JP2022147856A - Remote surveying system using video - Google Patents

Abstract

To provide a system capable of making a survey by a predetermined operation by designating a target point on video without visiting the target point.SOLUTION: A remote surveying system A using video for surveying a target point T in a survey site includes a camera 2 for photographing a target point and a surveying device 1 for surveying a target point while being installed in a survey site, and a terminal 3 connected to them via a network N. The terminal 3 includes: setting means for setting that two-dimensional video 4 photographed by the camera 2 is located in a position separated by a preset optional distance from the camera 2 in a survey site; survey instruction means for allowing the surveying device 1 to survey a temporary survey point by issuing a survey instruction toward a target point on the two-dimensional video 4; and resetting means for resetting the two-dimensional video 4 such that the two-dimensional video 4 is located in a position separated by a distance including a temporary survey point from the camera 2 in a survey site.SELECTED DRAWING: Figure 1

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote surveying system using images, and more particularly to a remote system capable of surveying a target point without the operator having to go to the target point by using an image of a surveying site.

Surveying is carried out in various civil engineering and construction works. This is work for identifying the coordinates of points in a three-dimensional space and grasping their positional relationships.

Generally, in surveying, a surveying instrument installed at known coordinates at a survey site emits a laser beam toward a target point. This is done by calculating
In this case, since different target points are surveyed sequentially, the work is usually carried out by a pair of two workers, one is the operator who operates the surveying instrument and the other is the operator who indicates the target points. That is, both of them need to be at the survey site at the timing of surveying.

There is also a system in which a surveying instrument equipped with a sensor for detecting a prism performs surveying by detecting the prism.
In this case, the operator installs the prism at the target point of the survey site in advance, and the prism is detected and surveyed. Surveying is possible if only the surveyor is present at the surveying site.

Furthermore, a system has been developed in which a surveying instrument receives a command via a network, sets a target on a prism installed at a surveying site, and performs surveying. In this case, although it is necessary to set the prism at the target point of the survey site in advance, since the worker can perform the survey from a remote location, there is no need for any worker to be present at the survey site at the timing of the survey. .
Examples of such a system include a remote surveying system (Patent Document 1) using images of a surveying instrument using a parent surveying instrument and a child surveying instrument that communicate via a network, and a two-dimensional There is known a surveying system that uses a mark to perform surveying with the two-dimensional mark as a target (Patent Document 2).

JP 2019-174227 A Japanese Patent No. 6693616

However, in the conventional systems including Patent Document 1 and Patent Document 2, since it is necessary to install a prism or the like in advance, it is necessary for the operator to go to the target point set at the survey site. Therefore, it takes time and effort to move and install, and depending on the situation of the survey site, there are cases where going to the target point is dangerous.
Moreover, the above system cannot be used when a prism or the like cannot be installed at the target point.
Also, when conducting surveying at a site where the topography or building shape is changed, such as civil engineering or construction work, the target point is also changed, so it is not possible to install prisms in advance, and the above system should be used. can't.

The present invention was developed in response to the above problems.
That is, it is an object of the present invention to provide a system that enables surveying by specifying a target point on an image and carrying out predetermined calculations without going to the target point.

As a result of diligent studies, the present inventors set a two-dimensional image of the survey site as existing at a specific distance from the camera at the survey site, and set the target point on the two-dimensional image. It was found that the above problem can be solved by alternately performing surveying and resetting the position of the two-dimensional image. The present invention is based on this finding.

The present invention (1) is a remote surveying system using video for surveying a target point at a surveying site, comprising a camera installed at the surveying site for photographing the target point and a surveying instrument for surveying the target point; Equipped with a terminal connected to these and a network, the terminal sets the two-dimensional image captured by the camera as being at a predetermined arbitrary distance from the camera at the survey site. a survey command means for surveying the temporary survey point by issuing a survey command to the surveying instrument toward the target point on the two-dimensional image; and a resetting means for resetting as a point at a distance including the temporary survey point, and by alternately performing surveying by the surveying command means and resetting by the resetting means one or more times. The present invention relates to a remote surveying system using video for surveying a target point.

The present invention (2) resides in the remote surveying system using images according to (1) above, wherein the surveying by the surveying command means and the resetting by the resetting means are repeated 2 to 10 times.

