JP2017227463A - Position and attitude determination device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inexpensive position and attitude determination device that highly accurately determines a position and an attitude of an object.SOLUTION: A measuring module 14 includes: a shape sensor 26 which acquires shape data expressing an external shape of a target object; a satellite signal receiver 28; an attitude sensor 30; an arithmetic processing unit 36; and a data storage unit 38. The arithmetic processing unit 36 collates the shape data of the target object acquired by the shape sensor 26 with a three-dimensional shape database of the target object stored in advance in the data storage unit 38, through matching processing, so as to acquire a relative position and attitude of the target object from the shape sensor 26, and further to calculate a position and an attitude of the target object in an absolute coordinate system on the basis of the relative position and attitude and an own position and attitude in the absolute coordinate system acquired by the satellite signal receiver 28 and the attitude sensor 30.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a position and orientation determination apparatus that can automatically determine the position and orientation of an object such as a lifted object at a construction site.

  Conventionally, as a technique for measuring the height of a lifted object at a construction site from a certain fixed point, for example, a technique using a lift meter that measures the number of turns of a wire, a technique using a stereo camera, a technique using a laser, and the like are known. In addition, the posture of the lifted object can be measured with a stereo camera or an omnidirectional laser rangefinder in the above-described device.

  On the other hand, as a device for measuring the position of an object at a distant place, a device using a GPS (Global Positioning System) is known (see, for example, Patent Documents 1 to 4).

JP 2008-3042 A Japanese Patent Laid-Open No. 2006-61649 JP-A-10-282212 JP-A-7-128057

  However, the technique for measuring the position and orientation of the lifted object using the above-described lift meter, stereo camera, or omnidirectional laser rangefinder has problems of accuracy and cost. For example, when a lift gauge is used, its accuracy is generally insufficient because it depends on the radius when winding the wire. In addition, when a stereo camera is used, accuracy may be significantly deteriorated due to changes in optical conditions during work, and parameter calibration for optimizing results under all conditions is not easy. In addition, the omnidirectional laser rangefinder is generally very expensive.

  For this reason, there has been a demand for the development of an inexpensive device that can automatically determine the position and orientation of an object such as a lifted object with high accuracy.

  The present invention has been made in view of the above, and an object thereof is to provide an inexpensive position and orientation determination apparatus that can determine the position and orientation of an object such as a lifted object with high accuracy.

  In order to solve the above-described problems and achieve the object, a position and orientation determination device according to the present invention is a device for determining the position and orientation of a target object, and a device main body provided at a position away from the target object; A measurement module mounted on the apparatus main body, and the measurement module acquires a shape sensor that acquires shape data representing the outer shape of the target object, and receives a signal from the satellite to acquire its position in the absolute coordinate system. A satellite signal receiver, an attitude sensor that acquires its own attitude, an arithmetic processing device, and a data storage device. The arithmetic processing device includes the shape data of the target object acquired by the shape sensor, and the data storage device. The three-dimensional shape database relating to the three-dimensional shape of the target object stored in advance is compared by matching processing, and the relative position and orientation of the target object from the shape sensor are obtained. And calculating the position and orientation of the target object in the absolute coordinate system based on this relative position and orientation, and the position and orientation of itself in the absolute coordinate system acquired by the satellite signal receiver and the orientation sensor, This is determined as a position and a posture.

  Further, in another position / orientation determination device according to the present invention, in the above-described invention, the measurement module transmits data on the target object and its position and orientation in the absolute coordinate system calculated by the arithmetic processing device to an external terminal. It further has a possible wireless communication device.

  Another position and orientation determination device according to the present invention is the position change means for changing the position of the shape sensor with respect to the target object, and at least one of the direction, pitch angle, and roll angle of the shape sensor with respect to the target object. It is characterized by further comprising at least one of posture angle changing means for changing one.

  According to the position and orientation determination apparatus according to the present invention, the apparatus determines the position and orientation of the target object, and includes an apparatus main body provided at a position away from the target object, and a measurement module mounted on the apparatus main body. The measurement module acquires a shape sensor that acquires shape data representing the outer shape of the target object, a satellite signal receiver that receives a signal from the satellite and acquires its position in an absolute coordinate system, and acquires its attitude. An attitude sensor, an arithmetic processing device, and a data storage device, the arithmetic processing device relates to the shape data of the target object acquired by the shape sensor and the three-dimensional shape of the target object stored in advance in the data storage device The three-dimensional shape database is collated by a matching process to obtain the relative position and orientation of the target object from the shape sensor, and the relative position and The position and orientation of the target object in the absolute coordinate system is calculated based on the position and the position and orientation of the object in the absolute coordinate system acquired by the satellite signal receiver and the attitude sensor, and this is determined as the position and orientation. The absolute position and orientation of a target object such as a lifted object can be automatically determined with high accuracy. Moreover, since a comparatively low price range sensor etc. can be used as a shape sensor, there exists an effect that an inexpensive position and orientation determination apparatus can be provided.

