JP2019090830A - Measurement device, measurement method, and program - Google Patents

Abstract

To provide a technique that allows for determining a position for measuring illuminance of illumination light in a three-dimensional space through a simple method.SOLUTION: A position of a measurement unit 200 carried by an operator 100 is measured by a position measurement device configured to make position measurement using laser light. A positional relationship between the measured position and a planned measurement position 601 is displayed on a terminal 300 carried by the operator. Guided by this display, the operator 100 identifies the planned measurement position 601 and measures illuminance there.SELECTED DRAWING: Figure 6

Description

The present invention relates to a technique for measuring illuminance .

  For example, a technique for checking the performance of a headlight of a vehicle is known (see, for example, Patent Document 1).

JP-A-8-15093

  As a method of examining the performance of a head ride of a vehicle, there is a method of setting a plurality of measurement planned positions in front of the vehicle and measuring the illuminance at each measurement planned position. In this case, it is necessary to identify each planned measurement position. Since the planned measurement position is set in the three-dimensional space, the task of specifying the position is complicated.

Under such circumstances, the present invention aims to provide a technique capable of determining the measurement position of illuminance in a three-dimensional space by a simple method.

Invention according to claim 1, displaying the relation between the three-dimensional position of the luminometer measured by three-dimensional position and the position measuring device of the measuring predetermined position as a candidate for measuring the illuminance by the illuminance meter display device And a control unit that performs control to control the measurement.

  The invention according to claim 2 is characterized in that, in the invention according to claim 1, the control unit performs control to display a direction and a distance to the measurement planned position.

The invention according to claim 3 is that, in the invention according to claim 1 or 2, the distance between the planned measurement position and the measured three-dimensional position of the illuminometer is equal to or less than a predetermined value. The system is characterized by including a notification control unit that performs control to perform notification display at the stage of becoming a failure.

The invention according to claim 4 is the invention according to any one of claims 1 to 3, wherein point cloud position data of an object provided with a source of illumination light measured by the illuminance meter is acquired. A position measurement apparatus for the object according to a group position data acquisition unit, a three-dimensional model of the object created based on the positional relationship between the planned measurement position and the object, and the point cloud position data. And a position calculation unit that calculates a position.

  The invention according to claim 5 is characterized in that, in the invention according to claim 4, the position measurement device has a function of a laser scanner, and the point cloud position data is obtained by the function of the laser scanner. I assume.

  In the invention according to claim 6, in the invention according to claim 4 or 5, the position calculation unit is a position of the position measurement device with respect to the object based on the correspondence between the object and the three-dimensional model. To calculate.

  The invention according to claim 7 relates to the invention according to claim 6, wherein the position calculation unit obtains positions of a plurality of points constituting the three-dimensional model from the correspondence between the object and the three-dimensional model. It is characterized in that a process and a process of obtaining the position of the position measurement device by the rear intersection method based on the coordinates of the plurality of points obtained by the process are performed.

Invention according to claim 8, display the relationship between the three-dimensional position of the luminometer measured by three-dimensional position and the position measuring device of the measuring predetermined position as a candidate for measuring the illuminance by the illuminance meter display device And a control step of performing control to make the measurement.

The invention according to claim 9 is a program that causes a computer to read and execute the program, wherein the computer measures the three-dimensional position of the planned measurement position and the position measuring device as a candidate for measuring the illuminance by the illuminance meter. It is a program characterized by performing a control step which performs control for displaying a relation with a three-dimensional position of a light meter on a display.

According to the present invention, the measurement position of the luminometer in three-dimensional space can be determined by a simple method.

It is a conceptual diagram which shows the outline | summary of the operation | work which measures illumination intensity. It is a block diagram of a position measuring device in an embodiment. It is a block diagram of the terminal in an embodiment. It is a figure which shows an example of UI display. It is a flowchart which shows an example of the procedure of a process. It is a figure which shows an example of the condition which measures illumination intensity. It is a flowchart which shows an example of the procedure of a process. It is a block diagram of the terminal in an embodiment. It is a flowchart which shows an example of the procedure of a process. It is a figure which shows the principle of the rear intersection method.

1. First embodiment (outline)
The outline | summary of the operation | work which measures the illumination intensity in embodiment is shown by FIG. In this example, the worker 100 uses the measurement unit 200 to measure the illuminance at a predetermined measurement point. FIG. 1 conceptually shows an example in which the worker 100 moves with the measurement unit 200 and the terminal 300 and performs measurement at three locations.

