JP2009186402A - Orthographic projection image acquiring system using visible light - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a system that measures an irradiation point by non-contact by irradiation of visible laser light to acquire three-dimensional coordinate information and hence easily forming an orthographic projection image of a large civil engineering structure as a photographing object, and to provide a measuring system using a series of imaging processing techniques. <P>SOLUTION: Visible light is radiated toward a surveying surface from a point having a known three-dimensional coordinate value, three-dimensional coordinate values at a plurality of visible light radiation points formed by the radiation are acquired using the known three-dimensional coordinate value, the plurality of visible light radiation points whose three-dimensional coordinate values have been acquired are taken, and a surveying image which is the center projection image is photographed by a digital camera. The photographed surveying image of the center projection image is analyzed using a conversion expression from the center projection image to an orthographic projection image, and the orthographic projection image of the surveying image is acquired. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

The present invention relates to an orthographic projection image acquisition system using visible light having an afterimage effect used for, for example, surveying, investigation, and observation of a face plane in tunnel construction.
Here, visible light indicates radiation that can directly enter the naked eye and cause visual sensation, and has a wavelength of about 400 nm to 700 nm. Generally, visible laser light is used.

As can be seen in Japanese Patent Application Laid-Open No. 2006-79521, there is a so-called orthographic image capturing system that obtains RGB values corresponding to coordinate information to form an orthographic image of the object to be photographed. Was.
However, when applying this method to large civil engineering structures, such as mountain slopes or tunnel facets, rather than magazines or desks whose dimensions are known in advance, so-called three-dimensional coordinate information is acquired. In addition, a plurality of singular points 5 having three-dimensional coordinates, for example, surveying prisms, etc., are attached to the large civil engineering structure, and the singular point 5 must be surveyed to have a three-dimensional coordinate value. Met.
Such work, however, is extremely high on mountain slopes and faceted tunnels, and there are problems in terms of work time and work safety.
JP 2006-79521 A

Thus, the present invention has been devised to address the above-described conventional problems, and the configuration of the singular point 5 in the photographed image does not necessarily have to be composed of an object or an object, and can be seen and can be seen. The singular point 5 is formed in the survey surface, and thus in the photographed image by irradiation with visible light or visible light having an afterimage effect, for example, visible laser light, and the irradiation point (singular point). A system for easily forming an orthographic projection image of an object to be photographed as a large civil engineering structure by measuring 5) in a non-contact manner and obtaining three-dimensional coordinate information, and a measurement system using a series of image processing techniques Is to provide
In particular, it is possible to create the singular point 5 having the three-dimensional coordinates in a non-contact and more safely in a short time in an image obtained by photographing a large civil engineering structure. Even when the orthographic projection image is converted, it is possible to perform conversion more accurately by providing a plurality of so-called singular points 5. However, the increase or decrease in the number of such singular points 5 may also increase visible light having a so-called afterimage effect, For example, it is possible only by increasing or decreasing the number of spots irradiated with visible laser light.
As a result, safety, workability, and measurement accuracy in image measurement can be improved more than before.

