JP3945512B2 - Three-dimensional information measuring method and apparatus, swing measuring method and apparatus - Google Patents

Description

  The present invention relates to a three-dimensional information measuring method and apparatus using laser light, a fluctuation measuring method and apparatus.

  Gondolas installed at ski resorts, etc., have a pendulum motion with the cable as a fulcrum due to the influence of the wind, etc., so when the swing angle exceeds a predetermined level, the gondola operation stops. ing. In general, the operation stop is judged by the gondola operation manager using the video from the surveillance camera to determine the gondola swing angle, or from the anemometer data based on past trends and assuming the gondola swing angle. Judgment.

  In addition, as a method of determining the swing angle of the gondola, means such as attaching an inclinometer to the gondola can be considered, but since each gondola requires a power supply facility, it is not widespread.

Here, as related prior art documents for grasping the position of an object, the following patent documents 1, 2 and the like already exist.
JP 2001-80881 A JP-A-5-330783

  However, when the operation manager decides to stop the gondola operation, the amount of swaying of the gondola cannot be grasped quantitatively, and it becomes a subjective judgment of the operation manager. As a result, there is a problem that an experienced operation manager stops the operation even in a situation where the operation is continued. In addition, since monitoring is performed by humans, there are problems that it is difficult to see the gondola due to snow, rain, and fog, and that monitoring is difficult at all times.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a three-dimensional information measurement method and apparatus, a swing measurement method and apparatus for acquiring information on an object by scanning with laser light. .

Claim 1 of the present invention scans a predetermined area with laser light, detects the time until the reflected light returns from the object as reflected light time data, and also reflects the reflected light returned from the object. Intensity is detected as reflected light intensity data, and information on the object is obtained using any one of three-dimensional information obtained from one of reflected light time data and reflected light intensity data.
Information processing of the reflected light time data is information processing of the object using the number of measurement points of the reflected light,
Information processing of the reflected light intensity data is a three-dimensional information measuring method characterized by performing information processing of the object from the difference due to the intensity of the reflected light using a reflective tape previously arranged at a specific position of the object , It is related to.

  According to the second aspect of the present invention, when the reflected light time data is detected, if the number of measurement points of the reflected light by the laser light is less than the threshold value, the corresponding reflected light time data is excluded and the reflected light intensity data is detected. The three-dimensional information measuring method according to claim 1, wherein if the reflected light measurement value is inappropriate, the corresponding reflected light intensity data is excluded.

  Claim 3 of the present invention relates to the three-dimensional information measuring method according to claim 1 or 2, wherein the center of gravity of the object is measured from the reflected light time data and the reflected light intensity data as the object information.

A fourth aspect of the present invention includes a laser head that scans a predetermined area with laser light and receives reflected light from an object, and a control processing unit that processes the reflected light.
The control processing unit detects the time until the reflected light returns from the object as reflected light time data, and detects the intensity of the reflected light returned from the object as reflected light intensity data. The object information is obtained using any one of the three-dimensional information obtained from one of the reflected light time data and the reflected light intensity data,
Information processing of the reflected light time data is information processing of the object using the number of measurement points of the reflected light,
The information processing of the reflected light intensity data is configured to perform information processing of the object from the difference due to the intensity of the reflected light using a reflective tape previously arranged at a specific position of the object. This relates to the original information measuring device.

  Claim 5 of the present invention is the three-dimensional information measuring apparatus according to claim 4, wherein the control processing unit is configured to measure the center of gravity of the object from the reflected light time data and the reflected light intensity data as the object information. It is related to.

According to a sixth aspect of the present invention, a predetermined area is scanned with laser light, and the time until the reflected light returns from the object is detected as reflected light time data, and the reflected light returned from the object is detected. detecting the intensity as a reflected light intensity data, the specific position data of the object from one of the reflected light intensity data and the reflected light time data measured, to determine the amplitude angle of the object from a specific position data,
Information processing of the reflected light time data is to determine the specific position data of the object using the number of reflected light measurement points,
The information processing of the reflected light intensity data is a fluctuation measuring method characterized in that the specific position data of the object is obtained from the difference due to the intensity of the reflected light using a reflective tape previously arranged at the specific position of the object , It is related to.