  In addition, according to another position and orientation determination device according to the present invention, the measurement module can wirelessly transmit data on the target object and its position and orientation in the absolute coordinate system calculated by the arithmetic processing device to an external terminal. Since the communication apparatus is further included, data on the position and orientation of the target object and the measurement module in the absolute coordinate system can be transmitted to an external terminal via the wireless communication apparatus. In this case, the external terminal that has received the data can display, for example, the lifted object as the target object and the position and orientation of the measurement module as a three-dimensional model on the display screen of the BIM system in real time. For this reason, there is an effect that the user can more easily perform the remote operation of the lifted object and the position / orientation determination device while viewing the display.

  Further, according to another position and orientation determination apparatus according to the present invention, at least one of position changing means for changing the position of the shape sensor with respect to the target object, and the direction, pitch angle, and roll angle of the shape sensor with respect to the target object is provided. Since at least one of the posture angle changing means to change is further provided, there is an effect that the acquisition position and the acquisition angle for acquiring the shape data of the target object can be freely changed.

FIG. 1 is a schematic sectional side view showing an embodiment of a position / orientation determination apparatus according to the present invention. FIG. 2 is a schematic perspective view showing an embodiment of the position and orientation determination apparatus according to the present invention.

  Embodiments of a position / orientation determination apparatus according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

  As shown in FIG. 1, a position and orientation determination device 10 according to the present invention is a device that determines the position and orientation of a lifted object as a target object, and is a device main body 12 provided at a position away from the lifted object. And a measurement module 14 mounted on the apparatus main body 12.

  The apparatus main body 12 includes, for example, a rectangular flat plate portion 16 that mounts the measurement module 14 on the upper surface, a support column portion 18 that supports the flat plate portion 16, and a base unit 20 that supports the support column portion 18. The flat plate portion 16 is rotatably fixed to a joint portion 22 provided at the upper end of the column portion 18 at the center of the lower surface. The orientation of the flat plate portion 16 can be changed in an arbitrary direction by driving a spherical motor (not shown) provided in the joint portion 22. In addition, a plurality of wheels 24 are provided on the lower surface of the base unit 20 and can be driven and steered by a travel motor and a steering mechanism (not shown). For this reason, the position / orientation determination apparatus 10 can move in any direction on the floor surface.

  The spherical motor, the traveling motor, and the steering mechanism are configured to be remotely operable from a position away from the position / orientation determination apparatus 10 through a wireless or wired communication line. The position 10 can be remotely operated. Therefore, the joint portion 22 and the wheel 24 described above function as a position changing unit and a posture angle changing unit that change the position and posture angle of a range sensor 26 described later with respect to the lifted object.

  The measurement module 14 includes a range sensor 26 as a shape sensor, two GNSS (Global Navigation Satellite System) receivers 28 as satellite signal receivers, and an IMU (Internal Measurement Unit) as an attitude sensor: Inertial measuring device) 30, wireless communication device 32, and processing system 34.

  The range sensor 26 is for acquiring three-dimensional shape data representing the outer shape of the lifted object, and is arranged at the center position of the flat plate portion 16 in the present embodiment. The range sensor 26 can be constituted by a scanning type lightwave distance meter such as a line laser scanner. The range sensor 26 of this embodiment scans a laser from the light receiving surface, detects light bounced off an obstacle such as a lifted object, and measures the distance from itself, thereby measuring the three-dimensional of the lifted object. Shape data is acquired and output to the processing system 34.

  The GNSS receiver 28 is for receiving a signal from a GNSS satellite such as a GPS (Global Positioning System) satellite and acquiring its current position in an absolute coordinate system (global coordinate system). In the form, a plurality of flat plate portions 16 are arranged on the periphery. The GNSS receiver 28 analyzes three-dimensional coordinates based on data received from a GNSS satellite, measures its own three-dimensional coordinates, and outputs the measured three-dimensional coordinates to the processing system 34. Note that by arranging a plurality of GNSS receivers 28 on the flat plate portion 16, the orientation of the flat plate portion 16 can be measured, and the influence of noise can be removed.

