JP7219201B2 - 3D measurement system - Google Patents

Description

Article 30, Paragraph 2 of the Patent Act applies JSCE National Convention Committee, 2019 JSCE National Convention Lecture Summaries, DVD-ROM, published on August 1, 2019 Published on August 15, 2019 , https://conf. atlas. jp/guide/event/jsce2019/session/3V-325-32/category, Japan Society of Civil Engineers National Convention Committee, 2019 Japan Society of Civil Engineers National Convention Lecture Summaries

The present invention relates to a three-dimensional measurement system capable of measuring position information of structures and the like with high precision and efficiency.

In recent years, finished shape measurement using a terrestrial laser scanner (hereinafter sometimes referred to as "TLS") has been performed on paved roads and the like. However, with the conventional measurement method, when the construction extension of the paved road becomes long, it is necessary to measure while moving the TLS. Install a target (TG) between and, collimate the above target (TG) from each TLS installation location, link the point cloud data acquired at each TLS installation location, and carry out on-site measurement After that, when organizing the data, it is necessary to perform registration (synthesis processing) and add coordinate position information to each point cloud data.

For example, the schematic plan view of FIG. 5 shows an example of finished shape measurement of a paved road by the conventional measurement method described above. ), set at least four targets (TG), collimate the targets (TG) each time the TLS is moved and installed, and obtain the points obtained at each TLS installation point It is necessary to link the group data and perform the above registration (synthesis processing).

That is, as described in the invention described in Patent Document 1 and paragraph 0003 of the document, in principle, in order to specify the installation position of TLS, it is conventional to install a target (TG) at a known point. was required.

Japanese Patent No. 6120521

However, the conventional measurement method takes time and effort to set up the target (TG) on site, and it takes time and effort to identify the TLS installation position. In general, the registration (synthesis processing) work is performed manually or using dedicated software. Therefore, there is a problem that the measurement accuracy varies depending on the collimation accuracy of the target and the method of registration (synthesis processing).

Therefore, the present invention omits the labor of setting targets and improves the efficiency of registration (synthesis processing) by three-dimensional point cloud measurement that combines GNSS and TLS, which can acquire position information with high accuracy. It is therefore an object of the present invention to provide a three-dimensional measurement system capable of assigning highly accurate coordinates to point cloud data.

(1) A terrestrial laser scanner (TLS 11), GNSS antennas (mobile station GNSS antennas 12) provided on both sides of the terrestrial laser scanner (TLS 11), and connected to the GNSS antennas (mobile station GNSS antennas 12). a mobile station GNSS receiver 20, a mobile station measurement controller 21 communicably connected to the mobile station GNSS receiver 20 and capable of communicating with a reference station 30 via a public wireless communication line, and the terrestrial laser scanner ( TLS 11), the mobile station GNSS receiver 20 and the mobile station measurement controller 21, and a PC 22 capable of transmitting and receiving data, and the mobile station measurement controller 21 operates based on the position correction information acquired from the reference station 30. and the PC calculates the position coordinates of the GNSS antenna (mobile station GNSS antenna 12) based on the position coordinates of the GNSS antenna (mobile station GNSS antenna 12) calculated by the mobile station measurement controller 21. TLS position coordinate calculation means for calculating the installation position coordinates of the laser scanner (TLS 11); and coordinate position information providing means for providing coordinate position information based on the installation position coordinates of the scanner (TLS 11).

(2) The PC 22 calculates the angle from true north of the terrestrial laser scanner (TLS 11) based on the calculated position coordinates of the GNSS antenna (mobile station GNSS antenna 12), The three-dimensional measurement system according to (1) above, which includes angle correction means for correcting the deviation angle of the laser scanner (TLS 11) toward the north.

(3) The reference station 30 is communicably connected to the reference station GNSS antenna 32, the reference station GNSS receiver 40 connected to the reference station GNSS antenna 32, and the reference station GNSS receiver 40 via a public wireless communication line. and a reference station measurement controller 41 capable of communicating with the mobile station measurement controller 21 and the electronic reference point side, and the reference station measurement controller 41 receives the GNSS signal received by the reference station GNSS receiver 40 and The tertiary according to the above (1) or (2), which calculates the installation position coordinates of the reference station GNSS antenna 32 based on the data information obtained from, generates the position correction information, and transmits it to the mobile station measurement controller 21 It is the original measurement system.