The present invention
Irradiate visible light toward the surveying surface from a point where the three-dimensional coordinate value is known, and use the known three-dimensional coordinate value as a three-dimensional coordinate value at a plurality of visible light irradiation points formed by the irradiation. And get
Taking a plurality of visible light irradiation points from which the three-dimensional coordinate values were acquired, and taking a survey image as a central projection image with a digital camera,
The surveyed image of the center projection image taken is analyzed using a conversion formula from the center projection image to the orthographic projection image, and an orthographic projection image of the survey plane is obtained.
It is characterized by
Or
Irradiate visible light with an afterimage effect toward a survey surface from a point with a known three-dimensional coordinate value, and determine the three-dimensional coordinate values at a plurality of visible light afterimage points formed by the irradiation as the known three-dimensional value. Obtained using coordinate values,
Taking a plurality of visible light afterimage points from which the three-dimensional coordinate values have been acquired, and taking a survey image as a central projection image with a digital camera,
The surveyed image of the center projection image taken is analyzed using a conversion formula from the center projection image to the orthographic projection image, and an orthographic projection image of the survey plane is obtained.
It is characterized by
Or
Irradiate visible light toward a survey surface from a point where the three-dimensional coordinate value is known, and change the known three-dimensional coordinate value into three-dimensional coordinate values at at least four visible light irradiation points formed by the irradiation. Get it using,
Capture at least four visible light irradiation points from which the three-dimensional coordinate values were acquired, and take a survey image that is a central projection image with a digital camera,
Using the three-dimensional coordinate values at the four or more visible light irradiation points, the camera position, the camera posture, and the focal length value in the digital camera photographing, the central projection image is used for the surveyed central projection image. Analyzing using a conversion formula from an orthographic projection image to obtain an orthographic projection image of the survey surface,
It is characterized by
Or
Irradiate visible light with an afterimage effect toward a survey surface from a point with a known three-dimensional coordinate value, and determine the three-dimensional coordinate values of at least four visible light afterimage points formed by the irradiation. Obtained using 3D coordinate values,
Taking at least four visible light afterimage points from which the three-dimensional coordinate values have been acquired, and taking a survey image as a central projection image with a digital camera,
Using the three-dimensional coordinate values at the at least four visible light afterimage points, the camera position, the camera posture, and the focal length value in the digital camera photographing, the central projection image is used for the surveyed image of the center projected image. Analyzing using a conversion formula from an orthographic projection image to obtain an orthographic projection image of the survey surface,
It is characterized by
Or
Irradiate visible light toward a survey surface from a point where the three-dimensional coordinate value is known, and change the known three-dimensional coordinate value to three-dimensional coordinate values at at least nine visible light irradiation points formed by the irradiation. Get it using,
Taking at least nine visible light irradiation points from which the three-dimensional coordinate values were acquired, and taking a survey image as a central projection image with a digital camera,
The surveyed image of the photographed central projection image is analyzed using a conversion formula from the central projection image to the orthographic projection image, using the values of the three-dimensional coordinate values at the at least nine visible light irradiation points. , Obtaining an orthographic projection image of the survey surface,
It is characterized by
Or
Irradiate visible light with an afterimage effect toward a survey surface from a point with a known three-dimensional coordinate value, and determine the three-dimensional coordinate values of at least nine visible light afterimage points formed by the irradiation. Obtained using 3D coordinate values,
Taking at least nine visible light afterimage points from which the three-dimensional coordinate values were acquired, and taking a survey image as a central projection image with a digital camera,
The surveyed image of the center projection image taken is analyzed using a conversion formula from the center projection image to the orthographic projection image using the values of the three-dimensional coordinate values at the at least nine visible light afterimage points. , Obtaining an orthographic projection image of the survey surface,
It is characterized by
Or
The visible light is visible laser light,
It is characterized by
Or
The survey surface exists in a large civil engineering structure,
It is characterized by
Or
The large civil engineering structure is a slope of a mountain, a face of a tunnel,
It is characterized by this.

If the orthographic projection image acquisition system using visible light according to the present invention,
The configuration of the singular point 5 in the photographed image does not necessarily have to be composed of an object or an object, and can be visible, and it should be possible to photograph with a camera. By irradiating light, for example, visible laser light, the singular point 5 is formed on the survey surface, and thus in the captured image, and the irradiation point (singular point 5) is measured in a non-contact manner to obtain three-dimensional coordinate information. A system that easily forms an orthographic projection image of an object to be photographed, which is a civil engineering structure, and a measurement system that uses a series of image processing techniques can be constructed.

In particular, it is possible to create the singular point 5 having the three-dimensional coordinates in a non-contact and more safely in a short time in an image obtained by photographing a large civil engineering structure. Even when the orthographic projection image is converted, it is possible to perform conversion more accurately by providing a plurality of so-called singular points 5. However, the increase or decrease in the number of such singular points 5 may also increase visible light having a so-called afterimage effect, For example, it is possible only by increasing or decreasing the number of spots irradiated with visible laser light.
As a result, there is an excellent effect that the safety, workability, and measurement accuracy in image measurement can be improved more than before.