Claim 7 of the present invention calculates the change amount of the object from a specific position data as velocity data, velocity data, rocking of claim 6, wherein estimating the amplitude angle of the object in contrast to previously prepared database This relates to a dynamic measurement method.

Claim 8 of the present invention includes a laser head that scans a predetermined area with laser light and receives reflected light from an object, and a control processing unit that processes the reflected light.
The control processing unit detects the time until the reflected light returns from the object as reflected light time data, and detects the intensity of the reflected light returned from the object as reflected light intensity data. Measure specific position data from either reflected light time data or reflected light intensity data, determine the amplitude angle of the object from the specific position data ,
Information processing of the reflected light time data is to determine the specific position data of the object using the number of reflected light measurement points,
The information processing of the reflected light intensity data is configured to obtain the specific position data of the object from the difference due to the intensity of the reflected light using a reflective tape previously arranged at the specific position of the object. This relates to a swing measuring device.

According to claim 9 of the present invention, the control processing unit calculates the amount of change of the object from the specific position data as speed data, and determines the amplitude angle of the object by comparing the speed data with a database prepared in advance. oscillating measuring device according to claim 9, which is configured to, those related to.

  Thus, according to the three-dimensional information measuring method and apparatus of the present invention, a predetermined area is scanned with laser light, and the time until the reflected light returns from the object is detected as reflected light time data. At the same time, the intensity of the reflected light returned from the object is detected as reflected light intensity data, and the information on the object is obtained by using the reflected light time data and the reflected light intensity data together. Can be used to make objective decisions. Moreover, since the information on the object is acquired by using the reflected light time data and the reflected light intensity data in combination, the information on the object is preferably acquired even when the measurement conditions deteriorate due to snow, rain, or fog. be able to. Furthermore, since information on the object is acquired by scanning with laser light, the object can be constantly monitored, unlike human monitoring.

  When the reflected light time data is detected, if the number of measurement points of the reflected light by the laser light is less than the threshold value, the corresponding reflected light time data is excluded, and when the reflected light intensity data is detected, the reflected light measurement value is invalid. If appropriate, if the corresponding reflected light intensity data is excluded, the quality of the information on the object is improved, so that quantitative information on the object can be appropriately grasped and a more objective judgment can be made.

  When the center of gravity of the object is measured from the reflected light time data and the reflected light intensity data as the object information, it is possible to appropriately grasp the movement of the object and make a more objective judgment.

  When the object is provided with a reflective tape, the laser light can be reflected by the reflective tape, so that even when the measurement conditions are deteriorated due to snow, rain, or fog, information on the object is more suitably acquired. Can do.

On the other hand, according to the swing measurement method and apparatus of the present invention, by measuring the specific position data of the object from one of the reflected light intensity data and the detected reflected light time data, the amplitude of the object from a specific position data Since the angle is determined, it is possible to quantitatively grasp the amount of shaking of the object and objectively judge the movement of the object, and prevent the variation of the object's operation that depends on the individual judgment of the operation manager. As a result, it is possible to determine whether or not the object can be appropriately operated. In addition, when the amplitude of the object is obtained from both the reflected light time data and reflected light intensity data and the amount of shaking is grasped, even if the measurement conditions deteriorate due to snow, rain or fog, the target It is possible to objectively and suitably determine the movement of the object and to determine whether or not the object can be appropriately operated. Furthermore, since information on the object is acquired by scanning with laser light, the object can be constantly monitored, unlike human monitoring.

By calculating the amount of change of the object as velocity data from the specific position data and estimating the amplitude angle of the object by comparing the velocity data with a database prepared in advance, the amount of shaking of the object can be quantitatively and easily determined. It is possible to grasp the movement of the target object more objectively and determine whether the target object can be operated appropriately.