According to the configurations (1) and (3) above, a highly accurate terrestrial laser scanner can be obtained from the accurate position coordinates of the GNSS antennas (mobile station GNSS antennas 12) provided on both sides of the terrestrial laser scanner (TLS 11). Since the installation position coordinates of (TLS11) are calculated, based on this, it is possible to give highly accurate coordinate position information to the point cloud data collected by the terrestrial laser scanner (TLS11). Therefore, it is possible to greatly reduce the trouble of placing a target (TG), the trouble of registration, and the occurrence of an error.

According to the configuration (2) above, it is possible to correct the deviation angle of the terrestrial laser scanner (TLS 11) based on the position coordinates of the GNSS antenna (mobile station GNSS antenna 12), so point cloud data with even higher accuracy It is possible to add coordinate position information to

1 is a configuration diagram for explaining the system configuration of a three-dimensional measurement system in an embodiment of the present invention; FIG. FIG. 4 is a front view illustrating a device on the TLS side in the embodiment of the present invention; It is the top view (a) of the GNSS antenna installation jig by the side of TLS in embodiment of this invention, and its rear view (b). FIG. 4 is a front view illustrating a device on the side of a reference station in the embodiment of the present invention; It is a top view showing an example of a measurement mode in an embodiment of the present invention. FIG. 4 is a top view schematically showing a mode of correcting a deviation angle of TLS in the embodiment of the present invention; It is a figure explaining the measurement aspect in a prior art.

An embodiment of the three-dimensional measurement system of the present invention will be described below with reference to the drawings.

(System configuration)
The present invention is an invention of a three-dimensional measurement system having a terrestrial laser scanner (hereinafter sometimes referred to as "TLS") as an essential component. The system configuration of the original measurement system is illustrated.

In this embodiment, a device on the TLS side (mobile station 10 side) and a device on the reference station 30 side are configured to be able to communicate via a public wireless communication line such as LTE (Long Term Evolution). GNSS data is transmitted and received from the 30 side to the TLS side in RTCM (Radio Technical Commission For Maritime Services) format.

As shown in FIGS. 1 and 4 , the reference station 30 has a reference station GNSS antenna 32 installed by a reference station tripod 34 near the measurement point and connected to a reference station GNSS receiver 40 . Further, the reference station GNSS receiver 40 is connected to the reference station measurement controller 41 by a USB cable. Note that the reference station measurement controller 41 of this embodiment incorporates an LTE communication device, a battery power supply, and the like, and is configured to be connectable to the mobile station 10 side and the Internet line via LTE.

Next, the device configuration of the mobile station 10 on the TLS side will be described based on the descriptions in FIGS. 1 and 2. FIG. The device configuration of the mobile station 10 includes a TLS tripod 14 installed at a measurement point, a TLS 11 and two mobile station GNSS antennas 12 mounted on the TLS tripod 14, a mobile station GNSS receiver 20, and mobile station measurement. It is composed of a controller 21 and a PC 22 .

In the mobile station 10 of the present embodiment, the mobile station GNSS receiver 20 and the mobile station measurement controller 21 are connected by a USB cable, and in addition to the RTCM format data, the NMEA (National Marine Electronics Association) signal output by the GNSS is transmitted to the mobile station. It is configured to output to the measurement controller 21 .

Further, the mobile station measurement controller 21 is connected to a PC 22 via a USB cable, and the PC 22 is configured to receive NMEA signals. The mobile station measurement controller 21 of this embodiment incorporates an LTE communication device, a battery power supply, and the like, and is configured to be connectable to the reference station 30 side and the Internet line.

(Mobile station GNSS antenna installation jig)
FIG. 3 shows a top view (a) and a rear view (b) of the mobile station GNSS antenna installation jig in the TLS side device. The mobile station GNSS antenna installation jig 13 in this embodiment is made of a metal plate provided on the top of the TLS tripod 14, and is composed of a circular mounting member 13B and a mobile station GNSS mounting member 13A.