Here, the visible light used in the present invention is not limited as long as it is so-called visible. For example, visible light may be formed using an instrument such as an electric lamp. Furthermore, even if it is not an electric lamp, what is necessary is just what can emit light and can form a visible irradiation point on a survey surface.
Based on the above, the present invention will be described below based on the best mode shown in the drawings.

First, as can be understood from the drawings, one visible laser light projecting device 3 is prepared. However, this laser irradiator 3 is preferably one that can be driven at a high speed by, for example, a biaxial mirror and can be simultaneously emitted to a plurality of locations.
The visible laser light emitter 3 emits visible laser light 2 simultaneously in a plurality of directions toward the face 1 of the tunnel, for example.
That is, the visible laser beam 2 is generally assumed to have an afterimage effect, and the inventors of the present invention pay attention to the fact that the visible laser beam 2 has an afterimage effect, and simultaneously irradiate the outer face of the tunnel face 1 with a plurality of images. However, the feature that a plurality of singular points 5 remain formed by the afterimage effect is the basis of the present invention.

Although visible light may not have an afterimage effect, in that case, it is necessary to prepare, for example, four so-called visible light emitters.
In this case, the above-mentioned electric lamp may be used as a simple visible light emitter, and it is conceivable to irradiate the survey surface with four electric lamps to form four visible irradiation points.
As described above, regarding the configuration of the singular point 5 formed in the photographed image, the singular point 5 (which may be generally referred to as a reference point) does not necessarily need to be configured with a product or an object. There is no need to actually construct a plurality of singular points 5 by products or objects on the site, that is, on the slope 4 of the mountain or the face 1 of the tunnel.

Therefore, it can be said that the present invention has an extremely large effect when the surveying object is a mountain slope 4 or a tunnel face 1 which is a large civil engineering structure.
That is, the singular point 5 may be visible, can remain at that location, and can be photographed by the camera.

Thus, by irradiating visible light or visible light having an afterimage effect, for example, visible laser light 2, a plurality of singular points 5... By forming in the photographed image, measuring the irradiation points (plural singular points 5) in a non-contact manner, and obtaining the three-dimensional coordinate information (spatial information, image information) of the corresponding plural singular points 5, Even if it is an object to be photographed such as a mountain slope 4 or a tunnel face 1 which is a large civil engineering structure, its orthographic projection image can be easily formed.

The plurality of singular points 5 formed in this way have the three-dimensional coordinate values required for the equation shown in FIG. 9 or the like clarified, and at a site with a large civil engineering structure. Actually, it is not necessary to measure three-dimensional coordinate values at a plurality of singular points 5.
That is, if the emission position and emission angle of the visible laser beam emitter 3 that emits the visible laser beam 2 and the distance to the irradiation position of the visible laser beam 2 are known, the three-dimensional coordinate values of a plurality of singular points 5 are obtained. It can be calculated (see FIG. 8).

In addition, when using visible light which does not have an afterimage effect, for example, the respective emission positions and emission angles of four visible light emitters, and further the distance to the irradiation position of the visible laser light 2 must be known. Is required.
This is also a great feature of the present invention, and it is not necessary to actually measure three-dimensional coordinate values in actual sites such as the slope 4 of a mountain, which is a large civil engineering structure, or the face 1 of a tunnel, and it is extremely safe and Three-dimensional coordinate values can be easily measured.

Further, when forming a plurality of singular points 5 with the visible laser light 2, various irradiation patterns of the visible laser light 2, in other words, shapes of irradiation patterns irradiating the plurality of singular points 5 at the same time can be easily set. As shown in FIG. 2, for example, it is conceivable to determine an irradiation pattern to irradiate in a pentagonal shape, for example, at five locations with an interval on the outer peripheral side of the tunnel face 1.
For example, if a plurality of singular points 5 are formed with such an irradiation pattern, the singular points 5 are previously formed in a pentagonal shape as described above when the singular points 5 are recognized by capturing them in an image. If, for example, the fact is input and stored in processing software in the personal computer, a plurality of singular points 5 can be automatically recognized very smoothly and quickly.

