JP2004177382A - Three-dimensional design coordinates calculating method, and automatic surveying system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a three-dimensional design coordinates creating method and automatic surveying system that reduce work load on a surveyor, can perform further accurate surveying, and can visually confirm a surveyed position. <P>SOLUTION: Using plane surface linear data of a shaped product, vertical section linear data, and standard transverse section shape data, a three-dimensional shape data creating device 1 creates three-dimensional shape data of the shaped product. Then, image data taken by a survey machine 2 are transmitted to a survey data processing device 3, the survey data processing device 3 creates region corresponding three-dimensional shape data of the shaped product as an object from the three-dimensional shape data created by the three-dimensional shape data creating device 1, analyses the image data transmitted from the survey machine 1, matches the region corresponding three-dimensional shape data with the image data, and displays it on a display section 31 with a three-dimensional shape data display performing section 373b. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a three-dimensional design coordinate creation method for calculating three-dimensional coordinates of a modeled object from planar linear data, longitudinal linear data, and standard cross-sectional shape data, and an automatic surveying system using the three-dimensional design coordinate calculation method.
[0002]
[Prior art]
A conventional surveying method includes a surveying instrument provided at a specific position, which measures a target of a surveyor who is distant from the surveying instrument, measures a distance from a reference position of the surveying instrument to a position of the target, and performs surveying. Information on the three-dimensional coordinates of the position is obtained.
However, when determining the survey position, various two-dimensional shape data such as plan view data, longitudinal sectional view data, transverse sectional view data, and side view data of the survey position must be used. The information on the dimensional coordinates is converted into two-dimensional shape data, and is represented by, for example, abscissa (X coordinate) and ordinate (Y coordinate), or one of these coordinates and altitude coordinate (Z coordinate). The surveyed data is displayed on a screen of a computer by a surveyor's selection according to the selection of the surveyor, and the judgment is made (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-2002-174518 (pages 4-7, FIG. 4)
[0004]
[Problems to be solved by the invention]
However, when the conventional surveying method is used, the work efficiency is poor and it may be difficult to determine the surveying position. For example, if the two-dimensional shape data cannot be visually determined, There is a problem that it takes an enormous amount of time to convert dimensional data to three-dimensional data. In addition, since the survey performed at the determined survey position existing in three dimensions is represented by various two-dimensional shape data, calculation of the three-dimensional coordinates of the survey position is erroneous, and there is a problem that accurate survey cannot be performed.
Furthermore, various two-dimensional shape data is used for the work of confirming the survey position, and only the two-dimensional coordinates of each modeled object in each two-dimensional shape data are confirmed.
[0005]
Therefore, the present invention reduces the work load on the surveyor, enables more accurate surveying, and assists in realizing the automatic surveying system and the automatic surveying system capable of visually confirming the surveying position. It is a main object of the present invention to provide a three-dimensional design coordinate calculation method.
[0006]
[Means for Solving the Problems]
The present invention is configured to solve the above-described problem, and the invention according to claim 1 includes plane linear data of a center line of a modeled object, and a height position along the center line of the modeled object. Using vertical alignment data indicating a traversing distance, and standard cross-sectional shape data traversing a center line in the normal direction of the horizontal alignment data and the vertical alignment data, the three-dimensional object 3 at predetermined intervals on the center line. It is characterized in that dimensional coordinates are continuously calculated.
[0007]
Here, the modeled object refers to an object having a shape such as an excavated terrain or an embankment formed by land formation, a civil engineering structure, a building structure, or the like.
[0008]
According to the first aspect of the present invention, the plane coordinates are calculated from the plane linear data and the height coordinates are calculated from the vertical line data using the plane linear data and the vertical line data, and the three-dimensional object at each target point of the modeled object is calculated. Determine the coordinates.
[0009]
This makes it possible to calculate three-dimensional coordinates from the shape of each part of the modeled object expressed in the two-dimensional coordinate system, so that surveying can be easily performed by using the three-dimensional coordinates. . Therefore, the convenience of the automatic surveying system described later can be improved.
[0010]
The invention according to claim 2 is the invention according to claim 1, wherein the planar linear data, the longitudinal linear data, and the standard cross-sectional shape data are determined for each type of molded object,
The apparatus is characterized in that three-dimensional coordinates can be calculated for each type of the modeled object.
[0011]
According to the second aspect of the invention, the three-dimensional coordinates can be calculated for each type of the modeled object, so that the convenience can be further improved.
[0012]
According to a third aspect of the present invention, there is provided an automatic surveying system including a surveying instrument and a surveying data processing device, wherein the surveying instrument measures three-dimensional measurement data of a target to be measured. A photographing unit for photographing image data around the target; and a transmitting and receiving unit for transmitting the three-dimensional measurement data and the image data to the survey data processing device. An apparatus for generating an area corresponding to an area of a target object based on a display unit and three-dimensional coordinates of the object generated by the three-dimensional design coordinate calculation method according to claim 1. A three-dimensional shape data generating unit; and a three-dimensional shape data display executing unit configured to display the three-dimensional measurement data, the image data, and the region-corresponding three-dimensional shape data in a superimposed manner on the display unit. This The features.
