JP2000314622A - Data collecting system for three-dimensional modeling - Google Patents

Abstract

PROBLEM TO BE SOLVED: To collect all data required for three-dimensional modeling of topography, or the like, in an extremely short time through a simple survey work. SOLUTION: An angle/range finder 4 measures the azimuth angle and the distance and outputs a signal indicative of a mechanical point coordinate value, along with a measured azimuth angle, by collimating two points having, a known three-dimensional coordinate value thereby acquiring a three-dimensional mechanical point coordinate value. An image pickup means 6 integrated with the angle/range finder 4 picks up the image of an object in front of the angle/ range finder 4 and outputs a signal representative of the image thus picked up. A supporting means secured to the angle/range finder 4 supports the image pickup means 6 under a vertically swingable state. An angle of elevation measuring means 10 measures the angle of elevation of the image pickup means 6 and outputs a signal representative of the angle of elevation. A data holding means 12 collects signals from the angle/range finder 4, the image pickup means 6 and the angle of elevation measuring means 10 through a cable 2b and holds the data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to a system for collecting data necessary for performing three-dimensional modeling of terrain and the like.

[0002]

2. Description of the Related Art In the event of a slope collapse, tunnel fall, volcanic disaster, fire, etc., when considering countermeasures, it is necessary to first survey the current situation to recognize the current situation, and this survey must be performed promptly. Must. And
In this type of disaster, it is often difficult for a person to enter the site and perform detailed surveying work. In addition, the survey area is very large at dams and construction sites,
It takes enormous effort and time for daily surveys.

[0003]

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem relating to surveying work, and has as its object to perform three-dimensional measurement of terrain or the like by a very short and simple surveying work. It is an object of the present invention to provide a data collection system for three-dimensional modeling that can collect all data necessary for performing modeling.

[0004]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention measures azimuth and distance and performs three-dimensional measurement.
An angle measurement system that obtains a three-dimensional machine point coordinate value by collimating two points whose dimensional coordinate values are known, outputs a signal representing the machine point coordinate value, and outputs a signal representing a measured azimuth angle. A distance measuring device, a photographing means for photographing a subject in front of the angle measuring / ranging device and outputting a signal representing a photographed image, and being fixed to the angle measuring / ranging device, swinging the photographing device up and down A supporting means for supporting the camera in a possible state, an elevation measuring means for measuring an elevation of the photographing means and outputting a signal representing the elevation, and an angle measuring / ranging device, the photographing means, and the elevation measuring means. Receiving the output signal, the data of the machine point coordinate value and the azimuth from the output signal, the image data of the captured image,
And data holding means for acquiring and holding the elevation angle data.

In the case of performing surveying using the data collection system for three-dimensional modeling of the present invention, the system is sequentially installed at two different points desired in a surveying area, and at each point, an angle measuring / ranging device is used. A three-dimensional machine point coordinate value is obtained by collimating two points whose three-dimensional coordinate values are known. Then, the survey area is photographed by the photographing means at each point, and the azimuth and elevation angle of the photographing means at that time are measured. As a result, the data holding unit collects and holds two machine point coordinate values, data of two photographed images in the survey area, and data of the azimuth and elevation at the time of photographing. In addition to these data, the focal length of the photographing means can be known in advance, and the distance between two photographing points, that is, the distance between the two points is also known.

As described above, the surveying area is photographed by the photographing means from two different places, and therefore from two different directions, and the three-dimensional coordinate value of the installation position of the photographing means at that time is known. Since the azimuth angle, the elevation angle, the focal length of the photographing means, and the distance between the two places where the photographing means are set are known, the actual position of each pixel of the photographed image is calculated based on these data. The dimensional coordinate values can be calculated using the similarity rule of the figure. After the three-dimensional coordinate values of each pixel in the captured image are obtained, a contour map of the survey area is displayed using a known image processing technique,
Alternatively, a bird's-eye view that simulates an actual surveying area by attaching an appropriate texture can be displayed, or a cross-sectional view can be displayed. Therefore, when the data acquisition system for three-dimensional modeling of the present invention is used, the data acquisition system for three-dimensional modeling is installed at two different points to perform photographing by the photographing means, and the position and direction of the photographing means By performing the measurement related to, all the data necessary to create a contour map and a bird's-eye view of the survey area can be collected.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic front view showing an example of a data collection system for three-dimensional modeling according to the present invention, FIG. 2 is a functional block diagram thereof, and FIG.
It is explanatory drawing which shows the survey work using the data collection system for dimension modeling. As shown in FIG. 1, the three-dimensional modeling data collection system 2 according to the present embodiment includes an angle measuring / ranging device 4, a photographing unit 6, a supporting unit 8, an elevation measuring unit 10, and a data holding unit 12. It is comprised including. The angle measuring / ranging device 4 measures the azimuth angle and the distance, and acquires three-dimensional mechanical point coordinate values by collimating two points having known three-dimensional coordinate values to represent the same mechanical point coordinate values. A signal is output and a signal representing the measured azimuth is output. Specifically, the angle / distance measuring device 4 emits a laser beam toward the measurement point, receives reflected light of the laser beam from the measurement point, and measures the distance to the measurement point. Then, three-dimensional mechanical point coordinate values are calculated using the measured distance.

