JP6594686B2 - Three-dimensional shape measuring apparatus, three-dimensional shape measuring method, and program - Google Patents

Description

  The present invention relates to a three-dimensional shape measuring apparatus, a three-dimensional shape measuring method, and a program for measuring three-dimensional shape information such as a surface shape of a structure or the like in a non-contact manner.

  2. Description of the Related Art Conventionally, an apparatus that is mounted on a moving body such as a vehicle and measures three-dimensional shape information of a measurement target such as a tunnel is known (for example, see Patent Documents 1 and 2). In such an apparatus, in order to improve the accuracy of the three-dimensional shape information, the measurement accuracy of the position and orientation of the moving body is important.

  Patent Document 1 discloses a three-dimensional shape information acquisition device that scans a tunnel with a two-dimensional laser scanner mounted on a vehicle, and obtains three-dimensional shape information by converting the scanning information into three dimensions based on vehicle position measurement information. Techniques related to this are disclosed. In Patent Document 1, vehicle position information and posture information acquired by a total station (TS) or GPS (Global Positioning System) is combined with vehicle position information acquired by an angular velocity sensor such as a gyro sensor, thereby Has been identified.

  In Patent Document 2, a two-dimensional laser scanner is mounted on the vehicle, and the position and orientation of the vehicle are specified based on the GPS. If the vehicle cannot be used, such as when the vehicle is traveling in a tunnel, A technique related to a cross-section measuring device that specifies the position and orientation of a vehicle by odometry calculation based on measurement values of an angular velocity sensor and a wheel rotation sensor is disclosed.

  On the other hand, a camera is connected to the image measurement processing device, and the camera position is determined based on the measured object based on the image information of the measured object captured by the camera and the actual coordinates of the feature points of the measured object stored in advance. In addition, a technique relating to an image measurement processing apparatus that calculates a three-dimensional position coordinate of a feature point on a measurement target based on the camera position and angle is calculated (see Patent Document 3).

JP 2012-251774 A Japanese Patent No. 5473383 Japanese Patent No. 5158386

  However, it is difficult to measure by running a vehicle in a place where there are many differences in height, such as a basic construction site of an apartment house or an office building. In such a situation, it is effective to mount a device on the backpack and measure by moving the operator carrying the backpack as a moving body. However, in the cross-section measuring apparatus described in Patent Document 2, since the odometry cannot be used when mounted on the backpack, the position is specified only by the angular velocity sensor, and the accumulated error becomes large and the measurement accuracy decreases.

  Further, in the image measurement processing device described in Patent Document 3, the sampling rate is slow, and it is necessary to separately measure a part of the object size in order to determine the scale. When moving objects are reflected, the accuracy decreases. Measurement accuracy and measurement speed are not satisfactory.

  On the other hand, in the three-dimensional shape information acquisition device described in Patent Document 1, the position can be specified by a combination of the TS and the angular velocity sensor even in a place where GPS cannot be used. Generation of errors during measurement can be suppressed, and three-dimensional shape information can be acquired with high accuracy. However, since angular velocity sensors have errors over time, even when such sensors are used, the effect of maintaining the suppression of error generation is high, and measurement accuracy of three-dimensional shapes can be performed with high accuracy even for a long time. Development of possible technologies is desired.

  The present invention has been made in view of the above circumstances, and provides a three-dimensional shape measuring apparatus capable of measuring a three-dimensional shape of a measurement target such as a structure faster and with higher accuracy. It is an object.

  In order to achieve the above object, a three-dimensional shape measurement apparatus of the present invention is a three-dimensional shape measurement apparatus for measuring three-dimensional shape information of a measurement object, and is attached to the mobile object and the measurement object. Distance information acquisition unit for acquiring distance information to a plurality of predetermined measurement points, position information acquisition unit for acquiring position information of the distance information acquisition unit, and inertia information for acquiring first posture information of the distance information acquisition unit An acquisition unit, at least one image information acquisition unit that captures a predetermined imaging region and acquires a plurality of captured images, and position information, first attitude information, and distance information acquisition obtained by analyzing the plurality of captured images The absolute position information and the absolute posture information of the distance information acquisition unit are calculated based on the second posture information of the unit, and the plurality of distance information acquired by the distance information acquisition unit is calculated based on the absolute position information and the absolute posture information. Transform coordinates to measure Characterized in that and a calculation unit that obtains a three-dimensional shape information.

  In the three-dimensional shape measurement apparatus of the present invention, the calculation unit acquires a captured image from the image information acquisition unit and analyzes the captured image every time the time error of the first posture information reaches a predetermined amount. By calculating the second posture information and correcting the first posture information based on the second posture information, the absolute posture information can be calculated.

  In the three-dimensional shape measurement apparatus of the present invention, the calculation unit can be configured to calculate the difference by comparing the three-dimensional shape information with preset design information.

  Further, the three-dimensional shape measurement apparatus of the present invention includes a display unit that displays at least one of the three-dimensional shape information calculated by the calculation unit and the collation result between the three-dimensional shape information and preset design information. It can be configured.

  In the three-dimensional shape measuring apparatus of the present invention, the calculation unit acquires the second position information of the distance information acquisition unit from the inertia information acquisition unit, and interpolates the absolute position information using the second position information. It can be configured.

  In the three-dimensional shape measurement apparatus of the present invention, the calculation unit acquires the second position information of the distance information acquisition unit from the inertia information acquisition unit, and acquires the third position information by analyzing the captured image. The absolute position information can be calculated by combining the second position information and the third position information with the position information.

  Furthermore, in the three-dimensional shape measurement apparatus according to the present invention, the calculation unit acquires in advance changes with time in the first posture information and the second position information acquired by the inertia information acquisition unit while the moving body is stationary. Then, when the temporal change of the first posture information is greater than or equal to a predetermined amount, the temporal error amount of the inertia information acquisition unit is calculated based on the temporal change of the first posture information, and the temporal error amount, Based on the posture information and the second posture information, absolute posture information can be calculated.

  Further, the 3D shape measurement method of the present invention is a 3D shape measurement method for acquiring 3D shape information of a measurement object based on distance information to a plurality of predetermined measurement points of the measurement object acquired by a distance information acquisition unit. A method of acquiring position information of a distance information acquisition unit, a step of acquiring first posture information of the distance information acquisition unit, a step of acquiring distance information from the distance information acquisition unit, and a predetermined imaging A step of acquiring a plurality of captured images obtained by imaging a region, a step of acquiring absolute position information of a distance information acquisition unit based on the position information, and a second posture of the distance information acquisition unit by analyzing the plurality of captured images A step of acquiring information, a step of acquiring absolute posture information of the distance information acquisition unit based on the first posture information and the second posture information, and a distance information acquisition unit based on the absolute position information and the absolute posture information. Acquired multiple distance information A step of acquiring the three-dimensional shape information of the measurement object to coordinate transformation, characterized by having a.

  Moreover, the program of this invention is a program for making a computer perform the said three-dimensional shape measuring method.

  The three-dimensional shape measuring apparatus of the present invention configured as described above acquires the position information of the distance information acquisition unit by the position information acquisition unit, and acquires the first posture information of the distance information acquisition unit by the inertia information acquisition unit. The image information acquisition unit captures a predetermined imaging area and acquires a captured image. The calculation unit acquires the second posture information of the distance information acquisition unit based on the captured image. The calculation unit calculates the absolute position information and the absolute posture information of the distance information acquisition unit based on the position information, the first posture information, and the second posture information, and adds the calculated absolute position information and absolute posture information to the calculated absolute position information and absolute posture information. Based on this, coordinate conversion is performed on the plurality of distance information acquired by the distance information acquisition unit to acquire the three-dimensional shape information to be measured.

