Patent Description:
<CIT> discloses a survey system provided with a total station and a laser scanner unit. The total station is a survey apparatus that measures three-dimensional coordinates (three-dimensional data) of a measurement point with high accuracy. The laser scanner unit rotatingly emits pulse laser light as ranging light and performs ranging for each pulse of pulse laser light to acquire point cloud data. More specifically, the laser scanner unit irradiates a measurement object with pulse laser light as ranging light and receives reflected light of each portion of the pulse laser light having been reflected by the measurement object, and by measuring a distance to the measurement object and detecting an emission direction (a horizontal angle and a vertical angle) of the ranging light, the laser scanner unit acquires three-dimensional data (three-dimensional point cloud data) of a large number of points of the measurement object.

Measurement accuracy of a total station including industrial measurement is extremely high. For example, when used in the field of survey, a total station can ensure measurement accuracy of <NUM> or less with respect to distance accuracy and, at the same time, a total station can ensure sufficient accuracy that is required by a class I theodolite and the like with respect to angle accuracy. The laser scanner unit is capable of executing a point group measurement of several hundreds of thousands of points per second and a highly-efficient survey can be realized at an extremely high speed.

In this case, the laser scanner unit rotates and irradiates pulse laser light in a direction of a predetermined angle and performs ranging for each pulse of pulse laser light to acquire point cloud data. Therefore, the point cloud data acquired by the laser scanner unit has a grid structure. In other words, a plurality of pieces of three-dimensional data that are included in the point cloud data having been acquired by the laser scanner unit are pieces of three-dimensional data related to portions which are separated from one another in the measurement object and which are positioned in, for example, a grid pattern. Therefore, a characteristic portion such as a corner portion or an edge portion of the measurement object for which acquisition of three-dimensional data was originally desired may be present between a plurality of pieces of three-dimensional data that are included in the point cloud data having been acquired by the laser scanner unit and may not be acquired by the laser scanner unit. In this regard, a three-dimensional survey apparatus equipped with a laser scanner unit has room for improvement.

<CIT> discloses a surveying system comprising a total station unit and a laser scanner unit. <CIT> discloses a method for surveying an object and/or using a geodetic surveying device.

The present invention has been made in order to solve the problem described above and an object thereof is to provide a three-dimensional survey apparatus, a three-dimensional survey method, and a three-dimensional survey program which are capable of more reliably acquiring three-dimensional data related to a characteristic portion of a measurement object.

The problem described above is solved by a three-dimensional survey apparatus according to claim <NUM>.

With the three-dimensional survey apparatus according to the present invention, the control calculation portion acquires, based on a survey result of the collimating ranging unit, three-dimensional data related to a characteristic portion of the measurement object which is present between a plurality of measurement points of the three-dimensional data that are included in the point cloud data having been acquired by the scanner unit. The characteristic portion of the measurement object, as referred to herein, is a portion of the measurement object which is a corner portion, an edge portion, or the like of the measurement object for which acquisition of three-dimensional data was originally desired and of which the three-dimensional data has not been acquired by the scanner unit. In addition, the control calculation portion executes control to add the three-dimensional data related to the characteristic portion of the measurement object having been acquired based on the survey result of the collimating ranging unit to the point cloud data having been acquired by the scanner unit. In other words, the control calculation portion executes control to synthesize the three-dimensional data related to the characteristic portion of the measurement object having been acquired based on the survey result of the collimating ranging unit and the point cloud data having been acquired by the scanner unit. Accordingly, the three-dimensional survey apparatus according to the present invention can more reliably acquire the three-dimensional data related to the characteristic portion of the measurement object.

In the three-dimensional survey apparatus according to the present invention, preferably, the control calculation portion directly acquires the three-dimensional data related to the characteristic portion having been set at a measurement location by the collimation of the telescope portion with the collimating ranging unit.

With the three-dimensional survey apparatus according to the present invention, the control calculation portion performs, with the collimating ranging unit, a survey (ranging and angle measurement) of the characteristic portion set at a measurement location by the collimation of the telescope portion of the collimating ranging unit to directly acquire the three-dimensional data related to the characteristic portion of the measurement object. Accordingly, the control calculation portion can directly acquire the three-dimensional data related to the characteristic portion of the measurement object with the collimating ranging unit and more reliably add the three-dimensional data related to the characteristic portion having been directly acquired by the collimating ranging unit to the point cloud data having been acquired by the scanner unit.

In the three-dimensional survey apparatus according to the present invention, preferably, the control calculation portion calculates a geometric surface in a vicinity of the characteristic portion based on the point cloud data in the vicinity of the characteristic portion, acquires a direction of the collimation of the telescope portion with respect to the characteristic portion with the collimating ranging unit, and acquires the three-dimensional data related to the characteristic portion based on the geometric surface and the direction of the collimation of the telescope portion.

With the three-dimensional survey apparatus according to the present invention, even when the characteristic portion of the measurement object such as a corner portion or an edge portion of the measurement object is a portion of which the three-dimensional data is difficult to acquire with the collimating ranging unit, the control calculation portion can more reliably acquire the three-dimensional data related to the characteristic portion based on the geometric surface in the vicinity of the characteristic portion and the direction of the collimation of the telescope portion. Specifically, depending on a shape of the characteristic portion or the direction of the collimation of the telescope portion, low intensity of reflected ranging light or a virtual absence of reflected ranging light may prevent the collimating ranging unit from ranging the characteristic portion of the measurement object and prevent the three-dimensional data related to the characteristic portion from being acquired. On the other hand, even when the collimating ranging unit is unable to range the characteristic portion of the measurement object, the collimating ranging unit can reliably detect the direction of the collimation of the telescope portion and reliably perform angle measurement of the characteristic portion of the measurement object. Therefore, by calculating a geometric surface in the vicinity of the characteristic portion of the measurement object based on the point cloud data in the vicinity of the characteristic portion, acquiring the direction of the collimation of the telescope portion with respect to the characteristic portion of the measurement object with the collimating ranging unit, and applying the direction of the collimation of the telescope portion having been detected by the collimating ranging unit with respect to the geometric surface in the vicinity of the characteristic portion, the control calculation portion can more reliably acquire the three-dimensional data related to the characteristic portion. Accordingly, the control calculation portion can more reliably add the three-dimensional data related to the characteristic portion of the measurement object to the point cloud data having been acquired by the scanner unit.

