JP2024155290A - Measurement Apparatus and Method - Google Patents

Abstract

[Problem] To easily identify a target location within a structure. [Solution] A spatial information acquisition unit (103) measures the distance between itself and surrounding objects in its vicinity, thereby acquiring its own relative position in the space in which it is placed, and sets a basic coordinate system in this measurement implementation space. A reference setting unit (104) sets a measurement coordinate system in which the origin of the basic coordinate system is the position of the reference mark based on the relative positional relationship between the spatial information acquisition unit (103) and a reference mark provided on the measurement target, acquired by the spatial information acquisition unit (103). [Selected Figure] Figure 1

Description

The present invention relates to a measurement device and method.

In recent years, in order to address the deterioration of concrete structures (structural elements) such as tunnels, bridges, levees, and buildings, various inspections (measurements) have been carried out to identify deteriorated parts and repair them in order to maintain the concrete structures. Such inspections include ultrasonic, radar, infrared, X-ray, hammering, and other methods to check for physical deterioration of the concrete structure, such as lifting, peeling, and cracks (Patent Document 1).

JP 2005-291881 A

However, there was a problem in that it was not easy to identify which locations to perform the above-mentioned inspection. In addition, because it was not easy to identify the locations to be inspected (measured), there was also a problem in that it was not easy to identify the locations to be repaired when repairing deteriorated parts of a structure using the inspection results. Thus, in the past, there was a problem in that it was not easy to identify the desired locations in a structure.

The present invention was made to solve the above problems, and aims to make it easier to identify the desired location within a structure.

The measuring device according to the present invention includes a measuring unit that measures the state of a measuring object by contacting or approaching the measuring object, a device main body to which the measuring unit is attached, a spatial information acquisition unit that is detachably attached to the device main body and acquires its own relative position in the space in which it is placed by measuring the distance between itself and surrounding objects in its vicinity and sets a basic coordinate system in the space, a coordinate setting unit that sets a measurement coordinate system in which the origin of the basic coordinate system is the position of the reference mark based on the relative positional relationship between a reference mark provided on the measuring object and the spatial information acquisition unit acquired by the spatial information acquisition unit, a correction value calculation unit that calculates a correction value for the relative mounting position relationship between the spatial information acquisition unit and the measuring unit based on the relative positional relationship between the position of the reference mark acquired by the spatial information acquisition unit with the measuring unit placed at the position of the reference mark, and a measurement position calculation unit that calculates the measurement coordinate in the measurement coordinate system of the measuring unit by correcting the relative positional relationship between the position of the reference mark acquired by the spatial information acquisition unit and the spatial information acquisition unit with the correction value when the measuring unit is placed at the measurement position of the measuring object.

In one configuration example of the above measuring device, the spatial information acquisition unit includes a camera that captures images of surrounding objects while measuring the distance to the surrounding objects by the spatial information acquisition unit in order to acquire the relative positional relationship of the spatial information acquisition unit in space, and further includes a mark detection unit that detects a reference mark from the image captured by the camera, the spatial information acquisition unit acquires the relative positional relationship between the reference mark detected by the mark detection unit and the spatial information acquisition unit, and the coordinate setting unit sets a measurement coordinate system from the relative positional relationship between the reference mark acquired by the spatial information acquisition unit and the spatial information acquisition unit.

In one configuration example of the above measuring device, a display unit is further provided that displays the measurement coordinates determined by the measurement position calculation unit.

In one configuration example of the above measuring device, a storage unit is further provided that stores the measurement coordinates calculated by the measurement position calculation unit in association with the measurement values measured by the measurement unit.