  Thus, in addition to the position information acquired by the position information acquisition unit and the first posture information acquired by the inertia information acquisition unit, the second posture information acquired by analyzing a plurality of captured images is used. Thus, it is possible to interpolate changes with time in position information and posture information. Thereby, the absolute position and absolute posture of the distance information acquisition unit can be acquired with high accuracy, and the three-dimensional shape to be measured can be measured more quickly and with higher accuracy.

It is explanatory drawing which showed the whole structure of the three-dimensional shape measuring apparatus which concerns on the 1st Embodiment of this invention. It is a functional block diagram of the three-dimensional shape measuring apparatus shown in FIG. It is explanatory drawing for demonstrating the mode of the measurement of the three-dimensional shape information of a measuring object with the three-dimensional shape measuring apparatus shown in FIG. It is explanatory drawing for demonstrating the mode of acquisition of the positional information and attitude | position information of a moving body (distance measurement part) with respect to each coordinate system and total station of the three-dimensional shape measuring apparatus shown in FIG. It is explanatory drawing for demonstrating the procedure of the interpolation of position information, and correction | amendment information, (a) is the position information from a position tracking part, the input timing of 1st attitude | position information from an inertia measurement part, and an interpolation image (B) is initial position information in the position tracking unit, first posture information from the inertial measurement unit, and SfM (Structure from Motion) of a plurality of captured images obtained in the image acquisition unit. It is a graph which shows the input timing and correction | amendment image of 2nd attitude | position information obtained by analysis. It is explanatory drawing for demonstrating the precision by correction | amendment of attitude | position information, Comprising: The measurement value a of the 1st attitude | position information obtained in the inertial measurement part and the measurement value are linear when the moving body is stationary. The measured value b after correction | amendment and the measured value c after correcting the measured value b with the 2nd attitude | position information obtained by SfM analysis are shown by the graph. It is a flowchart which shows an example of the three-dimensional shape measurement operation | movement by the three-dimensional shape measurement apparatus shown in FIG. It is the schematic which shows the example of a display of the difference to a liquid crystal display. It is an enlarged view of the three-dimensional bird's-eye view shown in FIG. It is a display example of the cross section of a tunnel. It is the schematic which shows the state which the operator carried the three-dimensional shape measuring apparatus which concerns on 2nd Embodiment.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view schematically showing an overall configuration (appearance) of a three-dimensional shape measurement apparatus 100 of this embodiment which is an example of a three-dimensional shape information acquisition apparatus. FIG. 2 is a functional block diagram for explaining functions of the three-dimensional shape measuring apparatus 100 of the present embodiment.

  As shown in FIG. 1, the three-dimensional shape measurement apparatus 100 according to the present embodiment includes a movable body 1 that is movable, a three-dimensional shape measurement unit 5 that is mounted on the movable body 1, and a position away from the movable body 1. And a position tracking unit 10 installed in the apparatus.

  The three-dimensional shape measurement unit 5 includes a distance measurement unit (distance information acquisition unit) 20, a position acquisition unit 30, an inertia measurement unit (inertia information acquisition unit) 40, an image acquisition unit (image information acquisition unit) 50, And a calculation unit 60.

  The moving body 1 functions as a moving means that moves along a measurement object such as a structure in a state where the three-dimensional shape measurement unit 5 is mounted. As shown in FIG. 1, the moving body 1 of the present embodiment includes a carriage body 2 a on which a three-dimensional shape measurement unit 5 is placed, a carriage 2 including a handle 2 b and wheels 2 c. Hereinafter, the three-dimensional shape measurement apparatus 100 according to the present embodiment may be referred to as a cart-type three-dimensional shape measurement apparatus 100.

  In addition, in order to improve the accuracy of the three-dimensional shape measurement, it is necessary to maintain the relative positions of the distance measurement unit 20, the position acquisition unit 30, the inertia measurement unit 40, and the image acquisition unit 50 with high accuracy. Therefore, these are fixed on the same plate 2d fixed to the cart body 2a.

  In the present embodiment, the operator or the like holds the handle 2b and pulls the moving body 1, thereby moving the moving body 1 together with the three-dimensional shape measurement unit 5 in the arrow direction shown in FIGS. . However, the present application is not limited to this configuration, and a configuration in which the operator pushes and moves the moving body 1 can also be adopted.

  The position tracking unit 10 acquires (measures) the position information using the position acquisition unit 30 installed on the moving body 1 in the vicinity of the distance measurement unit 20 as a measurement target. Therefore, the position tracking unit 10 and the position acquisition unit 30 function as a position information acquisition unit that acquires position information of the distance measurement unit 20. Further, the position tracking unit 10 also functions as a tracking unit (tracking unit) of the distance measuring unit 20 by acquiring the position information of the position acquisition unit 30 that moves together with the moving body 1 every predetermined time.

  The position tracking unit 10 is installed at a position away from the position acquisition unit 30 that is a measurement target by a predetermined distance, and measures a distance, an angle, and the like to the measurement target using a light wave, a laser beam, or the like (light wave measurement). Distance).

  In the present embodiment, the position tracking unit 10 is a total station (TS: Total Station, hereinafter referred to as “TS”) having an automatic tracking function that automatically searches for a measurement target so that an operator can work alone. 11. In addition, the position tracking unit 10 includes a wireless communication modem 12 as an information communication apparatus that transmits various information such as position information measured by the TS 11 to the three-dimensional shape measurement unit 5 side.

  By using the TS 11 for the position tracking unit 10 as in the present embodiment, position information and attitude information can be acquired with high accuracy even in a tunnel or the like. In the present embodiment, only one set of the TS 11 and the wireless communication modem 12 of the position tracking unit 10 is provided for simplification and cost reduction. However, the present application is not limited to this configuration, and a configuration in which two or more sets are provided can be obtained. In this case, position information and posture information are obtained more accurately based on measurement information from a plurality of TS11s. It becomes possible.

  The position acquisition unit 30 includes an all-around prism 31 as a measurement target of the TS 11 and a guide rail 32 (see FIG. 3) on which the all-around prism 31 is movably provided.

  The all-round prism 31 is an optical element that is mounted on the moving body 1 as close as possible to the distance measuring unit 20 and can reflect incident laser light or the like in the incident direction. The all-round prism 31 is movable from a reference position (BASIC POINT) P1 to a reference position (REFERENCE POINT) P2 on a guide rail 32 installed on the moving body 1 (see FIG. 4).

  The all-round prism 31 can be configured such that an operator or the like moves manually on the guide rail 32. Or it can also be set as the structure which moves automatically using an electric motor other drive means.

  In addition, the position tracking unit 10 tracks the distance measuring unit 20 that moves together with the moving body 1 by measuring the position information of the all-around prism 31 at the reference position P1 at a predetermined time by the TS 11, and the position information Get on a regular basis. The acquired position information is transmitted to the calculation unit 60 via the wireless communication modem 12 and the wireless communication modem 63.

  In the present embodiment, the automatic tracking function of TS11 is used to automatically search for the all-round prism 31 at the reference position P2 after the measurement of the position information of the all-round prism 31 at the reference position P1 is completed. To be able to. Therefore, even when the operator manually moves the all-round prism 31 to the reference position P2 on the guide rail 32, the TS 11 automatically searches for the all-round prism 31 at the reference position P2 and measures the distance. To work. Thereby, even if an operator is independent, it is possible to acquire the 3D shape information of the measurement target by the 3D shape measurement apparatus 100 according to the present embodiment.

