JP2010286281A - Surveying device with image transmission function and surveying method - Google Patents

Abstract

An apparatus and method are provided that allow an operator at another point to check an image of a collimation direction of a surveying device by looking at a display or the like without placing an operator at the site where the surveying device is installed.
Surveying means for outputting a collimation direction of a first point as surveying information with reference to a predetermined direction, driving means for changing the optical axis direction, and surveying information transmitting means for transmitting surveying information to a third point. The surveying device is installed at a second point where the position information is known, an imaging means for capturing an image including the collimation point of the first point and outputting the image information, and image information for transmitting the image information to the third point A surveying method using a surveying device with an image transmission function having a control unit that receives a control signal from a third point and changes the optical axis direction of the surveying unit, and transmits a second image of the first point. The image information is output by imaging at the point, the survey information measured at the first point is output, the image information and the survey information are transmitted to the third point, and the first based on the image information and the survey information at the third point Analyze the location of the point.
[Selection] Figure 4

Description

  The present invention relates to a surveying technique for surveying position information of a point with unknown position information on the basis of a point with known position information, and more particularly to a technique for surveying with a small number of people.

Conventionally, when surveying the location information of a location whose location information is unknown based on a location where the location information is known, the surveying device installed at the known location collimates the unknown location, Based on the relative positional relationship between them, a survey calculation is performed to obtain position information of an unknown point.
In recent years, the surveying instrument can obtain the angle information of the collimation direction electrically, and can obtain the distance to the collimation point electrically using various optical methods. An electronic surveying instrument such as a total station which can be quickly and accurately calculated using electronic means such as a microcomputer is increasingly used.
In addition, the electronic surveying device such as the total station has a motor drive capable of directing the optical axis in a designated direction by controlling a driving means such as a motor by instructing a collimation direction with an electric signal. Those equipped with a mechanism have come to be used.
Also, a total station with a CCD camera has been proposed. (For example, see Patent Documents 1 and 2)

JP 2000-275044 A Japanese Patent No. 3854168

The surveying instrument can be operated with electrical signals, so remote control is possible.
In order to confirm the collimating direction, it is necessary for the operator to visually check the eyepiece of the telescope of the surveying device and confirm whether or not the predetermined point is collimated. It was necessary to report on the transceiver etc. in order to communicate to the manager.
Therefore, at least one operator of the surveying instrument is required at the point where the surveying instrument is installed in order to view the eyepiece of the surveying instrument.
In particular, when a slant pile is driven at sea, and when the slant pile is driven from a nearby shore or the like to a predetermined position at a predetermined angle, the position of the slant pile is a predetermined position. In order to confirm whether or not, for example, it is necessary to survey a surveying object from two different directions.
Therefore, in such a case, surveying devices are installed at the two locations, and operators of the surveying devices are required at the two locations.
However, it is very difficult to confirm the angle of the slant pile by surveying from these two directions. Usually, it was measured by directly applying an inclinometer to the pile, or using the angle of the leader of the pile driving ship. .

Therefore, the present invention allows an operator at another point such as a remote place to check an image of the collimation direction of the surveying device by looking at the display or the like without placing an operator at the site where the surveying device is installed. The collimation direction can be operated, and the purpose is to confirm the position and / or angle of the pile.

In claim 1 of the surveying apparatus with an image transmission function according to the present invention,
Surveying means for measuring the angle of the collimation direction for collimating the collimation point to be surveyed with reference to the predetermined direction and outputting it as survey information,
Driving means for changing the optical axis direction, and survey information transmitting means for transmitting survey information obtained by the survey means to a remote place,
In surveying equipment equipped with
An imaging unit that captures an image including a collimation point in the optical axis direction, converts the image into an electrical signal, and outputs the image information, and an image information transmission unit that transmits the image information obtained by the imaging unit to a remote place ,
With
The optical axis of the surveying means and the optical axis of the imaging means are configured to maintain a predetermined relative relationship.
In claim 2,
Receiving means for receiving a control signal transmitted from a remote place, and control means for controlling the driving means so as to change the optical axis direction of the surveying means based on the received control signal.
In claim 3,
The imaging means captures images with different magnifications and outputs them as image information;
Control means for controlling the zoom function based on a control signal transmitted from a remote place to change the imaging magnification.
In claim 4,
The surveying means optically measures the distance to the collimation point and outputs it as survey information.
In claim 5,
Auxiliary line synthesizing means for synthesizing and outputting at least one of a separately generated cross-line image or auxiliary line image to the image is provided.

