JP2001280957A - Terrain survey unit - Google Patents
Terrain survey unitInfo
- Publication number
- JP2001280957A JP2001280957A JP2000097899A JP2000097899A JP2001280957A JP 2001280957 A JP2001280957 A JP 2001280957A JP 2000097899 A JP2000097899 A JP 2000097899A JP 2000097899 A JP2000097899 A JP 2000097899A JP 2001280957 A JP2001280957 A JP 2001280957A
- Authority
- JP
- Japan
- Prior art keywords
- terrain
- floating body
- coordinates
- survey
- land
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 36
- 238000005259 measurement Methods 0.000 claims description 11
- 238000012876 topography Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 238000011835 investigation Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000007405 data analysis Methods 0.000 description 3
- 238000013500 data storage Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 101100016591 Oryza sativa subsp. japonica HD16 gene Proteins 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Instructional Devices (AREA)
Abstract
(57)【要約】
【課題】 水底から陸上まで連続した高精度な地形調査
ができる地形調査ユニットを提供する。
【解決手段】 浮体１の水上部に取り付けられて陸上を
立体撮影する立体撮影手段３と、前記浮体１の水中部に
取り付けられて水底からの距離を計測する距離計測手段
５と、前記浮体１の絶対位置を測位する測位手段と、前
記浮体１の動揺を計測する動揺計測手段と、前記浮体１
より撮影した陸上の立体映像から陸上地形の絶対位置座
標を作成する陸上座標作成手段と、前記浮体１より計測
した水底との距離から水底地形の絶対位置座標を作成す
る水底座標作成手段と、前記陸上の座標と前記水底の座
標とを補間して水際地形の絶対位置座標を作成する水際
座標作成手段とを備えた。
(57) [Summary] [Problem] To provide a terrain survey unit capable of performing high-precision terrain surveys continuously from the water floor to the land. SOLUTION: A three-dimensional photographing means 3 attached to a water surface of a floating body 1 for stereoscopically photographing the land, a distance measuring means 5 attached to an underwater part of the floating body 1 to measure a distance from a water bottom, and the floating body 1 Positioning means for measuring the absolute position of the floating body, shaking measuring means for measuring the shaking of the floating body 1,
A terrestrial coordinate creating means for creating absolute position coordinates of terrestrial terrain from a terrestrial three-dimensional image taken from the shore; a bottom coordinate creating means for creating absolute position coordinates of terrestrial terrain from a distance from the bottom measured by the floating body 1; A shore-coordinate creating means for creating the absolute position coordinates of the shore terrain by interpolating the coordinates on land and the coordinates of the water bottom.
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、港湾等の臨水地域
の地形を調査する地形調査ユニットに係り、特に、水底
から陸上まで連続した高精度な地形調査ができる地形調
査ユニットに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a terrain surveying unit for surveying the terrain in a water area such as a harbor, and more particularly to a terrain surveying unit capable of conducting a highly accurate terrain survey from the water bottom to the land.
【０００２】[0002]
【従来の技術】地形（人口構造物も含む）が災害等によ
って変動したときの復旧計画を立案する際に、詳しい変
動状況を知る必要がある。このためには、変動した地形
を調査し、旧地形と比較しなくてはならない。従って、
地形の調査方法・手段を確立し、平常時にも地形を調査
して情報を蓄積しておく必要がある。地形が自然現象等
によって長期的に変動する場合も、長期にわたる調査か
ら変動状況を知ることができる。2. Description of the Related Art It is necessary to know a detailed change situation when a restoration plan is prepared when a terrain (including a population structure) changes due to a disaster or the like. To do this, the changing terrain must be investigated and compared to the old terrain. Therefore,
It is necessary to establish a method and means for surveying the terrain, and to survey the terrain during normal times and accumulate information. Even when the terrain fluctuates in the long term due to natural phenomena or the like, the fluctuation situation can be known from a long-term survey.