The photographing means 6 comprises a digital camera 14 in this embodiment, and is integrated with the angle / distance measuring device 4 to photograph a subject in front of the angle / distance measuring device 4 to obtain a photographed image. Is output. The photographing means 6 is supported by a supporting means 8 attached to the upper part of the angle / distance measuring device 4 so as to be able to swing up and down. The support means 8 is composed of a fixed part 16 and a swing part 18. The fixed part 16 is fixed to the top of the angle / distance measuring device 4, while the swing part 18 is fitted inside the fixed part 16. The angle measuring and ranging device 4 is swingably supported in the plane including the front-rear direction and the vertical direction by the left and right support shafts 20 with respect to the fixed portion 16. The digital camera 14 is housed inside the swing unit 18 and is fixed to the swing unit 18.

The elevation angle measuring means 10 measures the elevation angle of the digital camera 14 and outputs a signal representing the elevation angle. In the present embodiment, the elevation angle measuring means 10 is connected to one of the support shafts 20.
Encoder 2 for converting the swing angle of the support shaft 20, that is, the elevation angle of the digital camera 14 into a digital signal.
2 is included.

The data holding means 12 comprises a portable computer 24 in this embodiment,
4 is connected to the angle / distance measuring device 4, the digital camera 14, and the encoder 22 by a cable 26,
Distance measuring device 4, digital camera 14, and encoder 2
2, the signal of the machine point coordinate value and the azimuth angle, the signal of the photographed image, and the signal of the elevation angle are fetched, and the data of the machine point coordinate value and the azimuth angle, the image data of the photographed image, and the The data is acquired and stored in the hard disk device 28 (FIG. 2) built in the computer.

The computer 24 also stores data for identifying the subject of the digital camera 14, which is input by operating a keyboard (not shown). Note that a video camera or the like may be used as the photographing unit 6 in addition to the digital camera 14. At this time, if the video camera is of an analog type, the computer 24 may be provided with an A / D converter to convert an analog video signal into a digital signal and generate image data.

The surveying operation by the three-dimensional modeling data collection system 2 is performed as follows. As shown in FIG. 3, first, at the first installation point 32 where the survey area 30 is desired,
The dimensional modeling data collection system 2 is installed. Here, the first and second known points 3 around the survey area 30
It is assumed that the three-dimensional coordinate values of the first and second known points 34 and 36 are collimated by the angle and distance measuring device 4, That is, the first mechanical point coordinate value is measured. The angle and distance measuring device 4 outputs a signal representing the measurement result of the first mechanical point coordinate value, and the computer 24 acquires and holds the data of the first mechanical point coordinate value from this signal.

Next, the digital camera 14 is connected to the survey area 30.
The direction of the angle / ranging device 4 and the vertical swing angle of the digital camera 14, that is, the elevation angle, are adjusted so as to face the center of the survey area 3.
Shoot the entire 0. At this time, the digital camera 14 outputs a signal representing the photographed image, and the computer 24 acquires and holds the data of the photographed image from the signal. here,
The captured image is composed of a large number of pixels arranged in a matrix, and the data of the captured image is data representing the color or density of each pixel.

The azimuth of the digital camera 14 at this time, that is, the azimuth of the angle / distance measuring device 4 is measured by the angle / distance measuring device 4. The angle measuring / ranging device 4 outputs an azimuth signal of the measurement result, and the computer 24 acquires and holds the azimuth data of the digital camera 14 from this signal. Then, the encoder 22 outputs a signal indicating the elevation angle of the digital camera 14, and the computer 24 acquires and holds the data of the elevation angle of the digital camera 14 from this signal.