(Hardware configuration)
(Measurement unit)
The measurement unit 200 includes a rod-like support pole 201, a reflection prism 202 fixed to the tip of the support pole 201, and an illuminance meter 203 fixed on the reflection prism 202. The support pole 201 can be extended and contracted, and has a structure capable of adjusting the height position of the reflecting prism 202 and the illuminance meter 203 to a position desired by the operator. As a mechanism for expanding and contracting the support pole 210, a structure in which an operator manually performs is adopted. Various actuators and an electric motor can also be used as a mechanism which performs this expansion-contraction.

  The reflecting prism 202 reflects the measurement laser light from the position measurement device 400 toward the position measurement device 400. The illuminance meter 203 is an example of an electromagnetic wave measuring instrument, and measures the illuminance of the illumination light. The illuminance meter 203 is connected to the terminal 300 which the operator holds, and operates by the operation of the terminal 300. The data of the illuminance measured by the illuminance meter 203 is stored in the terminal 300. The illuminance meter 203 has directivity with respect to a specific direction in the horizontal plane. By rotating the support pole 201 about the axis, the measurement direction of the illuminance meter 203 can be adjusted. In addition, the structure which attaches the terminal 300 to the support pole 201, and the terminal 300 moves with the measurement unit 200 is also possible.

(Position measurement device)
The position measurement apparatus 400 scans and irradiates a measurement laser beam toward the periphery. When the measuring laser light strikes the reflecting prism 202, it is reflected there, and the reflected light is received by the position measuring device 400. The position measurement device 400 calculates the direction and distance of the reflecting prism 202 from the position measurement device 400 from the irradiation direction and propagation time of the measurement laser light. As a result, the relative positional relationship of the reflecting prism 202 with respect to the position measuring device 400 is known. Here, information on the position of the reflecting prism 202 can be obtained by setting the position of the position measuring device 400 in advance. In this example, the position of the position measuring device 400 in an assumed field (a place where the measurement is performed) for measuring the headlights and taillights of the vehicle described later is determined in advance. For example, in the measurement field described above, one or more reference points whose positions in the measurement field are clear are provided, and by installing the position measurement device 400 at this reference point, the position measurement device in the measurement field The position of 400 can be made known in advance. It is also possible to measure the position of the position measurement device 400 in advance using a high precision GNSS device or the like.

  A block diagram of the position measurement device 400 is shown in FIG. The position measurement device 400 includes a measurement light irradiation unit 401, a reflected light reception unit 402, a scan control unit 403, a target orientation acquisition unit 404, a distance calculation unit 405, a target position calculation unit 406, and a communication unit 407. The measurement light irradiator 401 scans and irradiates laser light for measuring the distance toward the periphery. The reflected light receiving unit 402 strikes the target (the reflecting prism 202 in FIG. 1) and receives the measurement light reflected there. The measurement light irradiation unit 401 and the reflected light reception unit 402 are mounted on a rotatable gantry, and irradiation of measurement light and reception of reflected light are enabled while scanning the surroundings.

  The scan control unit 403 controls the scan of the measurement light. For example, the scan control unit 403 controls the timing of the scan, the direction of the scan, and the timing of emission of the measurement laser light. The target orientation acquisition unit 404 acquires the direction of the target (in this case, the reflecting prism 202) viewed from the position measurement device 400 from the irradiation direction of the measurement light (the incident direction of the reflected light). In this example, the target orientation acquisition unit 404 acquires angle data of the horizontal angle and the vertical angle (elevation angle or depression angle). The distance calculation unit 405 calculates the distance from the position measuring device 400 to the target from the flight time (propagation time) of the measurement light and the light velocity.

  The target position calculation unit 406 calculates the position of the target relative to the position measurement device 400 based on the direction of the target viewed from the position measurement device 400 and the distance between the position measurement device 400 and the target. Here, if the position in the measurement field of the position measurement device 400 is known in advance, the position in the measurement field of the target (the reflecting prism 202 in FIG. 1) can be known.

For example, consider the case where the position P ₀ (x'y'z ') of the position measurement device 400 in the measurement field is known and this data is input to the position measurement device 400. In this case, assuming that the measured position of the reflecting prism 202 in the three-dimensional coordinate system with the position of the position measuring device 400 as the origin is P ₁ (xyz), the position (coordinates) P of the reflecting prism 202 in the measurement field is P It is obtained by = P ₀ + P ₁ . This process is also performed by the target position calculation unit 406. Note that the value of P ₀ may be input to the terminal 300, and the terminal 300 may perform the above-described calculation for obtaining P.