【０００３】陸上における地形の調査方法として土木測
量が知られている。ただし、多くの地点を測量するため
に多くの作業人員・時間を要するので、災害後に早急に
調査を行うには適さない。また、近年では、広域測位シ
ステム（ＧＰＳ）を利用して絶対位置を測位する測位セ
ンサも普及している。測位センサを測位地点に置くこと
で測位ができるので、多くの地点を測量するためには、
やはり多くの作業人員・時間を要する。また、土木測量
やＧＰＳは、水中では実施不可能であり、水中地形の調
査には適さない。Civil engineering surveying is known as a method for investigating landforms on land. However, surveying many points requires a lot of labor and time, so it is not suitable for conducting an immediate survey after a disaster. In recent years, a positioning sensor that measures an absolute position by using a global positioning system (GPS) has been widely used. Positioning can be performed by placing the positioning sensor at the positioning point, so in order to survey many points,
After all, a lot of labor and time are required. In addition, civil surveying and GPS cannot be performed underwater, and are not suitable for surveying underwater terrain.
【０００４】水中における地形の調査方法としては、音
響による測探機（ソナー）を用いることが知られてい
る。ソナーは、超音波等を水中に発射し、反響を検出す
ることにより、対象物との距離を計測するものである。
このソナーを船舶その他の移動体に搭載して移動しなが
ら距離計測を行うことで、比較的広い範囲の地形が短時
間で調査できる。ただし、ソナーから得られる地形は、
移動体を基準にした相対的な地形となる。[0004] As a method of investigating the terrain underwater, it is known to use an acoustic sounder (sonar). The sonar measures the distance to an object by emitting ultrasonic waves or the like into water and detecting reverberation.
By mounting the sonar on a ship or other moving body and measuring the distance while moving, it is possible to investigate a relatively wide range of terrain in a short time. However, the terrain obtained from sonar
The terrain is relative to the moving object.
【０００５】なお、陸上・水中で共用できるセンサ、或
いは陸上地形の調査と水中地形の調査とを同時並行で行
うシステムは、従来、存在しない。Conventionally, there is no sensor which can be shared on land and underwater, or a system which simultaneously performs land surface survey and underwater land survey.
【０００６】また、ソナーは、発射音が水面からも反響
するので、水面に近いところ（例えば、水深数メート
ル）の対象物を検知することができない。即ち、ソナー
を用いる調査は、水中の全部の地形に適用できるのでは
なく、水深数メートルより深い地形にのみ適用できる。
以下では、ソナーが適用可能な程度の深さにある地形
は、岸壁等の垂直部分を含めて水底地形と呼び、水面に
近い地形は水際地形と呼んで区別する。水際で作動でき
るセンサ、或いは水底から陸上まで連続した地形調査が
できる調査方法は、従来、存在しない。[0006] In addition, the sonar cannot detect an object near the water surface (for example, several meters in depth) because the launch sound reverberates from the water surface. That is, surveys using sonar are not applicable to all terrain underwater, but only to terrain deeper than a few meters.
In the following, terrain at a depth where sonar can be applied will be referred to as underwater terrain, including vertical parts such as quays, and terrain near the water surface will be referred to as shoreline terrain. Conventionally, there is no sensor that can be operated at the water's edge or a survey method that can perform continuous topographic survey from the bottom to the land.
【０００７】[0007]
【発明が解決しようとする課題】ところで、災害後にお
いては、復旧物資の運搬等に利用される港湾等の臨水地
域の地形変化、特に、港湾施設の被害状況（崩れ、歪
み、傾き、沈下、隆起、水中障害物等）を把握すること
が最重要である。しかし、このような港湾施設（例え
ば、岸壁）は、水底から陸上まで連続した地形となるた
め、前述した従来技術では、地形調査が困難である。After the disaster, by the way, after the disaster, the topographical changes in the watershed area such as harbors used for the transportation of restoration materials, especially the damage situation of the harbor facilities (collapse, distortion, inclination, subsidence, Uplift, underwater obstacles, etc.) are of paramount importance. However, such a port facility (for example, a quay) has a continuous topography from the water bottom to the land, and it is difficult to perform a topographic survey with the above-described conventional technology.
【０００８】そこで、本発明の目的は、上記課題を解決
し、水底から陸上まで連続した高精度な地形調査ができ
る地形調査ユニットを提供することにある。Accordingly, an object of the present invention is to solve the above-mentioned problems and to provide a terrain survey unit capable of conducting a highly accurate terrain survey continuously from the water bottom to the land.