  According to the above-described three-dimensional information measuring method and apparatus, fluctuation measuring method and apparatus of the present invention, information on an object is acquired from reflected light intensity data or the like by scanning with laser light. It is possible to obtain an excellent effect of being able to grasp objective information and make an objective judgment.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a schematic diagram showing a fluctuation measuring apparatus including a three-dimensional information measuring apparatus according to an embodiment of the present invention, and FIG. 2 is a fluctuation measurement including the three-dimensional information measuring apparatus according to the embodiment of the present invention. FIG. 3 is a conceptual diagram showing a state in which a gondola is measured by an apparatus. FIG. 3 is a flowchart showing a three-dimensional information measuring method and apparatus, an oscillation measuring method and a measurement procedure according to the embodiment of the present invention. It is a conceptual diagram which shows the process which calculates | requires the gravity center of a target object in the form which implements. 1 to 4 show the case of the swing measurement method and apparatus of the present application, but also show the case of the three-dimensional information measurement method and apparatus of the present application as described below.

  As shown in FIGS. 1 and 2, the three-dimensional information measuring method and apparatus of the present application are provided in a lift 3 that moves an object 1 such as a gondola through a wire rope 2, and a column that supports the wire rope 2. 4 is provided with a laser head 5, a control unit 7 of a control processing unit 6 is disposed below the support column 4, and a determination processing PC 8 of the control processing unit 6 is provided in a cab (not shown). .

  The laser head 5 includes a laser oscillating unit 9 such as a semiconductor laser that oscillates a laser beam of a pulse laser, a mirror unit 10 that reflects the oscillated laser beam, and a mirror that moves the laser beam vertically while swinging in the horizontal direction. A scanning motor 11 and a swinging motor 12 for operating the unit 10, and a detection unit 13 for receiving the laser beam reflected from the object 1, and the laser beam from the support column 4 to several tens to hundreds of meters It is scanned in a predetermined area and reflected by an object 1 such as a gondola. In the figure, reference numeral 14 denotes a lens on the laser oscillation unit 9 side, and 15 denotes a lens on the detection side.

  The control unit 7 of the control processing unit 6 sends a start signal to the laser oscillation unit 9 and receives a detection signal from the detection unit 13. The control unit 7 is connected to the counter unit 16 and the reflected light returns from the object 1. The reflected light time detection unit 17 that detects the time until the reflected light, the reflected light intensity detection unit 18 that detects the intensity of the reflected light that is connected to the counter unit 16 and returns from the object 1, and scans to scan the laser light. A motor driver 19 and a control PC 20 that control the movements of the motor 11 and the swing motor 12, a reflected light time detector 17, a reflected light intensity detector 18, and a data processor 21 connected to the motor driver 19 are provided. The data processing unit 21 receives the reflected light time data from the reflected light time detector 17, the reflected light intensity data from the reflected light intensity detector 18, and the motor driver 19. It is adapted to generate data of an object 1 to process the swing-scan data.

  The determination processing PC 8 of the control processing unit 6 receives information on the object 1 from the data processing unit 21 and further processes it.

  On the other hand, as shown in FIG. 2, a reflection tape 22 that can suitably reflect laser light is attached to the object 1 such as a gondola.

  Hereinafter, the operation of the embodiment implementing the three-dimensional information measuring method and apparatus of the present invention will be described.

  When measuring the information of the target 1 such as a gondola, as shown in FIG. 3, first, in step S1, laser light of a pulse laser is applied to a predetermined area in which the target 1 moves in the hundreds of thousands per second. The laser beam is scanned by a raster scan method so that the laser beam is moved vertically while being swayed in the horizontal direction at a shot rate.

  Next, in step S2, the reflected light returning from the object 1 is received by the detection unit 13 of the laser head 5, and the time until the reflected light returns from the object 1 in the scanning direction of the laser light is the reflected light time. The reflected light intensity detection unit 17 detects the reflected light intensity (signal level difference) returned from the object 1 in the laser beam scanning direction as reflected light intensity data. To do. Here, the reflected light may be reflected by the reflecting tape 22 and returned and the reflected light may be reflected from other parts of the object 1 and returned. Further, since the detected reflected light time data and reflected light intensity data include data of reflected light from other than the object 1 as noise, in step S3, the data from other than the object 1 set in advance is included. Delete the reflected light data.

