JP3344902B2 - Remote operation support image system for construction mobile - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote operation support image system for a construction mobile object, and more particularly to a stereo operation by superimposing a stereo operation image of a construction area by an image pickup device and a stereo guide image of the construction area by a three-dimensional graphic. The present invention relates to an image system for creating a support image.

[0002]

2. Description of the Related Art When performing construction in an area where people are restricted or an area where there is danger to humans, construction machines such as bulldozers, power shovels and dump trucks (hereinafter referred to as construction moving bodies) which can be remotely operated. ) Is performed remotely. For example, in areas where volcanic activity has been damaged and volcanic activity continues, such as around Unzen Fugendake, disaster prevention measures such as dam construction are being implemented by remote construction.

FIG. 5 shows an example of such a remote construction. Referring to FIG. 1, an image pickup device 5 and an image transmitter 6 are attached to a plurality of construction moving bodies 2 driven in a construction area 1, respectively, and an image of the imaging machine 5 (hereinafter, referred to as a moving body image) is remote. The image data is transmitted to the image receiver 10 in the operation room 3, and the operator in the operation room 3 remotely controls the construction moving body 2 based on the moving body image. An example of the imaging device 5, a pair of left and right binocular vision stereoscopic image made from a fixed pair of imaging device 5 _L and 5 _R stereo system on construction for mobile 2 outputs (hereinafter, referred to as stereo image.) Things. Further, in FIG. 1, a photographing moving body 13 to which the image pickup device 4 and the image transmitter 7 are attached is arranged in the construction area 1, and an image of the image pickup device 4 (hereinafter, referred to as a monitoring image).
Is also transmitted to the operation room 3 and used for remote control of the construction moving body 2 and monitoring of the construction state in the construction area 1. A stereo image is also used as the monitoring image. Each mobile unit 2, 13
Is equipped with a coordinate measuring means 22 by a satellite navigation system (hereinafter referred to as GPS), and the positions of the moving bodies 2 and 13 in the construction area 1 are grasped in the operation room 3 based on the measured coordinates of the coordinate measuring means 22. are doing. In the figure, reference numeral 11 denotes a data transmission tower, and reference numeral 12 denotes a survey helicopter.

[0004] However, in remote construction, it is difficult to install indices such as ropes (hereinafter referred to as swords) used to indicate a design shape or the like in general construction, and thus work is difficult as compared to construction using swords. There is a problem that the efficiency is lowered and the construction quality tends to be inferior. In order to solve this problem, the present inventors have applied a stereo design image of a three-dimensional computer graphic instead of a drawing on the moving object image or the monitoring image (hereinafter, both are collectively referred to as a stereo operation image). An image system for remote construction that is superimposed and made into a stereo support image was developed and disclosed in Japanese Patent Application No. 7-267549. Hereinafter, the image system will be briefly described with reference to FIGS.

FIG. 6 shows the configuration of the image system.
Stereo operation image I of target 1a_w(A pair of left and right operation images I_wL
And I_wRConsists of same as below. ) With the viewpoint V, the optical axis O and the image
Imager pair 5 (a pair of left and right imagers 5) given in accordance with the angle W_L
And 5_RConsists of same as below. ), A point designed at a certain coordinate
Stereo Design Image I_e(A pair of left and right design images I_eLAnd I_eR
Consists of same as below. ) According to viewpoint, optical axis and angle of view
The three-dimensional graphic means 30 to be created and the stereo operation
Image I_wAnd stereo design image I_eSuperimposing means 36 for superimposing
Is provided. Stereo Design Image I_eThe base of
The point designed as a target '' means, for example, the excavation position of
A point on the tongue indicating the cut / embankment position, slope, etc. or on the design drawing
Is a group of points. The graphic means 30 of FIG.
Storage means 31 for storing the coordinates of the selected point, and based on the coordinates.
Left and right graphic image I_kL, I_kRCreate graphics
Lock making device 32_L, 32_RAnd the graphic creation device 32_L, 3
Two_RFrom the synchronization signal S_kL, S_kRAnd input the stereo sync signal S_e
Synchronizer 33 that outputs_kL, I
_kRAnd stereo synchronization signal S_eLeft and right design image I_eL, I _eR
Create image converter 34_L, 34_RAnd Also in the figure
The superimposing means 36 includes a superimposing synchronizing means 37 and an image synthesizing means 38.
I do.

