U.S. patent application number 15/281730 was filed with the patent office on 2017-04-06 for measuring device, measuring method, and programs therefor.
This patent application is currently assigned to TOPCON CORPORATION. The applicant listed for this patent is TOPCON CORPORATION. Invention is credited to Hiroki NAGASHIMA, Akira Oide, Atsushi Shoji.
Application Number | 20170097420 15/281730 |
Document ID | / |
Family ID | 58446781 |
Filed Date | 2017-04-06 |
United States Patent
Application |
20170097420 |
Kind Code |
A1 |
NAGASHIMA; Hiroki ; et
al. |
April 6, 2017 |
MEASURING DEVICE, MEASURING METHOD, AND PROGRAMS THEREFOR
Abstract
A technique for efficiently performing operations for
identifying a current position in a method of measuring
electromagnetic waves is provided. A measuring device includes a
measurement planned position data receiving unit 302, a current
position data receiving unit 303, and a GUI controlling unit 306.
The measurement planned position data receiving unit 302 receives
data of measurement planned positions at each of which
electromagnetic waves are measured. The current position data
receiving unit 303 receives data of a current position of an
electromagnetic wave measuring device. The GUI controlling unit 306
controls displaying of a relationship between the current position
of the electromagnetic wave measuring device and the measurement
planned position on a display based on data of the measurement
planned positions and data of the current position.
Inventors: |
NAGASHIMA; Hiroki;
(Itabashi-ku, JP) ; Shoji; Atsushi; (Itabashi-ku,
JP) ; Oide; Akira; (Itabashi-ku, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
TOPCON CORPORATION |
ltabashi-ku |
|
JP |
|
|
Assignee: |
TOPCON CORPORATION
ltabashi-ku
JP
|
Family ID: |
58446781 |
Appl. No.: |
15/281730 |
Filed: |
September 30, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06T 17/00 20130101;
G06T 2207/10028 20130101; G01S 17/42 20130101 |
International
Class: |
G01S 17/42 20060101
G01S017/42; G06T 7/00 20060101 G06T007/00; G06T 17/00 20060101
G06T017/00 |
Foreign Application Data
Date |
Code |
Application Number |
Oct 5, 2015 |
JP |
2015-197586 |
Claims
1. A measuring device comprising: a controlling unit configured to
control displaying of a relationship between a measurement planned
position for an electromagnetic wave and a current position of an
electromagnetic wave measuring device, on a display, based on first
data relating to the measurement planned position for the
electromagnetic wave and based on second data relating to the
current position of the electromagnetic wave measuring device.
2. The measuring device according to claim 1, wherein the
controlling unit controls displaying of a direction and a distance
to the measurement planned position.
3. The measuring device according to claim 1, further comprising: a
notification controlling unit configured to control displaying of a
notice when a distance between the measurement planned position and
the current position is not greater than a predetermined value.
4. The measuring device according to claim 1, further comprising: a
point cloud position data obtaining unit configured to obtain point
cloud position data that is measured by a position measuring
device, the position measuring device being configured to measure a
position of the electromagnetic wave measuring device; a
three-dimensional model generating unit configured to generate a
three-dimensional model based on the point cloud position data; a
matching relationship identifying unit configured to identify a
matching relationship between the three-dimensional model and a
model of circumstances surrounding the position measuring device;
and a position judging unit configured to identify a position of
the position measuring device surrounded by the modeled
circumstances, based on the matching relationship.
5. The measuring device according to claim 4, wherein the point
cloud position data is measured by a laser scanner, and the
position judging unit identifies the position of the position
measuring device surrounded by the modeled circumstances, based on
a positional relationship between the point cloud position data and
the position measuring device and based on the matching
relationship.
6. A measuring method comprising: controlling displaying of a
relationship between a measurement planned position for an
electromagnetic wave and a current position of an electromagnetic
wave measuring device, on a display, based on first data relating
to the measurement planned position for the electromagnetic wave
and based on second data relating to the current position of the
electromagnetic wave measuring device.
7. A computer program product comprising a non-transitory
computer-readable medium storing computer-executable program codes
for measurement, the computer-executable program codes comprising
program code instructions for: controlling displaying of a
relationship between a measurement planned position for an
electromagnetic wave and a current position of an electromagnetic
wave measuring device, on a display, based on first data relating
to the measurement planned position for the electromagnetic wave
and based on second data relating to the current position of the
electromagnetic wave measuring device.
8. The measuring device according to claim 2, further comprising: a
notification controlling unit configured to control displaying of a
notice when a distance between the measurement planned position and
the current position is not greater than a predetermined value.
9. The measuring device according to claim 2, further comprising: a
point cloud position data obtaining unit configured to obtain point
cloud position data that is measured by a position measuring
device, the position measuring device being configured to measure a
position of the electromagnetic wave measuring device; a
three-dimensional model generating unit configured to generate a
three-dimensional model based on the point cloud position data; a
matching relationship identifying unit configured to identify a
matching relationship between the three-dimensional model and a
model of circumstances surrounding the position measuring device;
and a position judging unit configured to identify a position of
the position measuring device surrounded by the modeled
circumstances, based on the matching relationship.