【０００９】[0009]
【課題を解決するための手段】上記目的を達成するため
に本発明は、浮体の水上部に取り付けられて陸上を立体
撮影する立体撮影手段と、前記浮体の水中部に取り付け
られて水底からの距離を計測する距離計測手段と、前記
浮体の絶対位置を測位する測位手段と、前記浮体の動揺
を計測する動揺計測手段と、前記浮体より撮影した陸上
の立体映像から陸上地形の絶対位置座標を作成する陸上
座標作成手段と、前記浮体より計測した水底との距離か
ら水底地形の絶対位置座標を作成する水底座標作成手段
と、前記陸上の座標と前記水底の座標とを補間して水際
地形の絶対位置座標を作成する水際座標作成手段とを備
えたものである。SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a stereoscopic photographing means mounted on the water surface of a floating body for stereoscopically photographing the land, and a stereoscopic photographing means mounted on the underwater portion of the floating body and extending from the water bottom. Distance measuring means for measuring the distance, positioning means for measuring the absolute position of the floating body, sway measuring means for measuring the sway of the floating body, and absolute position coordinates of the terrestrial terrain from a terrestrial stereoscopic image taken from the floating body Land coordinate creating means for creating, water bottom coordinate creating means for creating absolute position coordinates of the bottom of the water from the distance from the bottom measured from the floating body, and interpolating the coordinates of the land and the coordinates of the bottom of the water, And a waterside coordinate creating means for creating absolute position coordinates.
【００１０】予め地図上で設定した調査ルートを記憶す
る調査ルート記憶手段と、実際にその調査ルートに従い
前記浮体を移動させつつ調査した前記撮影・計測・測位
及び座標を調査日時情報と共に保存する保存手段とを備
えてもよい。[0010] Investigation route storage means for storing an investigation route set on a map in advance, and storage for storing the photographing, measurement, positioning, and coordinates, which were actually investigated while moving the floating body according to the investigation route, together with investigation date and time information. Means may be provided.
【００１１】前記陸上、水底及び水際の座標を用いて水
底から陸上まで連続した地形の画像を作成して表示する
地形画像表示手段を備えてもよい。A terrain image display means for creating and displaying a continuous terrain image from the water floor to the land using the coordinates of the land, the water bottom and the waterside may be provided.
【００１２】[0012]
【発明の実施の形態】以下、本発明の一実施形態を添付
図面に基づいて詳述する。An embodiment of the present invention will be described below in detail with reference to the accompanying drawings.
【００１３】図１に示されるように、本発明に係る地形
調査ユニットは、浮体として自力航行能力のある調査支
援船１を使用している。この調査支援船１の甲板上に
は、起立させた支柱２が設けられ、この支柱２の所定の
高さ位置に水平方向に所定の間隔で２つのデジタルカメ
ラ３，３が設置されている。これらのデジタルカメラ
３，３は、陸上を立体撮影するもので、両デジタルカメ
ラ３，３の被写界が重複したエリアＡが距離計測可能な
エリアとなる。一方、調査支援船１の船底下には、垂下
させた支柱４が設けられ、この支柱４の所定の深さ位置
にナローマルチビームソナー５が設置されている。ナロ
ーマルチビームソナー５は、水平方向乃至水平より下方
向に超音波を発射し、反響を検出することにより、水底
からの距離を計測するものである。As shown in FIG. 1, the terrain survey unit according to the present invention uses a survey support boat 1 having a self-navigating ability as a floating body. An upright support 2 is provided on the deck of the research support ship 1, and two digital cameras 3 are installed at a predetermined height position of the support 2 at a predetermined interval in the horizontal direction. These digital cameras 3 and 3 perform three-dimensional photographing on land, and an area A where the object scenes of both digital cameras 3 and 3 overlap is an area where distance measurement can be performed. On the other hand, a suspended support 4 is provided below the bottom of the research support ship 1, and a narrow multi-beam sonar 5 is installed at a predetermined depth position of the support 4. The narrow multi-beam sonar 5 emits ultrasonic waves in the horizontal direction or below the horizontal direction, and measures the distance from the water bottom by detecting reverberation.