  The IMU 30 is for acquiring inclination data representing the attitude of the flat plate portion 16 on which the IMU 30 is arranged. The IMU 30 includes an acceleration sensor and a gyroscope that detect triaxial acceleration and angular velocity, respectively. The acceleration sensor detects accelerations in the front-rear direction (direction perpendicular to the plane of FIG. 1), the lateral direction (left-right direction in FIG. 1), and the vertical direction of the flat plate part 16 on which the acceleration sensor is arranged. The inclination angle is calculated. The gyroscope detects a roll rate around the front and rear axes, a pitch rate around the horizontal axis, and a yaw rate around the vertical axis. The IMU 30 outputs data relating to the detected posture to the processing system 34.

  The wireless communication device 32 is for transmitting data relating to the lifted object and its current position and posture in the absolute coordinate system calculated by the processing system 34 to an external terminal remote from the position and orientation determination device 10.

  The processing system 34 includes an arithmetic processing device 36 and a data storage device 38. The arithmetic processing device 36 is a device that performs various arithmetic processes, and is constituted by a computer having a CPU, for example. The data storage device 38 stores a three-dimensional shape database relating to the three-dimensional shape of a known lifted object that is a target object for position / orientation determination, and includes, for example, a memory.

  The arithmetic processing unit 36 obtains the shape data of the lifted object from the range sensor 26 at a constant time interval, and collates this shape data with the three-dimensional shape database in the data storage device 38, Processing for acquiring the relative current position and posture of the lifted object from the range sensor 26 is performed. By this process, three-dimensional coordinates representing the relative current position and posture of the lifted object are acquired. Further, the arithmetic processing unit 36 is based on the acquired relative current position and posture of the lifted object, and its current position and posture in the absolute coordinate system acquired from the GNSS receiver 28 and the IMU 30 at certain time intervals. Thus, the current position and orientation of the lifted object in the absolute coordinate system are calculated, and processing for determining this as three-dimensional coordinates representing the current position and orientation of the lifted object is performed.

The operation and action of the above configuration will be described.
As shown in FIG. 2, a plurality of (for example, two) position and orientation determination devices 10 are arranged around a lift A suspended by a wire B at a construction site. The number of position / orientation determination devices 10 may be one or three or more, but it should be noted that the greater the number, the higher the position / orientation determination accuracy, but the higher the equipment cost. Further, each position and orientation determination device 10 may be arranged at any location as long as the shape of the lifted object A can be acquired. However, the positioning accuracy is determined every 90 ° with respect to the reference coordinates of the lifted object A. It is preferable in securing the above.

  Next, the orientation of the flat plate portion 16 is adjusted by remote control or the like so that the lift A enters the scanning range S of the range sensor 26 of the measurement module 14. Subsequently, the range sensor 26 is operated and a line scan is performed to obtain the three-dimensional shape data of the lifted object A.

  Then, the arithmetic processing unit 36 collates the shape data of the lifted object A acquired by the range sensor 26 with the three-dimensional shape database in the data storage unit 38 by the matching algorithm processing, and the lift from the range sensor 26 The relative current position and posture of the object A are acquired. Further, based on the current position and posture of the absolute coordinate system acquired by the GNSS receiver 28 and the IMU 30, the current position and posture of the lift A in the absolute coordinate system are calculated, and this is calculated as the current position of the lift A. Determine as position and orientation.

  As described above, according to the present embodiment, the measurement module 14 is configured by combining the relatively low-priced range sensor 26, the GNSS receiver 28, and the IMU 30, and the inexpensive position and orientation determination device 10 equipped with the measurement module 14 is provided. By arranging the shape of the lifted object A at a position where it can be acquired, the position and orientation of the measurement module 14 itself can be obtained accurately. In addition, by performing a matching process between the shape data of the lifted object A acquired by the line scan of the range sensor 26 and the three-dimensional shape database, the absolute position and orientation of the lifted object A are automatically and accurately detected. Can be determined.

  In the above embodiment, data related to the current position and posture of the lifted object A and each measurement module 14 in the absolute coordinate system may be transmitted to an external terminal via each wireless communication device 32. In this case, the external terminal that has received the data can display the position and orientation of the lifted object A and each measurement module 14 as a three-dimensional model in real time on a display screen of a BIM (Building Information Modeling) system, for example. The user can more easily perform the remote operation such as the lifting operation of the lifted object A and the position of each position and orientation determination device 10 and the direction of the flat plate portion 16 while viewing this display.

  Further, as described above, the orientation of the flat plate portion 16 of the present embodiment can be freely changed by the joint portion 22, and the position and orientation determination device 10 can be freely moved on the floor surface by the wheels 24. By changing the direction and position of the measurement module 14 with respect to the lifted object A, the acquisition position and the acquisition angle for acquiring the shape data of the lifted object A can be freely changed. For this reason, the position and angle are changed according to the height of the lifting object A during the lifting work, or the position / orientation determination device 10 is moved to another place in the construction site to obtain another lifting. It can be used for objects.