In the present invention (3), the distance between the straight line connecting the temporary survey point and the target point in the two-dimensional image and the distance on the two-dimensional image becomes equal to or less than an arbitrary length set in advance, and the surveying and The surveying system according to (1) above repeats resetting by a resetting means.

The present invention resides in (4) a remote surveying system using images according to any one of (1) to (3) above, wherein the surveying instrument has a servo motor for changing the surveying direction of the surveying instrument.

In the present invention (5), any one of (1) to (4) above, wherein the terminal has a display section for displaying a two-dimensional image, and a target point is specified on the display section by operating the terminal. 1. A telemetry system using video according to one aspect.

In the remote surveying system using images according to the present invention, the setting means sets a two-dimensional image as if it actually exists at the survey site. Then, using this, the surveying by the surveying command means and the resetting by the resetting means are alternately performed one or more times, respectively, so that the coordinates of the target point on the two-dimensional image are changed to the target existing in the three-dimensional space. By approximating the coordinates of a point, it is possible to survey a target point in three-dimensional space. Therefore, it is possible to survey even a target point where a prism or the like cannot be installed.
In addition, there is no need to go to the target point for surveying, which saves time and effort. Furthermore, even if it is dangerous to go to the target point, it is possible to carry out surveying safely.
Also, when setting a new target point, the target point can be set by changing the position of the target point on the two-dimensional image.

In the remote surveying system using images of the present invention, the surveying by the surveying command means and the resetting by the resetting means are repeated 2 to 10 times. It is possible to improve the surveying accuracy of

In the remote surveying system using the image of the present invention, surveying by the surveying command means is performed until the distance between the straight line connecting the temporary survey point and the target point in the two-dimensional image becomes equal to or less than an arbitrary preset length. By repeating resetting by the resetting means, it is possible to improve the surveying accuracy of the target point while reducing the processing load on the terminal.
It is possible to further improve the surveying accuracy of the target point by improving the surveying accuracy by repeating the surveying command by the surveying command means and the resetting by the resetting means, and by using the temporary surveying points together.

In the surveying system of the present invention, since the surveying instrument has a servo motor for changing the surveying direction of the surveying instrument, it is possible to change the surveying direction of the surveying instrument with high accuracy.
That is, the resetting means can change the orientation of the surveying instrument with high accuracy so that the surveying instrument faces the target point even when the position of the two-dimensional image is changed.

In the remote surveying system using images of the present invention, the terminal has a display unit for displaying a two-dimensional image, and by operating the terminal, a target point can be specified on the display unit. A person can survey the target point while visually confirming the target point.

FIG. 1 is a conceptual diagram showing a telemetry system using video. FIG. 2 is a schematic diagram showing a remote surveying system using video. FIG. 3 is a flow chart showing a surveying procedure using a remote surveying system using video. FIG. 4 is a schematic diagram showing the surveying of temporary survey points. FIG. 5 is a schematic diagram showing multiple resetting of virtual frames. FIG. 6 is a schematic diagram showing another example of surveying by a remote surveying system using video. FIG. 7 is a schematic diagram showing another example of surveying by a remote surveying system using video. FIG. 8 is a schematic diagram showing an example of surveying by a remote surveying system using video.

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of the present invention will now be described in detail with reference to the drawings as necessary.
In the drawings, the same elements are denoted by the same reference numerals, and overlapping descriptions are omitted.
In addition, unless otherwise specified, positional relationships such as up, down, left, and right are based on the positional relationships shown in the drawings. Furthermore, the dimensional ratios of the drawings are not limited to the illustrated ratios.

FIG. 1 is a conceptual diagram showing a telemetry system A using video.
A remote surveying system A using video (hereinafter simply referred to as “remote surveying system A”) includes a surveying instrument 1 and a camera 2 installed at a surveying site such as civil engineering or construction work, and a terminal 3 . A surveying instrument 1, a camera 2 and a terminal 3 are connected via a network N such as the Internet.
The remote surveying system A of the present invention is a system capable of surveying an arbitrary target point at a surveying site.
Therefore, the camera 2 is installed at the survey site so that the target point is within the photographing range.