10. The measuring device according to claim 3, further comprising:
a point cloud position data obtaining unit configured to obtain
point cloud position data that is measured by a position measuring
device, the position measuring device being configured to measure a
position of the electromagnetic wave measuring device; a
three-dimensional model generating unit configured to generate a
three-dimensional model based on the point cloud position data; a
matching relationship identifying unit configured to identify a
matching relationship between the three-dimensional model and a
model of circumstances surrounding the position measuring device;
and a position judging unit configured to identify a position of
the position measuring device surrounded by the modeled
circumstances, based on the matching relationship.
Description
BACKGROUND OF THE INVENTION
[0001] Technical Field
[0002] The present invention relates to a technique for measuring
electromagnetic waves such as light from lighting equipment.
[0003] Background Art
[0004] For example, illuminance in an area equipped with lighting
equipment is specified in the illuminance standard of the Japanese
Industrial Standards (JIS). Each lighting equipment must satisfy
the JIS. For this reason, it is necessary to test whether the
condition of lighting satisfies the JIS when lighting equipment is
installed or replaced. Regarding the technique for the testing, for
example, a technique disclosed in Japanese Unexamined Patent
Application Laid-Open No. 7-280645 is publicly known.
[0005] For example, the work for testing whether lighting equipment
satisfies the JIS may be performed for each type of sporting
grounds. In such a case, the work should be performed at a large
number of measurement points that are set in a grid. This work is
performed by identifying or marking each of the measurement points
and then measuring illuminance at the identified position of each
of the measurement points. For track-and-field stadiums and soccer
grounds, since such athletic grounds are extensive, the work should
be performed at measurement points of not less than several tens
multiplied by several tens, and thus, the work is complicated and
takes a long time. Moreover, the measurement may be taken by
varying the illuminance of the lighting equipment. In such a case,
the work is further complicated.
SUMMARY OF THE INVENTION
[0006] In view of these circumstances, an object of the present
invention is to provide a technique for efficiently performing
operations for identifying a current position in a method of
measuring electromagnetic waves.
[0007] A first aspect of the present invention provides a measuring
device including a controlling unit that is configured to control
displaying of a relationship between a measurement planned position
for an electromagnetic wave and a current position of an
electromagnetic wave measuring device, on a display. The
relationship is obtained based on first data relating to the
measurement planned position for the electromagnetic wave and based
on second data relating to the current position of the
electromagnetic wave measuring device. The current position of the
electromagnetic wave measuring device is measured by an appropriate
measuring means.
[0008] According to a second aspect of the present invention, in
the invention according to the first aspect of the present
invention, the controlling unit may control displaying of a
direction and a distance to the measurement planned position.
[0009] According to a third aspect of the present invention, in the
invention according to the first or the second aspect of the
present invention, the measuring device may also include a
notification controlling unit that is configured to control
displaying of a notice when a distance between the measurement
planned position and the current position is not greater than a
predetermined value.
[0010] According to a fourth aspect of the present invention, in
the invention according to any one of the first to the third
aspects of the present invention, the measuring device may also
include a point cloud position data obtaining unit, a
three-dimensional model generating unit, a matching relationship
identifying unit, and a position judging unit. The point cloud
position data obtaining unit is configured to obtain point cloud
position data that is measured by a position measuring device,
which is configured to measure a position of the electromagnetic
wave measuring device. The three-dimensional model generating unit
is configured to generate a three-dimensional model based on the
point cloud position data. The matching relationship identifying
unit is configured to identify a matching relationship between the
three-dimensional model and a model of circumstances surrounding
the position measuring device. The position judging unit is
configured to identify a position of the position measuring device
surrounded by the modeled circumstances, based on the matching
relationship.
[0011] According to a fifth aspect of the present invention, in the
invention according to the fourth aspect of the present invention,
the point cloud position data may be measured by a laser scanner,
and the position judging unit may identify the position of the
position measuring device surrounded by the modeled circumstances,
based on a positional relationship between the point cloud position
data and the position measuring device and based on the matching
relationship.
[0012] A sixth aspect of the present invention provides a measuring
method including controlling displaying of a relationship between a
measurement planned position for an electromagnetic wave and a
current position of an electromagnetic wave measuring device, on a
display. The relationship is obtained based on first data relating
to the measurement planned position for the electromagnetic wave
and based on second data relating to the current position of the
electromagnetic wave measuring device.
[0013] A seventh aspect of the present invention provides a
computer program product including a non-transitory
computer-readable medium storing computer-executable program codes
for measurement. The computer-executable program codes include
program code instructions for controlling displaying of a
relationship between a measurement planned position for an
electromagnetic wave and a current position of an electromagnetic
wave measuring device, on a display. The relationship is obtained
based on first data relating to the measurement planned position
for the electromagnetic wave and based on second data relating to
the current position of the electromagnetic wave measuring
device.