In the surveying method of claim 6,
Surveying means for measuring the angle of the collimation direction for collimating the first point to be surveyed with a predetermined direction as a reference, and outputting it as survey information;
Driving means for changing the optical axis direction, and survey information transmitting means for transmitting survey information obtained by the survey means to a third point,
Is installed at a second point where the position information is known,
An imaging unit that captures an image including the collimation point of the first point, converts the image into an electrical signal, and outputs the image information;
Image information transmitting means for transmitting image information obtained by the imaging means to a third point;
With an image transmission function comprising receiving means for receiving a control signal transmitted from the third point, and control means for controlling the driving means so as to change the optical axis direction of the surveying means based on the received control signal A surveying method using a surveying instrument,
An image including the first point to be surveyed is picked up by the image pickup means arranged at the second point and the image information of the image is output.
Surveying the first point with the surveying means on the basis of the second point and outputting the survey information of the first point;
The image information and the survey information are converted into electrical signals and transmitted to a third point,
At the third point, the positional relationship between the first point and the second point is analyzed based on the image information and the survey information. The positional relationship between the first point and the second point includes the position information of the first point with respect to the second point, and the position information of the first point with respect to the second point is Reflected in the image information.

In claim 7,
Surveying means for measuring the angle of the collimation direction for collimating the first point to be surveyed with a predetermined direction as a reference, and outputting it as survey information;
Driving means for changing the optical axis direction, and survey information transmitting means for transmitting survey information obtained by the survey means to a third point,
Is installed at a second point where the position information is known,
An imaging unit that captures an image including the collimation point of the first point, converts the image into an electrical signal, and outputs the image information;
A zoom function for changing the magnification of an image captured by the imaging means and capturing the image as image information;
Image information transmitting means for transmitting image information obtained by the imaging means to a third point;
Receiving means for receiving a control signal transmitted from the third point, and controlling the driving means so as to change the optical axis direction of the surveying means or / and the imaging magnification of the imaging means based on the received control signal; A surveying method using a surveying device with an image transmission function provided with a control means,
An image including the first point to be surveyed is imaged at a desired imaging magnification using an imaging unit disposed at the second point, and image information of the image is output.
Surveying the first point with the surveying means on the basis of the second point and outputting the survey information of the first point;
The image information and the survey information are converted into electrical signals and transmitted to a third point,
At the third point, the positional relationship between the first point and the second point is analyzed based on the image information and the survey information. The positional relationship between the first point and the second point includes the position information of the first point with respect to the second point, and the position information of the first point with respect to the second point is Reflected in the image information.
In claim 8,
The surveying means measures the distance from the second point to the first point,
The survey information transmitting means transmits survey information output from the survey means to the third point.

According to the surveying apparatus with an image transmission function according to the present invention, an image including a collimation point in the optical axis direction is picked up, converted into an electrical signal, and output as image information. Therefore, the image of the collimation point can be confirmed at a remote place.
In addition, since the collimation direction can be changed based on a control signal transmitted from a remote location, an operator at the remote location can operate as if operating the surveying device directly. It becomes possible.
Further, since the optical axis of the surveying means and the optical axis of the imaging means are maintained in a predetermined relative relationship, proper surveying is possible even if the optical axis is changed.
In addition, since the zoom function is provided, it is possible to obtain an enlarged image of the survey target and view a detailed image, and obtain a reduced image including the periphery of the survey target to facilitate confirmation of the survey target. .
Thus, according to the surveying instrument of the present invention, when guiding the driving pile, the driving pile is driven directly by looking at the screen without guiding the driving pile like a conventional surveyor. Since it can be done while checking the state of the pile, it is possible to induce stable quality that does not depend on differences in skills such as the surveyor's experience. In addition, since the position and inclination of the driving pile can be adjusted simultaneously on the screen, the accuracy is very good.
In addition, the zoom function allows the narrow range to be enlarged and displayed, or reduced to display the wide range, so that detailed adjustments can be made and the overall image of the pile can be easily confirmed.