[0013]
According to the third aspect of the present invention, the image data captured by the surveying instrument is transmitted to the surveying data processing device. The survey data processing device creates three-dimensional shape data corresponding to the area of the target object from the three-dimensional coordinates of the object created by the three-dimensional design coordinate calculation method, and transmits the image transmitted from the surveying instrument. The data is analyzed, the region-corresponding three-dimensional shape data is superimposed so as to match the image data, and the region-corresponding three-dimensional shape data, the image data, and the three-dimensional measurement data matched by the three-dimensional shape data display execution unit. Are displayed on the display unit. Thereby, the three-dimensional shape of the modeled object can be displayed on the display screen in the direction collimated by the surveying instrument, so that the operation can be performed while visually confirming the surveying target object, and the position of the surveying position can be determined. Decisions can be made quickly.
[0014]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
[0015]
As shown in FIG. 1, the automatic surveying system 100 of the present invention includes a three-dimensional shape data creating device 1, a target H, a surveying instrument 2, and a surveying data processing device 3, and a three-dimensional design coordinate calculating method. Is used to perform surveying automatically.
[0016]
[3D shape data creation device]
The three-dimensional shape data creating device 1 is a device for calculating the three-dimensional shape of the modeled object using the planar linear data, the longitudinal linear data, and the standard cross-sectional shape data of the modeled object, and is illustrated in FIG. As described above, the two-dimensional shape data database 11, the target point coordinate calculation unit 12, the cross-sectional view point coordinate calculation unit 14, and the three-dimensional shape data database 15 are the main components.
[0017]
Here, the planar linear data and the longitudinal linear data are data of position coordinates based on the same reference point P0 with respect to the modeled object. The planar alignment data is two-dimensional coordinate data indicating the planar alignment (plane coordinates (X, Y)) of the center line of the object. The longitudinal linear data is two-dimensional coordinate data indicating height coordinates (Z) along the center line of the modeled object and horizontal coordinates (Y) along the cross-sectional axis.
[0018]
Further, the standard cross-sectional shape data is created for a predetermined target point where the cross-sectional shape of the object in the planar linear data changes, and is two-dimensional coordinate data indicating the cross-sectional shape of the object. In the standard cross-sectional shape data, the vertical axis (Z axis) is determined so as to correspond to the height coordinate (Z) of the modeled object, but the horizontal axis (horizontal axis) (U axis) corresponds to the center line. It is determined so as to correspond to an orthogonal line that is orthogonal.
[0019]
(2D shape data database)
The two-dimensional shape data database 11 is a database that stores the planar linear data, the longitudinal linear data, and the standard cross-sectional shape data of a modeled object, and extracts data of an arbitrary modeled object as necessary. Can be done.
[0020]
For example, as shown in FIG. 3, the planar linear data and the longitudinal linear data stored in the two-dimensional shape data database 11 have position coordinates indicated according to a two-dimensional coordinate system based on the reference point P0. I have. The two-dimensional shape data includes data of two-dimensional coordinates of each of the target points P1 to P5 of the modeled object, and can calculate the shape of the modeled object. The standard cross-sectional shape data includes points at which the cross-sectional shape of the modeled object changes at target points P1 to P5 (hereinafter, referred to as “modeling points”) PnL1 to PnL2 (n = 1 to 5), and the modeled object. The three-dimensional coordinates of the points PnR1 and PnR2 (n = 1 to 5) are stored.
[0021]
(Target point coordinate calculation unit)
The target point coordinate calculation unit 12 plays a role in determining three-dimensional coordinates at each target point from plane coordinates (plane linear data) and height coordinates (vertical linear data) at each target point.
[0022]
As shown in FIGS. 3A and 3B, when the target points P1 to P5 appear in the planar linear data and the vertical linear data, the target point coordinate calculator 12 calculates the target linear coordinates from the vertical linear data. , Calculating a straight line (or curve) of a vertical cross-sectional shape near each of the target points using the height coordinate (Z) and the horizontal coordinate (X) as variables, and calculating the plane coordinates (X, Y) at each target point. By calculating the height position by substituting the horizontal coordinates (X) among the above, the three-dimensional coordinates at each target point can be determined.
[0023]
(3D shape data creation unit)
As shown in FIG. 4, the three-dimensional shape data creating unit 14 calculates the three-dimensional coordinates of each of the predetermined modeling points of the modeling object indicated by the standard cross-sectional shape data for each of the target points, and calculates the target point coordinates. Using the three-dimensional coordinates of each target point calculated by the unit 12 and the calculated three-dimensional coordinates of each modeling point, it plays a role of creating a three-dimensional shape of the modeled object. The calculation of the three-dimensional coordinates of each modeling point is performed by calculating the distance to each modeling point based on the three-dimensional coordinates of the target point included in the standard cross-sectional shape data.