[0014] Electromagnetic waves include gamma rays, ultraviolet light,
visible light, infrared light, microwaves, UHFs, VHFs, HFs (short
waves), LFs (middle waves), long waves, and electromagnetic waves
of not more than several tens of kHz. Additionally, the present
invention can also be understood as a system.
[0015] According to the present invention, the operations for
identifying a current position are made efficient in the method of
measuring electromagnetic waves.
BRIEF DESCRIPTION OF DRAWINGS
[0016] FIG. 1 is a conceptual diagram showing an outline of a work
for measuring illuminance.
[0017] FIG. 2 is a block diagram of a position measuring device of
an embodiment.
[0018] FIG. 3 is a block diagram of a terminal of an
embodiment.
[0019] FIGS. 4A to 4C show examples of UI display screens.
[0020] FIG. 5 is a flow chart showing an example of a processing
procedure.
[0021] FIG. 6 shows an example of positions at each of which
illuminance is measured.
[0022] FIG. 7 is a flow chart showing an example of a processing
procedure.
[0023] FIG. 8 is a block diagram of a terminal of an
embodiment.
[0024] FIG. 9 is a flow chart showing an example of a processing
procedure.
[0025] FIG. 10 shows a principle of a backward intersection
method.
PREFERRED EMBODIMENTS OF THE INVENTION
1. First Embodiment
Outline
[0026] FIG. 1 shows an outline of work for measuring illuminance in
an embodiment. In this embodiment, an operator 100 carries a
measuring unit 200 and a terminal 300 and measures illuminance at a
predetermined measurement point. FIG. 1 conceptually shows an
example of a case in which the operator 100 moves carrying the
measuring unit 200 and the terminal 300 for measuring at three
points.
Structure of Hardware
(1) Measuring Unit
[0027] The measuring unit 200 includes a rod-like support 201, a
reflective prism 202 that is fixed on a top of the support 201, and
an illuminometer 203 that is fixed on the reflective prism 202. The
reflective prism 202 reflects measurement laser light from a
position measuring device 400. The illuminometer 203 is connected
to the terminal 300, which is carried by the operator, and the
illuminometer 203 operates by control via the terminal 300.
Illuminance data measured with the illuminometer 203 is stored in
the terminal 300.
[0028] The position measuring device 400 emits measurement laser
light to the surroundings while scanning The measurement laser
light hitting the reflective prism 202 is reflected thereat, and
the reflected light is received by the position measuring device
400. The position measuring device 400 calculates a direction and a
distance from the position measuring device 400 to the reflective
prism 202 based on the emitting direction and propagation time of
the measurement laser light. Thus, a relative positional
relationship of the reflective prism 202 with respect to the
position measuring device 400 is determined. The position of the
position measuring device 400 is determined in advance so that
information of the position of the reflective prism 202 will be
obtained. Therefore, the position of the position measuring device
400 should be known in advance by preliminarily measurement using a
high precision GNSS device or the like or by locating the position
measuring device 400 at a known position.
[0029] FIG. 2 shows a block diagram of the position measuring
device 400. The position measuring device 400 includes a
measurement light emitting unit 401, a reflected light receiving
unit 402, a scan controlling unit 403, a target direction obtaining
unit 404, a distance calculating unit 405, a target position
calculating unit 406, and a communicating unit 407. The measurement
light emitting unit 401 emits distance measurement laser light to
the surroundings while scanning The reflected light receiving unit
402 receives measurement light that has hit a target and that is
reflected thereat. The target is the reflective prism 202 shown in
FIG. 1. The measurement light emitting unit 401 and the reflected
light receiving unit 402 are mounted on a rotatable table, whereby
both emission of the measurement light and reception of the
reflected light can be performed while the surroundings are
scanned.
[0030] The scan controlling unit 403 controls the scanning using
the measurement light. The target direction obtaining unit 404
obtains a direction of the target (in this case, the reflective
prism 202) as viewed from the position measuring device 400, based
on the emitting direction of the measurement light or the incident
direction of the reflected light. The distance calculating unit 405
calculates a distance from the position measuring device 400 to the
target based on a flight time (propagation time) and the speed of
the measurement light.
[0031] The target position calculating unit 406 calculates the
position of the target based on the known position of the position
measuring device 400, the direction of the target as viewed from
the position measuring device 400, and the distance between the
position measuring device 400 and the target. That is, by
determining the direction of the target as viewed from the position
measuring device 400 and the distance to the target, a relative
positional relationship between the position measuring device 400
and the target is obtained. Here, in a condition in which the
absolute position of the position measuring device 400 is already
known, the absolute position of the target is determined based on
the relative positional relationship. According to this principle,
the target position calculating unit 406 calculates the absolute
position or the position in the measurement field, of the target
(reflective prism 202 in FIG. 1). In this embodiment, the
reflective prism 202 and the illuminometer 203 are arranged close
to each other, and thus, the position of the reflective prism 202
is treated as the position of the illuminometer 203.