Then, for example, the subsequent processing such as the calculation of the three-dimensional coordinate values of the plurality of singular points 5 arranged in this pentagonal shape can be performed efficiently, and the conversion operation to the orthographic projection image can be proceeded extremely smoothly. Become.
In addition, the irradiation shape of the visible laser beam 2 to be irradiated (the outer shape of the singular point 5 projected as an afterimage on the surveying surface) can be set by selecting various shapes, whereby the various irradiation shapes can be set on the surveying surface. It can be projected as an afterimage and can be formed so that it can be easily recognized as the singular point 5.

Also in this case, if the external shape of the singular point 5 is input in advance to the processing software as an orthographic projection image processing or the like as the above shape, for example, the plurality of singular points 5 are recognized by capturing the image. In doing so, it is possible to make the automatic recognition very smoothly and quickly, and the subsequent processing such as the calculation of the three-dimensional coordinate values of the plurality of singular points 5 can be performed efficiently, and the operation can proceed very smoothly.
Various colors of the visible laser light 2 to be irradiated are selected, and the fact that the singular point 5 is formed with the specified color in advance for each of the colors of the singular point 5 is input and stored in, for example, processing software in the personal computer. This makes it easy to differentiate from other colors on the surveying surface, and automatic recognition of the singular point 5 can be made simple and smooth.

As described above, in the present invention, for example, a so-called afterimage irradiation point irradiated on the slope 4 of the mountain or the face 1 of the tunnel, which is a large civil engineering structure, is configured as a singular point 5 for calculating a three-dimensional coordinate value at that point Then, this is the first step in creating the orthographic projection image thereafter.

Therefore, the implementation state of the present invention will be briefly described below.
First, for example, the visible laser launcher 3 is installed at the entrance of a tunnel excavation work site or in a pit during excavation.
As described above, the visible laser beam 2 can be driven at high speed by a biaxial mirror, can be irradiated to a plurality of locations simultaneously, and can be left as an afterimage at the irradiated locations. The visible laser beam 2 preferably has a distance measuring function (a function capable of measuring the distance from the position where the visible laser beam 2 is emitted to the irradiation position).
Then, depending on the angle at which the visible laser light 2 is emitted and the value of the measured distance from the position at which the visible laser light 2 is emitted to the irradiation position, the three-dimensional of the visible laser irradiation points (plural singular points 5). The coordinate value can be easily measured (see FIG. 8).

First, the visible laser beam 2 is irradiated to a plurality of predetermined locations on the slope 4 of the mountain, which is a large civil engineering structure, and the face 1 of the tunnel, and the three-dimensional coordinate values (spatial coordinate positions) of the irradiation points (plural singular points 5) ) Is measured (see FIG. 8).
Next, the digital camera 6 preferably captures the plurality of singular points 5 and photographs, for example, a mountain slope 4 or a tunnel face 1.
Then, the three-dimensional coordinate values (image coordinate values) of the irradiation points (plural singular points 5) of the visible laser beam 2 captured in the photographed image are automatically recognized and calculated smoothly by so-called analysis software. (See the calculation formulas in FIGS. 8 to 11).

Thus, the photographed image which is the tall projection image is orthographically projected by the singular point 5 by the visible laser beam 2 which is imprinted in the image and whose three-dimensional coordinate values (spatial coordinate values and image coordinate values) are clarified. The image can be smoothly converted into an image (see the calculation formulas in FIGS. 8 to 11).

By the way, a personal computer for data processing can automatically recognize information related to so-called RGB values, for example, rock classification, and this boundary information can be registered in a so-called three-dimensional coordinate database.