In the following, the horizontal direction in the vertical plane including the photographing direction of the camera 2 at the survey site is the y-axis (the front-rear direction in the photographing direction of the camera 2), and the horizontal direction perpendicular to the y-axis is the x-axis (the photographing direction of the camera 2). ), and the vertical direction as the z-axis (vertical direction in the photographing direction of the camera 2).
One point in the space at the survey site is represented by xyz coordinates, and surveying can be rephrased as the task of obtaining the xyz coordinates of the target point when the surveying instrument 1 is the origin.
In the following, the xyz coordinates in the figures are respectively described as (X, Y, Z).

FIG. 2 is a schematic diagram showing the remote surveying system A. As shown in FIG.
The surveying instrument 1 is installed at arbitrary coordinates ((0, 0, 0) in FIG. 2) that have been surveyed in advance at the surveying site. The surveying instrument 1 performs surveying by measuring the angle and distance between the coordinates and the target point. The surveying instrument 1 has surveying means 12 for transmitting and receiving laser light for surveying, and driving means 11 for changing the surveying direction. A motor is preferably used as the driving means 11 .
Since the surveying instrument 1 has a motor, even if there is no operator at the surveying site, the surveying direction of the surveying instrument 1 can be changed to survey an arbitrary target point within the photographing range of the camera 2. becomes possible.
Further, by adopting the servo motor 11 among the motors, it becomes possible to change the surveying direction of the surveying instrument 1 with high accuracy, and it is possible to improve the accuracy of surveying.

The camera 2 is a video camera 2 capable of photographing the survey site including the target point. Here, the camera 2 photographs a three-dimensional landform L or the like.
On the other hand, the image captured by the camera 2 is a two-dimensional image 4 . The two-dimensional image 4 is transmitted to the terminal 3 via the network N and displayed on the display unit 31 of the terminal 3 .
The camera 2 is installed at a high place so as to photograph the obliquely downward direction so that the ground can be seen at the survey site.
That is, the two-dimensional image 4 is an image obtained by photographing an obliquely downward direction including the target point T. As shown in FIG.

A known personal computer, smart phone, or tablet can be suitably used for the terminal 3 . The terminal 3 has a setting means 3a, a survey command means 3b, a resetting means 3c, a display section 31 for displaying the two-dimensional image 4 captured by the camera 2, and an input means, which will be described later.
For example, when the terminal 3 is a personal computer, a CPU corresponds to the setting means 3a, the survey command means 3b, and the resetting means 3c. A monitor corresponds to the display unit 31 .
A keyboard and a mouse correspond to input means. These details are described below with reference to FIG.

Next, surveying using the remote surveying system A of the present invention will be described.
FIG. 3 is a flow chart showing a surveying procedure using the remote surveying system A. As shown in FIG.
As shown in FIG. 3, the camera 2 first captures a two-dimensional image 4 . At this time, the two-dimensional image 4 captured by the camera 2 via the network N is displayed on the display unit 31 of the terminal 3 as described above. Since photography and display are performed at the same time, the two-dimensional image 4 is the latest state of the survey site.
Here, the target point T is one point that is a survey target at the survey site. Surveying can be said to be obtaining the coordinates of the one point. The target point T is set using the image of the survey site displayed on the display unit 31 . As a result, in the remote survey system A, a target point on the image (hereinafter referred to as "image target point") corresponding to the target point T of the survey site (hereinafter referred to as "site target point") is set.

Next, a target point T is set in the two-dimensional image 4 . Specifically, the image target point is set by the user operating the input means of the terminal 3 . For example, if the terminal 3 is a personal computer, by clicking (designating) an arbitrary point on the two-dimensional image 4 displayed on the monitor, the point is set as the image target point. The two-dimensional image is rectangular, and the setting specifies the relative xy (horizontal and vertical) coordinates of the image target point with respect to the entire two-dimensional image 4 . Therefore, in the remote surveying system A, the user can survey the site target point T while visually confirming the image target point corresponding to the site target point T. FIG.
Incidentally, in construction sites such as civil engineering and construction, the position to be the target point T is usually specified in advance, but by setting the video target point described above, any site target point can be set to the target point T It is possible to measure as

FIG. 4 is a schematic diagram showing the surveying of temporary survey points.
FIG. 5 is a schematic diagram showing multiple resetting of virtual frames.