In the three-dimensional survey apparatus according to the present invention, preferably, the control calculation portion recognizes the characteristic portion based on the point cloud data in the vicinity of the characteristic portion and automatically sets a region including the recognized characteristic portion at a measurement location, and acquires the three-dimensional data related to the characteristic portion by having the collimating ranging unit execute an automatic scan at the measurement location.

With the three-dimensional survey apparatus according to the present invention, even if a worker or the like does not set a measurement location to be automatically scanned by the collimating ranging unit using an operation display portion or the like, the control calculation portion recognizes the characteristic portion of the measurement object based on the point cloud data in the vicinity of the characteristic portion of the measurement location and automatically sets the measurement location to be automatically scanned by the collimating ranging unit. Accordingly, the control calculation portion can efficiently acquire the three-dimensional data related to the characteristic portion of the measurement object with the collimating ranging unit and efficiently add the three-dimensional data related to the characteristic portion of the measurement object to the point cloud data having been acquired by the scanner unit.

The problem described above is solved by a three-dimensional survey method according to claim <NUM>.

With the three-dimensional survey method according to the present invention, three-dimensional data related to a characteristic portion of the measurement object which is present between a plurality of measurement points of the three-dimensional data that are included in the point cloud data having been acquired by the scanner unit is acquired based on a survey result of the collimating ranging unit. The characteristic portion of the measurement object, as referred to herein, is a portion of the measurement object which is a corner portion, an edge portion, or the like of the measurement object for which acquisition of three-dimensional data was originally desired and of which the three-dimensional data has not been acquired by the scanner unit. In addition, a step of adding the three-dimensional data related to the characteristic portion of the measurement object having been acquired based on the survey result of the collimating ranging unit to the point cloud data having been acquired by the scanner unit is executed. In other words, a step of synthesizing the three-dimensional data related to the characteristic portion of the measurement object having been acquired based on the survey result of the collimating ranging unit and the point cloud data having been acquired by the scanner unit is executed. Accordingly, the three-dimensional survey method according to the present invention can more reliably acquire the three-dimensional data related to the characteristic portion of the measurement object.

The problem described above is solved by a three-dimensional survey program according to claim <NUM>.

With the three-dimensional survey program according to the present invention, three-dimensional data related to a characteristic portion of the measurement object which is present between a plurality of measurement points of the three-dimensional data that are included in the point cloud data having been acquired by the scanner unit is acquired based on a survey result of the collimating ranging unit. The characteristic portion of the measurement object, as referred to herein, is a portion of the measurement object which is a corner portion, an edge portion, or the like of the measurement object for which acquisition of three-dimensional data was originally desired and of which the three-dimensional data has not been acquired by the scanner unit. In addition, a step of adding the three-dimensional data related to the characteristic portion of the measurement object having been acquired based on the survey result of the collimating ranging unit to the point cloud data having been acquired by the scanner unit is executed. In other words, a step of synthesizing the three-dimensional data related to the characteristic portion of the measurement object having been acquired based on the survey result of the collimating ranging unit and the point cloud data having been acquired by the scanner unit is executed. Accordingly, the three-dimensional survey program according to the present invention can more reliably acquire the three-dimensional data related to the characteristic portion of the measurement object.

According to the present invention, a three-dimensional survey apparatus, a three-dimensional survey method, and a three-dimensional survey program which are capable of more reliably acquiring three-dimensional data related to a characteristic portion of a measurement object can be provided.

Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the drawings.

Although the embodiment described hereinafter is a preferred specific example of the present invention and therefore involves various favorable technical limitations, it is to be understood that the scope of the present invention is by no means limited by the embodiment unless specifically noted otherwise hereinafter. It should also be noted that, in the drawings, similar components will be denoted by same reference signs and detailed descriptions thereof will be omitted when appropriate.

<FIG> is a block diagram which mainly shows a structural system of a three-dimensional survey apparatus according to an embodiment of the present invention.

<FIG> is a block diagram which mainly shows a control system of the three-dimensional survey apparatus according to the present embodiment.

A three-dimensional survey apparatus <NUM> according to the present embodiment includes a collimating ranging unit <NUM> and a scanner unit <NUM> and acquires three-dimensional data of a measurement object <NUM> such as an architectural structure. The collimating ranging unit <NUM> is referred to as a total station or the like and, due to collimation of a telescope portion <NUM>, irradiates the measurement object <NUM> with first ranging light <NUM> (refer to <FIG>), measures a distance to the measurement object <NUM> based on first reflected ranging light <NUM> (refer to <FIG>) that is the first ranging light <NUM> having been reflected by the measurement object <NUM> and first internal reference light (not illustrated), and detects an emission direction of the first ranging light <NUM> or, in other words, a direction of collimation of the telescope portion <NUM>. In other words, the collimating ranging unit <NUM> is a device that performs ranging and angle measurement. Details of the collimating ranging unit <NUM> will be provided later.

Measurement objects of which the collimating ranging unit <NUM> performs ranging and angle measurement include a target of measurement <NUM> such as a prism. In other words, the collimating ranging unit <NUM> is capable of performing ranging and angle measurement with respect to the target of measurement <NUM> such as a prism as a measurement object. The prism to be used as the target of measurement <NUM> is not particularly limited and may be a circular prism, a spherical prism, or a planar prism.

The scanner unit <NUM> is integrally provided with the collimating ranging unit <NUM>. In the three-dimensional survey apparatus <NUM> according to the present embodiment, the scanner unit <NUM> is fixed to an upper part of the collimating ranging unit <NUM>. Alternatively, the scanner unit <NUM> may be rotatably provided relative to the collimating ranging unit <NUM>. The scanner unit <NUM> irradiates the measurement object <NUM> with second ranging light <NUM> (refer to <FIG>), measures a distance to the measurement object <NUM> based on second reflected ranging light <NUM> (refer to <FIG>) that is reflection of the second ranging light <NUM> by the measurement object <NUM> and second internal reference light (not illustrated), and detects an emission direction of the second ranging light <NUM>. The scanner unit <NUM> is a device that performs ranging and angle measurement in a similar manner to the collimating ranging unit <NUM>.