【００１４】図示しないが、甲板上の支柱２には、ＧＰ
Ｓによる測位センサが取り付けられていると共に、船体
の３軸の揺れ角を検出する動揺センサ（例えば、ジャイ
ロ）が取り付けられている。Although not shown, a GP 2 is provided on the support 2 on the deck.
A positioning sensor based on S is mounted, and a motion sensor (for example, a gyro) that detects the sway angles of three axes of the hull is mounted.
【００１５】調査支援船１内には、各センサからのデー
タを処理するコンピュータ（図示せず）が設けられてい
る。このコンピュータで実行されるソフトウェアは、主
に、調査ルート設定、フィールド計測、データ解析、デ
ータ保存、データ表示のモジュールから構成されてい
る。各モジュールにおける処理内容を流れと共に説明す
る。A computer (not shown) for processing data from each sensor is provided in the survey support ship 1. The software executed by this computer mainly consists of modules for survey route setting, field measurement, data analysis, data storage, and data display. The processing contents in each module will be described together with the flow.
【００１６】図２に示されるように、まず、調査ルート
設定モジュール２１において、調査を開始する以前に予
め港湾等の調査対象地域（フィールドという）の電子地
図を表示する。オペレータは、この地図上に調査支援船
１が航行する調査ルートを設定することができる。例え
ば、岸壁を含むフィールドの場合、岸壁に対し平行な調
査ルートを設定するとよい。調査ルート設定により設定
されるデータは、撮影や測探を行う地点の地図上位置、
岸壁からの地図上距離、デジタルカメラ及びナローマル
チビームソナーの要目（焦点距離・カメラ間距離など）
である。設定されたデータは、記憶しておく。As shown in FIG. 2, first, the survey route setting module 21 displays an electronic map of a survey target area (referred to as a field) such as a port before starting a survey. The operator can set a survey route on which the survey support ship 1 travels on this map. For example, in the case of a field including a quay, a survey route parallel to the quay may be set. The data set by the survey route setting includes the location on the map where the shooting and
Map distance from quay, key points of digital camera and narrow multi-beam sonar (focal length, distance between cameras, etc.)
It is. The set data is stored.
【００１７】フィールド計測モジュール２２において
は、前記設定データにより調査支援船１を誘導する。こ
の誘導により、実際に調査支援船１が調査ルートを航行
する。各設定地点にて各センサ３，４にトリガ情報を与
え、撮影や測探を行う。また、その瞬間における測位セ
ンサや動揺センサのデータを取り込んで、両デジタルカ
メラ３，３及びナローマルチビームソナー４の絶対位置
を求める。これら映像・距離・絶対位置のデータを日付
・時間のデータと共に保存する。In the field measurement module 22, the survey support ship 1 is guided by the setting data. By this guidance, the survey support ship 1 actually sails on the survey route. At each set point, trigger information is given to each of the sensors 3 and 4 to perform photographing and surveying. Further, the data of the positioning sensor and the sway sensor at that moment are taken in, and the absolute positions of the digital cameras 3 and 3 and the narrow multi-beam sonar 4 are obtained. These image, distance, and absolute position data are stored together with date and time data.
