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EP-4067819-B1 - SURVEYING SYSTEM, POINT CLOUD DATA ACQUIRING METHOD, AND POINT CLOUD DATA ACQUIRING PROGRAM

EP4067819B1EP 4067819 B1EP4067819 B1EP 4067819B1EP-4067819-B1

Inventors

  • NISHITA, NOBUYUKI

Dates

Publication Date
20260506
Application Date
20220324

Claims (9)

  1. A surveying system comprising: a target (2) and a measuring instrument (1), wherein said target has retro-reflection characteristics, said measuring instrument comprises a point measuring unit (4) configured to irradiate a distance measuring light to said target, to receive a reflected light and to measure three-dimensional coordinates of said target based on a light receiving result, a scanner unit (5) configured to rotatably irradiate a laser beam and to acquire a point cloud data, and an arithmetic control module (7), wherein said point measuring unit is configured to measure said target (2) held in the vicinity of an object (6) at at least one position, said point measuring unit (4) has a tracking function and tracks a movement of said target (2) around said object (6), measures said target while tracking and acquires a tracking locus (48), said arithmetic control module is configured to calculate a horizontal projection figure of said tracking locus and calculate a region of said three-dimensional space with said horizontal projection figure as a bottom plane and extending in the vertical direction, said scanner unit is configured to scan a predetermined range including said object and to acquire the point cloud data, and said arithmetic control module is configured to select the point cloud data only included in said region of said point cloud data.
  2. The surveying system according to claim 1, wherein said arithmetic control module (7) is configured to calculate a circle (52, 53) inscribed or circumscribed to said tracking locus (48) and to calculate said region of said three-dimensional space based on said inscribed or circumscribed circle.
  3. The surveying system according to claim 1, wherein said arithmetic control module (7) is configured to calculate a polygon (51) inscribed or circumscribed to said tracking locus (48) and to calculate said region of said three-dimensional space based on said inscribed or circumscribed polygon.
  4. The surveying system according to any one of claims 1 to 3, further comprising a remote controller (3), wherein at least one of said remote controller or said point measuring unit (4) has a display unit (27, 45), and said point cloud data included in said region is displayed on said display unit.
  5. The surveying system according to claim 4, wherein said point cloud data displayed on said display unit (27, 45) concerns one of the plurality of objects (6).
  6. The surveying system according to claim 5, wherein said display unit (27, 45) is a touch panel and the measurement of said objects (6) is enabled based on said displayed point cloud data.
  7. The surveying system according to any one of claims 1 to 3, further comprising a UAV, wherein said target (2) is an omnidirectional prism provided on said UAV.
  8. A point cloud data acquiring method in a surveying system which comprises a target (2) and a measuring instrument (1), wherein said target (2) has a retro-reflection characteristics and said measuring instrument (1) has a point measuring unit (4) capable of measuring three-dimensional coordinates of said target while tracking said target and a scanner unit (5) which is integrated with said point measuring unit and is capable of acquiring a point cloud data by rotatably irradiating a laser beam, wherein said point cloud data acquiring method comprises steps of moving said target around an object (6), acquiring a tracking locus (48) while moving, calculating a horizontal projection figure of said tracking locus and calculating a region of said three-dimensional space with said horizontal projection figure as a bottom plane and extending in the vertical direction, scanning a predetermined range including object and acquiring the point cloud data by said scanner unit, and selecting only point cloud data included in said closed stereoscopic region in said point cloud data.
  9. A point cloud data acquiring program which makes the surveying system according to any one of claims 1 to 3 to execute each step of claim 8.

Description

BACKGROUND OF THE INVENTION The present invention relates to a surveying system which can specify a point cloud data acquisition range of a laser scanner by a three-dimensional space, a point cloud data acquiring method, and a point cloud data acquiring program. Generally, in case of acquiring the point cloud data by a laser scanner, a pulsed distance measuring light is vertically rotated around a horizontal axis and further is horizontally rotated around a vertical axis, thereby an omnidirectional scan is performed, and the point cloud data is acquired. As a result, an amount of data acquired is enormous. However, the point cloud data which a measurer actually needs relates to an object present within a limited range in a total scan range. In the measurement using a scanner in a place where there is something other than an object of which the point cloud data is to be acquired, the data processing work to exclude unnecessary parts from the acquired point cloud data is required after the measurement, thereby the efficiency is reduced. US 2020/0026310 A1 discloses a three-dimensional information processing unit that operates a device or a functional part which measures three-dimensional coordinates of a target to be controlled, and that operates a laser scanner or a laser scanning part which obtains three-dimensional point cloud data of the target. JP 2019 113507 A discloses a measurement apparatus including a total station. The total station includes a calculation control unit for measuring three-dimensional coordinates of a reflector placed on a measurement target by laser light, and a laser scanner unit for performing laser scanning on the measurement target. Further, since the amount of data is enormous, the data processing such as extracting the point cloud data concerning the object becomes the post-processing after acquiring the point cloud data, and it is difficult to proceed with the work while checking the situation on a job site. It is to be noted that, in acquiring the point cloud data, a horizontal direction range and a vertical direction range are set, and the point cloud data is acquired in the set ranges, but the point cloud data is acquired with respect to all physical objects present in a depth direction, and hence it is inevitable that an amount of data becomes enormous. Further, in case of displaying an acquired point cloud data in a display device and confirming an object, a measuring point whose distance is different from a distance of the object is also displayed, and hence it is difficult to identify the object. SUMMARY OF INVENTION It is an object of the present invention to provide a surveying system which enables specifying a point cloud data acquisition range of a laser scanner by a three-dimensional space and reduces an amount of the point cloud data to be acquired, a point cloud data acquiring method, and a point cloud data acquiring program. To attain the object as described above, a surveying system is provided according to claim 1. Further, in the surveying system according to an embodiment not according to the invention, wherein the point measuring unit has a tracking function and tracks a movement of the target around the object, measures the target while tracking and acquires a tracking locus, and the arithmetic control module is configured to calculate the region of the three-dimensional space based on the tracking locus. In the surveying system according to the invention, wherein the point measuring unit has a tracking function and tracks a movement of the target around the object, measures the target while tracking and acquires a tracking locus, and the arithmetic control module is configured to calculate a horizontal projection figure of the tracking locus and calculate a region of the three-dimensional space with the horizontal projection figure as a bottom plane and extending in the vertical direction. Further, in the surveying system according to an embodiment not according to the invention, wherein the point measuring unit has a tracking function and tracks a movement of the target around the object, measures the target while tracking and acquires a tracking locus, and the arithmetic control module is configured to determine the tracking locus as a boundary, set a height vertically above the tracking locus, and calculate a region of the three-dimensional space. Further, in the surveying system according to a preferred embodiment, wherein the arithmetic control module is configured to calculate a circle inscribed or circumscribed to the tracking locus and to calculate the region of the three-dimensional space based on the inscribed or circumscribed circle. Further, in the surveying system according to a preferred embodiment, wherein the arithmetic control module is configured to calculate a polygon inscribed or circumscribed to the tracking locus and to calculate the region of the three-dimensional space based on the inscribed or circumscribed polygon. Further, in t