If the boundary information is unclear on the image, click on or drag the location that appears to be a geological boundary line on the image converted to the orthographic projection image with a mouse or the like to make the boundary information clear. As described above, boundary information and the like can be registered in a so-called three-dimensional coordinate database. As a result, geological profiles and cross-sections can be automatically created.
Further, by comparing the coordinate information of the singular point 5 by the visible laser beam 2 with the shape of the excavation cross section, the surplus excavation of the cross section, atari data, etc. can be obtained. In addition, it is possible to measure the internal displacement by image measurement using the processed image.

In this way, all the data can be made into a three-dimensional coordinate database, so measurement information and construction information (planned sections, support), etc. are displayed together, for example, presentations during construction meetings and rock quality judgment meetings It can be used as a document and explanatory material.
In recent years, surveying and observation of the tunnel face 1 are frequently performed at the site of tunnel construction, and the fact is that the surveying and observation are regarded as important.
This is because obtaining information on the discontinuity of the tunnel face 1 or position information on the geological boundary has become extremely important information for safe construction of the tunnel.

However, in the past, it was limited to so-called point surveying, and enormous number of surveys were required to detect and measure discontinuous surface detection and geological boundary position information in detail.
Conventionally, the tunnel face 1 has been photographed, and the discontinuity and geological boundary positions have been grasped from this photograph. However, the discontinuity and geological boundary positions are accurately grasped. It was something that could not be surveyed.
Therefore, there has been a demand for providing a so-called surveying system that can easily grasp the discontinuity and the geological boundary of the tunnel face 1 easily.

In other words, conventional point surveying such as a so-called total station (see Japanese Patent Application Laid-Open No. 2004-138422) requires an enormous number of surveys in order to grasp the entire tunnel face 1 and the like. This is because surveying was difficult in terms of time.

The present invention first converts the central projection image captured by such a digital camera 6 into an orthographic projection image by a simple operation, and uses the orthographic projection image similar to the real thing that has been converted, For example, the discontinuous surface and the geological boundary on the tunnel face 1 can be easily grasped, and the discontinuous surface and the geological boundary of the tunnel face 1 can be measured from the orthographic projection image.

In FIG. 1, a predetermined visible laser beam 2 is first emitted so as to form the four singular points 5 toward the tunnel face 1, so that the singular points 5 are reflected on the tunnel face 1. .
Next, the tunnel face 1 is photographed by the digital camera 6 including the four singular points 5.
Here, the photographed image of the tunnel face 1 by the digital camera 6 is a central projection image as shown in FIG. Thus, such a central projection image is a perspective image and is not an orthographic projection image similar to a so-called real object, so that it is not possible to accurately grasp discontinuous surfaces and geological boundaries on the tunnel face 1. Therefore, it is impossible to accurately measure the discontinuity of the tunnel face 1 and the geological boundary.

There is an opinion that the tunnel face 1 should be photographed with the digital camera 6 from the front in front of the tunnel opening side, but even if it is photographed from the front, the obtained image is a central projection image, and the width direction of the tunnel opening A sense of perspective.
Therefore, unless the central projection image taken from directly in front of the tunnel opening is converted into an orthographic projection image according to the present invention, the discontinuity plane and the geological boundary in the tunnel face 1 cannot be accurately grasped. Therefore, it is impossible to accurately measure the discontinuity of the tunnel face 1 and the geological boundary.

Next, conversion from a central projection image captured by the digital camera 6 to an orthographic projection image will be described.
In order to perform image processing for converting a central projection image captured by the digital camera 6 into an orthographic projection image using a computer, the shooting position (X, Y, Z) of the digital camera 6, the digital camera 6 Is necessary when the three-dimensional coordinate values at the four singular points 5 are unknown.

If these values are known and clear, image processing can be performed using a computer and processing software that converts the central projection image into the orthographic projection image based on these values, and the converted orthographic projection image is displayed on the display. Thus, an accurate survey of the discontinuity of the tunnel face 1 and the geological boundary can be performed.
Furthermore, if the distortion value of the camera lens and the deviation value of the camera lens center position are clear, more accurate orthographic projection images can be obtained using these values, and accurate surveying and observation can be performed. .