The measurement method according to the present invention includes a spatial information acquisition step of acquiring the relative positional relationship between the spatial information acquisition unit and a surrounding object in the space in which the spatial information acquisition unit is disposed, and setting a basic coordinate system in the space, by using a spatial information acquisition unit detachably attached to a device body to which a measurement unit that measures the state of the measurement target by contacting or approaching the measurement target is attached, and a coordinate setting step of setting a measurement coordinate system in which the origin of the basic coordinate system is the position of the reference mark from the relative positional relationship between the reference mark provided on the measurement target and the spatial information acquisition unit acquired by the spatial information acquisition unit, a correction value calculation step of calculating the relative mounting position relationship between the spatial information acquisition unit and the measurement unit as a correction value from the relative positional relationship between the position of the reference mark acquired by the spatial information acquisition unit and the spatial information acquisition unit with the measurement unit disposed at the position of the reference mark, a measurement step of placing the measurement unit at the measurement position of the measurement target and measuring the state of the measurement position, and a measurement position calculation step of calculating the measurement coordinate in the measurement coordinate system of the measurement unit by correcting the relative positional relationship between the position of the reference mark acquired by the spatial information acquisition unit in the measurement step and the spatial information acquisition unit with the correction value.

In one configuration example of the above measurement method, in order to acquire the relative positional relationship of the spatial information acquisition unit in space, the method further includes an imaging step of imaging the surrounding objects with a camera, in addition to measuring the distance to the surrounding objects by the spatial information acquisition unit, and a mark detection step of detecting a reference mark from the image captured by the camera, and in the coordinate setting step, the spatial information acquisition unit acquires the relative positional relationship between the reference mark detected in the mark detection step and the spatial information acquisition unit, and a measurement coordinate system is set based on the relative positional relationship between the reference mark acquired by the spatial information acquisition unit and the spatial information acquisition unit.
In one configuration example of the above measurement method, a display step of displaying the measurement coordinates calculated in the measurement position calculation step on a display unit is further provided.

In one configuration example of the above measurement method, a storage step is further provided in which the measurement coordinates calculated in the measurement position calculation step are associated with the measurement values measured in the measurement step and stored in the storage unit.

As described above, according to the present invention, the relative positional relationship between the measurement unit and the detachable spatial information acquisition unit is determined, so that the target location within the structure can be easily identified.

FIG. 1 is a diagram showing the configuration of a measurement device according to an embodiment of the present invention. FIG. 2 is a diagram showing the configuration of a measurement device according to an embodiment of the present invention. FIG. 3 is a flowchart illustrating a measurement method according to an embodiment of the present invention. FIG. 4 is an explanatory diagram for explaining an example of the state of the space in which the measurement is performed. FIG. 5 is an explanatory diagram illustrating an example of a basic coordinate system set by the spatial information acquisition unit 103. As shown in FIG. FIG. 6 is an explanatory diagram illustrating the relative relationship between the coordinate system XYZ of the reference mark 131 and the coordinate system X'Y'Z' of the spatial information acquisition unit 103.

The measurement device according to the embodiment of the present invention will be described below with reference to Figs. 1 and 2. This measurement device includes a measurement unit 101, a device body 102, a spatial information acquisition unit 103, a coordinate setting unit 104, a correction value calculation unit 105, a measurement position calculation unit 106, a display unit 107, and a storage unit 108.

The measuring unit 101 measures the state of the measurement object by contacting or bringing it into close proximity to the measurement object. The measuring unit 101 is attached to the device body 102. As shown in FIG. 2, the device body 102 is equipped with a gripping part 109 and is portable. The measuring unit 101 and the device body 102 can be, for example, a portable X-ray fluorescence analysis device. The measuring unit 101 and the device body 102 can also be, for example, a hammering inspection device. The measuring unit 101 is, for example, the location where a detector is placed.

The spatial information acquisition unit 103 acquires its relative position in the space in which it is placed by measuring the distance between itself and surrounding objects in its vicinity, and sets a basic coordinate system in this measurement implementation space. Here, the above-mentioned space is a measurement implementation space in which a measurement target is placed and measurement is performed using this measurement device. The basic coordinate system to be set is a virtual one provided in the measurement implementation space. The spatial information acquisition unit 103 is detachably attached to the device body 102. The spatial information acquisition unit 103 can be, for example, a portable measurement device equipped with a well-known LiDAR (Light Detection And Ranging) sensor. The spatial information acquisition unit 103 can be, for example, a smartphone equipped with a LiDAR sensor. The spatial information acquisition unit 103 can also be a portable measurement device equipped with a TOF (Time Of Flight) camera.