In use, as shown in FIG. 7, an initial stereo operation image I _w1 (I _w1L and I _w1R ) of the _optotype 8a at a known coordinate P in the visual field of the imaging device pair 5 is used by the imaging device pair 5 as an initial viewpoint. V ₁ , the initial optical axis O _1, and a fixed angle of view W _w
Initial stereo design images I _e1 (I _e1L and I
The _E1R) by the graphic means 30 created in the initial viewpoint V ₁ and the initial optical axis O ₁ and any angle W _x, the initial stereo operation image I _w1 and the initial stereo design image I _e1 in the same direction in superposition means 36 superimposed, to match the image of the corresponding optotype 8a of the initial stereo operation image I _w1 and the initial stereo design image I _e1 which is the superimposed by changing any angle W _x graphic means 30, matching the time of the graphic unit 30 any angle of view W imaging device corresponding angle of the _x W _e
And The viewpoint V and the optical axis O of the imaging device pair 5 are measured, for example, by the coordinate measuring means 22 and the attitude measuring means 23 on the construction moving body 2, and the graphics of the operation room 3 are transmitted via the wireless transmitting device 24 and the wireless receiving device 26. It is transmitted to the means 30 (see FIG. 6).

[0007] Thereafter, as shown in FIG. 8, construction stereo operation image of the target 1a I _w (I _wL and I _wR) predetermined viewpoint by the image pickup machine-to 5 V _i with a predetermined optical axis O _i constant angle W _w taken with a stereo design image I _e (I _eL and I _eR) predetermined viewpoint V _i with a predetermined optical axis O _i and the imaging unit corresponding angle by the graphic means 30 the construction target 1a
Created in the W _e, consists of a stereo operation image I _w stereo design image I _e by superimposing the to the stereo support image I _t (a pair of right and left support image I _tL and I _tR construction target 1a by superposing means 36.
same as below. ) To create. Enter the stereo support image I _t to the stereoscopic image generating apparatus 42, for example, a display 14 in time-division display while alternately switched at a high speed of about 1/120 sec. Operator of the operating chamber 3 via the liquid crystal shutter glasses 16 left and right eyes are alternately closed in synchronization with the image switching of the stereoscopic image generation apparatus 42 for observing the stereoscopic assistant image I _t on the display 14 it allows the remote operation while stereoscopic stereo-assisted image I _t. In the remote installation using an image system, for example, as shown in FIG. 8, since Zhang Zhang perform the work while the three-dimensional observation of the stereoscopic assistant image I _t which is displayed, the work efficiency along with an indication of the work can be obtained Improvement can be expected.

[0008]

In remote construction as shown in FIG. 5, for example, the construction moving body 2 falls down from the embankment or the like in the construction area 1 (see FIG. 1) due to an operation error or the like. It is necessary to avoid departure from a predetermined work area in the construction area 1 (hereinafter, referred to as a deviation from the work area collectively).
This is because remote construction in which the construction area 1 is unmanned makes it difficult to recover the construction moving body 2 that has deviated, and deviation from the planned work area may cause a problem in construction management. In the above Japanese Patent Application 7-267549 Patent imaging system, if provided superimposed stereo support image I _t of a graphic image indicating the working area of the construction for mobile 2 as a guidance point and operation image I _w is,
The operator can remotely control the work area while checking the work area, thereby contributing to preventing the construction moving body 2 from deviating from the work area.

However, in actual remote construction, since the topography of the construction area 1 changes according to the progress of the construction, the work area of the construction moving body 2 must be changed accordingly. For example, in the case where the construction moving body 2 is prevented from falling from the embankment or the like in the construction area 1 (see FIG. 1), the shape of the embankment or the like is not constant, and the work of the construction moving body 2 is performed according to the shape. The area is determined. Therefore, it is difficult to create an image showing the work area in the construction area 1 as a guide point based on fixed coordinates such as “designed points” stored in the storage means 31 of the graphic means 30 in FIG. The coordinates of the guide point must be changed according to the change in the topography and the like of the construction area 1. FIG.
In the conventional image system to 8, it is difficult to change in accordance with the graphic image to be superimposed on the operation image I _w terrain like construction zone 1.

[0010] Therefore, the object of the present invention is to determine the position according to the progress.
It is an object of the present invention to provide a stereoscopic operation support image system that superimposes and displays a work area in which changes occur .

[0011]