However, when the photographing position (X, Y, Z), posture (camera rotation angle) and focal length (c) of the digital camera 6 are unknown, the three dimensional points of the four singular points 5 are known. Using the coordinate values, that is, the values of the space coordinates (X, Y) and the image coordinates (x, y), the shooting position (X, Y, Z) and posture (camera rotation angle) of the digital camera 6 And the numerical value of the focal length (c) can be clarified.
As described above, those three-dimensional coordinate values and the like can be measured very easily by the present invention.

Here, rather than grasping numerical values of the photographing position (X, Y, Z), posture (camera rotation angle), and focal length (c) of the digital camera 6 in advance, the spatial coordinates (X , Y) and the numerical values of the image coordinates (x, y), it can be said that it is easier to use such values.
The relational expressions are shown in (1), (2), (3), and (4) of FIG. The relational expressions shown in FIG. 9 clarify the numerical values of the photographing position (X, Y, Z), posture (camera rotation angle), and focal length (c) of the digital camera 6.

That is, as shown in FIG. 1, for the four singular points 5 imaged on the tunnel face 1, the respective three-dimensional coordinate values, that is, the values of the spatial coordinates (X, Y) and the image coordinates (x, y ) Should be known in advance. Then, the values of these four singular points 5 are introduced into the four formulas (1), (2), (3), (4) shown in FIG. The photographing position (X, Y, Z), posture (camera rotation angle), and focal length (c) coefficients (b1 to b8) are obtained.

At this time, it is preferable to clarify the distortion value of the camera lens and the deviation value of the center position of the camera lens.
However, even if these values are not clear, it is possible to obtain an orthographic projection image.
Next, the obtained coefficients (b1 to b8) are converted into the coefficients (b1 to b8), the shooting position (X, Y, Z), posture (camera rotation angle), focal length (shown in FIG. When introduced into the relational expression with c), the photographing position (X, Y, Z), posture (camera rotation angle), and focal length (c) of the digital camera 6 can be obtained.

Thus, the obtained shooting position (X, Y, Z) and posture (camera rotation angle) of the digital camera 6, the coefficient (b1 to b8) of the focal length (c), and the shooting position (X , Y, Z), posture (camera rotation angle), focal length (c), and the relational expressions in FIGS. 9 and 10, and image processing for converting the central projection image into the orthographic projection image is performed. It is.

FIG. 4 is an explanatory view of the tunnel face 1 converted from a central projection image to an orthographic projection image.
The converted orthographic projection image is displayed on a computer display, and the discontinuity of the tunnel face 1 and the geological boundary can be surveyed.

By the way, it is conceivable to form an orthographic projection image by forming four or more, and preferably at least nine, singular points 5 on the face 1 of the tunnel.
That is, when acquiring a more detailed and more accurate orthographic projection image, as described above, internal orientation factors such as distortion of the lens of the digital camera 6 must be taken into consideration. Therefore, in the case where four singular points 5 are provided as in the above-described embodiment, it is preferable that the distortion value of the camera lens and the deviation value of the camera lens center position are basically made clear. .

However, when the camera lens distortion value and the camera lens center position deviation value are not known, at least nine singular points 5 are provided on the face 1 of the tunnel. In the present invention, it is easy to form nine singular points 5 whose three-dimensional coordinate values are known by using the visible laser beam emitter 3.
This is because the internal orientation elements such as the distortion of the lens of the digital camera 6 can be obtained from the three-dimensional coordinate values of the nine singular points 5, that is, the values of the spatial coordinates and the values of the image coordinates. And if these nine values are understood, a more detailed and more accurate orthographic projection image can be acquired.

That is, if the values of the spatial coordinates and the image coordinates of the nine singular points 5 are introduced into the relational expression shown in FIG. 11, in addition to the rotation angle of the camera, the camera position, the focal length, 17 unknowns such as distortion coefficients can be solved.
As a result, a more detailed and more accurate orthographic projection image can be acquired.
Since more detailed and more accurate orthographic projection images can be acquired, the discontinuity and geological boundary in the tunnel face 1 can be more accurately grasped, and the discontinuity and geological boundary of the tunnel face 1 can be further increased. Accurate surveying is possible.