  The distance measurement unit 20 measures (acquires) distance information to a plurality of measurement points to be measured such as structures, and in this embodiment, a two-dimensional (2D) laser scanner is used as the distance measurement unit 20. Used.

  The 2D laser scanner, for example, rotates in a direction of 180 °, more preferably in a direction of 190 ° or more, emits a laser beam radially, and measures the time that the laser pulse reciprocates between the measurement target and the sensor. The distance is measured, and the direction in which the laser beam is emitted is measured at the same time. Thereby, it is comprised so that the two-dimensional coordinate information of a predetermined measurement target point may be acquired.

  The inertial measurement unit 40 acquires information related to relative posture information (first posture information) and relative position information (second position information) of the distance measurement unit 20. Examples of the first posture information include a pitch angle φp, a roll angle φr, and a yaw angle φy. The posture information is calculated by, for example, integrating the measured value of angular velocity over time.

  The inertia measuring unit 40 is not particularly limited, and a conventionally known one can be used. In the present embodiment, an inertial measurement unit (IMU) including an angular velocity sensor such as a three-axis gyro sensor and a three-direction acceleration sensor is used.

  The image acquisition unit 50 is an imaging unit that acquires a plurality of captured images by capturing a predetermined imaging region at predetermined intervals. The captured image may be a continuous still image or a moving image. In the present embodiment, a digital camera is used as the image acquisition unit 50.

  One or more image acquisition units 50 are installed in the moving body 1. In order to improve posture calculation accuracy, two or more units are preferably installed. In the present embodiment, as shown in FIG. 4, the two image acquisition units 50 are installed on the moving body 1 so that the fields of view do not overlap each other. Thereby, it is possible to prevent a decrease in accuracy due to a moving object appearing in the captured image. The captured image captured by the image acquisition unit 50 is output to the calculation unit 60.

  The calculation unit 60 is connected to the distance measurement unit 20, the inertia measurement unit 40, and the image acquisition unit 50 with a connection cord or the like, and various information acquired by each unit is input to the calculation unit 60. The calculation unit 60 calculates and outputs three-dimensional shape information to be measured based on the various pieces of input information. In addition, each part and the calculation part 60 can also be set as the structure connected by radio | wireless by wireless LAN etc. FIG.

  The calculation unit 60 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a non-volatile semiconductor memory such as a flash memory, an SD card, or an external hard disk. It consists of a calculation apparatus provided with the memory | storage part (memory). In the present embodiment, a so-called desktop personal computer (hereinafter referred to as “PC”) 61 is used as the calculation unit 60.

  The calculation unit 60 can control the operation of the entire three-dimensional shape measurement apparatus 100 using, for example, a RAM as a work memory, according to a three-dimensional shape measurement program stored in advance in the ROM.

  A power source 62 composed of a battery or the like, a wireless communication modem 63, and a notebook PC 64 are connected to the calculator 60 (PC 61).

  The power source 62 supplies power to the calculation unit 60 (PC 61). Further, the power source 62 may be connected to the wireless communication modem 63, the notebook PC 64, the distance measuring unit 20, the inertia measuring unit 40, the image acquiring unit 50, and the like, and supply power to them.

  The wireless communication modem 63 receives the measurement information transmitted from the wireless communication modem 12 of the position tracking unit 10 and outputs it to the calculation unit 60 (PC 61).

  Note that various types of information may be transmitted from the PC 61 to a management center or a PC at a work site office, etc., away from the measurement site, via the wireless communication modem 63 or the like. Further, various controls such as the position tracking unit 10, the distance measuring unit 20, and the inertia measuring unit 40 are remotely operated from a PC such as a management center or a work site office via the wireless communication modem 63 or the wireless communication modem 12. It can also be comprised so that it can carry out by.

  The notebook PC 64 is connected to the calculation unit 60 by wire or wirelessly, and has a liquid crystal display 65 as a display unit for displaying the three-dimensional shape information calculated by the calculation unit 60, a measurement start instruction and parameters for the calculation unit 60 And a keyboard 66 and a mouse as an input unit for inputting various instructions. In the present embodiment, the liquid crystal display 65 is used as the display unit. However, a speaker that emits sound, a visible light laser light source that emits light, or the like may be used as the display unit.

  Next, the function of the calculation unit 60 will be described with reference to FIG. The calculation unit 60 includes a position calculation unit 71, an attitude calculation unit 72, a shape calculation unit 73, a collation calculation unit 74, a design information storage unit 75, and a calculation result output unit 76. The position calculation unit 71, the posture calculation unit 72, the shape calculation unit 73, the collation calculation unit 74, the design information storage unit 75, and the calculation result output unit 76 are realized by the above-described CPU and storage unit.

  The position calculation unit 71 uses the position information measured by the position tracking unit 10 as a reference and interpolates the relative position change acquired by the inertial measurement unit 40 (hereinafter referred to as “second position information”), thereby obtaining a distance. Absolute position information (absolute position information) of the measurement unit 20 can be calculated more frequently.

  The posture calculation unit 72 captures the position information of the distance measurement unit 20 at a plurality of points acquired (tracked) by the position tracking unit 10, the first posture information acquired by the inertia measurement unit 40, and the image acquisition unit 50. Based on the second posture information obtained by analyzing the plurality of captured images, a relative posture change is calculated and added to the initial value of the absolute posture information measured in advance, and the distance measurement unit 20 Absolute posture information (absolute posture information) is calculated.

  Based on the absolute position information calculated by the position calculation unit 71 and the absolute posture information calculated by the posture calculation unit 72, the shape calculation unit 73 uses the distance information of a plurality of measurement points acquired by the distance measurement unit 20 as common. Coordinate conversion into one coordinate system to calculate the three-dimensional shape information of the measurement object.

  The design information storage unit 75 stores in advance design information about a three-dimensional shape measurement target. The collation calculation unit 74 collates the three-dimensional shape information (actual measurement value) calculated by the shape calculation unit 73 with the design information acquired from the design information storage unit 75 to calculate a difference.

  The calculation result output unit 76 edits an image and a value representing a difference between the 3D shape information (actual measurement value) calculated by the collation calculation unit 74 and the design information, a 3D image based on the actual measurement value, and the like. It displays on the liquid crystal display 65 of PC64. In addition, sound information can be edited to generate sound from a speaker, or light can be generated by controlling a light source.

  In the three-dimensional shape measuring apparatus 100 according to this embodiment configured as described above, as shown in FIG. 3, the surface of a measurement target such as a structure is measured by the distance measuring unit 20 while the operator moves the moving body 1. Shape information (two-dimensional coordinate information) is measured. The surface shape information acquired by the distance measuring unit 20 according to the position of the moving body 1 and the moving body 1 (distance measuring unit 20) acquired by the position tracking unit 10, the inertia measuring unit 40, and the image acquiring unit 50. By associating the absolute position information and the absolute posture information, the three-dimensional shape information to be measured is acquired.

  The acquisition principle of three-dimensional shape information in coordinate transformation will be described with reference to FIG. The two-dimensional coordinate information measured by the distance measuring unit 20 is first recorded in a laser scanner coordinate system (sensor coordinate system: Σs). In this embodiment, since the distance measuring unit 20 is fixed to the moving body 1, the sensor coordinate system Σs can be used as it is as the moving body coordinate system (Σo). Furthermore, based on the position information and posture information with respect to the structure coordinate system which is the coordinate system of the structure to be measured, the structure is finally converted into the structure coordinate system (ΣI).

  Hereinafter, the operation of the three-dimensional shape measurement (three-dimensional shape measurement method) using the three-dimensional shape measurement apparatus 100 of the present embodiment will be described with reference to the flowchart of FIG.