Referring to the embodiment of FIGS. 1 and 4, a remote control assisting image system for a construction moving object according to the present invention comprises a construction moving object 2 driven by remote control and the movement. A stereo operation image I _w (a pair of left and right operation images I _wL) of a predetermined angle of view W at the viewpoint V and the optical axis O facing the construction area 1 of the body 2
I _wR ) mobile imaging device pair 4 (left and right imaging device 4
_{Consists of L} and _4R . same as below. ) ; Viewpoint V of imager pair 4
Measuring means 20 and 23 for measuring the optical axis O ; means for storing the size of a plate-like guide point group indicating the work area in the construction area 1 ;
_Teleo operation image pair I _wL , I _wR for each frame
A frame memory 47 _L, 47 _R of the frame memory pair 47 _L, 4
7 Secondary of the indicated position on each of the images I _wL , I _{wR in R}
A coordinate detecting means 48 for detecting the original coordinates T ₀ , and a pair of stereo-operated image pairs I _wL and I _wR for an arbitrary point in the construction area 1 between a two-dimensional coordinate pair of an image on the I _wR and a three-dimensional coordinate of the arbitrary point Conversion parameters
And a 50, the image pair of the frame memory pair in 47 _L, 47 _R
The three-dimensional coordinates T of the position of the guide point group are calculated by a stereo image measurement method from the two-dimensional coordinate pair T ₀ , T ₀ and the conversion parameter 50 input as the position of the guide point group on I _wL and I _wR. Guide point input means 44 ; a predetermined image is formed at the viewpoint V and the optical axis O measured by the measuring means 20 and 23 based on the three-dimensional coordinates T of the calculated position of the guide point group and the size of the stored guide point group. corner W of stereo guide image I _g (a pair of left and right guide image I _gL and I
_{Consists of gR} . same as below. ) To create a three-dimensional graphics unit 30; and stereo operation image I _w stereo guide image I _g and the working zone explicit stereo operation supporting image I _s (left and right pair of operation supporting images I _sL by superimposition of the I _sR , The same applies hereinafter).

[0012] viewpoint V of the imaging device pair 4, consists of the photographing position of the left imaging device 4 _L and (expressed as V _L.) Right imaging unit 4 _R imaging position of the (expressed as V _R.) And. The optical axis O of the imaging device 4, the left imaging unit 4 _L photographing direction and the rolling angle (collectively both expressed as O _L.)
If, consisting photographing direction and a rolling angle of the right imaging unit 4 _R (collectively both expressed as O _R.). Predetermined angle W of the image pickup device 4 to a common angle W to the 4 _R left imaging unit 4 _L and the right imaging device.

[0013] Referring to FIG. 4, the viewpoint V three-dimensional graphics unit 30 is composed of a right-viewpoint coordinate V _R for the left viewpoint coordinate V _L and the right guide image I _gR for the left guide image I _gL. The optical axis of the three-dimensional graphics unit 30 comprises an optical axis direction and the rolling angle O _L for the left guide image I _gL, the optical axis direction with respect to the right guide image I _gR and a rolling angle O _R. The angle of view of the three-dimensional graphic means 30 is the left guide image I _gL
And the right guide image _IgR .

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIGS. 1, 3 (a) and 4 show an embodiment in which the present invention is applied to a remote construction of a construction moving body 2 driven on an embankment in a construction area 1. FIG. Imager vs. 4 _L, 4 _R, for example the working conditions of the embankment or the like attached to the photographing for mobile 13 (see FIG. 5) moves to a position that allows imaging. Imager pairs 4 of a predetermined view point V i.e. the imager 4 _L, 4 _R shooting position V _L, moving the V _R body
13 is measured by the coordinate measuring means 20 on the
That is, each imaging device 4 _L, 4 _R photographing direction and the rolling angle O _L of, O _R
Is measured by the posture measuring means 23 on the moving body 13. One example of the coordinate measuring means 20 is a coordinate measuring device using GPS or a three-dimensional surveying prism, and one example of the attitude measuring means 23 is an angle measuring device. An example of the imaging device pair 4 is two CCD cameras, and the angle of view is made unique to the imaging device pair 4 or can be adjusted by remote control. The stereo operation image I _w output from the imaging device pair 4 is transmitted to the operation room 3 via the image transmitter 7 and the image receiver 10.
Transmit to

The guide point input means 44 in FIG. 1 includes a coordinate input means 45 for inputting a two-dimensional coordinate pair T ₀ , T ₀ as the position of a guide point group on each of the stereo operation image pair I _wL , I _wR. , Construction area 1
A conversion parameter 50 between the stereo operation image pair I _wL and the two-dimensional coordinate pair of the image on I _wR and the three-dimensional coordinates of the arbitrary point in the construction area 1 and the position of the guide point group And a coordinate calculating means 52 for calculating the three-dimensional coordinates T of the position of the guide point group from the two-dimensional coordinate pair T ₀ , T ₀ and the conversion parameter 50 by a stereo image measuring method. The stereo image measurement method is a coordinate measurement method for obtaining three-dimensional coordinates of a target image from a two-dimensional coordinate pair of the target image on the stereo image. By detecting two-dimensional coordinates on the image, a conversion parameter 50 of the stereo image measurement method is obtained. The present inventors have developed a method for accurately identifying the conversion parameter 50 in an unmanned construction area, and disclosed it in Japanese Patent Application Laid-Open No. H8-101035. For example, the conversion parameter 50 identified by the method of the publication can be used in the present invention. The conversion parameter 50 is stored in the storage unit 49 connected to the coordinate calculation unit 52.