FIG. 7 shows a flow for briefly explaining the present invention.
First, it is determined whether the camera position and orientation of the digital camera 6 are known (step 100). Here, when the camera position and orientation of the digital camera 6 are not grasped and are not known (NO in step 100), it is determined whether or not the distortion of the camera lens is known (step 101). If the camera lens distortion or the like is known (YES in step 101), four or more singular points 5 with known spatial coordinates (X, Y) are formed on the tunnel face 1. (Step 102), the singular point 5 is imprinted and a picture is taken (Step 103).

If the camera lens distortion or the like is not known (NO in step 101), nine or nine or more singular points 5 with known spatial coordinates (X, Y) are formed on the tunnel face 1 ( In step 104), the singular point 5 is imprinted to take a picture (step 103).
Thereafter, the known spatial coordinates of each of the four or more or nine or more singular points 5 and the respective image coordinates (x, Using the value of y), the camera position, posture, etc. of the digital camera 6 are obtained analytically (step 106).

Thereafter, using the obtained values such as the camera position and orientation of the digital camera 6, orthographic image processing (ortho image creation) is performed from the central projection image of the tunnel face 1 on which the photograph was taken (step generation). 107).
Then, an accurate excavation area and the like are measured on the personal computer based on the ortho image (step 108).

When it is determined whether or not the camera position and orientation of the digital camera 6 are known (step 100), the camera position and orientation of the digital camera 6 are known in advance and the values are known. (YES in step 100) may be that the tunnel face 1 can be photographed immediately without forming the singular point 5 and without having to photograph the singular point 5. (Step 105).
Then, by using values such as the camera position and orientation of the known digital camera 6, orthographic projection image processing (ortho image creation) from the central projection image of the tunnel face 1 where the photograph was taken is performed. (Step 107), and an accurate survey of the excavation area and the like may be performed on the personal computer based on the ortho image (step 108).

As described above, according to the present invention, it is possible to save labor for forming a singular point on the site.
In addition, the discontinuity of the slope 4 of the mountain, the face of the tunnel face 1, the position of the geological boundary, etc. can be grasped accurately and clearly.

Furthermore, in the past, it was possible only by grasping numerical data, but in the present invention, an image, that is, an orthographic projection image, is used, so that it is very easy to recognize. In addition, it was possible to measure the amount of surging on the tunnel face 1.
Further, the accumulated face image (orthographic projection image) after image processing can be compared as it is, and long-term surveying and observation can be performed.

The present invention can be widely applied to geological analysis by observation and surveying of the face of a tunnel, management of surplus amount of tunnel excavation, and measurement of air displacement in a tunnel.

It is a schematic explanatory drawing (the 1) explaining schematic structure of this invention. It is a schematic explanatory drawing (the 2) explaining schematic structure of this invention. It is explanatory drawing explaining the center projection image obtained by the aspect of FIG. It is explanatory drawing explaining the state which converted the center projection image of FIG. 3 into the orthographic projection image. It is a schematic explanatory drawing (the 3) explaining schematic structure of this invention. It is a schematic explanatory drawing (the 4) explaining schematic structure of this invention. It is explanatory drawing explaining the flow of this invention. It is explanatory drawing (the 1) which shows the relational expression used by this invention. It is explanatory drawing (the 2) which shows the relational expression used by this invention. It is explanatory drawing (the 3) which shows the relational expression used by this invention. It is explanatory drawing (the 4) which shows the relational expression used by this invention.