More specifically, the scanner unit <NUM> acquires three-dimensional coordinates (three-dimensional data) of a large number of measurement points with respect to the measurement object <NUM> by performing rotational irradiation with the second ranging light <NUM> to measure the distance to the measurement object <NUM> and to detect the emission direction of the second ranging light <NUM>. In other words, the scanner unit <NUM> acquires three-dimensional data (point cloud data) of a large number of measurement points of the measurement object <NUM>. Details of the scanner unit <NUM> will be provided later.

The collimating ranging unit <NUM> according to the present embodiment has a leveling portion <NUM>, a first mount portion <NUM>, a first horizontal rotation portion <NUM>, a first vertical rotation portion <NUM>, the telescope portion <NUM>, a control calculation portion <NUM>, an operation display portion <NUM>, a base portion <NUM>, and an inclinometer <NUM>. The collimating ranging unit <NUM> need not necessarily include the inclinometer <NUM>. The collimating ranging unit <NUM> may have an automatic tracking function that automatically searches for the target of measurement <NUM> as a measurement object.

The control calculation portion <NUM> has a calculation portion <NUM>, a first distance measuring portion <NUM>, a first horizontal rotation driving portion <NUM>, a first vertical rotation driving portion <NUM>, a second distance measuring portion <NUM>, a second vertical rotation driving portion <NUM>, a storage portion <NUM>, and an image processing portion <NUM>. The calculation portion <NUM> is a central processing unit (CPU) or the like and, based on a signal (command) transmitted from an operation inputting portion <NUM> of the operation display portion <NUM>, executes activation of a program, control processing of the signal, calculations, drive control of a display portion <NUM> of the operation display portion <NUM>, and the like. In other words, the calculation portion <NUM> performs control of the entire three-dimensional survey apparatus <NUM> and causes the display portion <NUM> to display survey conditions, measurement results (ranging results and angle measurement results), image processing results (2D images of received light intensity), and the like.

Alternatively, the control calculation portion <NUM> may be provided in the scanner unit <NUM> or may be provided in both the collimating ranging unit <NUM> and the scanner unit <NUM>. In other words, the control calculation portion <NUM> is provided in at least one of the collimating ranging unit <NUM> and the scanner unit <NUM>.

The first distance measuring portion <NUM>, the first horizontal rotation driving portion <NUM>, the first vertical rotation driving portion <NUM>, the second distance measuring portion <NUM>, the second vertical rotation driving portion <NUM>, and the image processing portion <NUM> are realized as the calculation portion <NUM> executes a program stored in the storage portion <NUM>. Alternatively, the first distance measuring portion <NUM>, the first horizontal rotation driving portion <NUM>, the first vertical rotation driving portion <NUM>, the second distance measuring portion <NUM>, the second vertical rotation driving portion <NUM>, and the image processing portion <NUM> may be realized by hardware or may be realized by a combination of hardware and software.

For example, the storage portion <NUM> stores a sequence program for measurement, an image processing program for image processing, a calculation program, or the like. Examples of the storage portion <NUM> include a semiconductor memory built into the three-dimensional survey apparatus <NUM> or the like. Other examples of the storage portion <NUM> include various storage media connectable to the three-dimensional survey apparatus <NUM> such as a compact disc (CD), a digital versatile disc (DVD), a random access memory (RAM), and a read only memory (ROM).

A program that is executed by a computer including the control calculation portion <NUM> corresponds to the "three-dimensional survey program" according to the present invention. A "computer" as used herein is not limited to a personal computer and collectively refers to devices and apparatuses capable of realizing functions of the present invention including arithmetic processing units and microcomputers included in information processing devices.

The leveling portion <NUM> is a portion to be attached to a tripod (not illustrated) and has, for example, three adjustment screws <NUM>. Leveling of the leveling portion <NUM> is performed by adjusting, at a survey position, the adjustment screws <NUM> so that an inclination sensor (not illustrated) provided on the first mount portion <NUM> detects level. In other words, the first mount portion <NUM> is kept level by leveling using the adjustment screws <NUM> at a survey position.

The first horizontal rotation portion <NUM> has a first horizontal rotary shaft <NUM>, a bearing <NUM>, a first horizontal drive motor <NUM>, and a first horizontal angle detector (for example, an encoder) <NUM>. The first horizontal rotary shaft <NUM> has a vertically-extending first vertical axial center <NUM> and is rotatably supported by the base portion <NUM> via the bearing <NUM>. The first mount portion <NUM> is supported by the first horizontal rotary shaft <NUM> and integrally rotates with the first horizontal rotary shaft <NUM> in a horizontal direction around the first vertical axial center <NUM> due to a drive force transmitted from the first horizontal drive motor <NUM>.

A rotational angle of the first horizontal rotary shaft <NUM> relative to the base portion <NUM> (in other words, a rotational angle of the first mount portion <NUM>) is detected by the first horizontal angle detector <NUM>. A detection result of the first horizontal angle detector <NUM> is input to the calculation portion <NUM>. Drive of the first horizontal drive motor <NUM> is controlled by the first horizontal rotation driving portion <NUM> based on the detection result of the first horizontal angle detector <NUM>.

The first vertical rotation portion <NUM> has a first vertical rotary shaft <NUM>, a bearing <NUM>, a first vertical drive motor <NUM>, and a first vertical angle detector (for example, an encoder) <NUM>. The first vertical rotary shaft <NUM> has a horizontally-extending first horizontal axial center <NUM> and is rotatably supported by the first mount portion <NUM> via the bearing <NUM>. One end of the first vertical rotary shaft <NUM> protrudes into a gap portion <NUM> of the first mount portion <NUM>. The telescope portion <NUM> is supported by the one end of the first vertical rotary shaft <NUM> that protrudes into the gap portion <NUM> of the first mount portion <NUM>, and integrally rotates with the first vertical rotary shaft <NUM> in a vertical direction around the first horizontal axial center <NUM> due to a drive force transmitted from the first vertical drive motor <NUM>.

The first vertical angle detector <NUM> is provided at another end of the first vertical rotary shaft <NUM>. A rotational angle of the first vertical rotary shaft <NUM> relative to the first mount portion <NUM> (in other words, a rotational angle of the telescope portion <NUM>) is detected by the first vertical angle detector <NUM>. A detection result of the first vertical angle detector <NUM> is input to the calculation portion <NUM>. Drive of the first vertical drive motor <NUM> is controlled by the first vertical rotation driving portion <NUM> based on the detection result of the first vertical angle detector <NUM>.