[0024]
Note that the three-dimensional shape data creating unit 14 may be operated every time the three-dimensional shape data creating device 1 is operated. However, usually, the three-dimensional shape data creating unit 14 is configured to output the planar linear data, the longitudinal linear data, and the standard cross-sectional data of each modeled object. When the storage is completed, the three-dimensional shape data creating unit 14 is operated once to create three-dimensional shape data of each modeled object, and stored in a three-dimensional shape data database 15 described later or an external storage medium (not shown). The data may be read by the survey data processing device 3.
[0025]
(3D shape data database)
The three-dimensional shape data database 15 is a database that stores the three-dimensional shape data calculated in this way, and can store the three-dimensional shape data according to the type of the modeled object.
[0026]
Here, the three-dimensional shape of the modeled object can be displayed using the calculated three-dimensional shape data of each target point and each modeling point. For example, as shown in FIG. 5, using the obtained three-dimensional coordinates of each target point and each modeling point, a straight line extending in at least two directions at each point is created, and two different direction vectors are respectively determined from the straight lines. Then, a normal vector is obtained from the direction vector. By using the obtained normal vector, a plane in a range surrounded by the points used for obtaining the direction vector is formed by obtaining an equation of a plane including each point used for obtaining the direction vector. be able to. By repeating this for each reference point and each point, the shape of the modeled object can be represented.
[0027]
In the three-dimensional shape data creating apparatus 1, the planar linear data, the longitudinal linear data, and the standard cross-sectional shape data are converted into data for each type of the shaped object, and are classified for each type of the shaped object (for example, road). , Bridges, tunnels, gutters, terrain, etc.), and can be used in a surveying system described later.
[0028]
Therefore, the three-dimensional shape data creating apparatus 1 creates the three-dimensional shape data of each of the shaped objects for each type of the shaped object selected by the shaped object type selection unit 371 described later.
[0029]
[target]
The target H receives the signal transmitted from the surveying instrument 2 by vertically disposing the support of the target H at the surveying position, and causes the surveying instrument to measure the three-dimensional coordinates at the arranged position. .
[0030]
[Surveyor]
The surveying instrument 2 includes a photographing unit 21, a surveying unit 22, and a transmitting / receiving unit 23, tracks the position of the target H remote from the surveying instrument 2, and measures the distance from the surveying instrument 2 to the target H and the target H. It serves to measure three-dimensional coordinates. The survey data measured by the survey section 22 and the image data photographed by the photographing section 21 are transmitted by the transmitting / receiving section 23 to a survey data processing device described later.
[0031]
The photographing unit 21 is composed of a CCD wide-angle camera and a CCD telephoto camera (not shown). The CCD wide-angle camera photographs the position of the target H within a predetermined range in a wide-angle view, and uses the CCD telephoto camera. , Plays the role of enlarging the accurate three-dimensional coordinates of the target H for photographing.
[0032]
The surveying unit 22 measures the distance from the surveying instrument 2 to the target H and the three-dimensional coordinates of the target H based on the position where the surveying device is installed, and sets the installed position so that it can be collimated in the direction of the target H. Can be rotated left and right and up and down with respect to the collimation direction.
[0033]
The transmission / reception unit 23 transmits the three-dimensional coordinates at the surveying position where the target H is located measured by the surveying unit 22 to the surveying data processing device 3 described below, and a control signal transmitted from the surveying data processing device 3. And the surveying instrument 2 is rotated in the direction in which the target H is installed, and serves to measure the three-dimensional coordinates of the surveying position.
[0034]
[Survey data processing device]
The survey data processing device 3 includes a display unit 31, an input unit 32, a transmitting and receiving unit 33, a survey result database 34, a control unit 36, and an information processing unit 37. The three-dimensional coordinates at the arrangement position of H, the dimensions of the object created by the three-dimensional shape data creating device 1 and each point are compared, and the role of determining the survey position and confirming the error of the arrangement position of the target H is determined. .
[0035]
(Display)
As shown in FIG. 7, the display unit 31 displays the area-corresponding two-dimensional shape data created by the area-corresponding two-dimensional shape data creation unit 372a described later by the two-dimensional shape data display execution unit 373a, or The three-dimensional shape data corresponding to the area created by the three-dimensional shape data creation unit 372b can be displayed by the three-dimensional shape data display execution unit 373b. In addition, a result calculated by a measurement result output unit 378 described later can be displayed.
[0036]
Although not shown, the display unit 31 may be externally connectable to an input unit 32 described later. For example, a spectacle-type display unit may be connected to the input unit 32 for use.
[0037]
(Input section)
The input unit 32 plays a role of inputting a result of selection of a modeling object to be measured by the modeling object type selection unit 371 described later to the area corresponding shape data creation unit 372, and an image display selection unit 374a of the designated point determination unit 374. The function of inputting the result of the selection of the image display by the user and the result of the selection of the specified point by the specified point selecting unit 374b to the measuring unit 375.