Explanation of symbols

1 Face of tunnel 2 Visible laser light 3 Visible laser launcher 4 Slope of mountain 5 Singularity 6 Digital camera

Claims (9)

Irradiate visible light toward the surveying surface from a point where the three-dimensional coordinate value is known, and use the known three-dimensional coordinate value as a three-dimensional coordinate value at a plurality of visible light irradiation points formed by the irradiation. And get
Taking a plurality of visible light irradiation points from which the three-dimensional coordinate values were acquired, and taking a survey image as a central projection image with a digital camera,
The surveyed image of the center projection image taken is analyzed using a conversion formula from the center projection image to the orthographic projection image, and an orthographic projection image of the survey plane is obtained.
An orthographic projection image acquisition system using visible light.
Irradiate visible light with an afterimage effect toward a survey surface from a point with a known three-dimensional coordinate value, and determine the three-dimensional coordinate values at a plurality of visible light afterimage points formed by the irradiation as the known three-dimensional value. Obtained using coordinate values,
Taking a plurality of visible light afterimage points from which the three-dimensional coordinate values have been acquired, and taking a survey image as a central projection image with a digital camera,
The surveyed image of the center projection image taken is analyzed using a conversion formula from the center projection image to the orthographic projection image, and an orthographic projection image of the survey plane is obtained.
An orthographic projection image acquisition system using visible light.
Irradiate visible light toward a survey surface from a point where the three-dimensional coordinate value is known, and change the known three-dimensional coordinate value into three-dimensional coordinate values at at least four visible light irradiation points formed by the irradiation. Get it using,
Capture at least four visible light irradiation points from which the three-dimensional coordinate values were acquired, and take a survey image that is a central projection image with a digital camera,
Using the three-dimensional coordinate values at the four or more visible light irradiation points, the camera position, the camera posture, and the focal length value in the digital camera photographing, the central projection image is used for the surveyed central projection image. Analyzing using a conversion formula from an orthographic projection image to obtain an orthographic projection image of the survey surface,
An orthographic projection image acquisition system using visible light.
Irradiate visible light with an afterimage effect toward a survey surface from a point with a known three-dimensional coordinate value, and determine the three-dimensional coordinate values of at least four visible light afterimage points formed by the irradiation. Obtained using 3D coordinate values,
Taking at least four visible light afterimage points from which the three-dimensional coordinate values have been acquired, and taking a survey image as a central projection image with a digital camera,
Using the three-dimensional coordinate values at the at least four visible light afterimage points, the camera position, the camera posture, and the focal length value in the digital camera photographing, the central projection image is used for the surveyed image of the center projected image. Analyzing using a conversion formula from an orthographic projection image to obtain an orthographic projection image of the survey surface,
An orthographic projection image acquisition system using visible light.
Irradiate visible light toward a survey surface from a point where the three-dimensional coordinate value is known, and change the known three-dimensional coordinate value to three-dimensional coordinate values at at least nine visible light irradiation points formed by the irradiation. Get it using,
Taking at least nine visible light irradiation points from which the three-dimensional coordinate values were acquired, and taking a survey image as a central projection image with a digital camera,
The surveyed image of the photographed central projection image is analyzed using a conversion formula from the central projection image to the orthographic projection image, using the values of the three-dimensional coordinate values at the at least nine visible light irradiation points. , Obtaining an orthographic projection image of the survey surface,
An orthographic projection image acquisition system using visible light.
Irradiate visible light with an afterimage effect toward a survey surface from a point with a known three-dimensional coordinate value, and determine the three-dimensional coordinate values of at least nine visible light afterimage points formed by the irradiation. Obtained using 3D coordinate values,
Taking at least nine visible light afterimage points from which the three-dimensional coordinate values were acquired, and taking a survey image as a central projection image with a digital camera,
The surveyed image of the center projection image taken is analyzed using a conversion formula from the center projection image to the orthographic projection image using the values of the three-dimensional coordinate values at the at least nine visible light afterimage points. , Obtaining an orthographic projection image of the survey surface,
An orthographic projection image acquisition system using visible light having an afterimage effect characterized by the above.
The visible light is visible laser light,
An orthographic projection image acquisition system using visible light according to claim 1, claim 2, claim 3, claim 4, claim 5, or claim 6.
The survey surface exists in a large civil engineering structure,
The orthographic projection image acquisition system using visible light according to claim 1, claim 2, claim 3, claim 4, claim 5, claim 6, or claim 7.
The large civil engineering structure is a slope of a mountain, a face of a tunnel,
The orthographic projection image acquisition system using visible light according to claim 8.

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