As described earlier, the telescope portion <NUM> is supported by the first vertical rotary shaft <NUM> and rotates in a vertical direction around the first horizontal axial center <NUM> due to a drive force transmitted from the first vertical drive motor <NUM>. The telescope portion <NUM> has a collimating telescope <NUM>, and is collimated to the measurement object <NUM> including the target of measurement <NUM> and irradiates the measurement object <NUM> with the first ranging light <NUM>. The first ranging light <NUM> is emitted onto a ranging optical axis of the telescope portion <NUM>. The ranging optical axis of the telescope portion <NUM> intersects with the first vertical axial center <NUM> and is perpendicular to the first horizontal axial center <NUM>. An intersection point of the ranging optical axis of the telescope portion <NUM> and the first vertical axial center <NUM> may be set to a machine reference point of the collimating ranging unit <NUM>. In the description of the present embodiment, a case where the machine reference point of the collimating ranging unit <NUM> is an intersection point of the ranging optical axis of the telescope portion <NUM> and the first vertical axial center <NUM> will be cited as an example.

The telescope portion <NUM> has a first ranging light-emitting portion <NUM>, a first ranging light-receiving portion <NUM>, and a collimating light-receiving portion <NUM>.

The first ranging light-emitting portion <NUM> is driven and controlled by the first distance measuring portion <NUM>. The first ranging light-emitting portion <NUM> is provided inside the telescope portion <NUM> and, for example, emits the first ranging light <NUM> that is a laser beam or the like in a direction perpendicular to the first horizontal axial center <NUM>. The first ranging light <NUM> emitted from the first ranging light-emitting portion <NUM> irradiates the measurement object <NUM>. As described earlier, the measurement object of which the collimating ranging unit <NUM> performs ranging and angle measurement is not limited to the measurement object <NUM> such as an architectural structure and may be the target of measurement <NUM> such as a prism. The first reflected ranging light <NUM> that is reflected by the measurement object <NUM> is received by the first ranging light-receiving portion <NUM> provided inside the telescope portion <NUM>. The first ranging light-receiving portion <NUM> converts brightness and darkness (a light reception result) of the received first reflected ranging light <NUM> into an electronic signal (a light reception signal) and transmits the light reception signal to the first distance measuring portion <NUM>. In addition, the first ranging light-receiving portion <NUM> receives internal reference light (not illustrated) guided from a reference light optical portion (not illustrated), converts the internal reference light into an electric signal, and transmits the electrical signal to the first distance measuring portion <NUM>.

The first distance measuring portion <NUM> calculates the distance to the measurement object <NUM> based on the light reception signal transmitted from the first ranging light-receiving portion <NUM>. In other words, the first reflected ranging light <NUM> and the internal reference light are respectively converted into a first reflected ranging light electrical signal and an internal reference light electrical signal and then sent to the first distance measuring portion <NUM>. The distance to the measurement object <NUM> is measured based on a difference in time intervals between the first reflected ranging light electrical signal and the internal reference light electrical signal. A calculation result of the first distance measuring portion <NUM> is input to the calculation portion (CPU) <NUM>.

The calculation portion <NUM> calculates coordinates of the measurement object <NUM> based on the measured distance to the measurement object <NUM>, a vertical angle detected by the first vertical angle detector <NUM>, and a horizontal angle detected by the first horizontal angle detector <NUM>. Alternatively, the calculation portion <NUM> may calculate coordinates of the machine reference point of the collimating ranging unit <NUM> with a prescribed position as a reference based on the measured distance to the measurement object <NUM>, the vertical angle detected by the first vertical angle detector <NUM>, and the horizontal angle detected by the first horizontal angle detector <NUM>.

The collimating light-receiving portion <NUM> is an image sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS) and receives reflected collimating light <NUM> with a wavelength region that differs from a wavelength region of the first reflected ranging light <NUM>. The reflected collimating light <NUM> is light which has a wavelength region that differs from a wavelength region of the first reflected ranging light <NUM> and which is reflected by the measurement object <NUM>. In other words, the collimating light-receiving portion <NUM> receives the reflected collimating light <NUM> that is reflected by the measurement object <NUM> and optically receives an image of the measurement object <NUM>. Examples of the reflected collimating light <NUM> include natural light and infrared light. However, the reflected collimating light <NUM> is not limited thereto. The reflected collimating light <NUM> is received by the collimating light-receiving portion <NUM> provided inside the telescope portion <NUM>. The collimating light-receiving portion <NUM> converts brightness and darkness (a light reception result) of the reflected collimating light <NUM> into an electronic signal (an image signal) and transmits the image signal to the image processing portion <NUM>.

The image processing portion <NUM> executes image processing of the image signal transmitted from the collimating light-receiving portion <NUM> and transmits the processed image signal to the calculation portion <NUM> as an image data signal. The calculation portion <NUM> executes a calculation based on the image data signal transmitted from the image processing portion <NUM> and executes control to cause the display portion <NUM> of the operation display portion <NUM> to display an image of a collimation range of the telescope portion <NUM>.

The inclinometer <NUM> measures an inclination (an inclination angle) of the collimating ranging unit <NUM> relative to gravity. A measurement result of the inclinometer <NUM> is input to the calculation portion <NUM>.

The scanner unit <NUM> according to the present embodiment has a second mount portion <NUM>, a second vertical rotation portion <NUM>, a scanning mirror <NUM>, a second ranging light-emitting portion <NUM>, and a second ranging light-receiving portion <NUM> and is fixed to an upper part of the collimating ranging unit <NUM>. Alternatively, the scanner unit <NUM> may have a horizontal rotation portion similar to the first horizontal rotation portion <NUM> of the collimating ranging unit <NUM>. In this case, the scanner unit <NUM> is rotatably provided in the horizontal direction relative to the collimating ranging unit <NUM>.

The second vertical rotation portion <NUM> has a second vertical rotary shaft <NUM>, a bearing <NUM>, a second vertical drive motor <NUM>, and a second vertical angle detector (for example, an encoder) <NUM>. The second vertical rotary shaft <NUM> has a horizontally-extending second horizontal axial center <NUM> and is rotatably supported by the second mount portion <NUM> via the bearing <NUM>. One end of the second vertical rotary shaft <NUM> protrudes into a recessed portion <NUM> of the second mount portion <NUM>. The scanning mirror <NUM> is supported by the one end of the second vertical rotary shaft <NUM> that protrudes into the recessed portion <NUM> of the second mount portion <NUM>, and integrally rotates with the second vertical rotary shaft <NUM> in a vertical direction around the second horizontal axial center <NUM> due to a drive force transmitted from the second vertical drive motor <NUM>.