The measurement of the mechanical point coordinate value and the azimuth angle by the angle measuring / ranging device 4 and the measurement of the elevation angle by the elevation measuring means 10 (encoder 22) are performed under the control of the computer 24. The distance measuring device 4 and the elevation angle measuring means 10 execute the measurement based on an instruction from the computer 24, and transmit each signal representing the measurement result to the computer 2.
4 is output. On the other hand, the photographing of the survey area 30 by the digital camera 14 is performed by the operator operating the digital camera 14, and the image data is also held by the operator operating the computer 24.

Next, a second installation point 38 that desires the survey area 30
3D modeling data collection system 2
Repeat the same procedure. That is, the first and second known points 34 and 36 are collimated by the angle / distance measuring device 4 to measure the coordinate value of the second installation point 38, that is, the second mechanical point coordinate value. The angle and distance measuring device 4 outputs a signal representing the measurement result of the second mechanical point coordinate value, and the computer 24 acquires and holds the data of the second mechanical point coordinate value from this signal.

Next, the digital camera 14 is connected to the survey area 30.
The direction of the angle measuring / ranging device 4 and the vertical swing angle, that is, the elevation angle, are adjusted so as to be directed to the vicinity of the center.
At this time, the digital camera 14 outputs a signal representing the photographed image, and the computer 24 acquires and holds the data of the photographed image from the signal. The azimuth of the digital camera 14 at this time is measured, and the obtained azimuth data is stored in the computer 24. And the encoder 22
The computer 24 takes in the signal indicating the elevation angle of the digital camera 14 output by the computer 24 and holds the data of the elevation angle of the digital camera 14.

As a result, as shown in FIG. 2, the hard disk device 28 of the computer 24 stores the first and second mechanical point coordinate values, the data of the two photographed images in the survey area 30, and the data at the time of photographing. Azimuth and elevation data are collected and maintained. In addition to these data, the focal length of the digital camera 14 is known, and the distance between the two photographing points, that is, the first and second installation points 3
The distance between 2, 38 is also known. As described above, the survey area 30 is photographed by the camera from two different directions, the three-dimensional coordinate values of the installation position of the camera at that time are known, and the azimuth angle, elevation angle, camera focal length, and Since the distance between the two locations where the camera is set is known, the three-dimensional coordinate value of the actual position is calculated for each pixel of the captured image using the similarity rule of the figure based on these data. can do.

After the actual three-dimensional coordinate values of each pixel in the photographed image are obtained, a contour map of the survey area 30 is displayed by using a well-known image processing technique, or an actual texture is attached by attaching an appropriate texture. A bird's-eye view simulating the surveying area 30 can be displayed, and further a cross-sectional view can be displayed.

That is, when the three-dimensional modeling data collection system 2 of the present embodiment is used, the three-dimensional modeling data collection system 2 is installed at two different points, and photographing by the digital camera 14 is performed. If the measurement and the measurement relating to the position and the direction of the digital camera 14 are performed, all data necessary for generating a contour map and a bird's-eye view of the survey area 30 can be collected. Therefore, the surveying operation is very simple and can be completed in a short time. Further, the survey can be performed without the operator entering the survey area 30. Therefore, it is possible to extremely quickly survey the site of occurrence of a slope collapse, a tunnel fall, a volcanic disaster, a fire, or the like without human intervention. Furthermore, even when the surveying range is very large, such as at a dam or a construction site, only a photographing of the site and simple measurement are required, so that the present situation survey can be performed without any effort and time.

If the survey area 30 is particularly wide and it is not possible to photograph the entire area at one time, the survey area 3
It is also possible to combine the images on the computer 24 after photographing by dividing 0 and obtaining the coordinate values of each pixel of the photographed image for each divided region. Further, the data collection system 2 for three-dimensional modeling of the present embodiment is not limited to the terrain,
It can also be used to collect data necessary for three-dimensional modeling for structures and the like.

