JP2017211237A - Guiding method and image display system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To acquire a three-dimensional image for accurately guiding an object to a target position.SOLUTION: An image display system includes: a survey device including survey information output means for measuring an angle of the optical direction in which a collimating point of a survey object is collimated so as to be outputted as survey information changing means for changing the optical direction; driving means for changing the optical direction; survey information transmission means for transmitting survey information acquired by the survey information output means to a controller; and imaging means for imaging and outputting an image including a collimating point in the optical axis direction and changing an imaging magnification based on the control signal transmitted from the controller; and image synthesizing means for adjusting and generating a virtual three-dimensional image showing a position and a posture of the object arranged at a target position according to the imaging magnification with the imaging means as a collimating point. The survey device further includes the controller having communication means for transmitting the control signal for designating the imaging magnification to the survey device and display means for displaying the imaging image synthesized into the three-dimensional image transmitted from the survey device.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a technique for guiding an object to a target position.

  Patent Document 1 discloses a technique related to surveying using a surveying device having a function of transmitting a captured image. This surveying apparatus has a surveying means for measuring an angle in the optical axis direction collimating the first point to be surveyed with a predetermined direction as a reference, and outputting it as survey information, a driving means for changing the optical axis direction, and a surveying means Surveying information transmitting means for transmitting the surveying information obtained in step 4 to the fourth point is provided, and the position information is installed at known second and third points. Further, this surveying apparatus has an optical axis that maintains a predetermined relative relationship with the optical axis of the surveying means, captures an image including a collimation point at the first point, converts it into an electrical signal, and outputs it as image information Imaging means, image information transmitting means for transmitting image information obtained by the imaging means to the fourth point, receiving means for receiving the control signal transmitted from the fourth point, and surveying means based on the received control signal Control means for controlling the driving means so as to change the optical axis direction is provided. When placing a slant pile at the first point to be surveyed, images including the first point to be surveyed are picked up by the image pickup means disposed at the second and third points, respectively, and image information is output. At the same time, the first point is surveyed by the surveying means based on the second and third points, the survey information of the first point is output, and the obtained image information and survey information are converted into electric signals to transmit image information. Means and surveying information transmitting means are transmitted to the fourth point. At the fourth point, a control signal is transmitted to the surveying device at the second and third points, and a communication means for receiving image information and surveying information from the surveying device at the second and third points, and a control signal is created. A predetermined angle at which the diagonal pile should be placed in the image of the diagonal pile at the second and third points received by the communication means and the first of the second and third points that are known. Auxiliary line synthesizing means that performs correction calculation according to the sandwiching angle with respect to the point, combines and outputs it as an oblique auxiliary line, and a screen that displays an image of the diagonal pile in which auxiliary lines at the second and third points are combined A controller is provided.

Japanese Patent No. 5550853

In the above technique, the auxiliary line is only a guide for the position for guiding the object, and it is difficult to confirm that the object is guided to the position and posture determined by the design.
Therefore, the present invention provides a technique capable of acquiring a three-dimensional image for accurately guiding an object to a target position.

The present invention provides a survey information output means for measuring an angle in the optical axis direction collimating a collimation point to be surveyed with a predetermined direction as a reference, and outputting it as survey information, and a drive means for changing the optical axis direction. Surveying information transmitting means for transmitting the surveying information obtained by the surveying information output means to a remote place, and taking an image including a collimation point in the optical axis direction, converting it into an electrical signal, and outputting it as image information The surveying information includes an imaging unit that changes an imaging magnification based on a control signal transmitted from a remote location, and an image information transmission unit that transmits image information obtained by the imaging unit to the remote location. Surveying means in which the optical axis of the output means and the optical axis of the imaging means maintain a predetermined relative relationship, and three-dimensional image synthesizing means for synthesizing and outputting an arbitrary three-dimensional image on the captured image corresponding to the image information An image display system comprising .
In the above-described configuration, the three-dimensional image may be an image representing a finished shape of a construction target.
In the above-described configuration, the finished shape may be at least one of a steel pipe pile placing work, a sheet pile placing work, a jacket installation work, a caisson installation work, a steel plate cell installation work, or a creation work. .
The present invention also provides a survey information output means for measuring an angle in the optical axis direction collimating a collimation point to be surveyed with a predetermined direction as a reference, and outputting as survey information, and driving for changing the optical axis direction Means, surveying information transmitting means for transmitting the survey information obtained by the survey information output means to a remote location, and taking an image including the collimation point in the optical axis direction and converting it into an electrical signal to obtain image information An imaging means for changing the imaging magnification based on a control signal transmitted from a remote location, and an image information transmission means for transmitting image information obtained by the imaging means to the remote location, A step of obtaining a target position by a surveying means in which the optical axis of the surveying information output means and the optical axis of the imaging means maintain a predetermined relative relationship, and an arbitrary three-dimensional image is synthesized with the captured image corresponding to the image information. Step to display and the previous 3-dimensional image to provide a method of inducing and a step of inducing the object based on the captured image synthesized in the target position.