The coordinate setting unit 104 sets a measurement coordinate system in which the origin of the basic coordinate system is the position of the reference mark based on the relative positional relationship between the reference mark provided on the measurement object and the spatial information acquisition unit 103 acquired by the spatial information acquisition unit 103. Note that the measurement coordinate system that is set is a virtual one that is provided in the measurement implementation space.

The correction value calculation unit 105 determines the relationship between the relative mounting positions of the spatial information acquisition unit 103 and the measurement unit 101 as a correction value based on the relative positional relationship between itself and the position of the reference mark acquired by the spatial information acquisition unit 103 when the measurement unit 101 is placed at the position of the reference mark.

The measurement position calculation unit 106 corrects the relative positional relationship between the position of the reference mark acquired by the spatial information acquisition unit 103 and the spatial information acquisition unit 103 with a correction value when the measurement unit 101 is placed at the measurement position of the measurement target, and calculates the measurement coordinates in the measurement coordinate system of the measurement unit 101.

The measurement device also includes a camera 103a that captures images of surrounding objects while measuring the distance to the surrounding objects by the spatial information acquisition unit 103 so that the spatial information acquisition unit 103 can acquire the relative positional relationship of the spatial information acquisition unit 103 in the space (measurement execution space). Furthermore, the measurement device includes a mark detection unit 110 that detects a reference mark from the image captured by the camera 103a.

The spatial information acquisition unit 103 acquires the relative positional relationship between the reference mark detected by the mark detection unit 110 and the spatial information acquisition unit 103. The coordinate setting unit 104 sets a measurement coordinate system based on the relative positional relationship between the reference mark acquired by the spatial information acquisition unit 103 and the spatial information acquisition unit 103.

The display unit 107 displays the measurement coordinates calculated by the measurement position calculation unit 106. The display unit 107 can be configured, for example, from a liquid crystal display. The storage unit 108 stores the measurement coordinates calculated by the measurement position calculation unit 106 in association with the measurement values measured by the measurement unit 101.

As described above, the measuring device according to the embodiment determines the relative positional relationship between the measuring unit 101 and the detachable spatial information acquisition unit 103, so that it becomes extremely easy to grasp the coordinates of the target measurement location in the structure in which the measuring unit 101 is placed in a coordinate system with the reference mark 131 as the origin.

The coordinate system with the reference mark 131 at a preset position as its origin can be defined, for example, before a measurement is performed. Therefore, if the measurement coordinates obtained in performing a measurement are known, it can be easily determined whether or not the area is the measurement target area defined before the measurement. Furthermore, the coordinate system with the reference mark 131 at a preset position as its origin can be easily reproduced, for example, after the measurement is performed. Therefore, if the measurement coordinates obtained by performing a measurement are stored (recorded), it can be easily identified which area the measured measurement value was taken at, and for example, the area to be repaired can be easily identified.

The coordinate setting unit 104, the correction value calculation unit 105, the measurement position calculation unit 106, the display unit 107, the mark detection unit 110, and the memory unit 108 can be, for example, a computer device equipped with a CPU (Central Processing Unit), a main memory device, an external memory device, etc., and the above-mentioned functions can be realized by the CPU operating (executing the program) according to a program deployed in the main memory device.

The coordinate setting unit 104, the correction value calculation unit 105, the measurement position calculation unit 106, the display unit 107, the mark detection unit 110, and the memory unit 108 can be configured from computer equipment housed in the device body 102. The above program is a program for causing a computer to execute the measurement method described below. In addition, a network connection device for connecting to a network can also be provided. Each function can also be distributed among multiple computer equipment.