  When the absolute position of the position measuring device 400 is known, the absolute position of the target can be calculated. Further, in this example, the reflecting prism 202 and the illuminance meter 203 are disposed close to each other, and the position of the reflecting prism 202 is regarded as the position of the illuminance meter 203.

  The communication unit 407 performs wireless communication with the terminal 300. Although the standard of wireless communication is not particularly limited, for example, communication standards such as Wi-Fi, Bluetooth (registered trademark), various wireless LANs, and a cellular phone network are used. The communication unit 407 transmits, to the terminal 300, data on the position of the target (the reflecting prism 202 in FIG. 1) calculated by the target position calculating unit 406. Further, data on the position of the position measurement device 400 obtained (or determined in advance) in advance is input to the position measurement device 400 via the communication unit 407.

(Terminal)
Returning to FIG. 1, the worker 100 carries the terminal 300. The terminal is a commercially available tablet that can be used as a portable general-purpose computer, and includes a CPU, memory, and various interfaces. As the terminal 300, a dedicated terminal may be prepared and used in addition to using a general-purpose computer. The worker 100 uses the terminal 300 to perform work related to measurement of illuminance.

  The terminal 300 includes a communication unit 301, a measurement planned position data reception unit 302, a measurement position data reception unit 303, a position determination unit 304, a measurement instruction notification unit 305, a GUI control unit 306, and a display unit 307. In this example, the communication unit 301 and the display unit 307 use hardware provided in the tablet, and the other functional units are configured as software, and the CPU executes a specific program by the CPU. The operation is realized.

  At least a part of the illustrated functional units may be configured by a dedicated circuit. For example, each functional unit illustrated can be configured by an electronic circuit such as a central processing unit (CPU), an application specific integrated circuit (ASIC), or a programmable logic device (PLD) such as a field programmable gate array (FPGA).

  Whether each functional unit is configured by dedicated hardware or configured as software by execution of a program in the CPU is determined in consideration of required operation speed, cost, power consumption, and the like. For example, if a specific functional unit is configured by an FPGA, although it is superior in processing speed, it becomes expensive. On the other hand, a configuration that implements a specific functional unit by executing a program by the CPU is advantageous in cost because general-purpose hardware can be used. However, when the functional unit is realized by the CPU, the processing speed is inferior to that of dedicated hardware. Further, when the functional unit is realized by the CPU, there are cases where it can not cope with complicated calculations. It should be noted that configuring the functional unit with dedicated hardware and configuring as software are equivalent to each other from the viewpoint of realizing a specific function, although there is the difference described above. In addition, a configuration in which a plurality of functional units are realized by one circuit is also possible.

  The communication unit 301 communicates with the position measurement device 400 (see FIGS. 1 and 2) and other devices. Various communication standards can be used. The planned measurement position data receiving unit 302 receives data relating to the planned measurement position, which is a planned position to be a candidate for measuring the illuminance. The planned measurement position to measure the illuminance is previously determined, and is input to the terminal 300 via the communication unit 301. Of course, the data of the planned measurement position may be input to the terminal 300 via a known storage medium (USB memory or the like). The received data of the planned measurement position is stored in a storage unit (semiconductor memory or the like) (not shown) of the terminal 300.

  The measurement position data reception unit 303 receives data of the measurement position of the reflection prism 202 measured by the position measurement device 400. The data of the measurement position is received by the communication unit 301 and sent to the measurement position data reception unit 303.

  The position determination unit 304 compares the measurement position of the reflecting prism 202 received by the measurement position data reception unit 303 with the predetermined measurement planned position received by the measurement planned position data reception unit 302 to measure the measurement position and the measurement position. It is determined whether the difference between the planned positions is equal to or less than a predetermined range. When the position determination unit 304 determines that the difference between the measurement position and the planned measurement position is equal to or less than a predetermined range, the measurement instruction notification unit 305 performs a process related to notification for prompting the operator to measure the illuminance.

  The GUI control unit 306 controls a graphical user interface (GUI) described later. The control of the GUI is performed using the function of a normal tablet. The GUI control unit performs control of UI (User Interface) display described later. The display unit 307 is a liquid crystal display device provided in the terminal 300. The display unit 307 includes a touch panel sensor, and is configured to perform various operations using a screen. This point utilizes the function of a commercially available tablet.