[0032] The communicating unit 407 wirelessly communicates with the
terminal 300. Any wireless communication standard can be used. For
example, a communication standard such as Wi-Fi, Bluetooth
(registered trademark), various types of wireless LANs, mobile
phone network, or the like, may be used. The communicating unit 407
transmits data of the position of the target (the reflective prism
202 in FIG. 1) to the terminal 300. The data of the position of the
target is calculated by the target position calculating unit
406.
(2) Terminal
[0033] As shown in FIG. 1, the operator carries the terminal 300.
The terminal is a commercially available tablet that can be used as
a mobile general purpose computer, and the terminal includes a CPU,
a memory, and various types of interfaces. A dedicated terminal may
be prepared and be used for the terminal 300 instead of using a
general purpose computer. The operator performs work relating to
illuminance measurement by using the terminal 300.
[0034] The terminal 300 includes a communicating unit 301, a
measurement planned position data receiving unit 302, a current
position data receiving unit 303, a position judging unit 304, a
measurement instruction prompting unit 305, a GUI controlling unit
306, and a display 307. In this embodiment, the communicating unit
301 and the display 307 are constructed of hardware that is
equipped on the tablet, and the other functional units are
constructed by software and are executed by the operation of the
CPU.
[0035] At least one of the functional units shown in FIG. 3 may be
composed of a dedicated circuit. For example, each of the
functional units shown in FIG. 3 may be composed of electronic
circuits such as a CPU (Central Processing Unit), an ASIC
(Application Specific Integrated Circuit), and a PLD (Programmable
Logic Device) such as an FPGA (Field Programmable Gate Array).
[0036] Whether each of the functional units is to be constructed of
dedicated hardware or to is be constructed of software so that
programs are executed by a CPU, is selected in consideration of
necessary operating speed, production cost, amount of electric
power consumption, and the like. For example, a specific functional
unit composed of an FPGA provides a superior operating speed but is
high in production cost. On the other hand, a specific functional
unit that is configured so that programs are executed by a CPU can
be made by using general purpose hardware and is thereby low in
production cost. However, a functional unit constructed by using a
CPU provides an operating speed that is inferior to the operating
speed of dedicated hardware. Moreover, such a functional unit may
not be able to perform complicated operation. Constructing the
functional unit by dedicated hardware and constructing the
functional unit by software differ from each other as described
above, but are equivalent to each other from the viewpoint of
obtaining a specific function. Alternatively, multiple functional
units may be composed of one circuit.
[0037] The communicating unit 301 communicates with the position
measuring device 400 (refer to FIGS. 1 and 2). The measurement
planned position data receiving unit 302 receives data of
measurement planned positions at each of which illuminance is to be
measured. In this embodiment, data of positions on a
two-dimensional plane is used. The measurement planned positions at
each of which illuminance is to be measured are determined in
advance and are input in the terminal 300 via the communicating
unit 301. Naturally, data of the measurement planned positions may
be input in the terminal 300 via a publicly known storage medium,
such as a USB memory or the like. The input data of the measurement
planned positions is stored in a storage means (not shown) of the
terminal 300, such as a semiconductor memory or the like.
[0038] The current position data receiving unit 303 receives data
of a current position of the reflective prism 202, which is
measured by the position measuring device 400. The data of the
current position is received by the communicating unit 301 and is
transmitted to the current position data receiving unit 303. The
position judging unit 304 compares the current position of the
reflective prism 202, which is received by the current position
data receiving unit 303, and the measurement planned position,
which is determined in advance and is received by the measurement
planned position data receiving unit 302. Then, the position
judging unit 304 judges whether the difference between the current
position and the measurement planned position is not greater than a
predetermined range. After the position judging unit 304 judges
this difference as being not greater than the predetermined range,
the measurement instruction prompting unit 305 performs processing
for notification to prompt the operator to measure illuminance.
[0039] The GUI controlling unit 306 controls a GUI (Graphical User
Interface), which is described later. The GUI is controlled by
using a function that is equipped on an ordinary tablet. The GUI
controlling unit 306 controls a UI (User Interface) display, which
is described later. The display 307 is a liquid crystal display
unit that is equipped in the terminal 300. The display 307 includes
a touch panel sensor so that various kinds of controls will be
performed by using the screen. This function utilizes the function
of a commercially available tablet.
[0040] Moreover, the terminal 300 has an internal or external
attitude sensor and obtains its attitude in a measuring condition
after being calibrated. Details of the calibration are described
later.
Outline of Operation
[0041] The position measuring device 400 measures the position of a
target, that is, the position of the reflective prism 202 shown in
FIG. 1, and transmits this information to the terminal 300 through
wireless communication. The terminal 300 receives this information.
Then, the terminal 300 compares a predetermined measurement planned
position and the current position of the reflective prism 202,
which is measured by the position measuring device 400, and
calculates a positional relationship therebetween. This positional
relationship between the measurement planned position and the
measured current position of the reflective prism 202 is
graphically displayed on the display 307 of the terminal 300 by the
function of the GUI controlling unit 306 (refer to FIGS. 4A to
4C).