Next, the measurement method according to the embodiment will be described with reference to the flowchart of FIG. 3. First, in a first step S101, the spatial information acquisition unit 103 acquires the relative positional relationship of the spatial information acquisition unit 103 in the space in which the spatial information acquisition unit 103 is placed (measurement execution space), and sets a basic coordinate system in the measurement execution space (spatial information acquisition step). The spatial information acquisition unit 103 acquires the above-mentioned relative positional relationship by measuring the distance between the spatial information acquisition unit 103 and surrounding objects in the vicinity of the spatial information acquisition unit 103.

For example, as shown in FIG. 4, the measurement space 150 can be a room with a first wall 151, a second wall 152, a floor 153, etc., in a building with a reinforced concrete structure. In this case, the surrounding objects are the first wall 151, the second wall 152, the floor 153, etc. The measurement target can be the first wall 151, and in this case, a reference mark 131 is provided on the first wall 151. The reference mark 131 can be, for example, a matrix type two-dimensional code.

Next, in a second step S102, the spatial information acquisition unit 103 measures the distance to the surrounding object as described above and captures an image of the surrounding object with the camera 103a (image capture step). Next, in a third step S103, the mark detection unit 110 detects the reference mark 131 from the image captured by the camera 103a (mark detection step). For example, the set reference mark 131 is detected by a well-known image processing function.

Next, in a fourth step S104, a measurement coordinate system is set in which the origin of the basic coordinate system is the position of the reference mark 131 based on the relative positional relationship between the reference mark 131 provided on the first wall surface 151 of the measurement target, acquired by the spatial information acquisition unit 103, and the spatial information acquisition unit 103 (coordinate setting step). In the fourth step S104 (coordinate setting step), the relative positional relationship between the detected reference mark 131 and the spatial information acquisition unit 103 is acquired, and the measurement coordinate system is set based on the relative positional relationship between the acquired reference mark 131 and the spatial information acquisition unit 103.

Next, in a fifth step S105, the relationship between the relative mounting positions of the spatial information acquisition unit 103 and the measurement unit 101 is calculated as a correction value (correction value calculation step). To explain in more detail, first, the measurement unit 101 is placed at the position of the reference mark 131. For example, the tip of the measurement unit 101 is brought into contact with the position of the reference mark 131 by the operation of a measurer who is holding the gripping unit 109 and operating the measurement device. In this state, the relationship between the relative mounting positions of the spatial information acquisition unit 103 and the measurement unit 101 is calculated as a correction value from the relative positional relationship between the reference mark 131 and the spatial information acquisition unit 103 acquired by the spatial information acquisition unit 103.

Here, the reference mark 131 has an X-axis that is horizontal to the floor surface 153 and the positive direction is toward the second wall surface 152, a Y-axis that is perpendicular to the floor surface 153, and a Z-axis that is perpendicular to the first wall surface 151. The point where these axes intersect is the origin of the measurement coordinate system.

The basic coordinate system set by the spatial information acquisition unit 103 has the X', Y', and Z' axes as shown in FIG. 5. In a measurement device in which the gripping unit 109 is on the ground (floor surface 153) side and the measuring unit 101 is directed toward the first wall surface 151 for measurement operations, the Z' axis is perpendicular to the first wall surface 151 and the Y' axis is perpendicular to the floor surface 153. The X' axis is horizontal to the floor surface 153 and faces the second wall surface 152.

When arranging the measurement unit 101 at the position of the reference mark 131, the axes (X-axis, Y-axis, Z-axis) of the reference mark 131 are arranged parallel to the axes (X'-axis, Y'-axis, Z'-axis) set by the spatial information acquisition unit 103. The coordinates of the spatial information acquisition unit 103 in this state are (a, b, c). The relative relationship between the coordinate system XYZ of the reference mark 131 and the coordinate system X'Y'Z' of the spatial information acquisition unit 103 is shown in FIG. 6. FIG. 6(a) shows a state viewed from a direction perpendicular to the first wall surface 151, and FIG. 6(b) shows a state viewed from the side. By using the obtained (a, b, c) and the relationship between the X-axis, Y-axis, Z-axis, and the X'-axis, Y'-axis, Z'-axis, the coordinates of the measurement unit 101 can be obtained from the coordinates of the spatial information acquisition unit 103.