  Further, the terminal 300 includes a posture sensor (may be externally attached), and has a function of acquiring the posture of the terminal 300 in the measurement environment by performing calibration described later.

(Summary of operation)
Position measurement apparatus 400 measures the position of reflective prism 202 of FIG. 1 that is the target, and transmits the information to terminal 300 by wireless communication. The terminal 300 compares the predetermined measurement planned position with the measurement position of the reflecting prism 202 measured by the position measuring device 400, and calculates the positional relationship. Further, the positional relationship between the planned measurement position of the reflection prism 202 and the actually measured measurement position is graphically displayed on the display unit 307 of the terminal 300 (see FIG. 4).

  The operator looks at the UI screen illustrated in FIG. 4 displayed on the display unit 307 of the terminal 300, and approaches the planned measurement position with the measurement unit 200. Then, when the specific condition is satisfied, a notification to prompt measurement of the illuminance is given to the worker. In response to this notification, the worker measures the illuminance at that position using the illuminance meter 203 (see FIG. 1). By repeating this work for each measurement planned position, the measurement of the illuminance at each measurement planned position is performed.

(Example of GUI display screen)
FIG. 4 shows an example of a GUI screen (UI screen) displayed on the display unit 307 of the terminal 300 (see FIG. 3). Control of the GUI using the screen shown in FIG. 4 is performed in the GUI control unit 306. In FIG. 4A, the direction (azimuth) of the planned measurement position with reference to the position of the reflecting prism 202 at that time, the horizontal distance to the planned measurement position, and the vertical distance are displayed. In the case of FIG. 4, from the position of the reflecting prism 202 at that time, it is shown that there is a planned measurement position at a position of 12 m horizontal distance in the direction 45 ° forward right and +1.2 m in the vertical direction. Although the details will be described later, the terminal 300 has a posture sensor, and the display is controlled such that the direction of the display screen in FIG. 4 is the direction suitable for the surrounding environment. That is, regardless of the direction of the terminal 300, the display of the arrow is controlled such that the displayed arrow always points in the direction of the planned measurement position.

  In FIG. 4B, the reflecting prism 202 is 1.45 m in the X direction (right direction), 1.38 m in the Y direction (forward direction), and 1.2 m in the height direction up to the planned measurement position. A state of approaching is shown. In this case, the position of the reflecting prism 202 is measured by moving the reflecting prism 202 by 1.45 m in the X direction (right direction) and 1.38 m in the Y direction (forward direction) and further by 1.2 m in the vertical direction. It will be the planned position. The positions of the reflecting prism 202 and the illuminance meter 203 are close to each other, and both can be considered to be at the same three-dimensional position. Therefore, moving the reflecting prism 202 to the planned measurement position allows the illuminance meter 203 at the planned measurement position. It becomes possible to measure the illuminance by

  FIG. 4C shows a state where the position to be measured approaches 0.58 m in the X direction (right direction) and 0.56 m in the Y direction (forward direction). FIG. 4C shows a state in which the position of the reflecting prism 202 approaches a distance of 70 cm or less in the horizontal plane, but the distance in the vertical direction is 1.2 m short to the planned measurement position.

  In this example, it is specified that the illuminance is measured within a radius of 70 cm from the planned measurement position. If the horizontal distance between the measured position of the reflective prism 202 and the planned measurement position approaches 70 cm, the fact is confirmed on the screen A concentric circle corresponding to a radius of 70 cm is displayed on the screen so that it can be done.

  FIG. 4D shows the reflecting prism 202 approaching to a position of −0.17 m in the height direction. Here, the display of -0.17 m indicates that the planned measurement position is 0.17 m lower than the reflecting prism 202. In this case, when the height position of the reflecting prism 202 is lowered by 0.17 m, the reflecting prism 202 becomes the height of the planned measurement position. FIG. 4D shows a state in which the vertical distance is within 70 cm in addition to the horizontal distance. In this example, when the distance between the planned measurement position of the reflection prism 202 and the measurement position becomes 70 cm or less, the display is highlighted such as a change in color or gradation of a part of the screen or blinking, and that effect is notified to the operator. This notification can also use an acoustic thing. In the example of FIG. 4D, the state in which the icon indicating "measurement" is highlighted is shown. In this case, when the worker touches the highlighted portion on the screen, the illuminance meter 203 measures the illuminance.