In step S1, the position tracking unit 10 and the inertial measurement unit 40 obtain initial position information and posture information of the distance measurement unit 20, respectively. For this purpose, as shown in FIG. 4, in the stationary state of the three-dimensional shape measuring apparatus 100, the position information ^I p ₁ = ( ^I x ₁ , of the all-round prism 31 arranged at the reference position P 1 by the TS 11 of the position tracking unit 10. ^I y ₁ , ^I z ₁ ) is acquired. Next, move the omnidirectional prism 31 to a different reference position P2 from the reference position P1 on the guide rail 32, and acquires the positional information ^I p ₂ = a _{^{(I x 2, I y 2}} , I z 2). The measured position information is input from the position tracking unit 10 to the calculation unit 60 via the wireless communication modems 12 and 63.

  Further, the angular velocity sensor and acceleration sensor of the inertial measurement unit 40 measure the angular velocity and acceleration as the second position information and the first posture information as needed, and input them to the calculation unit 60.

  In step S <b> 2, the position calculation unit 71 and the posture calculation unit 72 perform initial position information of the distance measurement unit 20 based on the position information from the position tracking unit 10 and the first posture information from the inertia measurement unit 40. Calculate attitude information.

Hereinafter, the process of step S2 will be specifically described with reference to FIG. Position calculating unit 71, a location information ^I p ₁ of the reference position P1, the positional relationship of the distance measuring unit 20 with respect to the reference position P1, i.e., the distance from the measurement center O of the distance measuring unit 20 to the reference position P1 ⁰ p ₁ = based on _{^{(0 x 1, 0 y 1}} , 0 z 1), and calculates the initial position information of the distance measuring unit 20 (absolute position _{^{information) I p 0 (x 0,}} y 0, z 0).

On the other hand, the posture calculation unit 72 acquires the current roll angle (roll absolute angle) φr and pitch angle (pitch absolute angle) φp from the measurement values of the angular velocity sensor and the acceleration sensor input from the inertia measurement unit 40. Further, the posture calculation unit 72 includes position information ^I p ₁ = ( ^I x ₁ , ^I y ₁ , ^I z ₁ ) at the reference position P1, and position information ^I p ₂ = ( ^I x ₂ , ^I y at the reference position P2. ₂ , ^I z ₂ ), the roll angle (roll absolute angle) φr, and the pitch angle (pitch absolute angle) φp, the yaw angle (absolute yaw angle) φy is calculated using the following formula (1). .

In the above formula (1), ^I Δx and ^I Δy are calculated using the following formula (2), and ⁰ Δx ′ and ⁰ Δy ′ are calculated using the following formula (3).

However, in the calculation formula (3), ⁰ Δx, ⁰ Δy, and ⁰ Δz represent the distances from the measurement center O of the distance measuring unit 20 to the reference position P1 and the reference position P2, respectively, ⁰ p ₁ = ( ⁰ x ₁ , ⁰ y ₁ , ⁰ z ₁ ), ⁰ p ₂ = ( ⁰ x ₂ , ⁰ y ₂ , ⁰ z ₂ ), the following calculation formula (4) is used.

Thus, the first posture information of the measurement center O of the distance measuring unit 20 initial (absolute posture _{information) θ o = (φr o,} φp o, φy o) can be acquired.

  Next, in step S <b> 3, while moving the moving body 1, the distance measurement unit 20 measures the distance from the measurement center O to a predetermined measurement point to be measured, and acquires distance information. In addition, position information is acquired by TS 11 of position tracking unit 10, posture information is acquired by inertial measurement unit 40, and a captured image is acquired by image acquisition unit 50. These pieces of information are input to the calculation unit 60 at predetermined intervals.

  In step S4, the position calculation unit 71 calculates the absolute position of the distance measurement unit 20 based on the position information and the posture information. Details of the process in step S4 will be described below. FIG. 5A is a graph showing the input timing of the position information and the first posture information (relative position change information) and the correction timing of the position information. In FIG. 5A, “TS” is the input timing of the position information from the TS 11 of the position tracking unit 10, “IMU” is the input timing of the posture information from the inertial measurement unit 40, and “Position” is the position information. The correction image is shown.

  First, the position calculator 71 calculates the relative position change ΔPI by integrating the posture information (acceleration information from the acceleration sensor in this embodiment) input from the inertia measuring unit (IMU) 40. As shown in FIG. 5A, the posture information from the inertial measurement unit 40 is input at high speed (for example, on the order of several tens of milliseconds), so the relative position change ΔPI is also updated at high speed. However, the relative position change ΔPI includes a temporal error.

  The position calculation unit 71 subtracts the time error coefficient Edp × the elapsed time t from the relative position change ΔPI in order to linearly correct this time error. The time error coefficient Edp is calculated in advance based on preliminary experiments or sensor specifications. The thus obtained linear posture-changed relative posture change ΔPI is substituted into P (the absolute position information P is calculated by substituting the relative position change ΔPI into the calculation formula (5) described later).

  Next, the absolute position information PR of the position acquisition unit 30 input from the TS 11 of the position tracking unit 10 is acquired. As shown in FIG. 5A, the absolute position information PR from the TS 11 is updated at a relatively low speed (for example, on the order of several seconds). As soon as the absolute position information PR is updated, the current value of the relative posture change ΔPI after linear correction is stored in another memory as ΔPIc, and the elapsed time t = 0.

  The position calculation unit 71 calculates the absolute position information P of the measurement center O using the following calculation formula (5). In the following equation (5), PR is the absolute position information, ΔPI is the current relative posture change, ΔPIc is the relative posture change when the previous absolute position information PR was acquired, Edp is the time error coefficient, and t is the absolute position. The elapsed time since the information PR acquisition is shown.

P = PR + ΔPI−ΔPIc−Edp × t (5)

Next, in step S5, the posture calculation unit 72 calculates a relative posture change of the distance measurement unit 20 (measurement center O) based on the position information, the first posture information, and the second posture information. . Details of the process in step S5 will be described below. FIG. 5B is a graph showing the initial position information, the first posture information, the second posture information input timing, and the posture information correction image. In FIG. 5B, “TS” is the input timing of the position information (for obtaining the yaw angle φy of the initial posture θ ₀ ) from TS 11 of the position tracking unit 10, and “IMU” is from the inertia measuring unit (IMU) 40. The first posture information input timing, “SfM” indicates the second posture information input timing based on the image captured by the image acquisition unit 50, and “posture” indicates the posture information correction image.

  The posture calculation unit 72 integrates the first posture information (in this embodiment, the angular velocity from the gyro sensor that is an angular velocity sensor) input from the inertia measurement unit (IMU) 40 to thereby change the first relative posture change. Obtain ΔθI. ΔθI is updated at high speed (for example, on the order of several tens of milliseconds). However, the first relative posture change ΔθI includes an error with time. Every time this time-dependent error changes by a predetermined amount, the captured image is acquired by the image acquisition unit 50 and the first posture information is corrected using the second posture information based on the captured image as follows. Yes.

  The posture calculation unit 72 subtracts the time error coefficient Ed × the elapsed time t from ΔθI in order to linearly correct the time error of the first relative posture change ΔθI. The time error coefficient Ed is also calculated in advance based on preliminary experiments or sensor specifications. The first relative posture change ΔθI after linear correction obtained in this way is substituted into the relative posture Δθ (the relative posture Δθ is calculated by substituting the first relative posture ΔθI into the calculation formula (6) described later). To do).