[0042] After looking at an UI screen displayed on the display 307
of the terminal 300 as shown in FIG. 4A, the operator carrying the
measuring unit 200 approaches the measurement planned position.
Thereafter, when a specific condition is satisfied, the operator is
prompted to measure illuminance by notification. The operator
measures illuminance at the position, at which the operator has
received the notification, by using the illuminometer 203 (refer to
FIG. 1). These operations are performed for each of the measurement
planned positions, whereby illuminance is measured at each of the
measurement planned positions.
Examples of GUI Display Screens
[0043] FIGS. 4A to 4C show examples of GUI screens (UI screens)
displayed on the display 307 of the terminal 300 (refer to FIG. 3).
The GUI is controlled by using the screens as shown in FIGS. 4A to
4C and is performed by the GUI controlling unit 306. FIG. 4A shows
a distance and a direction to a measurement planned position. The
terminal 300 includes an attitude sensor, and therefore displaying
is controlled so that the direction of the display screen, as shown
in FIGS. 4A and 4C, corresponds to the surrounding condition.
Accordingly, for example, in the case shown in FIG. 4A, the screen
indicates that the measurement planned position exists at a
position apart from the current position by 12 meters in a right
oblique direction by 45 degrees.
[0044] FIG. 4B shows a condition in which the reflective prism 202
comes to a position that is 1.45 meters in an X direction (right
direction) and 1.38 meters in a Y direction (front direction) to
the measurement planned position. FIG. 4C shows a condition in
which the reflective prism 202 comes to a position that is 0.58
meters in the X direction (right direction) and 0.56 meters in the
Y direction (front direction) to the measurement planned position.
In these cases, the illuminance measurement is allowed to be
performed at a position within a radius of 70 centimeters from the
measurement planned position. Thus, when the distance between the
current position of the reflective prism 202 and the measurement
planned position is decreased to approximately 70 centimeters, a
concentric circle indicating a radius of 70 centimeters is
displayed so that approaching the measurement planned position will
be recognized on the screen. Moreover, when this distance is
decreased to approximately 70 centimeters or less, the color or the
gradation of the color at a part of the screen is changed and is
highlighted so as to notify the operator of being in close
proximity to the measurement planned position. This notification
may be performed by a sound or the like. FIG. 4C shows an example
in which an icon for instructing measurement is highlighted. In
this case, the illuminance measurement is performed with the
illuminometer 203 after the operator touches the screen at the
position corresponding to the icon.
Example of Processing
[0045] FIG. 5 shows a flow chart of an example of a processing
procedure. Programs for executing the processing shown in FIG. 5
are stored in a memory of the terminal 300. The programs may be
stored in an appropriate storage medium and may be provided
therefrom. This is the same as in the case of processing shown in
FIG. 7 or FIG. 9.
[0046] Here, a case of measuring illuminance of lighting equipment
at a track-and-field stadium will be exemplified. First, the
position measuring device 400 is located at an appropriate position
on the field of the track-and-field stadium. The position of the
position measuring device 400 is precisely identified by using a
high precision GNSS device for survey. The position data of the
position measuring device 400 is stored in the terminal 300.
Moreover, the terminal 300 is calibrated so that the terminal 300
is prepared to measure a direction. The processing of this example
is performed as described below.
[0047] First, map information of the track-and-field stadium is
input in the terminal 300. Then, a position of the terminal 300 is
measured at each of multiple positions within the track-and-field
stadium by using the position measuring device 400. The attitude of
the terminal 300 at each of the multiple positions is known by the
attitude sensor equipped on the terminal 300. Thus, a relationship
between the map information of the track-and-field stadium and the
attitude of the terminal 300 is obtained. Consequently, the map
information of the track-and-field stadium is displayed on the
display 307 of the terminal 300 while the direction of the map
corresponds to the condition of the stadium.
[0048] Next, data of measurement planned positions is generated in
accordance with a predetermined standard, such as JIS or the like,
or a standard specified for the corresponding track-and-field
stadium (step S101). In this case, as shown in FIG. 6, multiple
grid points are set as measurement planned positions in the field
of the track-and-field stadium. The data of the measurement planned
positions is stored in the terminal 300 (step S102).
[0049] After a program relating to the processing that is
exemplified in FIGS. 4A to 4C is started in the terminal 300, a
measurement planned position that should be reached first is
selected from the grid points shown in FIG. 6. Then, a UI screen
for guiding to the selected position is displayed on the display
307 of the terminal 300 as shown in FIG. 4A. The operator looks at
the UI screen display, as shown in FIG. 4A, and carries the
illuminometer 203 to the selected measurement planned position,
which is set in a grid (step S103). This operation is performed
such that the operator walks while looking at the terminal 300 and
carrying the measuring unit 200 by hand.
[0050] For example, when the screen as shown in FIG. 4A is
displayed first, the operator understands the direction and the
distance to the displayed measurement planned position and then
walks to the displayed measurement planned position. When the
measurement planned position approaches, the display screen is
changed to a display screen as shown in FIG. 4B, by which a
relative positional relationship between the current position and
the measurement planned position is easy to visually understand.