  According to the present invention, a three-dimensional image for accurately guiding an object to a target position can be acquired.

The figure which shows the surveying apparatus. The figure which shows the electrical structure of the surveying instrument. The figure which shows the controller 15. FIG. The figure which shows the mode of surveying using the surveying apparatus. The figure which shows the image displayed on the display 153. FIG. The figure which shows the example which applied this invention to the caisson installation work.

  An example for carrying out the present invention will be described. FIG. 1 is a diagram showing a surveying apparatus 10. FIG. 2 is a diagram illustrating a functional configuration of the surveying apparatus 10. FIG. 3 is a diagram showing the controller 15.

  The surveying device 10 includes a surveying device main body 1, an addition control unit 11, and a communication unit 12. The surveying instrument main body 1 includes a drive unit 2, a distance measurement unit 3, a main body control unit 4, a telescope 5, a rotary knob 6, a CCD imaging unit 8, a three-dimensional image composition unit 81, and a rotary knob drive device 9. In this example, the addition control unit 11 and the communication unit 12 are separated from the surveying device body 1, but the addition control unit 11 and the communication unit 12 may be configured integrally with the surveying device body 1. The surveying instrument main body 1 is attached to a base 101 such as a tripod via a drive unit 2. The driving unit 2 includes a rotation driving mechanism around the vertical axis and the horizontal axis, and rotates the optical axis direction of the distance measuring unit 3 in the horizontal plane and the vertical plane. The drive unit 2 outputs angle information indicating the optical axis direction of the distance measuring unit 3 to the main body control unit 4.

  The distance measuring unit 3 receives, for example, laser light or infrared light to receive reflected light from the collimation point, and from the phase difference between the irradiation light and reflected light, the distance measuring unit 3 and the collimation point Measure the distance. The distance measuring unit 3 outputs distance information indicating the measured distance to the main body control unit 4. The optical axis of the telescope 5 is adjusted to be parallel to the optical axis of the distance measuring unit 3.

  The rotary knob 6 includes a vertical knob 6a and a horizontal knob 6b. The knob 6a for rotating up and down is a knob for manually driving the rotation driving mechanism around the horizontal axis of the drive unit 2. The left / right rotating knob 6b is a knob for manually driving the rotation driving mechanism around the vertical axis of the driving unit 2. When the surveying instrument main body 1 is directly operated, an operator collimates by operating the rotary knob 6 while viewing the survey target with the telescope 5. In this case, the angle information output from the drive unit 2 and the distance information output from the distance measuring unit 3 are displayed on a display unit (not shown) such as a liquid crystal display panel provided in the surveying instrument body 1.

  The rotary knob driving device 9 is attached to the surveying instrument main body 1 when the surveying instrument main body 1 is remotely operated. The rotary knob drive device 9 includes drive gears 9a and 9b that are driven to rotate in forward and reverse directions by a motor (not shown). The knobs 6a and 6b are provided with irregularities corresponding to the teeth of the drive gears 9a and 9b, respectively. When the rotary knob drive device 9 is mounted on the surveying instrument main body 1, the drive gear 9a and the knob 6a are driven. The gear 9b is meshed with the knob 6b. The addition controller 11 outputs a control signal input from the controller 15 via the communication unit 12 to the drive gears 9a and 9b to control rotation.

  The angle information output from the drive unit 2 and the distance information output from the distance measuring unit 3 are examples of survey information according to the present invention. The drive unit 2 is an example of a survey information output unit that measures an angle in the optical axis direction that collimates a collimation point to be surveyed with a predetermined direction as a reference and outputs it as survey information. The drive unit 2 is an example of a drive unit that changes the optical axis direction.