  Next, the posture calculation unit 72 extracts feature points that are invariant to rotation and scale using existing image processing technology based on a plurality of captured images (continuous images and moving images) obtained by the image acquisition unit 50. To do. Examples of this image processing technique include SIFT (Scale-invariant feature transform), SURF (Speed-Upped Robust Feature), AKAZE (Accelerated KAZE), and the like.

  By analyzing the extracted feature points using an existing image processing technique, a second relative posture change ΔθV as second posture information is acquired. Examples of this image processing technique include SfM (Structure from Motion), Visual SLAM, optical flow, and the like. In the present embodiment, the real time SfM is used.

  A procedure for calculating the second posture change using the real time SfM will be described below. First, captured images are acquired simultaneously by the two image acquisition units 50. For each image acquisition unit 50, the feature points are extracted from a plurality of captured images acquired within a predetermined time, and then SfM is executed to calculate the yaw angle φy.

  Next, the difference between the SfM results of the two image acquisition units 50 is calculated. If this difference is greater than or equal to a certain value, the yaw angle φy of one of the image acquisition units 50 designated in advance is adopted as the second posture change ΔθV. On the other hand, when the difference is less than a certain value, the average value of the yaw angles φy of the two image acquisition units 50 is adopted as the second posture change ΔθV.

  When there are three or more image acquisition units 50, the average μ and standard deviation σ of the SfM results are calculated. Based on these, a rejection test is performed. As the rejection test, for example, a value outside the range of μ ± ασ (α is a preset value of about 1 to 9) is excluded. An average value of the yaw angles φy that are not rejected is calculated and adopted as the second posture change ΔθV.

  In addition, when there is one image acquisition unit 50, the yaw angle φy of the SfM result from this one image acquisition unit 50 is adopted as the second posture change ΔθV.

  Here, the second relative posture change ΔθV is updated at a relatively low speed (eg, on the order of several tens of seconds) (see FIG. 5B). When analysis is performed only on captured images that are temporally close to increase the update speed, the second relative posture change ΔθV may include a cumulative error. In order to reduce the accumulated error, the relative position change acquired from the TS 11 of the position tracking unit 10 can be analyzed by using it as a constraint condition in calculating the second relative attitude change ΔθV.

  As soon as the second relative posture change ΔθV is updated, the current value of the first relative posture change ΔθI is stored in another memory as ΔθIc, and the elapsed time t = 0.

  The posture calculation unit 72 calculates the relative posture Δθ using the following calculation formula (6). In the following equation (6), ΔθV is the second posture change, ΔθI is the first posture change, ΔθIc is the first relative posture change at the time of the previous acquisition of the second posture change, and Ed is the time error coefficient. , T indicates the elapsed time from the acquisition of the second posture change.

Δθ = ΔθV + ΔθI−ΔθIc−Ed × t (6)

Next, in step S6, using the following calculation formula (7), the relative posture change Δθ calculated by the calculation formula (6) is added to the initial posture information (absolute posture information) θ _o calculated in step S1. Thus, the absolute posture information θ = (φr, φp, φy) can be acquired in time series.

θ = Δθ + θ _o (7)

  As described above, the first relative posture change acquired by the inertial measurement unit 40 is linearly corrected, and further corrected by the second relative posture change by analysis of the captured image acquired by the image acquisition unit 50. The absolute posture information θ can be acquired with higher accuracy while suppressing the change.

  FIG. 6 shows a posture information measurement value (actual measurement value) a obtained using an optical fiber gyroscope as an angular velocity sensor of the inertial measurement unit 40 and a linear correction of the measurement value when the moving body is stationary. The graph shows an example of the measured value b and the measured value c after correcting the measured value b with the second posture information obtained by the SfM analysis.

  In the example of FIG. 6, in the linear correction, the inclination when the initial value and the raw data after the lapse of 2 hours are connected by a straight line is corrected to zero. In the correction by the SfM analysis, the relative posture change after the linear correction is corrected by replacing the captured image from the image acquisition unit 50 with the second relative posture change acquired by the SfM analysis every 3 minutes. In this simulation example, the accuracy of the yaw angle φy corrected by the SfM analysis is ± 0.25 degrees, and higher accuracy can be realized as compared with the case of only linear correction.

  Next, in step S7, the shape calculation unit 73 calculates the three-dimensional shape information of the measurement target. First, the shape calculation unit 73 converts the coordinate system of the absolute position information P with the position tracking unit 10 as a reference into the same structure coordinate system ΣI as the predetermined design information. The transformation of the coordinate system can be performed by the existing coordinate transformation technique as described above.

  Next, the shape calculation unit 73 associates the absolute position information P, the absolute posture information θ, and the distance information (distance information D) based on the time stamp given to each measurement value by the PC 61 or the like. For example, when the time is t, the absolute position information P, the absolute posture information θ, and the distance information D at the time closest to a certain time t are associated with each other by associating with the time t.

  As another example of the association, the absolute position information P, the absolute posture information θ, and the distance information D at the time closest to the time t are extracted for each two times, and the value at the time t is calculated based on the two values. Calculate by linear interpolation or linear extrapolation. Thereby, the absolute position information P, the absolute posture information θ, and the distance information D are associated.

  When the association is performed as described above, the position of each measurement point of the measurement target measured by the distance measurement unit 20 is calculated. A position obtained by shifting the absolute position information P by the distance information D in the direction of the absolute posture information θ at each time t is set as a position coordinate in the structure coordinate system ΣI of the measurement point. As described above, the three-dimensional shape information of the measurement target can be acquired.

  In step S8, the collation calculation unit 74 collates the 3D shape information calculated in step S7 with the design information, and calculates the difference. For example, based on the three-dimensional shape information, as shown in FIG. 3, the operator extracts the position coordinates of the measurement points included in the cube C designated in advance as the cross-sectional shape of the measurement target. The extracted numerical value of the cross-sectional shape is collated with the numerical value of the design information in the design information storage unit 75, and the difference is calculated.

  In addition, when the measurement target is a long structure such as a tunnel, a cube (C curve indicating the longitudinal direction of the structure) is input in advance to generate cubes C at equal intervals along the alignment. it can.

  Next, in step S9, the calculation result output unit 76 edits the display image based on the difference calculated in step S8 and displays it on the liquid crystal display 65.

  As described above, according to the three-dimensional shape measurement apparatus 100 and the three-dimensional shape measurement method according to the present embodiment, the position information in the position tracking unit 10 is interpolated based on the second position information in the inertial measurement unit 40. Absolute position information is calculated. Further, by correcting the second posture information calculated by analyzing a plurality of captured images from the image acquisition unit 50 with SfM or the like, based on the first posture information obtained by the inertia measurement unit 40, Absolute posture information is calculated. Thus, the absolute position information and absolute posture information of the distance measuring unit 20 can be acquired at high speed and with high accuracy, and the measurement of the three-dimensional shape by the distance measuring unit 20 can be performed faster and with higher accuracy. It becomes possible.

  In addition, the posture calculation unit 72 of the calculation unit 60 acquires a captured image from the image acquisition unit 50 every time the temporal error of the first posture information reaches a predetermined amount, analyzes the captured image, and analyzes the second posture. Information is calculated, the first posture information is corrected based on the second posture information, and absolute posture information is calculated. In addition, when position information cannot be acquired for a certain time or more due to factors such as interruption of communication from the position tracking unit 10, the third position information can be acquired based on the captured image from the image acquisition unit 50. Thereby, it is possible to measure a three-dimensional shape with higher accuracy while suppressing an increase in the error with time of the absolute posture information and the absolute position information.

  Further, the collation calculation unit 74 of the calculation unit 60 collates the three-dimensional shape information and the design information to calculate the difference. Thereby, for example, the quality of the cast-in-place concrete, the reinforcement, and the shape of the excavation part can be quantitatively evaluated, and the quality can be improved.