  Subsequently, in step S4, the number of measurement points of the reflected light by the pulse laser is grouped in a range located within an arbitrarily set distance width and recognized as one object 1, and at the same time, the reflection of the grouped measurement points is reflected. The light time data is subjected to processing such as averaging, and the distance to the object 1 is calculated with reference to the reflected light time data as distance contrast data.

  Here, after step S4 is completed, the first processing route (step S5, step S6) for processing the reflected light time data and the second processing route (step S7, step S8) for processing the reflected light intensity data. Step S9) and both are processed in parallel.

  In step S5 of the first processing route, if the number of measurement points of the reflected light by the laser light is equal to or greater than a predetermined threshold (YES in step S5 in FIG. 3), the reflected light time data is assumed to have high certainty. On the other hand, if the number of measurement points of the reflected light by the laser beam is less than the predetermined threshold (NO in step S5 in FIG. 3), appropriate data can be obtained for most of the reflected light for some reason. If the certainty factor is low, the corresponding reflected light time data is excluded, the process proceeds to step S10 to continue measurement, and the process returns to step S1. Here, the reason why appropriate data cannot be obtained includes weather conditions such as snow, rain, and fog.

  In step S6, the reflected light time data is subjected to predetermined information processing to calculate the center of gravity of the object 1, and the process proceeds to step S11. Note that the center of gravity of the object 1 is not limited to the position of the center of gravity of the object 1, and is not particularly limited as long as it specifies the point position of the object 1 such as the center position of the object 1. . In addition, as an example of processing for obtaining the center of gravity of the object 1, as shown in FIG. 4, the first direction (horizontal) from a plurality of measurement points (measurement data number) of reflected light time data in the measurement data group 23 of the object 1 is obtained. The first direction centroid position G1 is determined by calculating an average value of (direction angle), and at the same time, from the plurality of measurement points (measurement data number) of the reflected light time data in the measurement data group 23 of the object 1 in the second direction. An average value of (vertical direction angle) is calculated to determine the second direction gravity center position G2, and the gravity center Gf of the object 1 is obtained from the first direction gravity center position G1 and the second direction gravity center position G2.

  On the other hand, in step S7 of the second processing route, reflected light intensity data corresponding to each distance to the object 1 is extracted, and in step S8, the reflected light intensity data is subjected to predetermined information processing different from step S6. Thus, the center of gravity of the object 1 is calculated. Note that the center of gravity of the object 1 is not limited to the position of the center of gravity of the object 1 as in the case of step S6, but specifies the point position of the object 1 such as the center position of the object 1. If it is, it will not specifically limit. As another example of the process for obtaining the center of gravity of the object 1, the center of gravity of the object 1 is obtained from the reflected light intensity data of the reflecting tape 22 by applying the reflecting tape 22 to the center of gravity of the object 1 in advance. .

  Next, in step S9, if the reflected light intensity data by the laser light is within a predetermined numerical range or within a predetermined displacement and is appropriate data (YES in step S9 in FIG. 3), the reflected light intensity data. Since the certainty factor is high, the process proceeds to step S11. On the other hand, the reflected light intensity data by the laser light is within a predetermined numerical range or a predetermined displacement amount, and inappropriate data (in step S9 in FIG. 3). NO direction), appropriate data cannot be obtained for some reason because most of the reflected light is low, and it is determined that the certainty level is low, and the corresponding reflected light time data is excluded and the process proceeds to the determination to continue measurement in step S10. Return to S1.