  In addition, in said embodiment, although the apparatus main body 12 of the position and orientation determination apparatus 10 demonstrated the structure which has the wheel 24, this invention is not restricted to this, For example, it does not have the wheel 24 but cannot move. It may be a structure.

  In the above embodiment, the case where the shape sensor is configured by the range sensor 26 has been described as an example. However, the present invention is not limited to this, and the shape data of the target object such as a lifted object. Any sensor can be used as long as it can acquire the sensor, for example, an image sensor or a three-dimensional laser range sensor may be used. Even if it does in this way, there can exist an effect similar to the above.

  As described above, according to the position and orientation determination apparatus according to the present invention, the apparatus determines the position and orientation of the target object, the apparatus main body provided at a position away from the target object, and mounted on the apparatus main body. A measurement module, a shape sensor for acquiring shape data representing the outer shape of the target object, a satellite signal receiver for receiving a signal from a satellite and acquiring its position in an absolute coordinate system, It has a posture sensor that acquires its own posture, an arithmetic processing device, and a data storage device. The arithmetic processing device is a target object shape data acquired by the shape sensor and an object stored in advance in the data storage device. A matching process is performed against a three-dimensional shape database related to the three-dimensional shape of the object to obtain the relative position and orientation of the target object from the shape sensor. Based on the relative position and orientation and its own position and orientation in the absolute coordinate system acquired by the satellite signal receiver and the orientation sensor, the position and orientation of the target object in the absolute coordinate system are calculated, Since the posture is determined, the absolute position and posture of the target object such as a lifted object can be automatically determined with high accuracy. Moreover, since a comparatively inexpensive range sensor or the like can be used as the shape sensor, an inexpensive position and orientation determination device can be provided.

  In addition, according to another position and orientation determination device according to the present invention, the measurement module can wirelessly transmit data on the target object and its position and orientation in the absolute coordinate system calculated by the arithmetic processing device to an external terminal. Since the communication apparatus is further included, data on the position and orientation of the target object and the measurement module in the absolute coordinate system can be transmitted to an external terminal via the wireless communication apparatus. In this case, the external terminal that has received the data can display, for example, the lifted object as the target object and the position and orientation of the measurement module as a three-dimensional model on the display screen of the BIM system in real time. For this reason, the user can perform the remote operation of the lifted object and the position / orientation determination device more easily while viewing this display.

  Further, according to another position and orientation determination apparatus according to the present invention, at least one of position changing means for changing the position of the shape sensor with respect to the target object, and the direction, pitch angle, and roll angle of the shape sensor with respect to the target object is provided. Since at least one of the attitude angle changing means to change is further provided, the acquisition position and acquisition angle which acquire the shape data of a target object can be changed freely.

  As described above, the position / orientation determination apparatus according to the present invention is useful for determining the position / orientation of a target object such as a lifted object at a construction site, and in particular, determines the position / orientation at low cost and with high accuracy. Suitable for

DESCRIPTION OF SYMBOLS 10 Position and orientation determination apparatus 12 Apparatus main body 14 Measurement module 16 Flat plate part 18 Support | pillar part 20 Base part 22 Joint part 24 Wheel 26 Range sensor (shape sensor)
28 GNSS receiver (satellite signal receiver)
30 IMU (Attitude Sensor)
32 Wireless communication device 34 Processing system 36 Arithmetic processing device 38 Data storage device A Lifting object B Wire S Scanning line

Claims (3)

An apparatus for determining the position and orientation of a target object,
A device main body provided at a position away from the target object, and a measurement module mounted on the device main body,
The measurement module includes a shape sensor that acquires shape data representing the outer shape of the target object, a satellite signal receiver that receives a signal from a satellite and acquires its position in an absolute coordinate system, and a posture that acquires its posture. A sensor, an arithmetic processing unit, and a data storage device;
The arithmetic processing device collates the shape data of the target object acquired by the shape sensor with a three-dimensional shape database related to the three-dimensional shape of the target object stored in advance in the data storage device, by matching processing. Obtain the relative position and orientation of the object, and based on the relative position and orientation and its own position and orientation in the absolute coordinate system obtained by the satellite signal receiver and the orientation sensor, A position and orientation determination apparatus characterized by calculating a position and orientation of a target object and determining the position and orientation as a position and orientation.   The measurement module further includes a wireless communication device capable of transmitting data on the target object and its position and orientation in the absolute coordinate system calculated by the arithmetic processing device to an external terminal. Position and orientation determination device.   It further comprises at least one of position changing means for changing the position of the shape sensor with respect to the target object, and posture angle changing means for changing at least one of the direction, pitch angle and roll angle of the shape sensor with respect to the target object. The position and orientation determination device according to claim 1 or 2.

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