[0038]
(Transceiver)
The transmission / reception unit 33 transmits a control signal for controlling the surveying instrument 2 input from the input unit 32 by the control unit 36 to the surveying instrument 2, and transmits three-dimensional coordinates of the target H transmitted from the surveying instrument 2 with respect to three-dimensional coordinates. It plays the role of receiving the survey data and outputting the survey results to the survey result database.
[0039]
(Survey result database)
The survey result database 34 stores three-dimensional survey data that is a three-dimensional survey position where the target H measured by the survey instrument 2 is arranged, and the stored three-dimensional survey data is used as the survey position. The designated point designated by the input unit 32 is stored in association with the three-dimensional structure database 34b.
[0040]
(Control unit)
The control unit 36 controls an information processing unit 37, which will be described later, and outputs information on the surveyed position processed and determined by the information processing unit 37 to the display unit 31 and the transmission / reception unit 33. By transmitting the information, the surveying instrument 2 directs the collimating direction to the direction in which the target H is arranged, and plays a role of performing surveying for each purpose.
[0041]
(Information Processing Department)
The information processing unit 37 includes a modeled object type selection unit 371, an area corresponding shape data creation unit 372, a screen display execution unit 373, a designated point determination unit 374, a measurement unit 375, an error calculation unit 376, an expected shape It comprises a calculation unit 377 and a measurement result output unit 378.
[0042]
The modeling object type selection unit 371 inputs a signal that selects the modeling object input by the input unit 32, reads the three-dimensional shape data of the modeling object created by the three-dimensional shape data creation device 1, and reads the area-corresponding shape described later. It plays the role of outputting to the data creation unit 372.
[0043]
The modeled object type selection unit 371 can select a modeled object to be measured from the two-dimensional shape data database of the three-dimensional shape data creation device 1 that stores various types of modeled objects. I have.
[0044]
The area-based shape data creating unit 372 includes an area-based two-dimensional shape data creating unit 372a and an area-based three-dimensional shape data creating unit 372b, and is formed so as to match the image data captured by the surveying instrument 2. It plays a role in processing the three-dimensional shape data of the modeled object selected by the object type selection unit 371.
[0045]
Although not shown, the area-corresponding shape data creation unit 372 matches the image data captured by the surveying device 2 with the imaging unit 21 with the two-dimensional shape data or the three-dimensional shape data created by the three-dimensional shape data creation device 1. Therefore, by comparing the reference distance on the image data with the reference distance on the two-dimensional shape data or three-dimensional shape data, the distance between the reference positions in the space being imaged and the position in the image data are compared. On the other hand, by converting the two-dimensional shape data or the three-dimensional shape data, the two-dimensional shape data corresponding to the region or the three-dimensional shape data corresponding to the region can be created and matched with the image data.
[0046]
The area-corresponding two-dimensional shape data creation unit 372a inputs the three-dimensional shape data for the object selected by the object type selection unit 371, and the area of the image data displayed by the surveying instrument 2 and displayed on the display unit 31. And a role to create the target area-corresponding two-dimensional shape data.
[0047]
For example, as shown in FIG. 3A, this is the case of the standard cross-sectional shape data in which the shape of the CC section at the target point P3 is as shown in FIG. 3C, and the CC section is as shown in FIG. In this case, the distance between the shaping point P3L2 and the shaping point P3R2 and the distance between the shaping point P3L1 and the point P3L2, or the distance between the target point P3 and the shaping point P3R2, using the standard cross-sectional shape data. Is calculated. Further, using the target point P3 and the modeling points P3L1, P3L2, P3R1, and P3R2 on the image data, the distance on the image data at the same point as each point whose distance has been calculated from the standard cross-sectional shape data is calculated. Then, the distance calculated on the two-dimensional shape data is compared with the distance on the image data, and the distance calculated on the two-dimensional shape data is converted so as to be the same as the distance on the image data, so that the distance matches the image data. It is possible to create area-corresponding two-dimensional shape data.
[0048]
The region-corresponding three-dimensional shape data creation unit 372b inputs the three-dimensional shape data for the object selected by the object type selection unit 371, and sets the object so that it matches the region of the image data captured by the surveying instrument 2. It plays the role of creating region-corresponding three-dimensional shape data.
[0049]
For example, as shown in FIG. 3A, when each interval from the target point P1 to the target point P5 is L1 and the image data includes the target point P1 to the target point P5, the image data The respective intervals from the target point P1 to the target point P5 are measured. When the intervals are L2 to L5 as shown in FIG. 6, each interval L2 to L5 from the target point P1 to the target point P5 on the image data is compared with the interval L1 on the three-dimensional shape data. By converting each distance calculated by the three-dimensional shape data so as to be the same as the distance on the image data, it is possible to create three-dimensional shape data corresponding to the region that matches the image data.
[0050]
At this time, as shown in FIG. 3C, each cross section from the target point P1 to the target point P5 (AA cross section, BB cross section, CC cross section, DD cross section, EE cross section) Will also be converted.