  In step S11, the three-dimensional center of gravity of the object 1 is measured using the center of gravity of the object 1 calculated by the first processing route and the center of gravity of the object 1 calculated by the second processing route. Here, the control unit 7 of the laser head 5 and the control processing unit 6 obtains and updates the reflected light time data and the reflected light intensity data in one to several tens of frames per second as the laser beam is scanned, A plurality of data of the three-dimensional center of gravity of the object 1 measured in step S11 is obtained corresponding to the elapsed time, and is appropriately sent to the determination processing PC8. Note that the processing from step S3 to step S11 may be performed by the data processing unit 21, or may be performed by the determination processing PC8, or the steps may be appropriately divided between the data processing unit 21 and the determination processing PC8. Good.

  As described above, according to the embodiment of the three-dimensional information measuring method and the apparatus of the present invention, the time until the reflected light returns from the object 1 after scanning the laser beam in the predetermined area is the reflected light time. Since it is detected as data, the intensity of the reflected light returned from the object 1 is detected as reflected light intensity data, and the information of the object 1 is acquired using the reflected light time data and the reflected light intensity data together. It is possible to make an objective judgment by grasping quantitative information of the object 1 such as the above. In addition, since the information on the object 1 is acquired by using the reflected light time data and the reflected light intensity data in combination, the information on the object 1 such as a gondola is obtained even when the measurement conditions deteriorate due to snow, rain, or fog. Can be suitably obtained. Furthermore, since information on the object 1 is acquired by scanning with a laser beam, the object 1 such as a gondola can be constantly monitored, unlike human monitoring.

  When the reflected light time data is detected, if the number of measurement points of the reflected light by the laser light is less than the threshold value, the corresponding reflected light time data is excluded, and when the reflected light intensity data is detected, the reflected light measurement value is invalid. If appropriate, if the corresponding reflected light intensity data is excluded, the information quality of the object 1 is improved, so that quantitative information of the object 1 can be suitably grasped and a more objective judgment can be made.

  When the center of gravity of the object 1 is measured from the reflected light time data and the reflected light intensity data as information on the object 1, it is possible to appropriately grasp the movement of the object 1 and make a more objective determination.

  When the object 1 is provided with the reflecting tape 22, the laser light can be suitably reflected by the reflecting tape 22, so that the information on the object 1 is more suitable even when the measurement conditions deteriorate due to snow, rain, or fog. Can be obtained.

  The swing measurement method and apparatus of the present application will be described below.

  As shown in FIG. 1 and FIG. 2, the fluctuation measuring method and apparatus of the present application include the three-dimensional information measuring apparatus and apparatus described above, and have substantially the same configuration. The difference is that the processing steps are continued, and the operation of the embodiment for implementing the fluctuation measuring method and apparatus of the present invention will be described.

  When measuring the information of the target 1 such as a gondola, the process from step S1 to step S10 is performed as shown in FIG. 3 in substantially the same manner as in the case of the previous three-dimensional information measurement method and apparatus.

  In step S11, the center of gravity of the object 1 from at least one of the center of gravity of the object 1 calculated by the first processing route from the reflected light time data and the center of gravity of the object 1 calculated by the second processing route from the reflected light intensity data. Data (three-dimensional centroid) is measured and sent to the determination process PC 8, and the determination process PC 8 accumulates a plurality of centroid data of the object 1 corresponding to the elapsed time. Here, the control unit 7 of the laser head 5 and the control processing unit 6 receives the reflected light time data and the reflected light intensity data together with the scanning of the laser light, almost as in the case of the three-dimensional information measuring method and apparatus. It is obtained at 1 to several tens of frames per second and updated sequentially. The number of frames for obtaining the reflected light time data and reflected light intensity data is not limited to the range of 1 to several tens of frames per second, and may be other frames.

  On the other hand, when the weather conditions such as snow, rain, and fog deteriorate when measuring the center of gravity data, the center of gravity of the object 1 calculated by the first processing route and the object 1 calculated by the second processing route The center of gravity data is measured together with the center of gravity.

  After measuring a plurality of centroid data of the object 1 in step S11 and storing it in the determination processing PC8, the process proceeds to step S12. In step S12, one centroid data (Nth) and previous centroid data (N− The change amount of the object 1 is calculated as speed data.