【００１８】データ解析モジュール２３においては、フ
ィールド計測で得た陸上の立体映像からカメラに対する
陸上地形の三次元測量を行い、その測量結果をカメラ絶
対位置に重ねることで陸上地形の絶対位置座標を作成す
る。また、フィールド計測で得た水底との距離からソナ
ーに対する水底地形の三次元測量を行い、その測量結果
をソナー絶対位置に重ねることで水底地形の絶対位置座
標を作成する。さらに、陸上と水底との間の測探データ
が得られない水際の部分について、陸上の座標と水中の
座標とを後述する方法で補間して水際地形の絶対位置座
標を作成する。絶対位置座標は、地図に対応するｘｙ平
面上の適宜な点における地形の高さｚを示したものであ
る。ｘｙ平面上に所定間隔のメッシュを設け、メッシュ
毎に高さｚを示してもよい。また、垂直に近い地形につ
いては、高さｚの適宜な点におけるｘ、ｙを示してもよ
い。陸上、水底及び水際に適用するメッシュの大きさを
統一しておけば、各データをつなぎ合わせるだけで水底
から陸上まで連続した地形の座標を得ることができる。The data analysis module 23 performs a three-dimensional survey of the land topography for the camera from the three-dimensional land image obtained by the field measurement, and creates the absolute position coordinates of the land topography by superimposing the measurement results on the absolute position of the camera. I do. In addition, the three-dimensional survey of the underwater terrain with respect to the sonar is performed based on the distance from the underwater obtained by the field measurement, and the absolute position coordinates of the underwater terrain are created by superimposing the survey result on the sonar absolute position. Further, for a part on the shore where the survey data between the land and the water bottom cannot be obtained, the coordinates of the land and the coordinates of the underwater are interpolated by a method described later to create the absolute position coordinates of the shore topography. The absolute position coordinates indicate the height z of the terrain at an appropriate point on the xy plane corresponding to the map. Meshes at predetermined intervals may be provided on the xy plane, and the height z may be indicated for each mesh. In addition, for terrain that is close to vertical, x and y at appropriate points of height z may be indicated. If the sizes of the meshes applied to the land, the water bottom, and the waterfront are unified, the coordinates of the terrain that is continuous from the water bottom to the land can be obtained only by connecting the respective data.
【００１９】データ保存モジュール２４においては、前
記フィールド計測による映像・距離・絶対位置のデー
タ、日付・時間のデータ、絶対位置座標のデータをフィ
ールド毎のファイルに保存する。なお、保存するデータ
は圧縮しておくとよい。The data storage module 24 stores data of video, distance, and absolute position, data of date and time, and data of absolute position coordinates by the field measurement in a file for each field. The data to be stored is preferably compressed.
【００２０】データ表示のモジュールは、各種のデータ
をコンピュータ画面に表示するものである。例えば、デ
ータ表示のモジュールは、水底から陸上まで連続した地
形の絶対位置座標から、地形の平面図、断面図、斜視
図、メッシュ付きの立体図、部分拡大図等を作成して表
示する。その際、水中部分については、水深毎に色を変
えて表示するとよい。また、データ表示のモジュール
は、調査ルート設定２１、フィールド計測２２、データ
解析２３の実行中には、電子地図、撮影映像、計測値グ
ラフ、一覧表等を表示する。The data display module displays various data on a computer screen. For example, the data display module creates and displays a top view, a sectional view, a perspective view, a three-dimensional view with a mesh, a partially enlarged view, and the like of the terrain from the absolute position coordinates of the terrain continuous from the water floor to the land. At this time, the underwater portion may be displayed in a different color for each water depth. The data display module displays an electronic map, a photographed video, a measured value graph, a list, and the like during the execution of the survey route setting 21, the field measurement 22, and the data analysis 23.
【００２１】補間の具体的方法を説明する。対象地形が
岸壁のように垂直面である場合、陸上地形の点のｘｙ座
標と同じｘｙ座標を持つ点が水底地形にも存在する。こ
のｘｙ座標を水際地形のｘｙ座標とする。ｚ座標は自明
である。A specific method of interpolation will be described. When the target terrain is a vertical plane such as a quay, a point having the same xy coordinates as the xy coordinates of the point on the land terrain also exists in the underwater terrain. The xy coordinates are defined as the xy coordinates of the waterside terrain. The z-coordinate is self-evident.
【００２２】また、対象地形が傾斜面である場合、陸上
地形及び水底地形の等高線を作成し、一方の等高線上の
２点から他方の等高線の１点に直線を引くことにより、
等高線間を三角形で埋め尽くす。このとき各三角形の辺
上の適宜な点のｚ座標は、いわゆる直線補間により、辺
の両端点のｚ座標の差を両端点からの距離比で配分して
得られる。When the target terrain is an inclined surface, contour lines of the land and water bottom terrain are created, and a straight line is drawn from two points on one contour line to one point on the other contour line.
Fill the area between contours with triangles. At this time, the z-coordinate of an appropriate point on the side of each triangle is obtained by so-called linear interpolation by distributing the difference between the z-coordinates of both ends of the side at a distance ratio from the both ends.