(Example of processing)
FIG. 5 shows a flowchart showing an example of the procedure of the process. A program for executing the process of FIG. 5 is stored in a memory in the terminal 300. This program may be stored in a suitable storage medium and may be provided from there. The same applies to the processing of FIG. 5 and FIG.

  Here, an example of measuring the illuminance of the lights (headlights and tail lamps) of the vehicle 600 will be described. FIG. 6 shows a state in which a plurality of measurement planned positions 601 are set in a grid shape in the three-dimensional space in front of and behind the vehicle 600. In addition, although the example of a passenger car is shown as a vehicle here, special vehicles, such as a truck, a bus, and a crane car, may be used.

  The relative positional relationship of the planned measurement position 601 to the vehicle 600 shown in FIG. 6 and the lattice spacing of the planned measurement position are predetermined. For example, the planned measurement position is determined at the time of design of the vehicle, and the lower limit and the range of the measured value of the illuminance at each planned measurement position are also predetermined. Here, although an example of the illuminance will be described, it is possible to set a reference for the chromaticity of the illumination light, and for example, to predetermine the range of the chromaticity at each measurement point. The measurement field for performing the measurement in FIG. 6 may be outdoors or indoors.

  Prior to measurement, the position measurement device 400 is first installed at a known position. Next, the terminal 300 is calibrated to allow the terminal 300 to measure the azimuth. This process is performed as follows. First, map information of measurement failure in which the measurement of FIG. 6 is performed is input to the terminal 300. Then, the position measurement device 400 measures the position of the terminal 300 at a plurality of positions of the measurement field. In this process, the terminal 300 is brought close to the reflecting prism 202, and the position of the terminal 300 is measured. Since the attitude of the terminal 300 at each measurement point is known by an attitude sensor built in the terminal 300, the relationship between the map information of the measurement field and the attitude of the terminal 300 is acquired. As a result, when the information in FIG. 4 is displayed on the display unit 307 of the terminal 300, it is possible to always display the orientation of the screen according to the situation of the site. That is, even if the direction of the terminal 300 is changed, the display of FIG. 4 is performed so that the direction of the planned measurement position can always be visually grasped.

  Hereinafter, an example of the procedure of the work will be described with reference to FIG. First, position data of the position measurement device 400 is input to the terminal 300 (step S101). As described above, the installation position on the measurement field of the position measurement device 400 is known, and the position data is input to the terminal 300. Next, data of the planned measurement position illustrated in FIG. 6 which has been determined in advance is input to the terminal 400 (step S102).

  When the processes of steps S101 and S102 are finished, a process related to the guidance to the measurement point of the worker 100 using the terminal 300 is performed (step S103). At step 103, the following processing is performed. First, when the program related to the process illustrated in FIG. 4 is activated on the terminal, the planned measurement position 601 (one of the grid points in FIG. 6) to be reached first is selected, and the UI screen is displayed to prompt guidance there (See FIG. 4) is displayed on the display unit 307 of the terminal 300. The operator 100 uses the UI display illustrated in FIG. 4 to guide the illuminance meter 203 to one of the measurement planned positions 601 set in a grid shape. This work is performed by the worker holding the measuring unit 200 in hand while looking at the terminal 300 and moving on foot.

  For example, when the display of FIG. 4A is performed first, the operator grasps the direction and the distance of the displayed measurement planned position, and walks toward the measurement planned position. When the planned measurement position is approached, the relative positional relationship between the current position and the planned measurement position as shown in FIG. 4B is switched to a display screen which is easy to visually grasp. FIG. 4 (C) shows a state where the position of the reflecting prism 202 in the horizontal plane can be considered to be a planned measurement position (in this case, a range of 70 cm in radius) from the state shown in FIG. 4 (B). Is shown.

  A state where the height position of the reflecting prism 202 is adjusted by further adjusting the length of the support pole 201 by approaching the position in the horizontal plane to be a target further from the state of FIG. 4C is shown in FIG. ing. FIG. 4D shows a state in which the three-dimensional position of the reflecting prism 202 is within a radius of 70 cm from the planned measurement position, and a state in which highlighting is performed to notify the worker 100 to that effect is performed. . In this example, the icon on the screen for instructing the start of measurement blinks, and the operator 100 is notified that the reflection prism 202 (illuminometer 203) has reached the planned measurement position and the illuminance can be measured. Screen display is performed.