Here, in the display screen shown in FIG. 4B, the center of the
concentric circles shows the measurement planned position, and the
large black point shows the current position of the reflective
prism 202 at that time. Additionally, the displayed inside
concentric circle shows an area that can be regarded as the
measurement planned position.
[0051] Then, the operator comes closer to the measurement planned
position from the condition shown in FIG. 4B, and the reflective
prism 202 enters the area which can be regarded as the measurement
planned position. In this case, the area is an area of radius of 70
centimeters. At this time, the display screen is changed to a
notification screen for notifying the operator of being in close
proximity to the measurement planned position, as exemplified in
FIG. 4C. In the notification screen in FIG. 4C, a highlighted image
is displayed so as to notify the operator of being at a position at
which the illuminance is appropriately measured.
[0052] At this stage, when the operator controls the terminal 300
and instructs the illuminance measurement, the illuminometer 203
measures illuminance (step S104). The data of the measured
illuminance is stored in a storage file that is set in the memory
of the terminal 300. In this case, the data of the illuminance is
stored by being linked with coordinate data of the measured
position and measurement time data (step S105).
[0053] The above processing is performed at each of the points,
which are set in a grid, in turn, whereby illuminance data at each
of the measurement planned positions is obtained.
[0054] FIG. 7 shows an example of the processing relating to step
S103. This processing is performed by the position judging unit 304
of the terminal 300. In this processing, first, position data of a
measurement planned position P1 is obtained (step S201). Then, data
of a measured current position P2 of the reflective prism 202 is
obtained (step S202). Next, a difference (distance) AP between the
positions P1 and P2 is calculated (step S203).
[0055] After the difference AP is calculated, whether the
difference AP is not greater than a predetermined specified value
(for example, 70 centimeters) is judged (step S204). If the
difference AP is not greater than the specified value, notification
processing is performed (step S205). Otherwise, the processing in
step 5202 and the subsequent steps is repeated.
Advantages
[0056] According to the above embodiment, a guide to a position
that should be measured is displayed on the display of the
terminal, whereby the operations for identifying a position of the
illuminometer 203 are made efficient.
2. Second Embodiment
Outline
[0057] This embodiment relates to a technique for obtaining
position data of the position measuring device 400 in the First
Embodiment. For example, there may be cases in which positioning
using a GNSS cannot be performed or is difficult at roofed stadiums
and indoor facilities. A technique for measuring the position of
the position measuring device 400 in such cases will be described
hereinafter.
Structure
[0058] In this embodiment, a terminal 310 shown in FIG. 8 is used
instead of the terminal 300 shown in FIG. 3. The terminal 310 is
constructed by adding a point cloud position data obtaining unit
311, a three-dimensional model generating unit 312, a
three-dimensional model matching unit 313, and a position
calculating unit 314 for the position measuring device, to the
terminal 300 shown in FIG. 3. The units shown in FIG. 8 are the
same as the units shown in FIG. 3 and have the same functions as
the units shown in FIG. 3. Additionally, whether each of the
functional units is to be constructed of dedicated hardware or is
to be constructed of software is also selected in the same way as
in the case shown in FIG. 3.
[0059] In this embodiment, a position measuring device 400 having a
laser scanner function is used in FIG. 2. In this case, laser light
is emitted from the measurement light emitting unit 401 and is
reflected at an object, and the reflected light is detected
(received) by the reflected light receiving unit 402. This
operation is performed at each point of the object, whereby point
cloud position data of the object is obtained. Details of a laser
scanner are disclosed in Japanese Unexamined Patent Application
Laid-Open No. 2010-151682, for example.
[0060] The distance to the measured point, at which the measurement
light hits, is determined from the flight time between the emission
of the measurement light from the measurement light emitting unit
401 and the reception by the reflected light receiving unit 402. A
relative position of the measured point with respect to the
position measuring device 400 is obtained from the distance to the
measured point and the emitting direction of the measurement light.
This measurement is performed at each of numerous points while the
object to be measured is scanned. A set (cloud) of position
information of the numerous measured points is called point cloud
position data. The point cloud position data is data in which the
object is assumed to be constructed of a set (cloud) of points
(measured points). Each of the points of the object is plotted in a
three-dimensional space based on the point cloud position data,
whereby a three-dimensional model of the object that is understood
as being a set of points is obtained.
[0061] The point cloud position data obtaining unit 311 obtains
point cloud position data, which is measured by using the laser
scanner function of the position measuring device 400. The
three-dimensional model generating unit 312 generates a
three-dimensional model of the object based on the point cloud
position data, which is obtained by the point cloud position data
obtaining unit 311. Such a technique is disclosed in Japanese
Unexamined Patent Applications Laid-Open Nos. 2012-230594 and
2014-035702, for example.
[0062] The three-dimensional model matching unit 313 performs
processing for obtaining a matching relationship between a
three-dimensional model of measurement surroundings, which is
preliminarily prepared, and the three-dimensional model, which is
generated by the three-dimensional model generating unit 312.
