and boom are each composed of multi-stage telescopic arms.

3. The aforementioned moving device further includes an acceleration sensor, The measurement system according to claim 1 or 2, wherein the control device stops the operation of the moving device when vibration exceeding a preset threshold is detected by the acceleration sensor.

4. The measurement system according to any one of claims 1 to 3, wherein the control device performs the extension and retraction of the post, the extension and retraction of the boom, and the rotation of the boom in a non-simultaneous manner.

5. The measurement system according to any one of claims 1 to 4, wherein the control device, at a predetermined time, starts moving the measuring instrument using the moving device and causes the measuring instrument to take a measurement at the measurement point.

6. The control device is During the extension and retraction of the post and the boom, they are extended and retracted at a first speed, and at the start and end of the extension and retraction of the post and the boom, they are extended and retracted at a second speed slower than the first extension and retraction speed. The measurement system according to any one of claims 1 to 5, wherein the boom is rotated at a third speed while it is rotating, and at the start and end of the rotation of the boom, it is rotated at a fourth speed slower than the third speed.

7. The measurement system according to any one of claims 1 to 6, wherein the measuring instrument is a three-dimensional scanner.

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