As shown in the top view of FIG. 3(a), the circular mounting member 13B has a circular concave portion formed around the central portion in accordance with the shape of the bottom portion of the TLS 11, and a fixing through hole for fixing the TLS 11 in the central portion. A hole 135B is provided. Further, four connecting fixing holes 134B for fixing the circular mounting member 13B to the lower mobile station GNSS mounting member 13A are provided in the outer peripheral portion of the circular mounting member 13B.

The mobile station GNSS mounting member 13A, as shown in the rear view of FIG. , and four bolt fixing holes 134A for bolt-fixing the circular mounting member 13B are provided around it.

Further, near the left and right end portions of the mobile station GNSS mounting member 13A, an antenna fixing portion 133A is provided to fix the mobile station GNSS antenna 12 and to allow a signal cable to pass therethrough. In addition, the mobile station GNSS mounting member 13A of the present embodiment is formed with thin portions corresponding to the illustrated colored portions in order to reduce the weight.

(Mode of operation of system)
In the three-dimensional measurement system according to this embodiment, first, the reference station 30 side measures its own coordinates. The reference station measurement controller 41 of the reference station 30 installed at a known point acquires data from the electronic reference point installed by the Geospatial Information Authority of Japan, and analyzes it together with the GNSS signal (RTCM) received by the reference station GNSS receiver 40. , the reference station coordinates of the reference station 30 are calculated. Next, correction data (phase difference) of the coordinate position information is generated based on the reference station coordinates, and transmitted to the mobile station measurement controller 21 of the mobile station 10 via LTE. In other words, it is intended to correct the coordinate error of the mobile station 10 based on error information from the satellite positioning of the reference station 30 installed at a known point.

The correction data (phase difference) transmitted from the reference station 30 side is received by the mobile station measurement controller 21, and the mobile station measurement controller 21 converts the GNSS signals (RTCM, NMEA) received by the two mobile station GNSS antennas 12 into A combined analysis is performed to calculate coordinate position information for each of the two mobile station GNSS antennas 12 .

The coordinate position information of each of the two mobile station GNSS antennas 12 calculated as described above is calculated with millimeter precision. Therefore, based on the highly accurate coordinate position information of each of the two mobile station GNSS antennas 12, it is possible to calculate the distance and direction of the two mobile station GNSS antennas 12. Based on the position coordinates of the two mobile station GNSS antennas 12, the PC 22 can determine the precise center position coordinates of the TLS 11 and the precise orientation of the TLS 11.

(Measurement method)
Next, the measurement method according to the present embodiment will be described with reference to the plan view of FIG. 5 showing the manner of measurement on the road (measurement target). First, various devices of the mobile station 10 including the TLS 11 are installed at the starting point of an arbitrary measurement target area. After installation, after confirming that the above-described system operation has been performed normally, scanning by TLS 11 is executed. When the collection of point cloud data by scanning is completed, the mobile station 10 moves to the next installation location, installs various devices of the mobile station 10 including the TLS 11 again, and performs scanning.

Then, it becomes possible to collect point cloud data by repeating scanning from the installation of the TLS 11 toward the end point of the road. That is, the greatest advantage of the present invention is that the center position coordinates and orientation of the TLS 11 with high accuracy are calculated for each installation location of the TLS 11, so the target (TG) is installed every time it is moved, as in the conventional measurement method. , there is no need to collimate. Therefore, it is possible to greatly improve the efficiency of the measurement work by reducing the labor for setting the target (TG).

(Registration method)
Next, a method of registering point cloud data on a measurement target collected by the above-described measurement method will be described. More specifically, the point cloud data collected at the installation position of each TLS 11 are combined by the following procedures (1) to (6), and highly accurate coordinate position information is given to each point cloud.

(1) Calculate the central position coordinates of the TLS 11 from the respective position coordinates of the two mobile station GNSS antennas 12 .

(2) Add coordinate position information to each collected point group from the central position coordinates of the TLS 11 .

(3) Calculate the direction angle of the TLS 11 from the position coordinates of the two mobile station GNSS antennas 12 .

(4) As shown in FIG. 6, calculate the deviation angle of the orientation of the TLS 11 with respect to north (true north).