  At this stage, when the operator operates the terminal 300 and instructs to measure the illuminance, the illuminance meter 203 measures the illuminance (step S104). The data of the measured illuminance is stored in a storage file set in a memory in the terminal 300. At this time, illuminance data is stored in association with coordinate data of the measurement position and data of the measurement time (step S105). In the measurement of illuminance, measurement in the vertical direction and measurement in the horizontal direction are performed. In the case of measurement in the vertical direction, the direction of the luminometer is adjusted and measured so that the luminometer faces the vehicle, and in the case of measurement in the horizontal direction, the luminometer is adjusted in the zenith direction.

  By sequentially performing the above-described processing at each of the planned measurement positions 601 set in a grid, data of illuminance at each planned measurement position can be obtained.

  FIG. 7 shows an example of the process according to step S103. This process is performed in the position determination unit 304 of the terminal 300. In this process, first, position data of the measurement planned position P1 is acquired (step S201). Next, position data P2 of the reflecting prism 202 actually measured is acquired (step S202). Next, the difference (the distance between P1 and P2) ΔP of the positions of P1 and P2 is calculated (step S203).

  After ΔP is calculated, it is determined whether or not ΔP is less than or equal to a predetermined value (for example, 70 cm) (step S204). If ΔP is equal to or less than the specified value, notification processing is performed (step S205), and if ΔP is not equal to or less than the specified value, the process from step S202 is repeated.

(Superiority)
According to the above example, since the display for prompting the user to the position to be measured is displayed on the display unit of the terminal, the work relating to specifying the position of the illuminance meter 203 can be made efficient.

2. Second embodiment (in the beginning)
The present embodiment relates to a technology for acquiring data of the position of the position measurement device 400 in the first embodiment. In the first embodiment, it is necessary to first determine the position of the position measurement device 400 in the measurement field and acquire the position data. If the installation position of the position measurement device 400 is predetermined, there is no problem in the method of the first embodiment, but if the installation position of the position measurement device 400 is not determined in advance, an operation for positioning is necessary. It becomes. According to the present embodiment, the burden of work for determining the position of the position measurement device 400 is reduced.

(Constitution)
In the present embodiment, a terminal 310 shown in FIG. 8 is used instead of the terminal 300 of FIG. 3. The terminal 310 has a configuration in which a point cloud position data acquisition unit 311, a three-dimensional model creation unit 312, a three-dimensional model matching unit 313, and a position calculation unit 314 of the position measurement device are added to the terminal 300 of FIG. In FIG. 8, the function of the part common to FIG. 3 is the same as that of FIG. 3. Further, the point as to whether the functional units are configured as software or dedicated hardware is the same as in the case of FIG.

  In this example, a device having the function of a laser scanner is used as the position measurement device 400 of FIG. In this case, the reflected light from the object of the laser light emitted from the measurement light irradiator 401 is detected (received) by the reflected light receiver 402. By performing this operation at each point of the object, point cloud position data of the object can be obtained. The laser scanner is described, for example, in JP-A-2010-151682.

  From the flight time until the measurement light emitted from the measurement light irradiator 401 is received by the reflected light receiver 402, the distance to the measurement point (the point at which the measurement light impinges) can be determined. From the distance to the measurement point and the irradiation direction of the measurement light, the relative position in the three-dimensional space of the measurement point with respect to the position measurement device 400 can be known. Specifically, the three-dimensional position of the measurement point in the three-dimensional coordinate system with the position measurement device 400 as the origin is obtained. This measurement is performed while scanning the measurement object, and is performed at many points. A group (group) of position information of a large number of measurement points is called point cloud position data. Point cloud position data is data in which an object is handled as a collection (group) of points (measurement points). By plotting each point of the object in a three-dimensional space based on the point cloud position data, a three-dimensional model in which the object is grasped as a collection of points can be obtained.

  The point cloud position data acquisition unit 311 acquires point cloud position data measured using the laser scanner function of the position measurement device 400. The three-dimensional model creation unit 312 creates a three-dimensional model of the measurement object based on the point cloud position data acquired by the point cloud position data acquisition unit 311. This technique is described, for example, in Japanese Patent Application Laid-Open Nos. 2012-230594, 2014-35702, and the like.

  In this example, a vehicle (passenger car) 600 in FIG. 6 is selected as the measurement object. In this case, the headlights and tail lamps of the vehicle 600 of FIG. 6 are an example of an electromagnetic wave generation source, and the vehicle 600 is an example of an object provided with a generation source of an electromagnetic wave.