[0051]
The screen display execution unit 373 includes a two-dimensional shape data display execution unit 373a and a three-dimensional shape data display execution unit 373b. It plays a role of displaying the area-corresponding two-dimensional shape data on the display unit 31.
[0052]
The two-dimensional shape data display execution unit 373a stores the two-dimensional shape data corresponding to the area created by the two-dimensional shape data creation unit 372a of the two-dimensional shape data creation unit 372. The display unit 31 plays a role of displaying the region-corresponding three-dimensional shape data created by the region-corresponding three-dimensional shape data creating unit 372b of the region-corresponding shape data creating unit 372.
[0053]
For example, as shown in FIG. 7, the area-corresponding three-dimensional shape data of the area from the object points P5 to P9 of the modeled object can be displayed on the display unit 31 together with the image data by switching the area-corresponding two-dimensional shape data. It has become.
[0054]
The designated point determining unit 374 includes an image display selecting unit 374a and a designated point selecting unit 374b, and is a three-dimensional point (hereinafter, referred to as a “designated point”) at which the survey input from the input unit 32 is performed. The coordinates or two-dimensional coordinates are determined from the region-corresponding three-dimensional shape data or the region-corresponding two-dimensional shape data created by the region-corresponding shape data creating unit 372, and serve to output to the measuring unit 375 described later. The designated point to be selected may be either the target point or the modeling point.
[0055]
For example, as shown in FIG. 7, the cursor CSL is movable on the display unit 31, and the cursor CSL can be controlled by the keyboard 5a or the mouse 5b. By selecting the target point P3 of the modeled object as the specified point by the cursor CSL, the specified point determination unit 374 can determine the three-dimensional coordinates of the target point P3 from the region-corresponding three-dimensional shape data. I have.
[0056]
The image display selection unit 374a plays a role of selecting how to display the region-based three-dimensional shape data or the region-based two-dimensional shape data in the image data in which the position of the target H is displayed.
The display of the region-corresponding three-dimensional shape data and the like can be used in two ways: evaluation after construction and construction prediction.
Post-construction evaluation aims to grasp the construction error by displaying the three-dimensional shape data etc. corresponding to the area in the image data displaying the actual measurement position of the modeled object after construction and comparing them with each other. I do.
The construction forecast is a model that is continuously constructed by performing surveys at several locations on the model under construction and applying the information of the design drawings to the image data that displays the measured positions measured. The purpose of this is to display the expected shape of completion.
Information on the display method selected by the image display selection unit 374a is input to the measurement unit 375 described later.
[0057]
The designated point selecting unit 374b uses the area corresponding three-dimensional shape data or the area corresponding two-dimensional shape data according to the display mode of the image selected by the image display selecting unit 374a, and the screen display execution unit 373 causes the display unit 31 to perform the display. The function plays a role of selecting a designated point from the three-dimensional shape data corresponding to the region or the two-dimensional shape data corresponding to the region of the modeled object displayed in the above. The selection of the designated point can be performed by selecting a predetermined designated point on the three-dimensional shape data corresponding to the area or the two-dimensional shape data corresponding to the area using the cursor CSL. Information on the selected pointing point is input to a measuring unit 375 described later.
[0058]
The measuring unit 375 receives information from the designated point determining unit 374 and serves to calculate the three-dimensional coordinates of the target H and the distance between the surveying instrument 2 and the target H. The measuring unit 375 calculates a horizontal angle and a vertical angle with respect to a reference direction in the foresight performed at the start of the survey when the surveying instrument 2 calculates the three-dimensional coordinates of the target H that is the survey position. By calculating the distance from the surveying instrument 2 to the target H using the three-dimensional coordinates of the reference position where the surveying instrument 2 is located, the three-dimensional coordinates where the target H is located can be calculated.
[0059]
The error calculation unit 376 is stored in the survey result database 34, information that the image display of the construction prediction by the image display selection unit 374a of the indication point determination unit 374 is selected, information of the indication point by the indication point selection unit 374b, and the survey result database 34. The three-dimensional coordinates at each surveying position are input, and the three-dimensional coordinates of the target H and the three-dimensional coordinates of the designated point are compared from the measurement result of the measuring unit 375, thereby serving to calculate an error.
[0060]
As shown in FIGS. 8A to 8C, the error is calculated, for example, by measuring the three-dimensional coordinates of the arrangement position TG of the target H by the measurement unit 375, and three-dimensional coordinates of the target point P3 to be the designated point. And the three-dimensional coordinates at each survey position stored in the survey result database 34, the distance L in the length direction, the distance W in the width direction, and the distance H in the height direction, and The error calculation unit 376 can calculate each modeling point. Then, as shown in FIG. 9 (a), the measured points are superimposed and displayed on the area target three-dimensional shape data and the like, and the three-dimensional shape data of the modeled object at the three-dimensional coordinates of the measured points is calculated. You can also.
[0061]
The predicted shape calculation unit 377 includes information that the image display of the post-construction evaluation by the image display selection unit 374a of the designated point determination unit 374 has been selected, and the three-dimensional coordinates at each survey position stored in the survey result database 34. And serves to calculate the expected shape of the modeled object from the measurement result of the measurement unit 375.