Details of the matching of the three-dimensional models are
disclosed in PCT International Publication No. WO 2012/141235,
Japanese Unexamined Patent Applications Laid-Open Nos. 2014-035702
and 2015-046128, and Japanese Patent Application No. 2015-133736,
for example.
[0063] The three-dimensional model of the measurement surroundings
is a three-dimensional model of structures that are viewed from the
position at which the position measuring device 400 is arranged.
For example, when a baseball stadium is to be measured, the
structure of the baseball stadium is three-dimensionally modeled,
and this three-dimensional model is used as the three-dimensional
model of the measurement surroundings. Recently, various kinds of
structures can be designed by using CAD, and three-dimensional
model data of a target structure can be obtained from the CAD
data.
Operation
[0064] In this embodiment, processing for identifying the position
of the position measuring device 400 in measurement surroundings is
performed as described below. In this embodiment, a case of using a
track-and-field stadium as the measurement surroundings is
described. FIG. 9 shows an example of a processing procedure. In
this processing, first, the position measuring device 400 is
arranged at an appropriate position in the track-and-field stadium
A position within an athletic field is appropriate as the arranging
position. Coordinates of the position of the position measuring
device 400 in the track-and-field stadium are not necessarily known
or are not necessarily precisely known at this stage. Under this
condition, the following processing is started.
[0065] First, three-dimensional point cloud position data of the
surroundings of the position measuring device 400 is obtained by
using the laser scanner function of the position measuring device
400 (step S301). The three-dimensional point cloud position data
may be obtained from the entirety of the surroundings (in this
case, facilities and the like at the track-and-field stadium as
viewed from the position measuring device 400) or may be obtained
from a part of the surroundings. This step of the processing is
performed by the point cloud position data obtaining unit 311.
[0066] After the point cloud position data is obtained, a
three-dimensional model is generated based on this point cloud
position data (step S302). This step of the processing is performed
by the three-dimensional model generating unit 312. In this step, a
three-dimensional model of the structures as viewed from the inner
side of the track-and-field stadium is obtained. In this case,
structures outside the track-and-field stadium are not modeled.
Nevertheless, since the generated three-dimensional model is made
for identifying the arranging position of the position measuring
device 400, no inconvenience will occur.
[0067] After the three-dimensional model is obtained, a matching
relationship between a first three-dimensional model and a second
three-dimensional model is determined (step S303). The first
three-dimensional model is the three-dimensional model of the
track-and-field stadium, which is preliminarily obtained. The
second three-dimensional model is the three-dimensional model that
is generated in step S302. This step of the processing is performed
by the three-dimensional model matching unit 313.
[0068] After the matching relationship between the first
three-dimensional model and the second three-dimensional model is
determined, a relative positional relationship between the first
three-dimensional model and the position measuring device 400 is
determined by using a backward intersection method (step S304). The
principle of the backward intersection method is shown in FIG. 10.
The backward intersection method is a method of observing
directions from an unknown point to at least three known points and
calculating the position of the unknown point as the intersection
point of these directional lines. As the backward intersection
method, a single photo orientation or a DLT method (Direct Linear
Transformation Method) may be used. Details of the intersection
method may be found in "Technology of Positioning Solutions"
(published by DENKISHOIN on April, 2010) on pages 182 and 184.
Additionally, a specific example of a calculation method in the
intersection method is disclosed in Japanese Unexamined Patent
Application Laid-Open No. 2013-186816.
[0069] For example, in the case shown in FIG. 10, the points
P.sub.1 to P.sub.3 are selected from an area at which the first
three-dimensional model and the second three-dimensional model are
matched with each other. Since the first three-dimensional model is
obtained from known data, for example, design data of the
track-and-field stadium, the positions of the points constituting
the first three-dimensional model are known. That is, the positions
of the points P.sub.1 to P.sub.3 are known. On the other hand,
regarding the second three-dimensional model, the directional lines
from an unknown point O to the points P.sub.1 to P.sub.3 correspond
to light paths of the measurement laser light. Thus, three
directional lines are obtained from the laser light directions for
scanning the points P.sub.1 to P.sub.3. Then, coordinates of an
intersection point of the three directional lines are calculated,
whereby coordinates of the unknown point O, that is, coordinates of
the position measuring device 400 are obtained in a coordinate
system that describes the points P.sub.1 to P.sub.3.
[0070] That is, the second three-dimensional model is generated
based on the point cloud position data that is obtained by using
the position of the position measuring device 400 as a viewpoint.
Thus, the relative positional relationship between the second
three-dimensional model and the position measuring device 400 is
determined. Then, by determining the matching relationship between
the first three-dimensional model and the second three-dimensional
model, the relative positional relationship between the first
three-dimensional model and the position measuring device 400 is
determined. Since the position of the first three-dimensional model
is known, the position of the position measuring device 400 can be
calculated after the relative positional relationship between the
first three-dimensional model and the position measuring device 400
is determined.