  The three-dimensional model matching unit 313 uses a three-dimensional model (first three-dimensional model) of the vehicle 600 prepared in advance and the three-dimensional model (second three-dimensional model) created by the three-dimensional model creation unit 312. Perform matching (processing to obtain correspondence). The matching of the three-dimensional model is described, for example, in International Publication Nos. WO 2012/141235, JP-A 2014-35702, JP-A 2015-46128, and Japanese Patent Application No. 2015-133736.

  The first three-dimensional model is acquired from design data of the vehicle 600. Here, the correspondence between the first three-dimensional model and the planned measurement position 601 is obtained in advance. That is, since the planned measurement position 601 is set based on the vehicle 600, the correspondence relationship with the three-dimensional model of the vehicle 600 can be determined at the time of setting. The second three-dimensional model is a three-dimensional model of the vehicle 600 viewed from the position where the position measurement device 400 is installed.

(Operation)
In this example, the process of determining the position in the measurement field of the position measurement device 400 is performed as follows. FIG. 9 shows an example of the procedure of the process. In this process, first, the position measuring device 400 is placed at an appropriate position in the measurement field (see FIG. 6B). At this time, the position measurement device 400 is installed at a position where the vehicle 600 can be seen from the position measurement device 400 and the measurement planned position 601 set in a grid can be seen. At this point, the position in the measurement field of the position measurement device 400 may be unknown or unclear. The following process is started in this state.

  First, the point cloud position data of the vehicle 600 is acquired using the laser scan function of the position measurement device 400 (step S301). The point cloud position data to be acquired may not be the entire visible range of the vehicle 600, but may be a part thereof. Specifically, first, laser scanning of the vehicle 300 is performed using the position measurement device 400, and point cloud position data relating to the vehicle 300 is obtained. The point cloud position data is sent from the position measurement device 400 to the terminal 300, and is received by the point cloud position data acquisition unit 311 of the terminal 300.

  When point cloud position data is obtained, a three-dimensional model is created based on the point cloud position data (step S302). This process is performed in the three-dimensional model creation unit 312. In this process, a third-order model (second three-dimensional model) of the vehicle 600 is obtained.

  When the three-dimensional model of the vehicle 600 is obtained, matching of the three-dimensional model (first three-dimensional model) of the vehicle 600 obtained in advance with the three-dimensional model (second three-dimensional model) created in step S302 (Specification of correspondence) is performed (step S303). This process is performed in the three-dimensional model matching unit 313.

  Once the correspondence between the first three-dimensional model and the second three-dimensional model is specified, the position of the position measurement device 400 is calculated using the rear intersection method (step S304). The details of step S304 will be described below.

  The principle of the rear intersection method is shown in FIG. The backward joining method is a method of observing the direction from an unknown point to three or more known points and determining the position of the unknown point as an intersection point of those direction lines. As the backward joining method, single-photograph setting, DLT (Direct Liner Transformation Method) may be mentioned. The method of association is described in "Basic Surveying" (Electric Shogakuin: 2010/4 issued) 182p, p184. Further, Japanese Patent Application Laid-Open No. 2013-186816 shows an example of a specific calculation method regarding the association method.

For example, in the case of FIG. 6, the points P _{1 to} P ₃ are selected from the region in which the correspondence between the first three-dimensional model and the second three-dimensional model is obtained. In this case, these three points are somewhere on the appearance of the vehicle 600. Here, in the case of the second three-dimensional model, the directional line from the unknown point O to the points P _{1 to} P ₃ corresponds to the optical path of the laser light for measurement. Therefore, three direction lines are obtained from the irradiation direction of the measurement laser light when the points P _{1 to} P ₃ are obtained. Then, the relative position of the point O with respect to the points P _{1 to} P ₃ is determined by finding the coordinates of the intersection of these three direction lines.

Here, the first three-dimensional model is obtained from known data (for example, design data of the vehicle 600), and the first three-dimensional model and a plurality of measurement planned positions 601 set in a grid shape. The relative positional relationship is predetermined and known at this stage. Therefore, by obtaining the relative positional relationship between the points P _{1 to} P ₃ and the point O in the model of FIG. 10, the relative positional relationship between the plurality of planned measurement positions 601 and the position measuring device 400 at the position of the point O is acquired. . That is, the plurality of planned measurement positions 601 and the position of the position measuring device 400 can be described on one coordinate system.