[0062]
For example, as shown in FIG. 9B, the calculation of the expected shape is performed by, in the case of a molded object in the middle of construction, the three-dimensional coordinates of each measurement position where the measurement was performed and the target point in the part where the molded object has not been constructed yet. The three-dimensional shape of the object under construction is calculated using the three-dimensional coordinates of each point of the three-dimensional shape data, and the state of the shape of the object after construction can be calculated.
[0063]
The measurement result output unit 378 causes the three-dimensional coordinates of the target H measured by the measurement unit 375 to be displayed in the image data captured by the imaging unit 21, and is calculated by the error calculation unit 376 and the expected shape calculation unit 377. It plays the role of displaying the result.
[0064]
For example, as shown in FIG. 6, after displaying the three-dimensional coordinates of the target H measured in the image data, as shown in FIGS. 8A to 8E, the measurement unit 375 determines the target point P3. The distance between the three-dimensional coordinates and the three-dimensional coordinates of the arrangement position TG of the target H, the distance L in the length direction, the distance W in the width direction, and the distance H in the height direction can be displayed.
[0065]
[how to use]
Next, a method of using the automatic surveying system 100 of the present invention will be described with reference to FIG.
First, the three-dimensional coordinates of the object are calculated using a three-dimensional design coordinate calculation method. The three-dimensional design coordinate calculation method includes a target point coordinate calculation step of calculating three-dimensional coordinates of a target point on the central alignment of the molded object from the planar linear data and the longitudinal linear data, and calculating a three-dimensional coordinate of the molded point in the standard cross-sectional shape data. A forming point coordinate calculating step of calculating three-dimensional coordinates, a calculated coordinate storing step of storing the calculated three-dimensional coordinates of each target point and each of the forming points in a three-dimensional shape data database, and a storing step of storing the calculated three-dimensional coordinates in the three-dimensional shape data database And a three-dimensional shape creation step of creating a three-dimensional shape of the modeled object from the three-dimensional coordinates of each target point and each modeling point.
[0066]
The surveying instrument 2 is installed at a predetermined position to which reference coordinates are assigned, and reference coordinates are assigned to a plurality of reference points that have been surveyed in advance. Then, using the surveying instrument 2 and any one or two of the reference points, the coordinates and the distance of each surveying position can be measured based on the collimation direction of the surveying instrument 2. Then, the surveyor carries the target H, moves to the vicinity of the surveying position, and starts surveying.
[0067]
First, three-dimensional shape data of a modeled object is created by the three-dimensional shape data creating device 1 (S1). Here, creation of three-dimensional shape data will be described in detail.
[0068]
(Target point coordinate calculation step)
First, three-dimensional coordinates of each target point are determined (S101). The three-dimensional coordinates of each target point are determined by the target point coordinate calculation unit 12 based on the horizontal coordinates (Z) and the horizontal coordinates (Z) from the planar linear data and the longitudinal linear data stored in the two-dimensional shape data database 11. X), and a straight line (or curve) of a vertical cross-sectional shape in the vicinity of each of the target points is calculated, and the horizontal coordinate (X) of the plane coordinates (X, Y) at each of the target points is substituted. , By calculating the height position.
[0069]
(Modeling point coordinate calculation step)
The three-dimensional shape data creating unit 14 calculates the three-dimensional coordinates of each of the target points at predetermined modeling points of the modeled object indicated by the standard cross-sectional shape data stored in the two-dimensional shape data database 11 ( S102). That is, the relative positions of the predetermined points of the modeled object with respect to each target point and the height direction and the horizontal axis (U-axis) direction with respect to each target point are obtained, and the relative position relation is determined by the symbol coordinate calculation unit. The three-dimensional coordinates at each point can be calculated using the three-dimensional coordinates at the target point and the equation of the horizontal axis.
[0070]
(Calculated coordinate storage step)
The three-dimensional coordinates at each point calculated by the three-dimensional shape data creating unit 14 are stored in the three-dimensional shape data database 15 (S103).
[0071]
(3D shape creation step)
Then, the three-dimensional shape data for each model stored in the three-dimensional shape data database 15 is calculated by the three-dimensional shape data creating unit 14 from the calculated three-dimensional coordinates of each target point and each modeling point (S104). ).
[0072]
Next, the automatic surveying system 100 of the present invention is activated (S2), and the selection items are displayed on the display unit 31 (S3). The selection items include selection of image display by the image display selection unit 374a of the indication point determination unit 374, selection of an indication point by the indication point selection unit 374b, and selection of a modeling object to be measured by the modeling object type selection unit 371. First, the selection of the object to be measured is performed by the input unit 32 (S4). Then, the three-dimensional shape data of the selected object stored in the three-dimensional shape data database of the three-dimensional shape data creating device 1 is read.