According to the surveying method of the present invention, an image including the first point to be surveyed is picked up by the image pickup unit disposed at the second point whose position information is known, and the first point is picked up by the image pickup unit. The image information obtained by capturing the image including the image capturing condition information including the shooting direction information captured by capturing the first point is converted into an electrical signal and transmitted to the third point. At the third point, the light of the surveying means is transmitted. Since the axial direction can be remotely controlled, the operation of analyzing the positional relationship between the first point and the second point based on the image and the imaging condition information can be efficiently performed with a small number of personnel. The positional relationship between the first point and the second point includes position information of the first point with reference to the second point. Further, the position information of the first point with respect to the second point is reflected in the image information.

Hereinafter, a surveying apparatus with an image transmission function according to the present invention will be described in detail with reference to the drawings showing embodiments thereof.
1 and 2,
Reference numeral 1 denotes a surveying instrument main body having a configuration similar to that of the prior art and disposed on a gantry 101 such as a tripod.
Reference numeral 2 denotes a drive unit built in the surveying instrument main body 1. The surveying instrument main body 1 is moved relative to the gantry 101 to change the collimation direction (optical axis direction) of the surveying instrument main body 1. change. The drive unit 2 includes a drive mechanism for rotating the optical axis direction of the surveying instrument main body 1 in a horizontal plane and a drive mechanism for rotating the optical axis direction in a vertical plane. That is, a drive mechanism that rotates around the vertical axis and a drive mechanism that rotates around the horizontal axis are included. The drive unit 2 is configured to output angle information in the optical axis direction.

Reference numeral 3 denotes a distance measuring unit built in the surveying instrument main body 1, for example, by irradiating laser light or infrared light in the optical axis direction and detecting reflected light from the collimation point, for example, irradiation light The distance to the collimation point is measured by detecting the phase difference between the reflected light and the reflected light, and the distance information is output from the point where the surveying instrument main body 1 is installed to the collimation point. .
Reference numeral 4 denotes a main body control unit built in the surveying instrument main body 1 so as to change the optical axis direction of the distance measuring unit 3 by controlling the driving unit 2 based on a control signal input from the outside. It is configured.
Reference numeral 5 denotes a telescope built in the surveying instrument main body 1, and the optical axis of the telescope 5 is adjusted to be parallel to the optical axis of the distance measuring unit 3.
The driving unit 2 and the distance measuring unit 3 constitute the surveying means described in the claims, and the surveying instrument main body 1 constitutes the surveying device described in the claims. Survey information is composed of the angle information and the distance information.

In the surveying instrument main body 1 used in the present invention, a CCD imaging unit 8 is attached to the upper part of the surveying instrument main body 1 via an attachment mechanism 80.
Reference numeral 6 denotes a pair of manual operation knobs for rotating the optical axis direction of the surveying instrument main body 1 up, down, left and right via the drive unit 2. 6a is a knob for rotating up and down, and 6b is a knob for rotating left and right.
When an operator performs surveying using the surveying instrument main body 1 having the above-described configuration, while viewing the eyepiece of the telescope 5 with the naked eye of the operator, the operator operates the rotary knob 6 to view the survey target point. The distance information to the collimation point is obtained by the distance measurement unit 3, the angle information of the collimation point is obtained by the drive unit 2, and the survey information is taken into the control unit 4, It can be displayed on the display unit.
The surveying instrument main body 1 described above has a function equivalent to, for example, a known total station.

  The CCD image pickup unit 8 is an image pickup means having a zoom function, and is detachably or integrally attached to the surveying instrument main body 1. The CCD image pickup unit 8 is configured to pick up an image including a collimation point in the image pickup direction (optical axis direction), convert the image into an electric signal, and output it as image information. The optical axis of the CCD image pickup unit 8 is adjusted to be parallel to the optical axis of the telescope 5. The CCD image pickup unit 8 is configured to increase / decrease the zoom magnification according to a control signal input from the outside, and to output image condition information such as the zoom magnification at the time of image pickup and the shutter speed together with image information. Yes.