  Further, since the lattice spacing of the planned measurement position 601 is predetermined, this lattice spacing serves as a scale, and an actual dimension is given to the above-mentioned coordinate system that describes the planned measurement position 601 and the position of the position measuring device 400. This coordinate system is fixed to the measurement field of FIG. 6 and becomes a local coordinate system that describes the planned measurement position 601, the position of the vehicle 600, and the position of the position measuring device 400.

  By the process of step S304, the position of the position measuring device 400 in the measurement field of FIG. 6 is specified. In this state, the process described in the first embodiment can be performed, and the illuminance of the light of the vehicle 600 in the measurement field of FIG. 6 can be measured.

3. In addition to illuminance, it is also possible to measure data such as chromaticity and wavelength distribution characteristics. In addition, measurement of electromagnetic waves for communication (for example, radio waves of wireless LAN), measurement of radiation such as gamma rays, measurement of light in the invisible ultraviolet region and infrared region, measurement of electromagnetic waves generated by high voltage transmission lines and high voltage electrical equipment The present invention can be applied to such techniques.

  The posture sensor may be fixed to the measurement unit 200, and the output may be input to the terminal 300. In this case, when the measurement unit 200 is rotated with the vertical axis as the rotation axis, the direction of the illuminance meter 203 is displayed in the screen of FIG. 4 and the operator 100 can grasp which direction the illuminance of incident light can be measured. .

  The field to be measured is not particularly limited, and it is possible to select a room for performing some work, a classroom, an auditorium, an event facility, a library, various public spaces, a commercial facility, a public transportation room, and the like.

  In step S205, the notification processing for prompting the operator to measure the illuminance may not be performed, and the measurement of the illuminance may be automatically performed when the specific condition is satisfied.

  A configuration is also possible in which the measurement unit 200 is fixed to moving means capable of autonomous movement, and autonomous movement of the moving means and extension control of the support pole 201 are performed using control data for performing the UI display of FIG. . In this case, the autonomous movement control unit that controls the movement of the moving unit using the control data for performing the UI display in FIG. 4 and the extension control unit that controls extension and contraction of the support pole 201 are in the terminal 300 or as separate devices Prepared.

  In one or both of FIG. 3 and FIG. 8, some of the functional units may be realized by an external device other than the terminal 300 (310). In this case, the present invention can be grasped as a system invention.

Claims (9)

A control unit which performs control for displaying the relationship between the three-dimensional position of the luminometer measured by three-dimensional position and the position measuring device of the measuring predetermined position as a candidate for measuring the illuminance by the illuminance meter display device A measuring apparatus comprising:   The said control part performs control which displays the direction and distance to the said measurement plan position, The measuring apparatus of Claim 1 characterized by the above-mentioned. The system further comprises a notification control unit that performs control to perform notification display when the distance between the planned measurement position and the measured three-dimensional position of the luminometer is less than a predetermined value. Item 3. The measuring device according to item 1 or 2. A point cloud position data acquisition unit for acquiring point cloud position data of an object provided with a source of illumination light measured by the illuminance meter ;
A position calculation unit that calculates the position of the position measurement device with respect to the target based on the positional relationship between the planned measurement position and the target and the three-dimensional model of the target created based on the point cloud position data The measuring apparatus according to any one of claims 1 to 3, comprising: The position measurement device has the function of a laser scanner,
The measuring apparatus according to claim 4, wherein the point cloud position data is obtained by the function of the laser scanner.   The measurement apparatus according to claim 4, wherein the position calculation unit calculates the position of the position measurement device with respect to the object based on a correspondence between the object and the three-dimensional model. The position calculation unit
A process of obtaining positions of a plurality of points constituting the three-dimensional model from the correspondence between the object and the three-dimensional model;
7. The measuring apparatus according to claim 6, wherein the process of determining the position of the position measuring apparatus by the backward intersection method based on the coordinates of the plurality of points obtained in the process is performed. A control step for controlling to display the relationship between the three-dimensional position of the luminometer measured by three-dimensional position and the position measuring device of the measuring predetermined position as a candidate for measuring the illuminance by the illuminance meter display device A measuring method characterized by comprising. A program that causes a computer to read and execute
On the computer
A control step for controlling to display the relationship between the three-dimensional position of the luminometer measured by three-dimensional position and the position measuring device of the measuring predetermined position as a candidate for measuring the illuminance by the illuminance meter display device A program characterized by having it run.

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