[0073]
Then, the image display selection unit 374a selects the way of displaying the image using the input unit 32 (S5). After the input of the selection items up to this point, the surveying instrument is rotated in a direction in which the object to be surveyed is located, and the photographing unit 21 photographs the direction in which the object is located (S6).
[0074]
The region-corresponding two-dimensional shape data creating unit 372a and the region-corresponding three-dimensional shape data creating unit 372b match the image data captured by the image capturing unit 21 of the image capturing device 1 with the three-dimensional shape data creating device 1 From the three-dimensional shape data of the selected modeled object stored in the shape data database, region-corresponding two-dimensional shape data and region-corresponding three-dimensional shape data are created (S7). Here, the area-corresponding two-dimensional shape data and the area-corresponding three-dimensional shape data are created for each model.
[0075]
When a predetermined point of the area-corresponding two-dimensional shape data and the area-corresponding three-dimensional shape data displayed by the screen display execution unit 373 is selected as an indication point by the input unit 32, the information of the selection of the indication point by the input unit 32 is: The designated point selected by the input unit 32 is determined as the surveying position by the designated point selection and determination unit 374 input to the control unit 36 and the designated point selection and determination unit 374 (S8).
[0076]
After determining the designated point, the target H is placed near the survey position corresponding to the designated point on the region-corresponding two-dimensional shape data and the region-corresponding three-dimensional shape data displayed on the display unit 31 (S9). This is performed (S10). This survey is performed by automatic tracking for tracking the location of the target H by the control unit 36 (S11), and the distance between the location of the surveying instrument 2 and the location of the target H, and the three-dimensional position at the location of the target H The coordinates are measured by the measuring unit 375 (S12).
[0077]
The measurement by the measurement unit 375 is performed while distinguishing the image display in the post-construction evaluation or the construction prediction selected by the image display selection unit 374a.
[0078]
When the image display selection by the image display selection unit 374a of the designated point determination unit 374 is the evaluation after construction (S13), the display unit 31 displays the object selected by the object type selection unit 371 on the display unit 31. The area display three-dimensional shape data and the like are displayed by the image display execution unit 373 in the image data displaying the actual measurement position of the modeled object after the construction (S14), and the instruction information of the post-construction evaluation in the image display selection unit 374a. Of the target H measured by the measuring unit 375 by inputting the measurement result, and the three-dimensional coordinates of the surveying position, which is the surveying result of the selected modeled object, stored in the surveying result database. 378 is displayed on the display unit 31 (S15).
[0079]
The two-dimensional shape data corresponding to the area and the three-dimensional shape data corresponding to the area created by the two-dimensional shape data creating part 372a for the area and the three-dimensional shape data creating part 372b for the area are displayed on the two-dimensional shape data display screen executing part 373. It is displayed on the display unit 31 by the execution unit 373a and the three-dimensional shape data display execution unit 373b.
[0080]
After that, the error calculation unit 376 obtains the target H from the information of the designated point by the designated point selection unit 374b, the three-dimensional coordinates at each survey position stored in the survey result database 34, and the measurement result of the measurement unit 375. An error is calculated by comparing the three-dimensional coordinates with the three-dimensional coordinates of the designated point (S16). The calculation result of the error is represented two-dimensionally as shown in FIGS. 8B to 8C and displayed on the display unit 31 by the measurement result output unit 378 (S17). At this time, as a result of the error represented in two dimensions, two-dimensional coordinates in a plane direction, a longitudinal section direction, and a transverse section direction are provided, and the error can be displayed there.
[0081]
When the selection of the image display is the construction prediction (S13), for the model selected by the model type selection unit 371, the measured results of several measured positions of the model under construction on the display unit 31 are measured. The information of the design drawing is applied to the image data displayed by the output unit 378, and the region corresponding three-dimensional shape data and the like are displayed by the image display execution unit 373 (S18).
[0082]
Thereafter, the predicted shape calculation unit 377 inputs the three-dimensional coordinates at each survey position stored in the survey result database 34, and calculates the predicted shape of the modeled object from the measurement result of the measurement unit 375 (S19). At this time, the calculation of the expected shape is performed by calculating the three-dimensional coordinates of each measurement position where the measurement was performed and the target point and the shaping point in the part where the shaping object has not been constructed in the shaping object which is being constructed. By calculating the three-dimensional shape of the object under construction using the three-dimensional coordinates of each point, the state of the shape of the object after construction is calculated. The result of the calculation of the state of the shape of the formed object after the construction is displayed on the display unit 31 by the measurement result output unit 378 (S20).
This ends the survey.
[0083]
By using the automatic surveying system 100 of the present invention as described above, it is possible to use a model requiring surveying. In the method of use of the present invention, when the target H is tracked by the surveying instrument 2 to measure the three-dimensional coordinates of the survey position of the target H, the shape of the object and the survey position of the target H are displayed on the display unit 31. Therefore, the surveying position can be determined by using the error calculating unit 376 to move the target to a position where there is no error. This makes it possible to determine the exact position of the object before construction.