[0022]

As described above, when surveying is performed by the data collection system for three-dimensional modeling of the present invention, the system is sequentially installed at two different points desired in the surveying area, and angle measurement is performed at each point. -Obtain three-dimensional mechanical point coordinate values by collimating two points whose three-dimensional coordinate values are known by the distance measuring device. Then, the survey area is photographed by the photographing means at each point, and the azimuth and elevation angle of the photographing means at that time are measured. As a result, the data holding unit collects and holds two machine point coordinate values, data of two photographed images in the survey area, and data of the azimuth and elevation at the time of photographing. In addition to these data, the focal length of the photographing means is known, and the distance between two photographing points, that is, the distance between the two points is also known.

As described above, the surveying area is photographed by the photographing means from two different places, and therefore from two different directions, and the three-dimensional coordinate value of the installation position of the photographing means at that time is known. Since the azimuth angle, the elevation angle, the focal length of the photographing means, and the distance between the two places where the photographing means are set are known, the actual position of each pixel of the photographed image is calculated based on these data. The dimensional coordinate values can be calculated using the similarity rule of the figure. After the three-dimensional coordinate values of each pixel in the captured image are obtained, a contour map of the survey area is displayed using a known image processing technique,
Alternatively, a bird's-eye view that simulates an actual surveying area by attaching an appropriate texture can be displayed, or a cross-sectional view can be displayed.

Therefore, when the data acquisition system for three-dimensional modeling of the present invention is used, the data acquisition system for three-dimensional modeling is installed at two different points, and the image is taken by the photographing means. By performing the measurement related to the position and the direction, it is possible to collect all the data necessary for creating a contour map and a bird's-eye view of the survey area. Therefore, the surveying work is very simple and can be completed in a short time. Further, the survey can be performed without the operator entering the survey area. As a result, it is possible to survey the site of the occurrence of a slope collapse, a tunnel fall, a volcanic disaster, a fire, or the like very quickly without human intervention. further,
Even when the surveying range is very large, such as at a dam or construction site, only site photography and simple measurements are required, and daily surveys can be carried out without any effort and time.

[Brief description of the drawings]

FIG. 1 is a schematic front view showing an example of a data acquisition system for three-dimensional modeling according to the present invention.

FIG. 2 is a functional block diagram showing an example of a data collection system for three-dimensional modeling according to the present invention.

FIG. 3 is an explanatory diagram showing a surveying operation using the data collection system for three-dimensional modeling of the embodiment.

[Description of Signs] 2 Data acquisition system for three-dimensional modeling 4 Angle measuring device / ranging device 6 Imaging means 8 Support means 10 Elevation angle measuring means 12 Data holding means 14 Digital camera 16 Fixed section 18 Swing section 20 Support shaft 22 Encoder 24 Computer 26 Cable 28 Hard disk drive 30 Survey area 32 First installation point 34 First known point 36 Second known point 38 Second installation point

Claims (6)

[Claims] Claims 1. An azimuth and distance are measured,
A goniometer that obtains a three-dimensional machine point coordinate value by collimating two points whose three-dimensional coordinate values are known, outputs a signal representing the machine point coordinate value, and outputs a signal representing a measured azimuth angle.・
A distance measuring device; photographing means for photographing a subject in front of the angle measuring device and outputting a signal representing a photographed image; fixed to the angle measuring device and swinging the photographing device up and down A supporting means for supporting the camera in a possible state; an elevation measuring means for measuring an elevation angle of the photographing means and outputting a signal representing the elevation angle; and the angle measuring / ranging device, the photographing means, and the elevation measuring means. A data holding unit that receives the output signal, acquires and holds the data of the machine point coordinate value and the azimuth angle, the image data of the photographed image, and the data of the elevation angle from the output signal. Data collection system for 3D modeling. 2. The angle measuring and ranging device emits a laser beam toward a measuring point, receives reflected light of the laser beam from the measuring point, and measures a distance to the measuring point. The data collection system for three-dimensional modeling according to claim 1, wherein: 3. The data collection system for three-dimensional modeling according to claim 1, wherein said photographing means is a digital camera or a video camera. 4. The three-dimensional modeling data collection system according to claim 1, wherein said elevation angle measuring means includes an encoder for converting a swing angle of said photographing means into a digital signal. 5. The data collection system for three-dimensional modeling according to claim 1, wherein said data holding means comprises a portable computer. 6. The data collection system for three-dimensional modeling according to claim 5, wherein said portable computer holds data for identifying said subject of said imaging means together with said data.