  Reference numeral 9 denotes a rotary knob driving device, which is a detachable unit for remotely operating the rotary knob 6 provided in the surveying instrument main body 1. When this rotary knob driving device is mounted on the surveying instrument main body 1, the irregularities on the outer peripheral surfaces of the pair of drive gears 9a, 9b mesh with the irregularities on the outer peripheral surfaces of the rotary knobs 6a, 6b. Can be rotated in the forward and reverse directions with a motor (not shown), so that the optical axis direction can be directed to a desired direction as if the operator is directly performing manual operation.

11 is an additional control unit,
Image information and imaging condition information output from the CCD imaging unit 8;
While having the function of outputting distance information and angle information output from the main body control unit 4 to the communication unit 12 to be described later for communicating to the outside,
Each control signal input from the outside via the communication unit 12 is output to the main body control unit 4, the CCD imaging unit 8, and the rotary knob drive unit 9 in accordance with the control target of each signal.
For example, the driving unit 2, the distance measuring unit 3. When a control signal for controlling the telescope 5 or the like is input, the control signal is output to the main body control unit 4,
When a control signal for changing imaging conditions such as the zoom magnification of the CCD imaging unit 8 is input, the control signal is output to the CCD imaging unit 8;
When a control signal instructing to change the collimation direction of the CCD image pickup unit 8 is input, the control signal is output to the rotary knob drive unit 9.
Reference numeral 81 denotes an auxiliary line synthesizing unit, which is configured to generate and synthesize an auxiliary line image of a vertical, horizontal, or predetermined angle with the image information obtained by the CCD imaging unit 8. The auxiliary line image may be generated and synthesized inside the CCD imaging unit 8 or the additional control unit 11.

  The connecting cables connecting the CCD image pickup unit 8, the rotary knob drive device 9, the main body control unit 4 and the additional control unit 11 minimize the load applied to the operation of the drive unit 2. It is preferable to employ a soft cable.

12 is a communication part,
Surveying information including distance information and angle information to the collimation point obtained through the main body control unit 4 and the additional control unit 11;
The image information of the CCD imaging unit 8 obtained through the main body control unit 4 and the imaging condition information of the CCD imaging unit 8 are obtained.
It has a transmission function that converts it into a digital signal and transmits it to a remote location via a wired or wireless communication means.
Further, it has a receiving function for receiving a control signal transmitted from a remote place and outputting it to the additional control unit 11.

In FIG. 3, reference numeral 15 denotes a controller, which is provided with a communication function 151 for a remote operator to communicate with the surveying instrument body 1 via the communication unit 12 and control the surveying instrument. A portable computer 152 is used.
The computer 152 incorporates storage means such as a hard disk device and a semiconductor memory, and is installed with software for remotely controlling the surveying instrument main body 1 and transmitted from the communication unit 12 of the surveying instrument main body 1. The survey information, the image information of the CCD imaging unit 8 and the imaging condition information of the CCD imaging unit 8 are received by the communication function 151, stored in a storage medium, and displayed on the display 153.
In addition, a keyboard, a touch panel, and a joystick for inputting a control signal for changing the optical axis direction, a control signal for controlling the zoom function of the CCD imaging unit, a control signal for controlling the surveying instrument body 1, and the like. And an input means 154 such as a tech, and the function of displaying these input control signals on the display 153 and transmitting them to the communication unit 12 of the surveying instrument main body 1 using the communication function 151. Yes.
All or some of the functions of the auxiliary line synthesis unit 81 may be built in the controller 15.

When surveying using the above surveying apparatus, prior to surveying, the optical axis of the CCD imaging unit 8 of the surveying apparatus with an image transmission function 10 having the above-described configuration is adjusted as follows.
Align the optical axis using the target for adjustment. The adjustment target displays the camera axis at a position offset to the upper part in the vertical direction of the survey axis of the surveying means.
First, the optical axis of the CCD image pickup unit 8 is aligned with the surveying axes of the surveying means being aligned. This optical axis alignment can be performed using a mechanical optical axis adjustment mechanism provided in the CCD image pickup unit 8. An automatic collimation function is usually used to collimate the survey axis. Visual collimation may be used.
In this way, optical axis alignment is performed so that the collimation axis of the surveying means and the optical axis of the CCD image pickup unit 8 are parallel, but the optical axis is changed as long as it is not parallel and has a certain relative relationship. The angle information can be known relatively.