  In addition, the calculation result output unit 76 of the calculation unit 60 displays the three-dimensional shape information and the matching result (difference) between the three-dimensional shape information and preset design information on the display unit such as the liquid crystal display 65. . Thereby, the difference between the actual measurement value and the design information can be easily grasped.

  In this embodiment, the temporal error coefficient Edp for interpolating position information and the temporal error coefficient Ed for correcting posture information are calculated in advance based on preliminary experiments and the like. For example, the temporal change of the positional information acquired by the position tracking unit 10 and the temporal change of the first posture information acquired by the inertia measuring unit 40 are acquired in advance, and the temporal change of the positional information is a predetermined amount or less, and When the temporal change of the first posture information is equal to or greater than a predetermined amount, the temporal error amount of the inertial measurement unit 40 is calculated based on the temporal change of the first posture information and is set as the temporal error coefficient Ed. In this way, by calculating the absolute posture information based on the temporal error amount, the first posture information, and the second posture information, the time-dependent error of the inertial measurement unit 40 is interpolated, so that the absolute posture information is highly accurate. Can be acquired. Further, by calculating the absolute position information based on the position information, the time error amount, and the first posture information, the time position error of the position tracking unit 10 is interpolated to obtain the absolute position information with high accuracy. Can do.

  Moreover, various programs input from the position tracking unit 10, the distance measuring unit 20, the inertia measuring unit 40, and the image acquiring unit 50 by installing a program for executing the three-dimensional shape measuring method of the present embodiment in the computer. Based on the information, the three-dimensional shape can be measured faster and with higher accuracy. In addition, the existing distance measuring unit, inertia measuring unit, position tracking unit, etc. are connected to the computer on which this program is installed by wire or wirelessly, thereby realizing the three-dimensional measuring apparatus and the three-dimensional measuring method of the present invention. Can do.

  Further, in the three-dimensional shape measurement apparatus 100 according to the present embodiment, the three-dimensional shape measurement unit 5 can be moved by the moving body 1, so that the irradiation angle is such that the laser light does not strike the measurement object at a right angle. And the problem of the occurrence of measurement information sparseness due to the difference in distance to the measurement target can be solved. In addition, even if there is an obstacle between the three-dimensional shape measurement unit 5 and the structure, measurement can be performed while avoiding this, so that it is difficult to cause blind spots in the measurement, and the accuracy with no omission over a wide range is possible. High three-dimensional shape measurement (acquisition) can be performed. Therefore, the measurement accuracy of the three-dimensional shape measuring apparatus 100 can be improved.

  In addition, since the carriage is used as the moving body 1, highly accurate three-dimensional shape measurement can be performed in a short time even in a relatively wide range. Therefore, it can contribute to reduction of work time and shortening of construction period.

  In addition, in this embodiment, although demonstrated using the trolley | bogie 2 as the mobile body 1, this application is not limited to this. For example, as the moving body 1, the three-dimensional shape measurement unit 5 can be mounted on a vehicle such as an electric cart or a light car, a heavy machine, a trolley moving on a rail, a freight car, or the like.

  Next, a usage example (example) of the cart-type three-dimensional shape measuring apparatus 100 according to the present embodiment will be specifically described.

  The cart-type three-dimensional shape measuring apparatus 100 according to the present embodiment can be suitably used for tunnel lining volume prediction. For this purpose, for example, a three-dimensional surface shape after primary lining (concrete spraying work) in the NATM method (New Austrian Tunneling Method) or the like is measured by the three-dimensional shape measuring apparatus 100 according to the present embodiment. In the collation calculation unit 74, the measured three-dimensional shape is compared with design information of the secondary lining (finished shape), and a difference is obtained.

  Here, the procedure for displaying the difference between the tunnel measurement information and the design information in a three-dimensional bird's-eye view or a two-dimensional development view will be specifically described. In this case, the collation calculation unit 74 calculates the measurement points (position coordinates of the points measured by the distance measurement unit 20) for each point by the following procedure. As advance preparation, the design information in the design information storage unit 75 is expressed in advance as an unstructured grid (polygon mesh).

(1) Preparation: A tree structure (for example, kd-tree) is constructed in advance for all the faces (polygons) of the lattice.
(2) Neighbor point candidate selection 1: A plurality of (for example, about 10) centroids in order from the polygon closest to the measurement point are searched at high speed using a tree structure.
(3) Nearest neighbor candidate selection 2: A perpendicular is drawn from the measurement point to each polygon searched in (2), and the three-dimensional coordinates of the intersection of the polygon and the perpendicular are obtained.
(4) Nearest neighbor point candidate selection 3: The distance from each intersection point of (3) to the measurement point is calculated, and the polygon with the shortest is selected.
(5) Determination of nearest neighbor point: The distance between each vertex of the polygon selected in (4) and the measurement point is obtained, and the vertex having the minimum value is selected.
(6) The distance between the selected vertex and the measurement point is the difference between the measurement information and the design information.
(7) A statistical value (maximum, minimum, average, etc.) of the difference is calculated and stored in the storage unit.

  Based on the calculation result, the calculation result output unit 76 edits the display image and displays it on the liquid crystal display 65 as shown in FIG. FIG. 8 shows an example in which a three-dimensional bird's-eye view 65a, a cross-sectional view 65b, and a two-dimensional development view 65c of the tunnel distance measurement result are displayed. In the three-dimensional bird's-eye view 65a and the two-dimensional development view 65c, the difference can be more easily understood by displaying the difference between the measurement result and the design information in different colors. Further, in the two-dimensional development view 65c, the measurement cross-section information of one time is displayed in a straight line of one column and is generated by connecting it in the horizontal direction.

  Further, the three-dimensional bird's-eye view 65a can be rotated, moved, enlarged / reduced, etc., thereby making it easier to grasp the difference. FIG. 9 shows an enlarged view of the three-dimensional bird's-eye view 65a. As shown in FIG. 9, by displaying the difference in an enlarged manner, even if the difference is invisible to the naked eye, the difference is displayed in a coordinated manner, and it is understood by looking at the part where the difference is large. Can be made easier.

  FIG. 10 shows a display example of a tunnel cross-sectional view 65b. Design information (design drawing) and measurement information are displayed in a cross-sectional view 65b in FIG. The measurement information is measured twice at the completion of the primary lining and at the completion of the secondary lining, and is used for the following purposes by editing and displaying the cross section based on these measurement information. Can do.

  As the first use, when the primary lining is completed, the primary lining shape (measurement information) and the secondary lining shape (design information) are displayed as shown in the cross-sectional view 65b of FIG. The indicated dimensions are displayed radially. Based on this difference, the raw concrete placement quantity of the secondary lining is calculated and output to the liquid crystal display 65 or the printer. By utilizing this quantity, it is possible to rationalize the management of materials and processes for secondary lining work.

  As a second application, when the secondary lining is completed, a difference between the secondary lining shape (measurement information) and the design shape (design information) is calculated. The quality of the secondary lining can be confirmed by displaying the magnitude of this difference in a cross-sectional view with numerical values or color coding.

  As a third application, during excavation before the primary lining, the excavation ready shape (measurement information) and the excavation design shape (design information) are compared during excavation and the difference is measured in real time. This enables excavation work, for example, by irradiating a visible laser, emitting light, or generating a sound when the statistical value of the difference (maximum, minimum, average, etc.) exceeds the set value. It is possible to inform the person where excavation or backfilling is necessary and contribute to improving the quality of excavation work.