  The CCD imaging unit 8 is an image sensor including a CCD (Charge-Coupled Device), and its optical axis is adjusted to be parallel to the optical axes of the distance measuring unit 3 and the telescope 5. The CCD imaging unit 8 captures an area including a collimation point and generates image information. The CCD imaging unit 8 has a zoom function, and the additional control unit 11 outputs a control signal input from the controller 15 via the communication unit 12 to the CCD imaging unit 8 to change the zoom magnification. The CCD imaging unit 8 outputs imaging condition information including the generated image signal, zoom magnification at the time of imaging, shutter speed, and the like to the addition control unit 11. The CCD imaging unit 8 may be configured integrally with the surveying instrument body 1 or may be configured to be attached to and detached from the surveying instrument body 1. The CCD imaging unit 8 captures an image including a collimation point in the optical axis direction, converts it into an electrical signal, outputs it as image information, and changes the imaging magnification based on a control signal transmitted from a remote place. It is an example. The surveying instrument main body 1 is an example of a surveying instrument in which the optical axis of the surveying information output unit and the optical axis of the imaging unit maintain a predetermined relative relationship.

  The three-dimensional image synthesis unit 81 generates an arbitrary three-dimensional image, and synthesizes the three-dimensional image with the captured image obtained by the CCD imaging unit 8. The three-dimensional image is a standard for determining the position and posture of the pile P. The three-dimensional image composition unit 81 is an example of a three-dimensional image composition unit that synthesizes and outputs an arbitrary three-dimensional image on a captured image corresponding to image information. A specific example of the three-dimensional image will be described later.

  The additional control unit 11 receives the image information and imaging condition information output from the CCD imaging unit 8 and the survey information (including distance information and angle information) output from the main body control unit 4 via the communication unit 12. Output to. Further, the addition control unit 11 outputs a control signal input from the controller 15 via the communication unit 12 to each unit of the surveying instrument main body 1. Specifically, the driving unit 2, the distance measuring unit 3. When a control signal for controlling the telescope 5 or the like is input, the control signal is output to the main body control unit 4 and a control signal for changing an imaging condition such as a zoom magnification of the CCD imaging unit 8 is input. If the control signal is output to the CCD image pickup unit 8, and the control signal indicating the collimation direction of the CCD image pickup unit 8 is input, the control signal is output to the rotary knob driving device 9. To do.

  The communication unit 12 is obtained from the CCD imaging unit 8 via the addition control unit 11 and the surveying information including the distance information to the collimation point and the angle information obtained through the main body control unit 4 and the addition control unit 11. A transmission function for transmitting the image information and the imaging condition information thus obtained to the controller 15 by wired communication or wireless communication is provided. In addition, the communication unit 12 has a reception function of receiving a control signal transmitted from the controller 15 and outputting the control signal to the additional control unit 11. The communication unit 12 is an example of a survey information transmission unit that transmits survey information obtained by the survey information output unit to a remote place. The communication unit 12 is an example of an image information transmission unit that transmits image information obtained by the imaging unit to a remote place.

  The controller 15 includes a communication device 151, a computer 152, a display 153, and an input device 154. The communication device 151 performs wired communication or wireless communication with the communication unit 12. The computer 152 is, for example, a notebook personal computer, and includes an arithmetic device such as a CPU (Central Processing Unit) and a storage device such as a hard disk device or a semiconductor memory, and software for remotely operating the surveying instrument main body 1. Installed. The computer 152 receives survey information, image information, imaging condition information, etc. transmitted from the surveying instrument body 1 via the communication unit 12 via the communication device 151 and stores them in the storage device, and displays these information on the display. 153 is displayed.

  The input device 154 includes a keyboard, a touch panel, a joystick, and the like, and an operator inputs a control signal for controlling each part of the surveying instrument body 1 using the input device 154. The input control signal is transmitted to the communication unit 12 via the communication device 151.

  Prior to surveying, the optical axis of the CCD image pickup unit 8 is adjusted using an adjustment target. The target for adjustment displays the camera axis at a position offset to the upper part in the vertical direction of the survey axis. First, the optical axis of the CCD image pickup unit 8 is aligned with the surveying axis aligned. This optical axis alignment is performed using a mechanical optical axis adjustment mechanism provided in the CCD image pickup unit 8. An automatic collimation function is usually used to collimate the survey axis. The collimation may be performed visually. In this way, optical axis alignment is performed so that the collimation axis and the optical axis of the CCD image pickup unit 8 are parallel, but information on the angle when the optical axis is changed as long as it is not parallel and has a certain relative relationship. Can be known relatively.

