US 12,253,601 B2
Three-dimensional survey apparatus, three-dimensional survey method, and three-dimensional survey program
Tadayuki Ito, Tokyo (JP); Yoshihiro Nishi, Tokyo (JP); and Motohiro Miyajima, Tokyo (JP)
Assigned to Topcon Corporation, Tokyo (JP)
Filed by Topcon Corporation, Tokyo (JP)
Filed on Sep. 11, 2020, as Appl. No. 17/017,719.
Claims priority of application No. 2019-167413 (JP), filed on Sep. 13, 2019.
Prior Publication US 2021/0080577 A1, Mar. 18, 2021
Int. Cl. G01S 17/42 (2006.01); G01S 7/481 (2006.01); G01S 17/89 (2020.01)
CPC G01S 17/42 (2013.01) [G01S 7/4817 (2013.01); G01S 17/89 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A three-dimensional survey apparatus which acquires three-dimensional data of a measurement object, the three-dimensional survey apparatus comprising:
a collimating ranging unit which irradiates the measurement object with first ranging light by collimation of a telescope portion and which, based on first reflected ranging light that is reflection of the first ranging light by the measurement object, measures a distance to the measurement object and detects a direction of the collimation;
a scanner unit which is integrally provided with the collimating ranging unit and rotatingly emits second ranging light and which, based on second reflected ranging light that is reflection of the second ranging light by the measurement object, measures a distance to the measurement object and detects an emission direction of the second ranging light to acquire point cloud data related to the measurement object; and
a control calculation portion which is provided in at least one of the collimating ranging unit and the scanner unit, wherein
the control calculation portion executes control
to recognize, based on a first piece of three-dimensional data of the point cloud data that is present on the measurement object and a second piece of background three-dimensional data of the point cloud data that is not present on the measurement object, a position or a shape of a characteristic portion of the measurement object which is present between the first piece of three-dimensional data and the second piece of background three-dimensional data, wherein a piece of the three-dimensional data of the characteristic portion has not been acquired by the scanner unit,
to acquire, based on a survey result of the collimating ranging unit, three-dimensional data related to the characteristic portion,
to add the three-dimensional data related to the characteristic portion having been acquired based on the survey result of the collimating ranging unit to the point cloud data,
to automatically set a region including the recognized characteristic portion at a measurement location, and acquire the three-dimensional data related to the characteristic portion by having the collimating ranging unit execute an automatic scan at the measurement location, and
when a difference between distance data among the first piece of three-dimensional data and distance data among the second piece of three-dimensional data in the region is equal to or greater than a predetermined value, to recognize that the characteristic portion is a corner portion or an edge portion of the measurement object.