  Furthermore, the cart-type three-dimensional shape measuring apparatus 100 of the present embodiment can be suitably used for a tunnel building limit check. More specifically, the collation calculation unit 74 compares the measured three-dimensional shape of the tunnel with the building limit on the design drawing. The calculation result output unit 76 displays the difference on the liquid crystal display 65 or the like by color-coding, or generates sound or light from a speaker or a visible light laser light source as a display unit in places where the building limit is exceeded. To make building limit checks more efficient. Since design information on building limits is often available only in cross-sectional views instead of three-dimensional CAD, the collation calculation unit 74 may change design information according to the position and orientation of the apparatus and use it for collation. Is possible.

(Second Embodiment)
Next, a three-dimensional shape measuring apparatus according to the second embodiment will be described using a backpack as the moving body. FIG. 11 is a schematic diagram illustrating a state in which an operator carries the three-dimensional shape measurement apparatus according to the second embodiment.

  As shown in FIG. 11, the three-dimensional shape measuring apparatus 100A according to the second embodiment has a position having two distance measuring units 20A1 and 20A2, an all-round prism 31 and the like on a moving body 1 including a backpack 3. An acquisition unit 30, an inertia measurement unit 40, two image acquisition units 50, a PC 61 as a calculation unit 60, a power source 62, a wireless communication modem 63, a notebook PC 64 as a display unit, and the like are provided. And a position tracking unit 10 installed at a position distant from the moving body 1.

  The three-dimensional shape measuring apparatus 100A according to the second embodiment is the first except that it is carried on the operator's back by the moving body 1 including the backpack 3, and the two distance measuring units 20A1 and 20A2 are used. The three-dimensional shape measuring apparatus 100 according to the embodiment has the same configuration and operation. Therefore, hereinafter, a configuration and an operation different from those in the first embodiment will be described.

  The backpack 3 as the movable body 1 is attached to a cantilever-shaped frame main body 3a with a shoulder belt 3b to be hung on an operator's shoulder. It is desirable to design the frame body 3a with a strength such that the deflection is 0.01 mm or less. In addition, the notebook PC 64 can be placed on the arm 3c formed to project forward from the side surface of the frame body 3a so that the operator can perform measurement work while confirming operations and images.

  In the present embodiment, for the purpose of shortening the time until the measurement result is displayed on the notebook type PC 64, the calculation unit 60 (PC 61) is mounted on the backpack 3 that is the moving body 1. However, the present application is not limited to this, and in the case of reducing the weight of the three-dimensional shape measurement unit 5A, a configuration in which the calculation unit 60 is installed on a backpack carried by another person can also be adopted. In addition, in a site where a communication environment is in place, the calculation unit 60 can be installed in an office or a management center. A notebook PC 64 can also be used as the calculation unit 60. Further, the notebook PC 64 and the arm 3c can be installed in another person's backpack, office, or management center without being installed in the backpack 3.

  In this embodiment, for the purpose of measuring both the ceiling and the ground, the two distance measuring units 20A1 and 20A2 are used, one distance measuring unit 20A1 is installed facing the ceiling, and the other distance measuring unit 20A2 is installed on the ground. It is installed in the direction. In addition, the installation form and the number of installation of distance measurement part 20A1, 20A2 are not limited to this embodiment, It can be set as an appropriate installation form and the number of installations by a measurement object, measurement environment, etc.

  The image acquisition unit 50 is preferably attached at a position as high as possible in order to avoid a decrease in accuracy due to a moving object such as a person appearing in the imaging field of view. However, it is desirable to attach it to a position that is 1 m or less above the operator's shoulder so that it can be used even at a low ceiling.

  The position acquisition unit 30 is also preferably installed at a position as high as possible in order to avoid being blocked by a person or an obstacle as much as possible. However, if it is too high, it cannot be used at a low ceiling, or there is a concern about a decrease in rigidity, an increase in mass, or the like.

  Similarly to FIG. 1, the all-round prism 31 of the position acquisition unit 30 of the present embodiment is also movable from the reference position P1 to the reference position P2, but the distance from the reference position P1 to the reference position P2 (vector P1). The longer the absolute value of -P2, the higher the accuracy of the initial posture information. In consideration of safety on a narrow staircase or the like, the distance is preferably set to 0.3 to 0.6 m.

  Also in the present embodiment, the distance measurement units 20A1 and 20A2, the position acquisition unit 30, the inertia measurement unit 40, and the image acquisition unit 50 are arranged on the same plate 3d in order to improve the accuracy of three-dimensional shape measurement. In addition, the relative position of each is maintained with high accuracy.

  As described above, even in the three-dimensional shape measurement apparatus 100A according to the second embodiment, by correcting the first posture information based on the second posture information acquired based on the captured image from the image acquisition unit 50, it is more possible. It is possible to measure a three-dimensional shape faster and with higher accuracy. Further, when the position information cannot be acquired for a certain time or more due to factors such as interruption of communication from the position tracking unit 10, the third position information is acquired based on the captured image from the image acquisition unit 50 to obtain the position information. By correcting, the three-dimensional shape can be measured with high accuracy.

  In addition, since the operator can measure the three-dimensional shape of the measurement object while moving on the back, even in places where there are many differences in height, such as the foundation construction site of an apartment house or office building, Measurement can be performed easily.

  Next, a usage example (example) of the backpack type three-dimensional shape measuring apparatus 100A according to the present embodiment will be specifically described.

  The backpack-type three-dimensional shape measuring apparatus 100A according to the present embodiment can be suitably used, for example, for monitoring displacement deformation of a retaining wall or a tunnel face. In this case, the three-dimensional shape measuring device 100A periodically measures the three-dimensional shape of the retaining wall and the tunnel face and compares it with past measurement values, and grasps changes over time such as inclination, sliding, and deformation of the retaining wall. To do. The change can be displayed on a display etc. by color coding, etc., or by generating sound or light where the change amount exceeds the set value, the change can be immediately grasped and accidents can be prevented. .

  The backpack type three-dimensional shape measuring apparatus 100A according to the present embodiment can also be suitably used for checking the number of bars and the pitch. In this case, the three-dimensional design drawing (design information) and the reference point (parent ink) position of the bar arrangement are stored in the design information storage unit 75 in advance. The number and pitch are calculated by fitting a cylinder to the three-dimensional shape of the bar arrangement calculated by the shape calculation unit 73 by measurement. By comparing the obtained number and pitch with a design drawing and displaying the difference on a display or the like by color-coding or generating sound or light, careless mistakes in bar arrangement can be prevented.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes that do not depart from the gist of the present invention are not limited to the present invention. included.

  For example, in each of the above embodiments, the all-round prism 31 is used as the measurement target of the TS 11, but the present application is not limited thereto, and examples of the measurement target include a spherical prism, a planar prism, and an AR. A marker or the like can also be used.

  Moreover, in each said embodiment, although the position calculation part 71 calculates the yaw angle of initial position information and initial attitude information based on the position information acquired by TS11, this application is limited to this. There is no. The calculation unit in the TS 11 may be configured to calculate the yaw angle of the initial position information and the initial posture information based on the measurement value and output the calculation result to the calculation unit 60.

  Further, the position information acquisition unit of the present application is not limited to the configuration using the measurement target (position acquisition unit 30) such as the TS 11 (position tracking unit 10) and the all-around prism 31; for example, GPS (Global Positioning) GNSS (Global Navigation Satellite System) such as System) can be used. Specifically, a GNSS receiver (for example, a GPS receiver) is mounted on the moving body 1 as the position acquisition unit 30, and a GNSS transmitter (for example, the satellite 13 as the position acquisition unit 30 indicated by a two-dot chain line in FIG. The position information and the posture information are acquired by receiving a signal transmitted via a GPS transmitter. Thereby, it is possible to obtain position information particularly outdoors with high accuracy. In addition, when using GNSS, it can also be set as the structure which installed the two or more position acquisition parts 30. FIG.