The second vertical angle detector <NUM> is provided at another end of the second vertical rotary shaft <NUM>. A rotational angle of the second vertical rotary shaft <NUM> relative to the second mount portion <NUM> (in other words, a rotational angle of the scanning mirror <NUM>) is detected by the second vertical angle detector <NUM>. A detection result of the second vertical angle detector <NUM> is input to the calculation portion <NUM>. Drive of the second vertical drive motor <NUM> is controlled by the second vertical rotation driving portion <NUM> based on the detection result of the second vertical angle detector <NUM>.

The second horizontal axial center <NUM> is parallel to the first horizontal axial center <NUM>. A distance between the first horizontal axial center <NUM> and the second horizontal axial center <NUM> is known. In other words, a position of the second horizontal axial center <NUM> relative to the first horizontal axial center <NUM> is known.

The scanning mirror <NUM> is a deflecting optical member and reflects, at a right angle, the second ranging light <NUM> incident from a horizontal direction. In other words, the scanning mirror <NUM> reflects, in a direction perpendicular to the second horizontal axial center <NUM>, the second ranging light <NUM> incident from a horizontal direction. As described earlier, the scanning mirror <NUM> is supported by the second vertical rotary shaft <NUM> and rotates in a vertical direction around the second horizontal axial center <NUM> due to a drive force transmitted from the second vertical drive motor <NUM>. Accordingly, the scanning mirror <NUM> causes rotational irradiation with the second ranging light <NUM> to be performed within a plane that intersects with (specifically, perpendicular to) the second horizontal axial center <NUM>. In addition, the scanning mirror <NUM> reflects, toward the second ranging light-receiving portion <NUM>, the second reflected ranging light <NUM> reflected by the measurement object <NUM> and incident to the scanning mirror <NUM>. In other words, the scanning mirror <NUM> reflects, in a direction parallel to the second horizontal axial center <NUM>, the second reflected ranging light <NUM> reflected by the measurement object <NUM> and incident to the scanning mirror <NUM>.

An intersection point of the second horizontal axial center <NUM> and the scanning mirror <NUM> is set to a machine reference point of the scanner unit <NUM>. For example, the machine reference point of the collimating ranging unit <NUM> and the machine reference point of the scanner unit <NUM> are present on the first vertical axial center <NUM> as a same straight line. In other words, a vertical line that passes the machine reference point of the scanner unit <NUM> coincides with the first vertical axial center <NUM>. A distance between the machine reference point of the collimating ranging unit <NUM> and the machine reference point of the scanner unit <NUM> is known.

As shown in <FIG>, the second ranging light-emitting portion <NUM> has a light-emitting element <NUM> and a light-emitting optical portion <NUM> including an objective lens or the like and is driven and controlled by the second distance measuring portion <NUM>. The light-emitting element <NUM> is, for example, a semiconductor laser and emits the second ranging light <NUM> via the light-emitting optical portion <NUM> onto an optical axis that matches the second horizontal axial center <NUM>. The second ranging light <NUM> is a pulse laser beam of infrared light as invisible light. The light-emitting element <NUM> is controlled by the second distance measuring portion <NUM> and emits pulse light in a required state including a required light intensity and a required pulse interval.

As shown in <FIG>, the second ranging light-receiving portion <NUM> has a light-receiving element <NUM> and a light-receiving optical portion <NUM> including a condenser lens or the like. The light-receiving element <NUM> receives the second reflected ranging light <NUM> which is the second ranging light <NUM> having been reflected by the measurement object <NUM>, having been reflected by the scanning mirror <NUM>, and having passed through the light-receiving optical portion <NUM>. The light-receiving element <NUM> converts brightness and darkness (a light reception result) of the received second reflected ranging light <NUM> into an electronic signal (a light reception signal) and transmits the light reception signal to the second distance measuring portion <NUM> and the calculation portion <NUM>. In addition, the light-receiving element <NUM> receives internal reference light (not illustrated) guided from the reference light optical portion (not illustrated), converts the internal reference light into an electric signal, and transmits the electrical signal to the second distance measuring portion <NUM>.

The second distance measuring portion <NUM> calculates the distance to the measurement object <NUM> based on the light reception signal transmitted from the second ranging light-receiving portion <NUM> (specifically, the light-receiving element <NUM>). In other words, the second reflected ranging light <NUM> and the internal reference light are respectively converted into a second reflected ranging light electrical signal and an internal reference light electrical signal and then sent to the second distance measuring portion <NUM>. The distance to the measurement object <NUM> is measured based on a difference in time intervals between the second reflected ranging light electrical signal and the internal reference light electrical signal. A calculation result of the second distance measuring portion <NUM> is input to the calculation portion <NUM>.

The calculation portion <NUM> calculates coordinates of the measurement object <NUM> based on the measured distance to the measurement object <NUM>, a vertical angle detected by the second vertical angle detector <NUM>, and a horizontal angle detected by the first horizontal angle detector <NUM>. In addition, by recording coordinates of the measurement object <NUM> for each pulse light beam, the calculation portion <NUM> can obtain point cloud data with respect to an entire measurement range or point cloud data with respect to the measurement object <NUM>.

Furthermore, the calculation portion <NUM> calculates intensity (reflection intensity) of the second reflected ranging light <NUM> based on a light reception signal transmitted from the light-receiving element <NUM> of the second ranging light-receiving portion <NUM> and executes control to cause an image indicating the intensity of the second reflected ranging light <NUM> to be superimposed on an image of a collimation range of the telescope portion <NUM> and to be displayed by the display portion <NUM> of the operation display portion <NUM>. Accordingly, the worker or the like can check, on the display portion <NUM>, a measurement location (a point or a region) where three-dimensional data has been acquired and a measurement location (a point or a region) where three-dimensional data has not been acquired among the measurement object <NUM>. In other words, the worker or the like can check, on the display portion <NUM>, whether or not there is a data-deficient part that is referred to as a "missing part" or the like where three-dimensional data is not acquired among the measurement object <NUM> when the scanner unit <NUM> acquires point cloud data.