  FIG. 4 is a diagram showing a state of surveying using the surveying apparatus 10. Here, the case where the pile P is nailed in the 1st point A is demonstrated as an example. At the first point A, a driving boat is arranged. This placing ship has a function of placing piles at a specified angle. Surveying devices 10B and 10C are disposed at the second point B and the third point C, respectively. The surveying apparatuses 10B and 10C all have the same configuration as the surveying apparatus 10. A controller 15 is disposed at the fourth point D. The fourth point D is, for example, on the ship. On the display 153, an image based on the image information transmitted from the surveying apparatuses 10B and 10C is displayed. The worker guides the pile while observing the position and posture of the pile in the displayed image.

  Note that the position information of the surveying apparatuses 10B and 10C is specified by a method such as the backward crossing method, and is known at the start of the placing work. The surveying apparatuses 10B and 10C are desirably arranged at a position where the angle θ formed by the straight line connecting the second point B and the first point A and the straight line connecting the third point C and the first point A is 90 degrees.

  FIG. 5 is a diagram illustrating an image displayed on the display 153. The display 153 includes an image D2 based on the image information transmitted from the surveying device 10B (an image of the pile P imaged from the second point B) and an image D3 based on the image information transmitted from the surveying device 10C (third The image of the pile P taken from the point C) is displayed. A three-dimensional image of the pile P is combined with the images D2 and D3 by the three-dimensional image combining unit 81 of the surveying apparatuses 10B and 10C, respectively. In addition, a stadia line S passing through the center of each image in the vertical direction and the horizontal direction is displayed.

  The zoom magnification is designated using the input device 154. When the zoom magnification is not designated, a preset initial value is used. When the operator specifies the zoom magnification using the input device 154, the computer 152 generates a control signal indicating the zoom magnification, and transmits the control signal to the surveying devices 10B and 10C via the communication device 151. The transmitted control signal is input to the additional control unit 11 via the communication unit 12, and the additional control unit 11 outputs the control signal to the CCD imaging unit 8 to change the zoom magnification. The display 153 displays the zoom magnification value (magnification: x) of the displayed image. In this example, the zoom magnification is 4 times.

  The three-dimensional image of the pile P is a virtual three-dimensional image at a certain point in the construction of the pile P. In the construction of the pile P, after the pile P is built at the position and posture determined by the design, driving is started. Therefore, it is necessary to accurately guide the pile P to the position and posture determined by the design. In the present embodiment, a virtual three-dimensional image of the pile P at the completion of construction is generated based on the design value, and the generated three-dimensional image is combined with the captured image and displayed, thereby displaying the three-dimensional image. A guide for P induction.

  In the three-dimensional image composition unit 81, three-dimensional CAD (computer-aided design) data of the pile P, and three-dimensional position information indicating the installation position of the surveying device 10 and the position and posture of the pile P when the construction is completed are included. Entered. The three-dimensional position information is represented by, for example, a three-dimensional orthogonal coordinate system with the survey reference point as the origin. The three-dimensional image composition unit 81 converts the coordinates of the three-dimensional CAD data of the pile P so as to correspond to the position and posture of the pile P at the completion of the erection in the three-dimensional orthogonal coordinate system.

  The three-dimensional image composition unit 81 is programmed to generate a three-dimensional image by a perspective projection method. Specifically, with the CCD imaging unit 8 as a viewpoint, a virtual projection plane is provided between the viewpoint and the pile P, and a straight line connecting each point and the viewpoint included in the three-dimensional CAD data after coordinate conversion is projected. By obtaining the coordinates of the intersection with the surface, a three-dimensional image of the pile P with the CCD image pickup unit 8 as a viewpoint is generated. The three-dimensional image synthesis unit 81 adjusts the magnification of the three-dimensional image according to the set zoom magnification, and synthesizes it with the captured image obtained by the CCD imaging unit 8.