  In addition, an IMES (Indoor MEssaging System) called a so-called indoor GPS can be used as the position information acquisition unit, and the position information can be accurately acquired even in a tunnel or indoors.

  Further, as the position information acquisition unit, a combination of motion capture or a digital video camera (position tracking unit 10) and a marker (position acquisition unit 30) can be used.

  Further, in each of the above embodiments, the 2D laser scanner is used as the distance measuring units 20, 20A1, and 20A2, but distance information from a predetermined position of the three-dimensional shape measuring apparatus 100 to a plurality of predetermined measurement points to be measured. If it can acquire, it will not be limited to 2D laser scanner. For example, a one-dimensional (1D) laser scanner that acquires point cloud information, a three-dimensional (3D) laser scanner that acquires three-dimensional coordinate information, and the like can also be used.

  In each of the embodiments described above, the image acquisition unit 50 is configured by a digital camera, but is not limited to a digital camera as long as it has an imaging function. For example, a digital video camera, a smartphone having an imaging function, a mobile phone, a PDA (Personal Data Assistant), a tablet terminal, or the like can be used.

  Moreover, in each said embodiment, although 2nd attitude | position information is calculated based on the captured image acquired with the image acquisition part 50 by the calculation part 60, this application is not limited to this. An IC chip or the like of the image acquisition unit 50 may be used as a calculation unit, and the calculation unit may calculate the second posture information and output the second posture information to the calculation unit 60.

  In each of the above embodiments, when two or more image acquisition units 50 are used, the fields of view are arranged so as not to overlap each other. It is also possible to improve posture calculation accuracy by fixing a part of the distance (baseline length).

  In each of the above embodiments, in order to improve the accuracy of the three-dimensional shape measurement, the measurement devices (distance measurement unit 20, position acquisition unit 30, inertia measurement unit 40, image acquisition unit 50) are placed on the same plates 2d and 3d. For example, these measuring devices are fixed on the plates 2d and 3d via a linear motion mechanism or a rotation mechanism, and relative position and orientation changes due to these mechanisms are measured with a rotary encoder or the like. Thus, the relative position and orientation of these measuring devices can be easily changed and can be grasped with high accuracy.

  Further, in each of the embodiments described above, the calculation unit 60 is configured by the desktop PC 61, but the present application is not limited to this, and may be configured by a notebook PC, a tablet PC, or the like. In the present embodiment, the liquid crystal display 65 of the notebook PC 64, a speaker, and the like are used as a display unit, and a keyboard, a mouse, and the like are used as input units. However, the present application is not limited to this, and a configuration may be adopted in which a single liquid crystal monitor, a speaker, or the like is connected to the PC 61 as a display unit, and a keyboard, a mouse, or the like is connected as an input unit. The input unit can be a microphone, a touch pad, or a touch panel monitor. The notebook PC 64 can be replaced with a tablet terminal or a wearable device (glasses type, watch type, etc.).

  In each of the above embodiments, the wireless communication modems 63 and 12 are used as the information communication apparatus. However, the present application is not limited to this, and a wired modem can also be used.

1,1A Moving object 2 Carriage (moving object) 3 Backpack (moving object)
10 Location tracking unit (location information acquisition unit)
20, 20A1, 20A2 Distance measurement unit (distance information acquisition unit)
30 position acquisition unit (position information acquisition unit)
40 Inertial measurement unit (Inertia information acquisition unit)
50 Image acquisition unit (image information acquisition unit)
60 Calculator 61 Personal computer (Calculator)
65 Liquid crystal display (display unit) 100, 100A Three-dimensional shape measuring device

Claims (8)

A three-dimensional shape measuring apparatus for measuring three-dimensional shape information of a measurement object,
A moving object,
A distance information acquisition unit that is attached to the moving body and acquires distance information to a plurality of predetermined measurement points to be measured;
A position information acquisition unit for acquiring position information of the distance information acquisition unit;
An inertia information acquisition unit for acquiring first posture information of the distance information acquisition unit;
At least one image information acquisition unit that images a predetermined imaging region and acquires a plurality of captured images;
Based on the position information, the first posture information, and the second posture information of the distance information acquisition unit acquired by analyzing the plurality of captured images, the absolute position information and the absolute posture of the distance information acquisition unit A calculation unit that calculates information and performs coordinate conversion of a plurality of distance information acquired by the distance information acquisition unit based on the absolute position information and the absolute posture information to acquire the three-dimensional shape information of the measurement target; , equipped with a,
The calculation unit acquires the second position information of the distance information acquisition unit from the inertia information acquisition unit, and the first posture acquired by the inertia information acquisition unit in a state where the moving body is stationary. Information and the time-dependent change of the second position information are acquired, and when the time-dependent change of the first posture information is equal to or greater than a predetermined amount, the inertia is based on the time-dependent change of the first posture information. A three-dimensional shape measuring apparatus that calculates a time error amount of an information acquisition unit and calculates the absolute posture information based on the time error amount, the first posture information, and the second posture information .   The calculation unit obtains the captured image from the image information acquisition unit and calculates the second posture information by analyzing the captured image every time a time error of the first posture information reaches a predetermined amount. The three-dimensional shape measurement apparatus according to claim 1, wherein the absolute posture information is calculated by correcting the first posture information based on the second posture information.   The three-dimensional shape measurement apparatus according to claim 1, wherein the calculation unit compares the three-dimensional shape information with preset design information to calculate a difference. Claim 3, further comprising a display unit for displaying at least one of the matching result of said three-dimensional shape information calculated by the calculation unit, and the three-dimensional shape information and preset the design information The three-dimensional shape measuring apparatus described in 1.   The said calculation part acquires the 2nd positional information of the said distance information acquisition part from the said inertial information acquisition part, and interpolates the said absolute positional information using this 2nd positional information. The three-dimensional shape measuring apparatus as described in any one of thru | or 4.   The calculation unit acquires second position information of the distance information acquisition unit from the inertia information acquisition unit, acquires third position information by analyzing the captured image, and the second position information and The three-dimensional shape measuring apparatus according to claim 1, wherein the absolute position information is calculated by combining the third position information with the position information. The three-dimensional shape information of the measurement target based on the distance information to a plurality of predetermined measurement points of the measurement target acquired by the distance information acquisition unit and the posture information of the distance information acquisition unit acquired by the inertia information acquisition unit A three-dimensional shape measurement method for obtaining
Obtaining position information of the distance information obtaining unit;
Obtaining first posture information of the distance information obtaining unit;
Obtaining the distance information from the distance information obtaining unit;
Obtaining a plurality of captured images obtained by imaging a predetermined imaging region;
Acquiring absolute position information of the distance information acquisition unit based on the position information;
Analyzing the plurality of captured images and obtaining second posture information of the distance information obtaining unit;
Acquiring the second position information of the distance information acquisition unit from the inertia information acquisition unit;
Obtaining temporal changes of the first posture information and the second position information;
Calculating a time-dependent error amount of the inertia information acquisition unit based on the time-dependent change;
Acquiring absolute posture information of the distance information acquisition unit based on the temporal error amount, the first posture information, and the second posture information;
Obtaining the three-dimensional shape information of the measurement target by performing coordinate transformation of a plurality of distance information acquired by the distance information acquisition unit based on the absolute position information and the absolute posture information;
A three-dimensional shape measuring method characterized by comprising: A program for causing a computer to execute the three-dimensional shape measurement method according to claim 7 .