Next, operations of the three-dimensional survey apparatus according to the present embodiment will be described with reference to the drawings.

<FIG> is a flow chart that represents operations of the three-dimensional survey apparatus according to the present embodiment.

<FIG> is a plan view that represents a vicinity of a characteristic portion of a measurement object.

<FIG> is, in other words, a flow chart that represents steps executed by the three-dimensional survey method according to the present embodiment and steps which the three-dimensional survey program according to the present embodiment causes a computer of the three-dimensional survey apparatus <NUM> to execute.

First, in step S11, the control calculation portion <NUM> of the three-dimensional survey apparatus <NUM> determines coordinates of a machine reference point of the collimating ranging unit <NUM> and a direction of a reference collimation of the telescope portion <NUM> of the collimating ranging unit <NUM> at a survey position using a backward intersection method or the like and stores the coordinates and the direction in the storage portion <NUM>. Specifically, based on a distance from the collimating ranging unit <NUM> to the target of measurement <NUM> such as a prism, a vertical angle detected by the first vertical angle detector <NUM>, and a horizontal angle detected by the first horizontal angle detector <NUM>, the control calculation portion <NUM> calculates coordinates of a machine reference point of the collimating ranging unit <NUM> and a direction of a reference collimation of the telescope portion <NUM> of the collimating ranging unit <NUM> and stores the coordinates and the direction in the storage portion <NUM>.

Next, in step S12, the control calculation portion <NUM> controls the scanner unit <NUM> to acquire and store three-dimensional data (point cloud data) of a large number of measurement points of the measurement object <NUM>.

Next, in step S13, the control calculation portion <NUM> acquires, based on a survey result of the collimating ranging unit <NUM>, three-dimensional data related to a characteristic portion <NUM> of the measurement object <NUM> which is present between a plurality of pieces of the three-dimensional data <NUM> (refer to <FIG>) that are included in the point cloud data <NUM> (refer to <FIG>) having been acquired by the scanner unit <NUM>. The "characteristic portion <NUM> of the measurement object <NUM>", as referred to herein, is the characteristic portion <NUM> of the measurement object <NUM> which is a corner portion, an edge portion, or the like of the measurement object <NUM> for which acquisition of three-dimensional data was originally desired and of which the three-dimensional data has not been acquired by the scanner unit <NUM>.

More specifically, as represented in <FIG>, the scanner unit <NUM> rotates and irradiates pulse laser light in a direction of a predetermined angle and performs ranging for each pulse of pulse laser light to acquire the point cloud data <NUM>. Therefore, the point cloud data <NUM> acquired by the scanner unit <NUM> has a grid structure. In other words, a plurality of pieces of three-dimensional data <NUM> that are included in the point cloud data <NUM> having been acquired by the scanner unit <NUM> are pieces of three-dimensional data related to portions which are separated from one another in the measurement object <NUM> and which are positioned in, for example, a grid pattern. Therefore, the characteristic portion <NUM> such as a corner portion or an edge portion of the measurement object <NUM> for which acquisition of three-dimensional data was originally desired may be present between a plurality of pieces of three-dimensional data <NUM> that are included in the point cloud data <NUM> having been acquired by the scanner unit <NUM> and may not be acquired by the scanner unit <NUM>.

Conversely, in step S13, the control calculation portion <NUM> of the three-dimensional survey apparatus <NUM> according to the present embodiment acquires, based on a survey result of the collimating ranging unit <NUM>, three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> which is present between a plurality of pieces of the three-dimensional data <NUM> that are included in the point cloud data <NUM> having been acquired by the scanner unit <NUM> and of which the three-dimensional data has not been acquired by the scanner unit <NUM>.

Next, in step S14, the control calculation portion <NUM> adds the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> having been acquired based on the survey result of the collimating ranging unit <NUM> to the point cloud data <NUM> having been acquired by the scanner unit <NUM>.

With the three-dimensional survey apparatus <NUM> according to the present embodiment, the control calculation portion <NUM> performs control to acquire, based on a survey result of the collimating ranging unit <NUM>, three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> which is present between a plurality of pieces of the three-dimensional data <NUM> that are included in the point cloud data <NUM> having been acquired by the scanner unit <NUM> and of which the three-dimensional data has not been acquired by the scanner unit <NUM>, and to add the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> having been acquired based on a survey result of the collimating ranging unit <NUM> to the point cloud data <NUM> having been acquired by the scanner unit <NUM>. In other words, the control calculation portion <NUM> executes control to synthesize the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> having been acquired based on the survey result of the collimating ranging unit <NUM> and the point cloud data <NUM> having been acquired by the scanner unit <NUM>. Accordingly, the three-dimensional survey apparatus <NUM> according to the present invention can more reliably acquire the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM>.

Next, specific examples of the processing of step S13 represented in <FIG> will be described in detail with reference to the drawings.

<FIG> is a flow chart that represents a first specific example of the processing of step S13 represented in <FIG>.

In the present specific example, first, in step S131, a measurement location is set by collimation of the telescope portion <NUM> of the collimating ranging unit <NUM>. For example, based on an image displayed on the display portion <NUM>, the worker or the like performs collimation of the telescope portion <NUM> with respect to the characteristic portion <NUM> that is a corner portion, an edge portion, or the like of the measurement object <NUM> for which acquisition of three-dimensional data is desired and sets a measurement location to be ranged by the collimating ranging unit <NUM>.

Next, in step S132, the collimating ranging unit <NUM> performs a survey (ranging and angle measurement) of the characteristic portion <NUM> of the measurement object <NUM> having been set at a measurement location by the collimation of the telescope portion <NUM> of the collimating ranging unit <NUM> to directly acquire the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM>.

Next, in step S15, the control calculation portion <NUM> acquires the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> having been acquired by the collimating ranging unit <NUM>. For example, the control calculation portion <NUM> receives, from the collimating ranging unit <NUM>, a signal of the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> having been acquired by the collimating ranging unit <NUM>, and acquires the signal as the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM>.

According to the present specific example, the control calculation portion <NUM> can directly acquire the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> with the collimating ranging unit <NUM> and more reliably add the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> having been directly acquired by the collimating ranging unit <NUM> to the point cloud data <NUM> having been acquired by the scanner unit <NUM>.