A surveying method in the case where the slant pile P is placed at the first point A to be surveyed using the surveying apparatus 10 with the image transmission function having the above configuration will be described with reference to FIG.
In FIG. 4, at the first point A, a driving boat capable of driving the driving piles obliquely at a predetermined angle is arranged.
Assume that the surveying devices 10B and 10C with image transmission function are installed at the second point B and the third point C, and the operator is at the fourth point D together with the controller 15. It is assumed that the position information of the two surveying apparatuses 10B and 10C is determined by a method such as a backward meeting, and is known at the time of starting the placing work.
At this time, if the two surveying apparatuses 10B and 10C are arranged at a position where the angle between the first point A is 90 degrees, the placement is easy, but it is not limited to 90 degrees. According to the sandwiched angle, a predetermined angle to be placed is corrected according to the position of the two surveying devices, thereby calculating the angle of the placing pile when viewed from the position of the two surveying devices. Then, an auxiliary line corresponding to the angle may be generated and displayed on the controller 15 screen.
The fourth point D may be near the first point A. In this case, the operator can board the placing ship and perform the placing work while looking at the screen of the controller 15.

The operator looks at the images from the respective CCD imaging units of the two surveying apparatuses 10B and 10C with an image transmission function displayed on the controller 15.
At this time, the zoom function of each CCD imaging unit can be operated and panned or zoomed via an input means such as a joystick provided in the controller 15.

As shown in FIG. 4, the screen of the controller 15 is viewed from the placement point image D2 viewed from the second point transmitted from the surveying device 10B and from the third point transmitted from the surveying device 10C. A driving pile image D3 is displayed.
On the screen of the controller 15, an auxiliary line L2 generated by calculation corresponding to an oblique angle to be placed is displayed together with the placement pile image D2, and together with the placement pile image D3, An auxiliary line image L3 generated by calculation corresponding to the oblique angle to be set is displayed.
In the example of the image shown in FIG. 4, the angle of the pile is too high in any of the images. Therefore, the placement ship is operated and adjusted so that the image of the placement pile overlaps the auxiliary line image. To do.
The driving pile is guided while adjusting the angle of the driving pile to a predetermined angle as described above. The driving position of the driving pile is determined by a GPS device or the surveying device. It can be measured and adjusted using the distance measuring function provided by.

In the case where the driving pile is guided while viewing the image displayed on the controller 15 as described above, excellent operability can be obtained by operating while changing the zoom magnification of the CCD imaging unit 8.
For example, when adjusting the placement position and angle to the predetermined design position and design angle, first, reduce the zoom magnification and adjust the position and angle while grasping the entire image around the placement pile. If it is almost matched, the zoom magnification is increased, the image of the placing pile is enlarged and displayed, and fine adjustment of the position and angle enables smooth alignment and angle adjustment.

In the above operation, when there are a plurality of driving piles, the piles are selected and guided one by one. At this time, the pile number to be guided is selected, and the pile attributes (X coordinate, Y coordinate, Z coordinate, pile angle, pile direction angle, pile diameter) indicated by the design information, and the installation position B of the surveying instrument From the positional relationship of C, the pile direction (left tangent, right tangent, center) is calculated, and the collimation axis of the surveying device is directed to the left tangent of the pile. Then, the apparent angle of the placing pile viewed from the surveying device is calculated, and an image of the inclination line of the angle is generated and displayed as an auxiliary line image.
In this way, with the position of the surveying instrument, the zoom magnification of the CCD image pickup unit 8, and the auxiliary line image fixed, the driving pile is moved to adjust the angle of the driving pile to the auxiliary line image. . Such an instruction for alignment may be given while looking at the image of the controller 15 on the driving vessel, or may be given while looking at the image of the controller 15 at the fourth point at a position different from that of the driving vessel. Good.

As described above, in the case of an oblique pile, the surveying device is preferably arranged so as to collimate from two different directions.

It is a side view of the surveying instrument main body used for an embodiment of a surveying instrument with an image transmission function concerning the present invention. It is a block diagram of a surveying apparatus with an image transmission function according to the present invention. It is explanatory drawing of the controller used for the surveying method concerning this invention. It is explanatory drawing of the surveying method concerning this invention.