【００２３】以上のデータ処理により、各フィールドの
調査データが得られることになる。このような調査を平
常時に行って調査データを蓄積しておく。災害時に調査
を行い、調査データを比較することで、地形の詳しい変
動状況を知ることができる。本発明では、従来技術で困
難であった水際地形が調査でき、水底から陸上まで連続
した地形が調査できるので、港湾施設を調査するのに最
適である。また、全ての計測・データ処理を浮体におい
てできるので、陸上での移動が困難な場合にも実行で
き、しかも比較的広い範囲の地形が短時間で調査でき
る。従って、災害の被害状況を早急に調査するのに最適
である。また、地形が絶対位置座標で表されているの
で、肉眼で見ても気が付かないような平行移動も確実に
検出することができる。By the above data processing, the investigation data of each field is obtained. Such a survey is normally performed to accumulate survey data. By conducting a survey during a disaster and comparing the survey data, it is possible to know the detailed terrain fluctuation status. According to the present invention, it is possible to investigate the terrain near the water, which is difficult with the conventional technology, and to investigate the continuous terrain from the water bottom to the land. Therefore, the present invention is most suitable for investigating a port facility. Also, since all measurement and data processing can be performed on a floating body, it can be executed even when it is difficult to move on land, and a relatively wide range of terrain can be surveyed in a short time. Therefore, it is most suitable to investigate the damage situation of disaster immediately. In addition, since the terrain is represented by the absolute position coordinates, it is possible to reliably detect a parallel movement that cannot be noticed by the naked eye.
【００２４】[0024]
【発明の効果】本発明は次の如き優れた効果を発揮す
る。The present invention exhibits the following excellent effects.
【００２５】（１）異なる手段で計測した陸上地形と水
底地形とを絶対位置座標で表したので、両者の整合性が
よく、補間によって水際地形も得ることができる。これ
により、従来は困難であった水底から陸上まで連続した
地形の調査が可能になる。(1) Since the land topography and the water bottom topography measured by different means are represented by absolute position coordinates, the consistency between the two is good, and the waterfront topography can be obtained by interpolation. As a result, it is possible to investigate a continuous topography from the water floor to the land, which has been difficult in the past.
【図１】本発明の一実施形態を示す地形調査ユニットの
外観図である。FIG. 1 is an external view of a terrain survey unit showing one embodiment of the present invention.
【図２】本発明の地形調査ユニットにおけるデータ処理
流れ図である。FIG. 2 is a flowchart of data processing in the terrain survey unit of the present invention.
１ 調査支援船（浮体） ３ デジタルカメラ（立体撮影手段） ５ ナローマルチビームソナー（距離計測手段） 1 Survey support ship (floating body) 3 Digital camera (stereoscopic imaging means) 5 Narrow multi-beam sonar (distance measuring means)
───────────────────────────────────────────────────── フロントページの続き (72)発明者 上田 聡 東京都江東区豊洲二丁目１番１号 石川島 播磨重工業株式会社東京第一工場内 (72)発明者 北澤 壮介 東京都千代田区隼町３−16 財団法人沿岸 開発技術研究センター内 (72)発明者 加納 敏幸 東京都千代田区隼町３−16 財団法人沿岸 開発技術研究センター内 Ｆターム(参考） 2C032 HB22 HC01 HC08 HC09 HC23 HD01 HD03 HD16 9A001 KK27 KK37 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Satoshi Ueda 2-1-1 Toyosu, Koto-ku, Tokyo Ishikawajima-Harima Heavy Industries Co., Ltd., Tokyo 1st Factory (72) Inventor Sosuke Kitazawa 3-Hayamachi, Chiyoda-ku, Tokyo 16 Coastal Development Technology Research Center (72) Inventor Toshiyuki Kano 3-16 Hayabusacho, Chiyoda-ku, Tokyo F-term (reference) 2C032 HB22 HC01 HC08 HC09 HC23 HD01 HD03 HD16 9A001 KK27 KK37
Claims (3)
体撮影する立体撮影手段と、前記浮体の水中部に取り付
けられて水底からの距離を計測する距離計測手段と、前
記浮体の絶対位置を測位する測位手段と、前記浮体の動
揺を計測する動揺計測手段と、前記浮体より撮影した陸
上の立体映像から陸上地形の絶対位置座標を作成する陸
上座標作成手段と、前記浮体より計測した水底との距離
から水底地形の絶対位置座標を作成する水底座標作成手
段と、前記陸上の座標と前記水底の座標とを補間して水
際地形の絶対位置座標を作成する水際座標作成手段とを