<FIG> is a flow chart that represents a second specific example of the processing of step S13 represented in <FIG>.

In the present specific example, first, in step S131A, the control calculation portion <NUM> calculates a geometric surface in a vicinity of the characteristic portion <NUM> of the measurement object <NUM> based on the point cloud data <NUM> in the vicinity of the characteristic portion <NUM> of the measurement object <NUM>.

For example, as represented in <FIG>, the control calculation portion <NUM> calculates a geometric surface <NUM> in the vicinity of the characteristic portion <NUM> of the measurement object <NUM> based on the point cloud data <NUM> that includes three pieces of three-dimensional data <NUM>, <NUM>, and <NUM> in the vicinity of the characteristic portion <NUM> of the measurement object <NUM>. The surface <NUM> in the vicinity of the characteristic portion <NUM> of the measurement object <NUM> is not limited to a flat surface and may be a curved surface, a cylindrical surface, or a spherical surface. Therefore, the geometric surface <NUM> that is calculated by the control calculation portion <NUM> is not limited to a flat surface and examples thereof include a curved surface, a cylindrical surface, and a spherical surface. It should be noted that the three-dimensional data to be referred to when the control calculation portion <NUM> calculates the geometric surface <NUM> is not limited to the three pieces of three-dimensional data <NUM>, <NUM>, and <NUM> and there may be four or more pieces of three-dimensional data.

Next, in step S132A, the control calculation portion <NUM> acquires, with the collimating ranging unit <NUM>, a direction of collimation of the telescope portion <NUM> with respect to the characteristic portion <NUM> of the measurement object <NUM>. For example, based on an image displayed on the display portion <NUM>, the worker or the like performs collimation of the telescope portion <NUM> with respect to the characteristic portion <NUM> that is a corner portion, an edge portion, or the like of the measurement object <NUM> for which acquisition of three-dimensional data is desired. Accordingly, the collimating ranging unit <NUM> can acquire the direction of the collimation of the telescope portion <NUM> with respect to the characteristic portion <NUM> of the measurement object <NUM>.

Specifically, as described earlier with reference to <FIG> and <FIG>, when the collimation of the telescope portion <NUM> is performed with respect to a prescribed portion, the calculation portion <NUM> of the control calculation portion <NUM> can acquire a vertical angle having been detected by the first vertical angle detector <NUM> and a horizontal angle having been detected by the first horizontal angle detector <NUM>. In other words, the collimating ranging unit <NUM> can perform angle measurement based on a vertical angle having been detected by the first vertical angle detector <NUM> and a horizontal angle having been detected by the first horizontal angle detector <NUM>. Accordingly, for example, when the worker or the like performs the collimation of the telescope portion <NUM> with respect to the characteristic portion <NUM> of the measurement object <NUM>, the control calculation portion <NUM> can acquire, with the collimating ranging unit <NUM>, a direction of the collimation of the telescope portion <NUM> with respect to the characteristic portion <NUM> of the measurement object <NUM>.

Next, in step S133A, the control calculation portion <NUM> acquires the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> based on the geometric surface <NUM> in the vicinity of the characteristic portion <NUM> of the measurement object <NUM> and the direction of the collimation of the telescope portion <NUM>. For example, the control calculation portion <NUM> assumes that the characteristic portion <NUM> of the measurement object <NUM> is present on an extension of the geometric surface <NUM> having been calculated based on the point cloud data <NUM> including three pieces of three-dimensional data <NUM>, <NUM>, and <NUM> in the vicinity of the characteristic portion <NUM> of the measurement object <NUM>, and acquires the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> by applying the direction of the collimation of the telescope portion <NUM> having been detected by the collimating ranging unit with respect to the calculated geometric surface <NUM>. In other words, the control calculation portion <NUM> can perform ranging related to the characteristic portion <NUM> of the measurement object <NUM> by applying the direction of the collimation of the telescope portion <NUM> with respect to the calculated geometric surface <NUM>.

According to the present specific example, even when the characteristic portion <NUM> of the measurement object <NUM> such as a corner portion or an edge portion of the measurement object <NUM> is a portion of which the three-dimensional data is difficult to acquire with the collimating ranging unit <NUM>, the control calculation portion <NUM> can more reliably acquire the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> based on the geometric surface <NUM> in the vicinity of the characteristic portion <NUM> of the measurement object <NUM> and the direction of the collimation of the telescope portion <NUM>. Specifically, depending on a shape of the characteristic portion <NUM> of the measurement object <NUM> or the direction of the collimation of the telescope portion <NUM>, low intensity of the first reflected ranging light <NUM> (refer to FIG.

<NUM>) or a virtual absence of the first reflected ranging light <NUM> may prevent the collimating ranging unit <NUM> from ranging the characteristic portion <NUM> of the measurement object <NUM> and prevent the three-dimensional data related to the characteristic portion <NUM> from being acquired. On the other hand, even when the collimating ranging unit <NUM> is unable to range the characteristic portion <NUM> of the measurement object <NUM>, the collimating ranging unit <NUM> can reliably detect the direction of the collimation of the telescope portion <NUM> and reliably perform angle measurement of the characteristic portion <NUM> of the measurement object <NUM>. Therefore, by calculating the geometric surface <NUM> in the vicinity of the characteristic portion <NUM> of the measurement object <NUM> based on the point cloud data <NUM> in the vicinity of the characteristic portion <NUM> of the measurement object <NUM>, acquiring a direction of the collimation of the telescope portion <NUM> with respect to the characteristic portion <NUM> of the measurement object <NUM> with the collimating ranging unit <NUM>, and applying the direction of the collimation of the telescope portion <NUM> having been detected by the collimating ranging unit <NUM> with respect to the geometric surface <NUM> in the vicinity of the characteristic portion <NUM> of the measurement object <NUM>, the control calculation portion <NUM> can more reliably acquire the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM>. Accordingly, the control calculation portion <NUM> can more reliably add the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> to the point cloud data <NUM> having been acquired by the scanner unit <NUM>.

<FIG> is a flow chart that represents a third specific example of the processing of step S13 represented in <FIG>.