Next, in a sixth step S106, the measurement unit 101 is placed at the measurement position of the measurement target, and the state of the measurement position is measured (measurement step). Next, in a seventh step S107, the relative positional relationship between the position of the reference mark 131 acquired by the spatial information acquisition unit 103 in the measurement step and the spatial information acquisition unit 103 is corrected with a correction value, and the measurement coordinates in the measurement coordinate system of the measurement unit 101 are obtained (measurement position calculation step). Next, in the seventh step S107, the obtained measurement coordinates are displayed on the display unit 107 (display step). In this way, in measurements using a measurement device, the coordinates (measurement coordinates) of the measurement point in the coordinate system (measurement coordinate system) with the reference mark 131 as the origin can be grasped extremely easily.

The above-mentioned measurement operation is performed at all predetermined measurement locations, and the measurement coordinates are obtained at all the performed measurement locations. Then, in an eighth step S108, the measured values are associated with the obtained measurement coordinates and stored in the memory unit 108 (storage step). The measurement results based on the measured values and measurement coordinates stored in the memory unit 108 can also be transmitted to a server that consolidates measurement information.

As described above, according to the present invention, the relative positional relationship between the measurement unit and the detachable spatial information acquisition unit is determined, making it possible to easily identify a target location within a structure.

According to the present invention, even if a different spatial information acquisition unit is used for each measurement, the location to be measured by the measurement unit can be identified, so there is no need to mark the measurement location during measurement, and there is no need to write the measurement location on paper each time, and measurements of any location can be performed while knowing the measurement location. In addition, by using the measurement value and measurement coordinate data obtained by measurement, it is possible to reproduce the measurement location of the measurement value, for example, in a three-dimensional display. Furthermore, by implementing this three-dimensional display using augmented reality with goggles, it is also possible to understand the measurement results so that they are superimposed on the real structure.

Some or all of the above embodiments may also be described as follows, but are not limited to the following:

[Appendix 1]
a measurement device comprising: a measurement unit that measures a state of a measurement object by contacting or approaching the measurement object; a device main body to which the measurement unit is attached; a spatial information acquisition unit that is detachably attached to the device main body and acquires a relative position of the measurement object in a space in which the measurement object is placed by measuring a distance between the measurement object and surrounding objects around the measurement object and sets a basic coordinate system in the space; a coordinate setting unit that sets a measurement coordinate system with an origin of the basic coordinate system being a position of the reference mark based on the relative positional relationship between a reference mark provided on the measurement object and the spatial information acquisition unit acquired by the spatial information acquisition unit; a correction value calculation unit that calculates a correction value for a relationship between the relative mounting positions of the spatial information acquisition unit and the measurement unit based on the relative positional relationship between the measurement object and the position of the reference mark acquired by the spatial information acquisition unit when the measurement unit is placed at the position of the reference mark; and a measurement position calculation unit that calculates measurement coordinates in the measurement coordinate system of the measurement unit by correcting the relative positional relationship between the position of the reference mark acquired by the spatial information acquisition unit and the spatial information acquisition unit with the correction value when the measurement unit is placed at a measurement position of the measurement object.

[Appendix 2]
In the measuring device described in Appendix 1, the spatial information acquisition unit includes a camera that captures images of surrounding objects while measuring the distance to the surrounding objects by the spatial information acquisition unit in order to acquire a relative positional relationship of the spatial information acquisition unit in the space, and further includes a mark detection unit that detects the reference mark from the image captured by the camera, the spatial information acquisition unit acquires the relative positional relationship between the reference mark detected by the mark detection unit and the spatial information acquisition unit, and the coordinate setting unit sets the measurement coordinate system from the relative positional relationship between the reference mark and the spatial information acquisition unit acquired by the spatial information acquisition unit.