  Next, in step S13, an approximate determination process with the database D is performed so that the calculated speed data is compared with the database D of the motion mode prepared in advance, and the provisional maximum amplitude angle of the object 1 is estimated. The determination processing PC 8 accumulates the estimated temporary maximum amplitude angle of the object 1 as data of a plurality of measurement numbers so as to correspond to the elapsed time. Here, the exercise mode database D may be calculated from the hanging length of the object 1 such as a gondola, or may be a total of data obtained by actual measurement.

  Subsequently, in step S14, the maximum amplitude angle within a predetermined time is determined by averaging the number of measurements including a plurality of provisional maximum amplitude angles. At this time, if the maximum amplitude angle (swing amount) of the object 1 such as a gondola is within a predetermined range, the operation returns to step S1 because the operation of the object 1 such as the gondola can be performed. The process of S14 is repeated. On the other hand, if the maximum amplitude angle (swing amount) of the target object 1 such as a gondola is larger than the predetermined range, the operation of the target object 1 cannot be performed and the process proceeds to step S15 and data is output from the host system or the like. Then, the operation manager is warned and the operation of the gondola is stopped.

  Here, the processing from step S3 to step S15 may be processed separately by the data processing unit 21 and the determination processing PC8, or may be processed by either the data processing unit 21 or the determination processing PC8. . In addition, when the process is shifted to step S10 because the certainty of the reflected light time data or reflected light intensity data is low, the data becomes unsuitable continuously (NO in step S10 in FIG. 3), etc. Since the maximum amplitude angle (amount of shaking) of the target object 1 cannot be measured, data is output from the host system or the like, and the measurement process is stopped. On the other hand, when only part of the data is inappropriate and does not affect the measurement process (YES in step S10 in FIG. 3), the process returns to step S1 and the measurement process is repeated.

  As described above, according to the embodiment of the fluctuation measuring method and the apparatus of the present invention, the centroid data of the object 1 is measured from at least one of the detected reflected light time data and reflected light intensity data, and the object is obtained from the centroid data. Since the amplitude angle of the object 1 is determined, the amount of movement of the object 1 such as a gondola is quantitatively grasped to judge the movement of the object 1 objectively and depend on the individual judgment of the operation manager. It is possible to prevent variation in whether or not the object 1 such as a gondola can be operated, and as a result, determine whether or not the object 1 such as a gondola can be operated appropriately. In addition, when the amplitude angle of the object 1 is obtained from both the reflected light time data and the reflected light intensity data and the amount of shaking is grasped, even if the measurement conditions are deteriorated due to snow, rain or fog, The movement of the object 1 can be objectively and suitably determined, and it can be determined whether or not the object 1 such as a gondola can be operated appropriately. Furthermore, since information on the object 1 is acquired by scanning with a laser beam, the object 1 such as a gondola can be constantly monitored, unlike human monitoring. Furthermore, when a swing measuring device is provided on the pillars 4 of the plurality of lifts 3, the objects 1 such as a plurality of gondola are simultaneously measured, and the amount of shaking of the objects 1 such as the gondola in the entire lift 3 is averaged. Therefore, the amount of shaking of the object 1 such as a gondola can be grasped quantitatively and preferably, and the movement of the object 1 can be objectively determined.

  When the amount of change of the object 1 is calculated from the centroid data as velocity data, and the amplitude angle of the object 1 is estimated by comparing the velocity data with a database prepared in advance, the amount of shaking of the object 1 can be quantitatively and easily determined. The movement of the object 1 can be more objectively determined, and it can be determined whether the object 1 is suitable for operation.

  Note that the three-dimensional information measuring method and apparatus, the swing measuring method and apparatus thereof according to the present invention are not limited to the above-described embodiments, and suspended handling means such as cable cranes and container cranes other than lifts. The block part of the hook or bucket used in the above may be used as a control object of the present invention, the procedure of the step may be changed if the movement of the object 1 is measured by scanning with a laser beam, etc. Of course, various modifications can be made without departing from the scope of the present invention.