  In the example of FIG. 5, a three-dimensional image G of a line drawing showing the outline of the pile P is displayed. This three-dimensional image G represents the position and posture of the pile P at the time of completion of erection determined by design. This example is an example in which surveying apparatuses 10B and 10C are installed at positions where the pile P at the time of completion of construction is viewed from above. Therefore, the top surface of the pile P is visible in the images D2 and D3. In addition, the reason why the side surface of the pile P appears to sag downward from the top is because perspective is expressed by perspective projection.

  An image D2 (an image of the pile P taken from the second point B) indicates that the current position of the pile P is shifted in a direction away from the third point C with respect to the design position. An image D3 (an image of the pile P imaged from the third point C) indicates that the current position of the pile P is shifted in a direction approaching the second point B with respect to the design position. Therefore, it can be seen from the images D2 and D3 that the pile P needs to be guided in a direction approaching the third point C and away from the second point B. The operator operates the driving boat to guide the pile P in a direction approaching the third point C and in a direction away from the second point B. At this time, the display 153 displays in real time how the pile P moves. When the displayed stake P substantially overlaps the three-dimensional image G, the guidance of the stake P is temporarily stopped and the zoom magnification is increased by the input device 154. Then, the pile P and the three-dimensional image G are enlarged to the same magnification. The worker determines the direction of deviation between the current position of the pile P and the design position in the same procedure as before increasing the magnification, and restarts the guidance of the pile P. In this way, by guiding the pile P by enlarging the zoom magnification stepwise, the accuracy of guiding the pile P can be increased stepwise. Therefore, according to the present embodiment, it is possible to acquire a three-dimensional image for accurately guiding the object to the target position.

The above embodiment may be modified as follows.
<Modification 1>
In the above-described embodiment, an example in which a virtual three-dimensional image of the pile P at the completion of erection is displayed is shown, but a virtual three-dimensional image of the pile P at the completion of driving may be displayed. This three-dimensional image is an example of an image that represents the finished shape of the construction target. According to this configuration, the finished shape of the pile P can be confirmed.

<Modification 2>
You may apply this invention to construction types other than a pile driving construction. For example, the present invention may be applied to steel pipe pile placing work, sheet pile placing work, jacket installation work, caisson installation work, steel plate cell installation work, or creation work.
FIG. 6 is a diagram showing an example in which the present invention is applied to a caisson installation work. In this example, the caisson Q is guided to the first point A, and a three-dimensional image G of a line drawing showing the outline of the caisson Q is displayed on the display 153. This three-dimensional image G represents the position and orientation of the caisson Q when the guidance is completed.

<Modification 3>
The fourth point D where the controller 15 is installed may be on land. In this case, the land worker may observe the position and posture of the pile on the screen of the controller 15 and give an instruction regarding the moving direction and distance of the pile to the worker on the placing ship by wireless communication. Further, a land worker may remotely control the placing ship while observing the position and posture of the pile on the screen of the controller 15 to control the moving direction and moving distance of the pile.

<Modification 4>
In the embodiment, an example in which the surveying apparatuses 10B and 10C are operated by one controller 15 is shown. However, a controller 15B for operating the surveying apparatus 10B and a controller 15C for operating the surveying apparatus 10C are installed. May be.

<Modification 5>
The function of the 3D image composition unit 81 may be implemented by a hardware circuit, or a part or all of the function may be implemented by software.
The controller 15 may have the function of the three-dimensional image composition unit 81. That is, the present invention provides a surveying information output means for measuring an angle in the optical axis direction for collimating a collimation point to be surveyed with a predetermined direction as a reference, and outputting as surveying information, and a drive for changing the optical axis direction. Means, surveying information transmitting means for transmitting the survey information obtained by the survey information output means to a remote location, and taking an image including the collimation point in the optical axis direction and converting it into an electrical signal to obtain image information An imaging means for changing the imaging magnification based on a control signal transmitted from a remote location, and an image information transmission means for transmitting image information obtained by the imaging means to the remote location, Surveying means in which the optical axis of the surveying information output means and the optical axis of the imaging means maintain a predetermined relative relationship, and a three-dimensional image that combines and outputs an arbitrary three-dimensional image to the captured image corresponding to the image information Surveying display system comprising combining means Also it may be specified.