For convenience of explanation, FIGS. 4 to 8 show the case where the camera 2 is installed so that the photographing direction is horizontal.
In this case, the depth in the shooting direction matches the y-coordinate.
Moreover, the vertical and horizontal directions of the two-dimensional image 4 coincide with the z-axis direction and the x-axis direction, respectively.
In this case, the setting by the setting means 3a sets the y-coordinate of the two-dimensional image 4 to a constant value.

As shown in FIGS. 4 and 5, since the camera 2 captures images radially, its capturing range (angle of view) can capture a wider range as the distance increases. As described above, the image obtained by capturing the three-dimensional landform L or the like by the camera 2 becomes the two-dimensional image 4 .
Note that the two-dimensional image 4 is rectangular. This two-dimensional image 4 is processed as if it exists perpendicularly to the shooting direction within the shooting range of the camera 2 by abstracting the depth of the original three-dimensional terrain L, etc. (shooting object). .

Here, as described above, the camera 2 is installed so that the photographing direction is obliquely downward. Therefore, the imaging direction of the camera 2 is represented by the yz axis. Since the captured two-dimensional image 4 is a plane orthogonal to the shooting direction, its vertical axis is represented by yz coordinates, and its horizontal axis is represented by x coordinates.
By specifying the distance of the two-dimensional image 4 from the camera 2 by the setting means 3a, the vertical axis of the two-dimensional image 4 can be represented by the linear function fz(y) of yz.
Note that the horizontal axis of the two-dimensional image 4 coincides with the x-axis.
As a result, the vertical and horizontal coordinates in the two-dimensional image 4 can be expressed as (fz(y), X).
Therefore, it is possible to specify the image target point in the two-dimensional image 4 as coordinates at the survey site.

From this, it becomes possible to transform the coordinates (fz(y), X) of a specific point in the two-dimensional image 4 into the coordinates (X, Y, Z) of a point corresponding to the point in question on the survey site. .
When the image target point is set in the terminal 3, the setting means 3a of the terminal 3 sets the two-dimensional image 4 as being at a position a predetermined distance away from the camera 2 at the survey site. do.
That is, the setting by the setting means 3a is to set the function fz(y) at the coordinates.

Returning to FIG. 3, the setting means 3a sets the distance of the two-dimensional image 4 from the camera 2 (the y-coordinate in this embodiment) to an arbitrary value so that each Pixel coordinates are identified.
That is, when the y-coordinate is set to Y1, the upper end of the two-dimensional image 4 coincides with the upper end of the shooting range at a position Y1 (m) away from the camera 2, and the z-coordinate can be specified. Since the two-dimensional image 4 is rectangular, the z-coordinate of the lower end of the two-dimensional image 4 and the x-coordinate of the left and right ends of the two-dimensional image 4 can be similarly specified. The xz coordinates can also be specified for points other than the edges in the dimensional image 4 .

Here, the two-dimensional image 4 whose xyz coordinates are specified is called a virtual frame 5 .
As described above, the photographing range (angle of view) of the camera 2 is constant, and as shown in FIG. It is specified as coordinates in the field space (X _Ta , Y _Ta =Y1, Z _Ta in FIG. 4).

Next, the surveying command means 3b of the terminal 3 issues a surveying command to the surveying instrument 1 so as to conduct surveying with the image target point Ta on the set virtual frame 5 as a target.
When the surveying instrument 1 receives the surveying command, the driving means 11 changes the orientation of the surveying means 12 so that it faces the image target point Ta on the virtual frame. After the orientation is changed, the surveying means 12 emits laser light to perform surveying.
Here, as shown in FIGS. 4 and 5, the virtual frame 5 is a conceptual entity set by the setting means 3a. Therefore, the laser beam emitted toward the image target point by the surveying means 12 passes through the image target point on the virtual frame 5 and travels straight until it collides with an object (terrain L, etc.) at the survey site and is reflected.
Then, the point where the laser beam is reflected is obtained as a survey result. The obtained point is called a temporary survey point T1. The surveying instrument 1 obtains the XYZ coordinates (X _T1 , Y _T1 , Z _T1 in FIG. 4) of this temporary survey point T1 as a survey result.