DESCRIPTION OF SYMBOLS 1 Surveying device main body, Surveying device 2 Drive part 3 Distance measuring part 4 Main body control part 5 Telescope 6 Rotation knob 71 Detachable structure 72 Fixing mechanism 73 Balance weight 8 CCD imaging part 81 Auxiliary line composition part 9 Rotation knob drive 10 Image transmission function Attached surveying device 11 Additional control unit 12 Communication unit 15 Controller

Claims (8)

Surveying means for measuring the angle of the collimation direction for collimating the collimation point to be surveyed with reference to the predetermined direction and outputting it as survey information,
Driving means for changing the optical axis direction, and survey information transmitting means for transmitting survey information obtained by the survey means to a remote place,
In surveying equipment equipped with
An imaging unit that captures an image including a collimation point in the optical axis direction, converts the image into an electrical signal, and outputs the image information, and an image information transmission unit that transmits the image information obtained by the imaging unit to a remote place ,
With
A surveying apparatus with an image transmission function, wherein the optical axis of the surveying unit and the optical axis of the imaging unit are configured to maintain a predetermined relative relationship. A receiving means for receiving a control signal transmitted from a remote location, and a control means for controlling the driving means so as to change the optical axis direction of the surveying means based on the received control signal are provided. The surveying apparatus with an image transmission function according to claim 1. The imaging means captures images with different magnifications and outputs them as image information;
The surveying apparatus with an image transmission function according to claim 2, further comprising a control unit that controls the zoom function based on a control signal transmitted from a remote place to change an imaging magnification. 4. The surveying device with an image transmission function according to claim 1, wherein the surveying means optically measures a distance to a collimation point and outputs it as survey information. . 5. An auxiliary line synthesizing unit that synthesizes and outputs at least one of a cross-line image or an auxiliary line image generated separately to the image. Surveying device with image transmission function described in 1. Surveying means for measuring the angle of the collimation direction for collimating the first point to be surveyed with a predetermined direction as a reference, and outputting it as survey information;
Driving means for changing the optical axis direction, and survey information transmitting means for transmitting survey information obtained by the survey means to a third point,
Is installed at a second point where the position information is known,
An imaging unit that captures an image including the collimation point of the first point, converts the image into an electrical signal, and outputs the image information;
Image information transmitting means for transmitting image information obtained by the imaging means to a third point;
With an image transmission function comprising receiving means for receiving a control signal transmitted from the third point, and control means for controlling the driving means so as to change the optical axis direction of the surveying means based on the received control signal A surveying method using a surveying instrument,
An image including the first point to be surveyed is imaged by an imaging unit disposed at the second point, and image information of the image is output.
Surveying the first point with the surveying means on the basis of the second point and outputting the survey information of the first point;
The image information and the survey information are converted into electrical signals and transmitted to a third point,
A surveying method using an imaging means, characterized in that, at a third point, the positional relationship between the first point and the second point is analyzed based on the image information and the survey information. Surveying means for measuring the angle of the collimation direction for collimating the first point to be surveyed with a predetermined direction as a reference, and outputting it as survey information;
Driving means for changing the optical axis direction, and survey information transmitting means for transmitting survey information obtained by the survey means to a third point,
Is installed at a second point where the position information is known,
An imaging unit that captures an image including the collimation point of the first point, converts the image into an electrical signal, and outputs the image information;
A zoom function for changing the magnification of an image captured by the imaging means and capturing the image as image information;
Image information transmitting means for transmitting image information obtained by the imaging means to a third point;
Receiving means for receiving a control signal transmitted from the third point, and controlling the driving means so as to change the optical axis direction of the surveying means or / and the imaging magnification of the imaging means based on the received control signal; A surveying method using a surveying device with an image transmission function provided with a control means,
An image including the first point to be surveyed is imaged at a desired imaging magnification using an imaging unit disposed at the second point, and image information of the image is output.
Surveying the first point with the surveying means on the basis of the second point and outputting the survey information of the first point;
The image information and the survey information are converted into electrical signals and transmitted to a third point,
A surveying method using an imaging means, characterized in that, at a third point, the positional relationship between the first point and the second point is analyzed based on the image information and the survey information. The surveying means measures the distance from the second point to the first point,
The surveying method using the imaging unit according to claim 6, wherein the surveying information transmitting unit transmits the surveying information output from the surveying unit to a third point.

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