To provide a technique for inspecting a vast monitoring object in a short time using a fixed point three-dimensional LiDAR scanner.SOLUTION: A first PC acquisition part 16 controls a first fixed point three-dimensional LiDAR scanner 11P so that a first fixed point three-dimensional LiDAR scanner 11P scans a low density scanning range including a monitoring object in a scanning range, and generates a low density PC. Thereby, the first PC acquisition part 16 acquires the low density PC from the first fixed point three-dimensional LiDAR scanner 11P. An alignment part 17 aligns the low density PC and known three-dimensional shape data as a monitoring object. A scanning range determination part 18 determines a high density scanning range which includes the monitoring object in a scanning range and is narrower than the low density scanning range, on the basis of a result of the alignment by the alignment part 17. A second PC acquisition part 19 controls the first fixed point three-dimensional LiDAR scanner 11P so that the first fixed point three-dimensional LiDAR scanner 11P scans the high density scanning range and generates a high density PC.SELECTED DRAWING: Figure 3
【課題】定点三次元LiDARスキャナを用いて広大な監視対象を短時間で点検する技術を提供する。【解決手段】第1PC取得部16は、第1の定点三次元LiDARスキャナ11Pが監視対象を走査範囲に含めた低密度走査範囲で走査して低密度PCを生成するように第1の定点三次元LiDARスキャナ11Pを制御する。これにより、第1PC取得部16は、第1の定点三次元LiDARスキャナ11Pから低密度PCを取得する。位置合わせ部17は、低密度PCと、監視対象の既知の三次元形状データと、を互いに位置合わせする。走査範囲決定部18は、位置合わせ部17による位置合わせの結果に基づいて、監視対象を走査範囲に含みつつ低密度走査範囲よりも狭い高密度走査範囲を決定する。第2PC取得部19は、第1の定点三次元LiDARスキャナ11Pが高密度走査範囲で走査して高密度PCを生成するように第1の定点三次元LiDARスキャナ11Pを制御する。【選択図】図3
MONITORING SYSTEM, MONITORING DEVICE, AND MONITORING METHOD
監視システム、監視装置、及び、監視方法
2024-03-07
Patent
Electronic Resource
Japanese
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