Returning to FIG. 3, after the provisional survey points are obtained, the resetting means 3c resets the distance between the camera and the virtual frame so that the provisional survey point T1 is included on the plane including the virtual frame.
That is, in this embodiment in which the shooting direction of the camera 2 is horizontal, the resetting means 3c of the terminal 3 resets the virtual frame so that the y-coordinate of the temporary survey point coincides with the y-coordinate of the virtual frame.
As a result, the reset target point Tb on the virtual frame 5a is specified on the xyz coordinates at the survey site (see FIGS. 4 and 5).
Incidentally, even if the photographing direction of the camera 2 is not horizontal, the resetting means 3c resets the distance between the camera and the virtual frame so that the provisional survey point T1 is included in the plane containing the virtual frame. is. In this case, a linear function f'z(y) representing the vertical axis of the new virtual frame 5a is calculated.

When the virtual frame is reset, the surveying command means 3b again issues a surveying command to the surveying instrument 1, and the surveying instrument 1 performs surveying with the image target point Tb on the virtual frame 5a as the target.
Also in this case, what is obtained as a survey result is the coordinates of the point (provisional survey point T2) where the laser beam is reflected after passing through the virtual frame 5a.

By alternately repeating the surveying by the surveying command means 3b and the resetting by the resetting means 3c one or more times, the surveying accuracy of the target point T is improved.
The surveying by the survey commanding means 3b and the resetting by the resetting means 3c are performed in about 5 to 7 seconds each time.

The repetition of surveying by the surveying command means 3b and resetting by the resetting means 3c will be described in detail with reference to FIG.
In FIG. 5, the virtual frame 5 is set at a position Y1 (m) away from the camera 2 by the setting means 3a.
That is, the y-coordinate of the image target point Ta on the virtual frame 5 and the virtual frame is Y1. By setting the virtual frame 5, the xz coordinates of the target point Ta on the virtual frame are also specified, and Ta is expressed as (X _Ta , Y _Ta =Y1, Z _Ta ).
As described above, when the surveying instrument 1 performs surveying toward the image target point Ta on the virtual frame, the coordinates (X _T1 , Y _T1 , Z _T1 ) of the temporary surveying point T1 are obtained. Based on this, the resetting means 3c resets the new virtual frame 5a using YT1, which is the y-coordinate of the obtained temporary survey point _T1 , as the y-coordinate. Thereby, the target point Tb on the new virtual frame 5a is specified.
In FIG. 5, the coordinates of the image target point Tb on the new virtual frame are (X _Tb , Y _Tb =Y _T1 , Z _Tb ).
Incidentally, since the photographing range of the camera 2 extends radially, when the virtual frame is reset and the distance from the virtual frame and the camera 2 changes, the size of the virtual frame changes. Therefore, even if the image target points are the same, the xz coordinates of the image target point Ta on the previously set virtual frame and the image target point Tb on the new virtual frame are different.

When a new virtual frame 5a is set and a video target point Tb on the new virtual frame 5a is specified, the surveying command means 3b instructs surveying toward the video target point Tb on the specified virtual frame. , a surveying command is issued to the surveying instrument 1 . As a result, the surveying instrument 1 obtains the coordinates (X _T2 , Y _T2 , Z _T2 ) of the second temporary survey point T2.

Thereafter, by sequentially repeating this, new virtual frames 5b and 5c are set, and the coordinates of the image target points Tb and Tc and the temporary survey points T3 and T4 on these virtual frames are obtained. By repeating this process, it is possible to improve the accuracy of the survey by reducing the error, that is, the distance between the field target point T and the survey result, as will be described later.

The surveying by the surveying command means 3b and the resetting of the virtual frame by the resetting means 3c are alternately repeated one or more times, and the coordinates of the temporary surveying point (T4 in FIG. 5) when the error becomes sufficiently small are set on the site. Let it be the coordinates of the target point T.

Here, the surveying by the surveying command means 3b and the resetting by the resetting means 3c may be repeated a predetermined number of times. By setting the predetermined number of times to 2 to 10, the survey accuracy of the site target point is improved. If this is less than 2 times, the error between the actual site target and the surveyed target will be large compared to the above range.
Further, if the number of times exceeds 10, the communication load increases compared to the above range, and it takes a long time to survey the site target point.