<Modification 6>
The present invention also provides a survey information output means for measuring an angle in the optical axis direction collimating a collimation point to be surveyed with a predetermined direction as a reference, and outputting as survey information, and driving for changing the optical axis direction Means, surveying information transmitting means for transmitting the survey information obtained by the survey information output means to a remote location, and taking an image including the collimation point in the optical axis direction and converting it into an electrical signal to obtain image information An imaging means for changing the imaging magnification based on a control signal transmitted from a remote location, and an image information transmission means for transmitting image information obtained by the imaging means to the remote location, A step of obtaining a target position by a surveying means in which the optical axis of the surveying information output means and the optical axis of the imaging means maintain a predetermined relative relationship, and an arbitrary three-dimensional image is synthesized with the captured image corresponding to the image information. Step to display and the previous 3-dimensional image can also be identified as an inductive method comprising the steps of inducing an object to the target position based on the captured image synthesized.

DESCRIPTION OF SYMBOLS 1 Surveying device main body, 2 Drive part, 3 Distance measuring part, 4 Main body control part, 5 Telescope, 6 Rotation knob, 8 CCD imaging part, 81 3D image composition part, 9 Rotation knob drive unit, 8 CCD imaging part, 10 Surveying device, 11 additional control unit, 12 communication unit, 15 controller, 151 communication device, 152 computer, 153 display, 154 input device

The present invention provides a survey information output means for measuring an angle in the optical axis direction collimating a collimation point to be surveyed with a predetermined direction as a reference, and outputting it as survey information, and a drive means for changing the optical axis direction. Surveying information transmitting means for transmitting the surveying information obtained by the surveying information output means to the controller , and taking an image including the collimation point in the optical axis direction, converting it into an electrical signal, and outputting it as image information. , the imaging and imaging means for changing the imaging magnification on the basis of a control signal transmitted from the controller, and the viewpoint of the imaging means a virtual 3-dimensional image showing the position and orientation of the deployed object to a target position An image composition unit that synthesizes the generated three-dimensional image and a captured image based on the image information obtained by the imaging unit, and is synthesized by the image composition unit. Painting The image information and image information transmitting means for transmitting to said controller, a surveying device and the optical axis is maintained a predetermined relative relationship of the optical axis and the imaging means for collimating the collimation point, worker A step of arranging so as to image the target position; a communication unit that transmits a control signal that specifies an imaging magnification to the surveying device; and a display unit that displays an image based on image information transmitted from the surveying device. on the basis of the image displayed by the controller comprising the steps of workers to guide the object to the target position, the steps of the operator specifies the imaging magnification to the controller, the surveying apparatus from the controller Generated with the imaging magnification changed based on the transmitted control signal, and based on the image displayed by the controller, an operator It provides a method of inducing and a step of further inducing the target position.
In the above configuration, the object may be at least one of a steel pipe pile placing work, a sheet pile placing work, a jacket installation work, a caisson installation work, or a steel plate cell installation work.
The present invention is also an image display system used in the above-described guidance method, measuring an angle in the optical axis direction collimating a collimation point to be surveyed with a predetermined direction as a reference, and outputting it as survey information. Surveying information output means, driving means for changing the optical axis direction, surveying information transmission means for transmitting survey information obtained by the survey information output means to a controller , and collimation points in the optical axis direction is output as image information by converting the image into an electrical signal by imaging an imaging means for changing the imaging magnification on the basis of a control signal transmitted from the controller, the position and orientation of the deployed object to a target position A virtual three-dimensional image shown is generated by adjusting the magnification according to the imaging magnification with the imaging unit as a viewpoint, and a captured image based on the generated three-dimensional image and image information obtained by the imaging unit And An image synthesizing means for forming the image of image information of the synthesized image by synthesizing means and an image information transmitting means for transmitting to said controller, the optical axis of the image pickup means and the optical axis of collimating the collimating points A surveying device that maintains a predetermined relative relationship; a communication unit that transmits a control signal that specifies an imaging magnification to the surveying device; and a display unit that displays an image based on image information transmitted from the surveying device. An image display system including the controller is provided.