備えたことを特徴とする地形調査ユニット。1. A three-dimensional photographing means attached to the water surface of a floating body for stereoscopically photographing the land, a distance measuring means attached to an underwater part of the floating body to measure a distance from a water bottom, and an absolute position of the floating body. Positioning means for positioning, sway measuring means for measuring the sway of the floating body, terrestrial coordinate creating means for creating absolute position coordinates of terrestrial terrain from a terrestrial stereoscopic image taken from the floating body, and a water bottom measured from the floating body. Underwater coordinates creating means for creating the absolute position coordinates of the underwater terrain from the distance of, and shoreline coordinates creating means for creating the absolute position coordinates of the underwater terrain by interpolating the coordinates on the land and the coordinates of the underwater. Topographic survey unit characterized by the following.
する調査ルート記憶手段と、実際にその調査ルートに従
い前記浮体を移動させつつ調査した前記撮影・計測・測
位及び座標を調査日時情報と共に保存する保存手段とを
備えたことを特徴とする請求項１記載の地形調査ユニッ
ト。2. A survey route storage means for storing a survey route set in advance on a map, and the photographing, measurement, positioning and coordinates surveyed while actually moving the floating body according to the survey route are stored together with survey date and time information. 2. The terrain survey unit according to claim 1, further comprising: a storage unit configured to perform the storage.
水底から陸上まで連続した地形の画像を作成して表示す
る地形画像表示手段を備えたことを特徴とする請求項１
又は２記載の地形調査ユニット。3. A terrain image display means for generating and displaying a continuous terrain image from the water floor to the land using the coordinates of the land, the water bottom and the waterside.
Or the terrain survey unit described in 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000097899A JP4295892B2 (en) | 2000-03-30 | 2000-03-30 | Terrain Survey Unit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000097899A JP4295892B2 (en) | 2000-03-30 | 2000-03-30 | Terrain Survey Unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001280957A true JP2001280957A (en) | 2001-10-10 |
| JP4295892B2 JP4295892B2 (en) | 2009-07-15 |
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ID=18612460
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|---|---|---|---|
| JP2000097899A Expired - Fee Related JP4295892B2 (en) | 2000-03-30 | 2000-03-30 | Terrain Survey Unit |
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| Country | Link |
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| JP (1) | JP4295892B2 (en) |
Cited By (5)
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| JP2020204502A (en) * | 2019-06-17 | 2020-12-24 | 株式会社フジタ | Water bottom shape measurement device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012032273A (en) * | 2010-07-30 | 2012-02-16 | Ministry Of Land Infrastructure & Transport Hokkaido Regional Development Bureau | Harbor structure measuring device |
| JP2020204502A (en) * | 2019-06-17 | 2020-12-24 | 株式会社フジタ | Water bottom shape measurement device |
| JP7401201B2 (en) | 2019-06-17 | 2023-12-19 | 株式会社フジタ | Underwater bottom shape measuring device |
| WO2022019257A1 (en) * | 2020-07-20 | 2022-01-27 | 株式会社amuse oneself | Detection system, suspended device, and detection method |
| JP2022020467A (en) * | 2020-07-20 | 2022-02-01 | 株式会社amuse oneself | Detection system, suspended device and detection method |
| DE102020124832A1 (en) | 2020-09-23 | 2022-03-24 | Hydromapper GmbH | excavation survey |
| EP3974774A1 (en) | 2020-09-23 | 2022-03-30 | Hydromapper GmbH | Construction pit measurement |
| CN114061482A (en) * | 2021-10-19 | 2022-02-18 | 嘉善宇达电子有限公司 | Rapid and accurate detection system for sound film size |
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