(5) Correct the TLS 11 to true north by rotating the calculated deviation angle in the north direction. (Such angle correction of the TLS 11 is performed each time the TLS 11 is moved and installed. Therefore, the point cloud data measured by the TLS 11 installed in an arbitrary direction at each installation position is matched to the coordinate position It becomes possible to give information.)

(6) For the point cloud data collected at the installation position of each TLS 11, the processing of (1) to (5) above is executed, and the PC 22 synthesizes each point cloud of the measurement target area and gives coordinate position information. do.

According to the three-dimensional measurement system of the present invention described above, by using GNSS, the coordinate position information of the structure to be measured can be obtained immediately at the time of measurement by the TLS 11, and the direction of the TLS 11 can be determined at the time of registration. Since the deviation is corrected, it is possible to measure with an accuracy equal to or higher than that of the conventional method of setting a target (TG).

In addition, the trouble of placing a target (TG) and the trouble of collimating it as in the conventional measurement method are not required, and three-dimensional measurement can be performed efficiently and economically. In addition, the obtained high-precision coordinate position information of road structures can be effectively used for maintenance using MMS (Mobile Mapping System) after the road structure is put into service.

(Other embodiments)
Although the embodiments of the three-dimensional measurement system according to the present invention have been described above, the embodiments of the present invention are not necessarily limited to the above embodiments.

For example, in the above-described embodiment, one embodiment of the mobile station GNSS antenna installation jig 13 was described based on the description of FIG. Any jig having a shape that allows two mobile station GNSS antennas 12 to be installed on both sides of the jig can be changed as appropriate.

For example, in the above embodiment, the measurement mode of road structures was described as an example, but the present invention is not limited to road structures, and can be used in a wide range of fields such as airport runways, harbor facilities, parking lots, etc. It is possible to apply

Although various embodiments of the present invention have been described above with reference to the drawings, specific configurations are not limited to these embodiments. The scope of the present invention is indicated by the scope of the claims rather than the description of the above-described embodiments, and includes all modifications within the meaning and scope equivalent to the scope of the claims. Further, the specific input information and the like described in the above embodiments can be changed within the scope of solving the problems of the present invention.

10 mobile station 11 TLS (terrestrial laser scanner)
12 mobile station GNSS antenna 13 mobile station GNSS antenna installation jig 20 mobile station GNSS receiver 21 mobile station measurement controller 22 PC
30 reference station 32 reference station GNSS antenna 40 reference station GNSS receiver 41 reference station measurement controller

Claims (2)

A terrestrial laser scanner installed at the measurement point,
GNSS antennas respectively provided on both sides of the terrestrial laser scanner across the center of the terrestrial laser scanner;
a mobile station GNSS receiver connected to the GNSS antenna;
a reference station that can communicate with the electronic reference point side;
a mobile station measurement controller communicatively connected to the mobile station GNSS receiver and communicable with the reference station via a public wireless communication line;
a PC capable of transmitting and receiving data to and from the terrestrial laser scanner, the mobile station GNSS receiver, and the mobile station measurement controller;
The mobile station measurement controller
calculating the position coordinates of the GNSS antenna based on the position correction information obtained from the reference station;
The PC is
TLS position coordinate calculation means for calculating installation position coordinates of the terrestrial laser scanner based on the position coordinates of the GNSS antenna calculated by the mobile station measurement controller;
coordinate position information adding means for adding coordinate position information to the point cloud data collected by the terrestrial laser scanner based on the installation position coordinates of the terrestrial laser scanner calculated by the TLS position coordinate calculating means ;
angle correction means for calculating the angle of the terrestrial laser scanner from due north based on the calculated positional coordinates of the GNSS antenna, and correcting the deviation angle of the terrestrial laser scanner with respect to due north toward the north; Prepare
A three-dimensional measurement system characterized by: The reference station
a reference station GNSS antenna;
a reference station GNSS receiver connected to the reference station GNSS antenna;
a reference station measurement controller communicably connected to the reference station GNSS receiver and communicable with the mobile station measurement controller and the electronic reference point side via a public wireless communication line;
The reference station measurement controller calculates installation position coordinates of the reference station GNSS antenna based on the GNSS signal received by the reference station GNSS receiver and data information obtained from the electronic reference point side, and generates the position correction information. 3. The three-dimensional measurement system according to claim 1, which transmits to the mobile station measurement controller .

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