<Modification 5>
The function of the 3D image composition unit 81 may be implemented by a hardware circuit, or a part or all of the function may be implemented by software.
The controller 15 may have the function of the three-dimensional image composition unit 81. That is, the present invention provides a surveying information output means for measuring an angle in the optical axis direction for collimating a collimation point to be surveyed with a predetermined direction as a reference, and outputting as surveying information, and a drive for changing the optical axis direction. Means, surveying information transmission means for transmitting the survey information obtained by the survey information output means to the controller , and taking an image including the collimation point in the optical axis direction and converting it into an electrical signal as image information and outputs, as a viewpoint image pickup means for changing the imaging magnification, the image pickup means a virtual 3-dimensional image showing the position and orientation of the deployed object to a target position on the basis of a control signal transmitted from said controller An image composition unit that synthesizes the generated three-dimensional image and a captured image based on the image information obtained by the image capturing unit; Composition A surveying apparatus the image information of the image and an image information transmitting means for transmitting to said controller, and the optical axis of the image pickup means and the optical axis of collimating the collimation point to maintain a predetermined relative relationship that, It is also specified as an image display system comprising: a communication unit that transmits a control signal designating an imaging magnification to the surveying device; and the controller that includes a display unit that displays an image based on image information transmitted from the surveying device. obtain.

<Modification 6>
The present invention also provides a survey information output means for measuring an angle in the optical axis direction collimating a collimation point to be surveyed with a predetermined direction as a reference, and outputting as survey information, and driving for changing the optical axis direction Means, surveying information transmission means for transmitting the survey information obtained by the survey information output means to the controller , and taking an image including the collimation point in the optical axis direction and converting it into an electrical signal as image information and outputs, as a viewpoint image pickup means for changing the imaging magnification, the image pickup means a virtual 3-dimensional image showing the position and orientation of the deployed object to a target position on the basis of a control signal transmitted from said controller An image composition unit that synthesizes the generated three-dimensional image and a captured image based on the image information obtained by the image capturing unit; Synthesized And the image information of the image and an image information transmitting means for transmitting to said controller, a surveying device and the optical axis is maintained a predetermined relative relationship of the imaging means and the optical axis of collimating the collimating points, work A step in which an operator arranges the target position to be imaged, a communication unit that transmits a control signal that specifies an imaging magnification to the surveying device, and a display unit that displays an image based on image information transmitted from the surveying device preparative based on the image displayed by said controller comprising the steps of workers to guide the object to the target position, the steps of the operator specifies the imaging magnification to the controller, the surveying device is the The object is generated at the imaging magnification changed based on the control signal transmitted from the controller, and the worker can select the object based on the image displayed by the controller. It may be identified as a method of inducing and a step of further guided to the target position.

Claims (4)

Surveying information output means for measuring the angle of the optical axis direction collimating the collimation point to be surveyed with reference to a predetermined direction and outputting it as surveying information, driving means for changing the optical axis direction, and the surveying information Surveying information transmitting means for transmitting the surveying information obtained by the output means to a remote location, and taking an image including the collimation point in the optical axis direction, converting it to an electrical signal and outputting it as image information, An imaging means for changing the imaging magnification based on the control signal transmitted from the image data, and an image information transmitting means for transmitting the image information obtained by the imaging means to the remote location, the light of the surveying information output means Surveying means in which an axis and the optical axis of the imaging means maintain a predetermined relative relationship;
An image display system comprising: a three-dimensional image synthesizing unit that synthesizes and outputs an arbitrary three-dimensional image with a captured image corresponding to the image information.   The image display system according to claim 1, wherein the three-dimensional image is an image representing a finished shape of a construction target.   The image display system according to claim 2, wherein the finished shape is at least one of a steel pipe pile placing work, a sheet pile placing work, a jacket installation work, a caisson installation work, a steel plate cell installation work, and a creation work. . Surveying information output means for measuring the angle of the optical axis direction collimating the collimation point to be surveyed with reference to a predetermined direction and outputting it as surveying information, driving means for changing the optical axis direction, and the surveying information Surveying information transmitting means for transmitting the surveying information obtained by the output means to a remote location, and taking an image including the collimation point in the optical axis direction, converting it to an electrical signal and outputting it as image information, An imaging means for changing the imaging magnification based on the control signal transmitted from the image data, and an image information transmitting means for transmitting the image information obtained by the imaging means to the remote location, the light of the surveying information output means Obtaining a target position by a surveying means in which an axis and an optical axis of the imaging means maintain a predetermined relative relationship;
Combining and displaying an arbitrary three-dimensional image on a captured image corresponding to the image information;
Guiding a target object to the target position based on a captured image obtained by synthesizing the three-dimensional image.