[Appendix 3]
3. The measuring device according to claim 1, further comprising a display unit that displays the measurement coordinates calculated by the measurement position calculation unit.

[Appendix 4]
4. The measuring device according to claim 1, further comprising a storage unit that stores the measurement coordinates calculated by the measurement position calculation unit in association with the measurement values measured by the measurement unit.

[Appendix 5]
a spatial information acquisition step of acquiring a relative positional relationship of the spatial information acquisition unit in a space in which the spatial information acquisition unit is disposed by measuring a distance between the spatial information acquisition unit and a peripheral object in the periphery of the spatial information acquisition unit, the spatial information acquisition unit being detachably attached to a device body to which a measuring unit is attached for contacting or approaching a measurement target to measure a state of the measurement target, and setting a basic coordinate system in the space; and a coordinate setting step of setting a measurement coordinate system with the origin of the basic coordinate system being the position of the reference mark, based on the relative positional relationship between the spatial information acquisition unit and a reference mark provided on the measurement target acquired by the spatial information acquisition unit. a correction value calculation step of calculating a relative mounting position relationship between the spatial information acquisition unit and the measurement unit as a correction value from the relative positional relationship between the position of the reference mark acquired by the spatial information acquisition unit with the measurement unit disposed at the position of the reference mark and the spatial information acquisition unit; a measurement step of disposing the measurement unit at a measurement position of the measurement object and measuring a state of the measurement position; and a measurement position calculation step of correcting the relative positional relationship between the position of the reference mark acquired by the spatial information acquisition unit in the measurement step and the spatial information acquisition unit with the correction value to calculate a measurement coordinate in the measurement coordinate system of the measurement unit.

[Appendix 6]
The measurement method described in Supplementary Note 5 further includes an imaging step of imaging the peripheral object with a camera while measuring a distance to the peripheral object by the spatial information acquisition unit in order to acquire a relative positional relationship of the spatial information acquisition unit in the space, and a mark detection step of detecting the reference mark from the image captured by the camera, wherein in the coordinate setting step, the spatial information acquisition unit acquires the relative positional relationship between the reference mark detected in the mark detection step and the spatial information acquisition unit, and the measurement coordinate system is set from the relative positional relationship between the reference mark and the spatial information acquisition unit acquired by the spatial information acquisition unit.

[Appendix 7]
7. The measuring method according to claim 5 or 6, further comprising a display step of displaying the measurement coordinates calculated in the measurement position calculation step on a display unit.

[Appendix 8]
8. The measurement method according to claim 5, further comprising a storage step of storing in a storage unit the measurement coordinates calculated in the measurement position calculation step in association with the measurement values measured in the measurement step.

The present invention is not limited to the embodiments described above, and it is clear that many modifications and combinations can be implemented by those with ordinary skill in the art within the technical concept of the present invention.

101... measurement unit, 102... device body, 103... spatial information acquisition unit, 103a... camera, 104... coordinate setting unit, 105... correction value calculation unit, 106... measurement position calculation unit, 107... display unit, 108... storage unit, 109... gripping unit, 110... mark detection unit.