FIG. 6 is a schematic diagram showing another example of surveying by the remote surveying system A. In FIG.
Further, the surveying accuracy of the remote surveying system A is maintained until the distance S on the two-dimensional image 4 from the straight line connecting the provisional survey point and the image target point in the two-dimensional image becomes equal to or less than a certain value. can also be improved by repeating the resetting of and the survey command by the survey command means 3b. An embodiment of surveying by the remote surveying system A using the distance S will be described below.

FIG. 7 is a schematic diagram showing another example of surveying by the remote surveying system A. In FIG.
When surveying using the distance S, at the survey site, the origin (coordinates (0, 0, 0) of the survey instrument 1 in the embodiment) and two surveyed first points P (Xp, Yp, Zp) and a surveyed second point Q(Xq, Yq, Zq) is required. The coordinates of the surveyed points P and Q are specified at the survey site, and the coordinates of the surveyed points P' and Q' on the two-dimensional image 4 are also specified.
First, an image target point is set in the two-dimensional image 4 . At this time, of the two surveyed points P and Q, the one closest to the image target point on the two-dimensional image 4 (second surveyed point Q in FIG. 6) is specified. If the two-dimensional image distances between the two and the image target point are exactly the same, either one may be selected.
The setting means 3a sets the virtual frame 5 so as to include the surveyed second point Q specified above. At this time, the virtual frame 5 is set perpendicular to a straight line connecting the camera 2 and the second point Q that has been surveyed.

By setting the virtual frame 5, the image target point Ta on the virtual frame 5 is specified as in the above-described embodiment. The surveying command means 3b performs surveying toward the image target point Ta, and specifies the coordinates of the temporary surveying point T1. The resetting means 3 sets a new virtual frame 5a so as to include the temporary survey point T1. At this time, the new virtual frame 5a is provided on a plane parallel to the virtual frame 5 set immediately before. That is, the new virtual frame 5a is provided perpendicular to the straight line connecting the camera 2 and the point Q that has been surveyed.

When a new virtual frame 5a is set, the coordinates (three-dimensional) in the survey site and the coordinates (2 dimensions) are specified.
At this time, the provisional survey point T1 is included in the virtual frame 5a even though it is a point that actually exists, and the (that is, two-dimensional) coordinates on the virtual frame 5a can be specified.
The distance S between the two-dimensional coordinates of the provisional survey point T1 thus obtained and the image target point Tb of the virtual frame 5a can be calculated on the virtual frame 5a.
At this time, since the calculation of the distance S is performed on the two-dimensional image 4 (virtual frame 5a), the distance S is calculated in units of pixels.

If the distance S thus obtained is less than or equal to a certain value (for example, 3 pixels), the obtained three-dimensional coordinates of the temporary survey point are used as the three-dimensional coordinates of the site target point.
If the distance S exceeds the predetermined value, the surveying command means 3b performs the survey again and the resetting means 3c resets the virtual frame to calculate the distance S. This is repeated until the distance S becomes equal to or less than a predetermined value.

The calculation of the distance S is performed on a virtual frame set at the survey site. Therefore, by repeating the surveying by the surveying command means 3b and the resetting by the resetting means 3c until the distance S becomes equal to or less than a certain value, the surveying accuracy of the site target point T can be reliably improved.

Improvement of surveying accuracy by specifying the number of repetitions of surveying by the surveying command means 3b and resetting by the resetting means 3c, and a two-dimensional image 4 of a straight line connecting the temporary surveying point and the target point from the surveying instrument 1. Either one or both of them may be used to improve the surveying accuracy by the length of the distance S. The combined use of both will improve the surveying accuracy.

In the remote surveying system A of the present invention, with these configurations, it is possible to survey any target point within the photographing range of the camera 2 by operating the terminal 3 installed away from the survey site.
That is, there is no need to go to the survey site at the timing of surveying.
Further, even when the camera 2 and the surveying instrument 1 are installed at the survey site in advance, there is no need for the operator to go to the position of the target point T on the site.
Moreover, even if there is a change in the topography L or the like of the survey site, it is possible to carry out the survey each time.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above embodiments.

FIG. 8 is a schematic diagram showing an example of surveying by the remote surveying system A. As shown in FIG.
In the present embodiment, the virtual frame and the temporary survey point are closer to the camera 2 than the site target point T, but the virtual frame or the temporary survey point is farther from the camera 2 than the site target point T. There may be a case where it is at the position, or a case where it moves back and forth with respect to the site target point T while repeating the resetting by the resetting means 3c and the surveying by the surveying commanding means 3b.
Even in these cases, the target point T can be surveyed by using the remote surveying system A of the present invention as shown in FIG.