In the present specific example, first, in step S131B, the control calculation portion <NUM> recognizes the characteristic portion <NUM> of the measurement object <NUM> based on the point cloud data <NUM> in the vicinity of the characteristic portion <NUM> of the measurement object <NUM>. For example, as represented in <FIG>, based on a piece of three-dimensional data <NUM> that is present on the measurement object <NUM> and a piece of background three-dimensional data <NUM> that is not present on the measurement object <NUM>, the control calculation portion <NUM> can recognize a position or a shape of the characteristic portion <NUM> that is a corner portion, an edge portion, or the like of the measurement object <NUM>. Specifically, for example, when a difference between distance data among the piece of three-dimensional data <NUM> and distance data among the piece of three-dimensional data <NUM> is equal to or greater than a predetermined value, the control calculation portion <NUM> can recognize that the characteristic portion <NUM> that is a corner portion, an edge portion, or the like of the measurement object <NUM> is present between the piece of three-dimensional data <NUM> and the piece of three-dimensional data <NUM>. However, means by which the control calculation portion <NUM> recognizes the position or the shape of the characteristic portion <NUM> of the measurement object <NUM> is not limited thereto.

For example, the control calculation portion <NUM> may execute image processing based on an image signal transmitted from an imaging portion such as a camera built into the collimating ranging unit <NUM> and automatically extract the characteristic portion <NUM> of the measurement object <NUM>. In other words, the collimating ranging unit <NUM> may have a built-in imaging portion such as a camera. In this case, a signal related to an image captured by the camera is transmitted to the control calculation portion <NUM>. The control calculation portion <NUM> can execute image processing based on the image signal transmitted from the camera and automatically recognize the position or the shape of the characteristic portion <NUM> that is a corner portion, an edge portion, or the like of the measurement object <NUM>.

In addition, in step S131B, the control calculation portion <NUM> automatically sets a region A1 (refer to <FIG>) including the recognized characteristic portion <NUM> of the measurement object <NUM> at the measurement location. It should be noted that the three-dimensional data to be referred to when the control calculation portion <NUM> recognizes the position or the shape of the characteristic portion <NUM> of the measurement object <NUM> is not limited to the two pieces of three-dimensional data <NUM> and <NUM> and there may be three or more pieces of three-dimensional data. In addition, the image signal used in the image processing when the control calculation portion <NUM> recognizes the position or the shape of the characteristic portion <NUM> of the measurement object <NUM> may include one piece of image data or may include a plurality of pieces of image data.

Next, in step S132B, the control calculation portion <NUM> causes the collimating ranging unit <NUM> to execute an automatic scan at the measurement location that has been automatically set. Next, in step S133B, the control calculation portion <NUM> acquires the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> having been acquired by the collimating ranging unit <NUM>. As described above, in the present specific example, the control calculation portion <NUM> recognizes the characteristic portion <NUM> of the measurement object <NUM> based on the point cloud data <NUM> in the vicinity of the characteristic portion <NUM> of the measurement object <NUM>, automatically sets a region A1 that includes the recognized characteristic portion <NUM> of the measurement object <NUM> at a measurement location, and causes the collimating ranging unit <NUM> to locally execute an automatic scan in the region A1 that includes the characteristic portion <NUM> of the measurement object <NUM>. Alternatively, in the present specific example, the control calculation portion <NUM> automatically extracts the characteristic portion <NUM> of the measurement object <NUM> based on an image signal transmitted from an imaging portion such as a camera that is built into the collimating ranging unit <NUM>, automatically sets a region A1 that includes the extracted characteristic portion <NUM> of the measurement object <NUM> at a measurement location, and causes the collimating ranging unit <NUM> to locally execute an automatic scan in the region A1 that includes the characteristic portion <NUM> of the measurement object <NUM>.

According to the present specific example, even if the worker or the like does not set a measurement location to be automatically scanned by the collimating ranging unit <NUM> using the operation display portion <NUM> or the like, the control calculation portion <NUM> recognizes the characteristic portion <NUM> of the measurement object <NUM> based on the point cloud data <NUM> in the vicinity of the characteristic portion <NUM> of the measurement object <NUM> and automatically sets the measurement location to be automatically scanned by the collimating ranging unit <NUM>. Alternatively, the control calculation portion <NUM> automatically recognizes the characteristic portion <NUM> of the measurement object <NUM> based on an image signal transmitted from an imaging portion such as a camera and automatically sets the measurement location to be automatically scanned by the collimating ranging unit <NUM>. Accordingly, the control calculation portion <NUM> can efficiently acquire the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> with the collimating ranging unit <NUM> and efficiently add the three-dimensional data related to the characteristic portion <NUM> of the measurement object <NUM> to the point cloud data <NUM> having been acquired by the scanner unit <NUM>.

Claim 1:
A three-dimensional survey apparatus (<NUM>) configured to acquire three-dimensional data of a measurement object (<NUM>), the three-dimensional survey apparatus (<NUM>) comprising:
a collimating ranging unit (<NUM>) configured to irradiate the measurement object (<NUM>) with first ranging light (<NUM>) by collimation of a telescope portion (<NUM>) and which, based on first reflected ranging light (<NUM>) that is reflection of the first ranging light (<NUM>) by the measurement object (<NUM>), is configured to obtain a survey result by measuring a distance to the measurement object (<NUM>) and by detecting a direction of the collimation;
a scanner unit (<NUM>) which is integrally provided with the collimating ranging unit (<NUM>) and configured to rotatingly emit second ranging light (<NUM>) and, based on second reflected ranging light (<NUM>) that is reflection of the second ranging light (<NUM>) by the measurement object (<NUM>), to measure a distance to the measurement object (<NUM>) and to detect an emission direction of the second ranging light (<NUM>) to acquire (S12) point cloud data (<NUM>) related to the measurement object (<NUM>); and
a control calculation portion (<NUM>) which is provided in at least one of the collimating ranging unit (<NUM>) and the scanner unit (<NUM>), characterized in that
the control calculation portion (<NUM>) is configured to execute control to acquire (S13), based on the survey result of the collimating ranging unit (<NUM>), the three-dimensional data related to a characteristic portion (<NUM>) of the measurement object (<NUM>) which is present between a plurality of measurement points of the three-dimensional data that are included in the point cloud data (<NUM>) and of which the three-dimensional data has not been acquired by the scanner unit (<NUM>), and to add the three-dimensional data related to the characteristic portion (<NUM>) having been acquired based on the survey result of the collimating ranging unit (<NUM>) to the point cloud data (<NUM>) .