Claims (8)

a measurement unit that is brought into contact with or in close proximity to a measurement object to measure a state of the measurement object;
An apparatus main body to which the measurement unit is attached;
a spatial information acquisition unit that is detachably attached to the device body and that acquires a relative position of the device in a space in which the device is placed by measuring a distance between the device and surrounding objects in the device's vicinity and sets a basic coordinate system in the space;
a coordinate setting unit that sets a measurement coordinate system in which the origin of the basic coordinate system is the position of the reference mark based on a relative positional relationship between the reference mark provided on the measurement object and the spatial information acquisition unit acquired by the spatial information acquisition unit;
a correction value calculation unit that calculates a correction value for a relative mounting position relationship between the spatial information acquisition unit and the measurement unit based on a relative positional relationship between the position of the reference mark acquired by the spatial information acquisition unit and itself in a state where the measurement unit is disposed at the position of the reference mark; and
and a measurement position calculation unit that uses the correction value to correct a relative positional relationship between the position of the reference mark acquired by the spatial information acquisition unit and the spatial information acquisition unit while the measurement unit is disposed at a measurement position of the measurement target, thereby determining a measurement coordinate in the measurement coordinate system of the measurement unit. 2. The measuring device according to claim 1,
the spatial information acquisition unit includes a camera that measures a distance to the peripheral object by the spatial information acquisition unit and captures an image of the peripheral object in order to acquire a relative positional relationship of the spatial information acquisition unit in the space;
Further, a mark detection unit is provided to detect the reference mark from within an image captured by the camera,
the spatial information acquisition unit acquires a relative positional relationship between the reference mark detected by the mark detection unit and the spatial information acquisition unit,
The coordinate setting unit is a measuring device that sets the measurement coordinate system based on the relative positional relationship between the reference mark acquired by the spatial information acquisition unit and the spatial information acquisition unit. 3. The measuring device according to claim 1,
The measuring device further comprises a display unit that displays the measurement coordinates calculated by the measurement position calculation unit. 3. The measuring device according to claim 1,
The measuring device further comprises a storage unit that stores the measurement coordinates calculated by the measurement position calculation unit in association with the measurement values measured by the measurement unit. a spatial information acquisition step of acquiring a relative positional relationship between the spatial information acquisition unit in a space in which the spatial information acquisition unit is disposed by measuring a distance between the spatial information acquisition unit and a peripheral object in the periphery of the spatial information acquisition unit, the spatial information acquisition unit being detachably attached to a device body to which a measurement unit is attached that brings the measurement unit into contact with or into proximity with a measurement object to measure a state of the measurement object, and setting a basic coordinate system in the space;
a coordinate setting step of setting a measurement coordinate system in which the origin of the basic coordinate system is the position of the reference mark based on a relative positional relationship between the reference mark provided on the measurement object and the spatial information acquisition unit, the relative positional relationship being acquired by the spatial information acquisition unit;
a correction value calculation step of calculating a correction value for a relative mounting position relationship between the spatial information acquisition unit and the measurement unit from a relative positional relationship between the position of the reference mark acquired by the spatial information acquisition unit in a state where the measurement unit is disposed at the position of the reference mark and the spatial information acquisition unit;
a measurement step of disposing the measurement unit at a measurement position of the measurement object and measuring a state of the measurement position;
and a measurement position calculation step of correcting, with the correction value, a relative positional relationship between the position of the reference mark acquired by the spatial information acquisition unit in the measurement step and the spatial information acquisition unit, to obtain measurement coordinates in the measurement coordinate system of the measurement unit. 6. The method according to claim 5,
an imaging step of measuring a distance to the peripheral object by the spatial information acquisition unit and capturing an image of the peripheral object by a camera in order to acquire a relative positional relationship of the spatial information acquisition unit in the space;
A mark detection step of detecting the reference mark from an image captured by the camera is further included.
In the coordinate setting step, the spatial information acquisition unit acquires the relative positional relationship between the reference mark detected in the mark detection step and the spatial information acquisition unit, and the measurement coordinate system is set based on the relative positional relationship between the reference mark acquired by the spatial information acquisition unit and the spatial information acquisition unit. The method according to claim 5 or 6,
The measurement method further comprises a display step of displaying the measurement coordinates calculated in the measurement position calculation step on a display unit. The method according to claim 5 or 6,
The measuring method further comprises a storage step of storing in a storage unit the measurement coordinates obtained in the measurement position calculation step in association with the measurement values obtained in the measurement step.

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