As shown in FIG. 8, when the virtual frame 5 or the temporary survey point T1 is farther from the camera 2 than the actual site target point T, that is, the image target point Ta on the virtual frame 5 is located inside the terrain L. Even in such a case, the virtual frame 5 is a conceptual existence, so there is no problem, and the surveying instrument 1 can survey toward the image target point Ta on the virtual frame 5 .
In this case, when the surveying instrument 1 performs surveying, a temporary surveying point T1 closer to the camera 2 side than the virtual frame 5 is obtained as a surveying result.
By repeating the surveying by the surveying command means 3b and the resetting of the virtual frame by the resetting means 3c, the surveying accuracy is improved in the same way as when the temporary surveying point is closer to the camera 2 than the target point. be.

In this embodiment, the camera 2 photographs the survey site and displays the photographed image on the terminal 3 at all times and simultaneously. The images to be displayed and the images to be set as virtual frames may have been taken in the past at the survey site.

In this embodiment, the two-dimensional image 4 captured by the camera 2 is rectangular. It is possible.

In the present embodiment, when the virtual frame 5 is reset by the resetting means 3c, the reference provisional survey points T1, T2, . Due to the relationship with the angle of view of the camera 2, there may be a case where the reference provisional survey point is not included in the newly set virtual frame.
Even in this case, it is possible to calculate the coordinates of the target point on the virtual frame, and it is possible to apply the remote surveying system A of the present invention without any problem.
Incidentally, in this case, a plane including the virtual frame (a plane obtained by extending the virtual frame) includes the provisional survey points that serve as the reference.

In this embodiment, the shooting direction of the camera 2 is obliquely downward or horizontal, but it is not limited to this as long as the site target point T is within the shooting range.

In the present embodiment, the two-dimensional image 4 immediately uses the image captured by the camera 2. However, if there is no change in the terrain L or the like, even if it is an image captured in the past or a still image, good.

The remote surveying system A using images according to the present invention does not require the installation of a prism or the like for indicating a target point in advance, and can remotely survey an arbitrary location as a target point.

A: Remote surveying system using video N: Network 1: Surveying instrument 11: Servo motor (driving means)
12...Surveying means 2...Camera 3...Terminal 31...Display means 3a...Setting means 3b...Surveying command means 3c...Resetting means 4...Two-dimensional image 5, 5a, 5b, 5c ... virtual frames (two-dimensional images)
T: target point (site target point)
Ta, Tb, Tc, Td... Video target points on the virtual frame T1, T2, T3... Temporary survey points P, Q... Surveyed points P', Q'... Two-dimensional images Surveyed points above S: Distance L: Terrain

Claims (5)

A remote surveying system using video for surveying a target point at a surveying site,
a camera installed at the survey site for photographing the target point, a surveying instrument for surveying the target point, and a terminal connected to them via a network;
with
setting means for setting the two-dimensional image captured by the camera as being located at a predetermined arbitrary distance from the camera at the survey site;
surveying command means for surveying a temporary surveying point by issuing a surveying command to the surveying instrument toward the target point on the two-dimensional image;
resetting means for resetting the two-dimensional image so that the two-dimensional image is located at a distance including the temporary survey point from the camera at the survey site;
has
A remote surveying system using video for surveying the target point by alternately performing surveying by the surveying command means and resetting by the resetting means one or more times. 2. The remote surveying system using images according to claim 1, wherein the surveying by said survey commanding means and the resetting by said resetting means are repeated 2 to 10 times. Surveying and resetting by the survey command means until the distance on the two-dimensional image from the straight line connecting the temporary survey point and the target point in the two-dimensional image becomes equal to or less than a predetermined arbitrary length. 2. The surveying system according to claim 1, wherein resetting by means is repeated. 4. The remote surveying system using images according to any one of claims 1 to 3, wherein said surveying instrument has a servo motor for changing the surveying direction of said surveying instrument. The terminal has a display unit that displays the two-dimensional image,
5. The telemetry system using images according to any one of claims 1 to 4, wherein the target point is specified on the display unit by operating the terminal.

Images