[0084]
【The invention's effect】
Since the shape of the modeled object is expressed as three-dimensional shape data so as to match the image data captured by the surveying instrument and displayed on the display unit, the surveying position can be visually confirmed, and accurate surveying can be performed. be able to.
[0085]
Also, since the shape of the modeled object is visually represented, the surveying position can be easily grasped, and quick surveying can be performed, so that the surveying load on the surveyor can be reduced.
[0086]
Further, even when the shape of the modeled object is represented by the two-dimensional shape data, the two-dimensional shape data is processed so as to match the image data captured by the surveying instrument, and displayed on the display unit. It is possible to check the surveying position, to perform accurate surveying, to facilitate construction management, and to reduce the work load of the surveyor.
[0087]
Since the error of the distance between the designated point and the target is displayed on the display unit, the distance to the surveying position can be visually grasped, and the position of the target can be displaced quickly to the designated point, and , You can do accurate surveying.
[0088]
Since the error of the distance between the designated point and the target is displayed on the display unit, the construction error can be visually confirmed at the surveying position, thereby facilitating the construction management of the modeled object.
[0089]
In addition, the present invention can be used for surveying a construction position in land construction, surveying a construction position of a structure, and calculating an error in a construction position and a position of a constructed structure.
[0090]
Furthermore, when casting concrete or when casting concrete on the roof or foundation of a structure, the thickness of the concrete cast using the present invention can be measured. .
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing an automatic surveying system of the present invention.
FIG. 2 is a block diagram illustrating a configuration of a three-dimensional shape data creating device according to the present invention.
FIG. 3A is a plan view showing a state where target points P1 to P5 of a modeled object are connected. (B) is a longitudinal sectional view showing a state where target points P1 to P5 of the modeled object are connected. (C) is a cross-sectional view showing a cross-section at target points P1 to P5 of the modeled object.
FIG. 4 is a schematic diagram showing an example of three-dimensional shape data.
FIG. 5 is a schematic diagram showing a state where a plane of a modeled object is created on the three-dimensional shape data of FIG. 3;
FIG. 6 is a schematic diagram showing a state where image data and three-dimensional shape data are matched.
FIG. 7 is a schematic diagram showing a display example on a display unit.
FIG. 8A is a schematic diagram showing a position of a designated point and an arrangement position of a target. (B) is a schematic diagram showing an error in plan view between the position of the designated point and the position of the target. (C) is a schematic diagram showing an error in a sectional view between the position of the designated point and the position of the target.
FIG. 9A is a schematic diagram showing a state of post-construction evaluation on a modeled object. (B) is a schematic diagram showing a state of construction prediction for a modeled object.
FIG. 10 is a flowchart showing a method of using the automatic surveying system of the present invention.
FIG. 11 is a flowchart illustrating a method for creating three-dimensional shape data.
[Explanation of symbols]
100 automatic surveying system
1 3D shape data creation device
11 2D shape data database
12 Target point coordinate calculator
14 3D shape data creation unit
15 3D shape data database
2 Surveying instrument
21 Shooting unit
22 Surveying Department
23 Transceiver
3 Survey data processing device
31 Display
32 Input section
33 transceiver
34 Survey Result Database
36 control unit
37 Information Processing Department
371 Modeling object type selection section
372 area corresponding shape data creation unit
372a 2D shape data creation unit corresponding to area
372b 3D shape data generator for area
373 screen display execution unit
373a 2D shape data display execution unit
373b 3D shape data display execution unit
374 Pointing point determination unit
374a Image display selection section
374b Point selection section
375 measuring unit
376 error calculator
377 Expected shape calculator
378 Measurement result output section
H target

Claims (3)

Planar linear data of the centerline of the modeled object, longitudinal linear data indicating the height position and the crossing distance along the centerline of the modeled object, and the centerline in the planar linear data and the longitudinal linear data is set in the normal direction. A three-dimensional design coordinate calculation method, wherein three-dimensional coordinates of the modeled object are continuously calculated at predetermined intervals on the center line using standard cross-sectional shape data that crosses the object. The plane linear data, the longitudinal linear data and the standard cross-sectional shape data are determined for each type of molded object,
The three-dimensional design coordinate calculation method according to claim 1, wherein three-dimensional coordinates can be calculated for each type of the modeled object. An automatic surveying system including a surveying instrument and a survey data processing device,
The surveying instrument is
A surveying unit for measuring three-dimensional measurement data of a target to be measured, a photographing unit for photographing image data around the target, and a survey data processing device for processing the three-dimensional measurement data and the image data And a transmitting and receiving unit for transmitting to the
The survey data processing device,
A display unit,
An area-compatible three-dimensional shape data creating unit that creates area-specific three-dimensional shape data of a target object from the three-dimensional coordinates of the object created by the three-dimensional design coordinate calculation method according to claim 1. ,
A three-dimensional shape data display execution unit that superimposes and displays the three-dimensional measurement data, the image data, and the region-corresponding three-dimensional shape data on the display unit;
An automatic surveying system comprising:

Images