It is the schematic which shows the rocking | swiveling measuring apparatus which is embodiment which implements this invention and contains a three-dimensional information measuring device. It is a conceptual diagram which shows the state which measures embodiment of this invention and measures a gondola with the rocking | swiveling measuring device containing a three-dimensional information measuring device. It is a flow which shows the procedure of the measurement by the three-dimensional information measuring method and its apparatus of embodiment which implements this invention, the fluctuation | variation measuring method, and an apparatus. It is a conceptual diagram which shows the process which calculates | requires the gravity center of a target object in the form which implements this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Object 5 Laser head 6 Control processing part 22 Reflective tape

Claims (9)

A predetermined area is scanned with laser light, and the time until the reflected light returns from the object is detected as reflected light time data, and the intensity of the reflected light returned from the object is detected as reflected light intensity data. Then, information on the object is obtained using any one of the three-dimensional information obtained from one of the reflected light time data and the reflected light intensity data,
Information processing of the reflected light time data is information processing of the object using the number of measurement points of the reflected light,
The information processing of the reflected light intensity data is a three-dimensional information measuring method characterized in that information processing of an object is performed from a difference due to the intensity of reflected light using a reflection tape previously arranged at a specific position of the object .   When the reflected light time data is detected, if the number of measurement points of the reflected light by the laser light is less than the threshold value, the corresponding reflected light time data is excluded, and when the reflected light intensity data is detected, the reflected light measurement value is invalid. The three-dimensional information measurement method according to claim 1, wherein if appropriate, the corresponding reflected light intensity data is excluded.   The three-dimensional information measurement method according to claim 1 or 2, wherein the center of gravity of the object is measured from the reflected light time data and the reflected light intensity data as the object information. A laser head that scans a predetermined area with laser light and receives reflected light from the object, and a control processing unit that processes the reflected light,
The control processing unit detects the time until the reflected light returns from the object as reflected light time data, and detects the intensity of the reflected light returned from the object as reflected light intensity data. The object information is obtained using any one of the three-dimensional information obtained from one of the reflected light time data and the reflected light intensity data,
Information processing of the reflected light time data is information processing of the object using the number of measurement points of the reflected light,
The information processing of the reflected light intensity data is configured to perform information processing of the object from the difference due to the intensity of the reflected light using a reflective tape previously arranged at a specific position of the object. Original information measuring device.   The three-dimensional information measuring apparatus according to claim 4, wherein the control processing unit is configured to measure the center of gravity of the object from the reflected light time data and the reflected light intensity data as the object information. A predetermined area is scanned with laser light, and the time until the reflected light returns from the object is detected as reflected light time data, and the intensity of the reflected light returned from the object is detected as reflected light intensity data. Measuring the specific position data of the object from either the reflected light time data or the reflected light intensity data, and determining the amplitude angle of the object from the specific position data ,
Information processing of the reflected light time data is to determine the specific position data of the object using the number of reflected light measurement points,
The fluctuation measurement method characterized in that the information processing of the reflected light intensity data obtains the specific position data of the object from the difference due to the intensity of the reflected light using a reflective tape previously arranged at the specific position of the object . The fluctuation measuring method according to claim 6, wherein the change amount of the object is calculated as velocity data from the specific position data, and the amplitude angle of the object is estimated by comparing the velocity data with a database prepared in advance . A laser head that scans a predetermined area with laser light and receives reflected light from the object, and a control processing unit that processes the reflected light,
The control processing unit detects the time until the reflected light returns from the object as reflected light time data, and detects the intensity of the reflected light returned from the object as reflected light intensity data. Measure specific position data from either reflected light time data or reflected light intensity data, determine the amplitude angle of the object from the specific position data,
Information processing of the reflected light time data is to determine the specific position data of the object using the number of reflected light measurement points,
The information processing of the reflected light intensity data is configured to obtain the specific position data of the object from the difference due to the intensity of the reflected light using a reflective tape previously arranged at the specific position of the object. Swing measurement device. The control processing unit is configured to calculate a change amount of the object from the specific position data as speed data, and to determine the amplitude angle of the object by comparing the speed data with a database prepared in advance. Swing measurement device.

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