[0071] According to the processing in step S304, the position of
the position measuring device 400 in the track-and-field stadium is
identified. That is, the arranged position of the position
measuring device 400 in the track-and-field stadium is identified.
After the position of the position measuring device 400 in the
track-and-field stadium is identified, illuminance of lighting
equipment is measured at a predetermined position in the
track-and-field stadium in accordance with the processing procedure
described in the First Embodiment.
[0072] The second three-dimensional model may be converted into a
plane model, which is a two-dimensional model corresponding to a
plane view as viewed from an upward vertical direction. Then, the
plane model may be compared with a plane view of structures
surrounding the measurement field as shown in FIG. 6, whereby a
matching relationship therebetween may be determined. In this case,
the position of the position measuring device 400 in the plane view
as shown in FIG. 6 is identified. Here, an image that is obtained
by photographing the track-and-field stadium from an upward
vertical direction may be used instead of the plane view. In this
case, the matching is performed by using a matching technique for
obtaining a matching relationship between plane images. Such a
matching technique for obtaining a matching relationship between
plane images includes template matching and a technique disclosed
in Japanese Unexamined Patent Application Laid-Open No.
2013-178656.
[0073] Additionally, smart phones having a position measuring
function using a GNSS have been developed recently. Moreover,
positioning techniques such as a method using radio waves from base
stations for mobile phones and a method using radio waves of
wireless LAN are publicly known. These techniques are easy and
convenient but are performed at a positioning precision of
approximately 5 to 10 meters or greater. Accordingly, such
techniques alone cannot be used in the technique of the present
invention. Still, such an easy and convenient positioning method
and the method for identifying the position measuring device 400 by
using the point cloud position data in the above embodiments may be
used together. In this case, the operation is easily performed
without using a dedicated GNSS device, and the positioning is
performed at high precision.
3. Other Matters
[0074] In the processing shown in FIG. 5, illuminance data is
obtained by repeating the step of guiding to the measurement
planned position and the subsequent step of measuring illuminance.
Alternatively, first, the position may be identified and be marked
with respect to each of the measurement planned positions. Then,
illuminance may be measured at each of the marked measurement
planned positions. Additionally, data such as of chromaticity,
wavelength distribution characteristic, or the like, may be
measured in addition to the illuminance. Moreover, the present
invention can be used in a technique for measuring electromagnetic
waves for communication, such as radio waves of a wireless LAN,
radiation such as gamma rays, light in the invisible ultraviolet
region or infrared region, electromagnetic waves generated by
high-voltage transmission lines or high-voltage electric equipment,
etc.
[0075] Illuminance of a ray of light from a specific direction can
also be measured. In this case, an attitude sensor is secured on
the measuring unit 200 and is configured to output to the terminal
300. Then, the terminal 300 is made to display the direction of the
illuminometer 203 in each of the display screens in FIGS. 4A to 4C.
Here, the direction of the illuminometer 203 is displayed in each
of the screens in FIGS. 4A to 4C when the measuring unit 200 is
rotated around a vertical axis. Accordingly, the operator can know
the direction of incident light, of which the illuminance can be
measured.
[0076] The field to be measured is not limited to athletic fields
and may include rooms, public spaces such as stations, commercial
facilities, rooms for public transportation, fields and mountains,
etc.
[0077] The illuminance may be automatically measured when a
predetermined condition is satisfied, instead of performing the
notification processing for prompting the operator to measure
illuminance in step S205.
[0078] Although a situation in which the operator performs
measurement while walking is shown in FIG. 1, the operator may move
while riding on an appropriate moving means, such as an electric
cart for movement. In this case, the measuring unit 200 is fixed on
the moving means.
[0079] The measuring unit 200 may be fixed on an autonomous moving
means such as a driverless electric cart, and the autonomous moving
means may be autonomously moved by using control data for
performing UI shown in FIGS. 4A to 4C. In this case, an autonomous
movement controlling unit is prepared in the terminal 300, and the
autonomous movement controlling unit controls the movement of the
autonomous moving means by using the control data for performing UI
shown in FIGS. 4A to 4C. The autonomous movement controlling unit
may be prepared as an external device.
[0080] The autonomous movement controlling unit performs control as
described below, for example. For example, in the situation shown
in FIG. 4A, a control signal for moving the autonomous moving means
12 meters in an oblique right direction by 45 degrees is generated,
and the autonomous moving means moves in accordance with this
control signal. Similarly, in the situation shown in FIG. 4B, a
control signal for moving the autonomous moving means 1.45 meters
in the X direction and 1.38 meters in the Y direction is generated,
and the autonomous moving means moves in accordance with this
control signal. Then, when the situation comes to the stage shown
in FIG. 4C, a control signal for instructing illuminance
measurement is transmitted from the terminal 300 to the
illuminometer 203, and illuminance is measured. The above
processing is performed at each of the measurement planned
positions at which the autonomous moving means is reachable. Usage
of this autonomous control greatly eliminates the burden from the
operator. Additionally, a remote control moving means, such as a
radio controlled electric cart, may be used as the autonomous
moving means.
* * * * *