The coordinate input means 45 shown in FIG. 1 includes a pair of left and right frame memories 47 _L and 47 for the stereo operation image pair I _wL and I _wR .
And _R, the frame memory 47 _L, 47 a monitor 46a for displaying the contents of each of the _R, stereo operation image displayed on the monitor 46a
Coordinate indicating means 46b such as a light pen for indicating the position of the guide point group on each of the pairs I _wL and I _wR , and coordinate detecting means 48 for detecting the two-dimensional coordinates T ₀ of the indicated position of the guide point group. And Position indicator guidance point groups input from the coordinate pointing device 46b is sent to the coordinate detecting means 48 via the frame memory 47 _L, 47 _R, the coordinate detecting means 48 for stereo operation image pair I _wL, guidance points on the I _wR The two-dimensional coordinate pair T ₀ , T ₀ of the group position is detected. The coordinate calculation means 52 calculates the three-dimensional coordinates T of the position of the guide point group based on the two-dimensional coordinate pair T ₀ , T ₀ of the detected position of the guide point group and the conversion parameter 50 of the stereo image measurement method. Then, it outputs to the three-dimensional graphic means 30.

The three-dimensional graphic means 30 includes three-dimensional coordinates T of the guide point group and large values such as the thickness and height of the guide point group described later.
And a pair of viewpoint coordinates measured by the coordinate measuring means 20, that is, the viewpoint V of the imaging device pair 4, and a pair of optical axis directions and rolling angles measured by the posture measuring device 23, that is, of the imaging device pair 4. br /> and the optical axis O, based on the predetermined angle W, stereo guide image I _g
Create The signals of the viewpoint V and the optical axis O of the imager pair 4 are
For example, the data is transmitted to the three-dimensional graphic means 30 via a wireless or wired transmission device 24 and a reception device 26. In order to match the angle of view of the stereo guide image _{Ig with} the angle of view of the stereo operation image _Iw , the angle of view of the three-dimensional graphic means 30 is set to the predetermined angle of view of the imaging device pair 4 in the initial processing as in the case of FIG. W can be matched. Figure 4 shows that the image superposing means 36 superimposes the stereo guide image I _g by Stereo operation image I _w and 3D graphics unit 30 by the image pickup device 4, to create a stereo operation supporting image I _s. The three-dimensional graphic means 30 and the image superimposing means 36 can have the same configuration as the example in FIG.

[0018] FIGS. 3 (A) and 4, Law shoulder along the plate-like guide point cloud embankment (hereinafter, referred to as legal shoulder guiding point group.) Shows an example of a stereo operation supporting image I _s displaying the. To create such a stereo guide image _Ig , the three-dimensional coordinates T of the staggered guide point group are input to the three-dimensional graphic means 30. That is, as shown in FIG. 1, the position of the embankment method shoulder is set by indicating the position of the embankment method shoulder on each of the stereo operation image pair I _wL and I _wR displayed on the monitor 46a by the coordinate indicating means 46b. enter the two-dimensional coordinates T ₀ of should do position, detects the two-dimensional coordinates T ₀ position law shoulder guiding point group by the coordinate detecting means 48. Pair of
The three-dimensional coordinates T of the position of the guide point group are calculated by the coordinate calculating means 52 from the two-dimensional coordinate pairs T ₀ , T ₀ on the stereo operation image pair I _wL , I _wR and the conversion parameter 50. Incidentally stereo guide image I _g in the illustrated example, displaying a legal shoulder guiding point group as a wall plate shaped guide point group of a predetermined height at a predetermined thickness. In this case, a predetermined thickness and a predetermined height are stored in the coordinate calculation means 52, and the two-dimensional coordinate pair T ₀ , T ₀ , the conversion parameter 50, and the predetermined thickness The three-dimensional coordinates T of the position of the wall-shaped guide point group are calculated from the height and the predetermined height, and the three-dimensional coordinates are output to the three-dimensional graphic means 30. However, the shape and size of the image of the guide point group is not limited to the illustrated example.

[0019] Referring to FIG. 4, enter the stereo operation assistant image I _s created by the image superimposing unit 36 to the stereoscopic image generation unit 42, time-division display example on the display 14. Operator stereoscopic viewing through the liquid crystal shutter glasses 16 stereo operation supporting image I _s, which is displayed on the display 14. The stereo image generator 42, the display 14, and the liquid crystal shutter glasses 16 belong to the related art. According to the present invention, when the stereo guide image _Ig needs to be changed, the change can be easily performed by inputting the three-dimensional coordinates T of the guide point group from the guide point input means 45. For example, in the case where the construction moving body 2 driven on the embankment is remotely controlled as shown in FIG. 4, even if the shape of the embankment changes in accordance with the progress, the coordinates of the slope guide point group are always input as appropriate. since it provided legal shoulder guidance point group of explicit operation supporting image I _s, prevention of deviation from falling other work area from construction for mobile 2 embankment due to operation error or the like can be expected.

[0020] is thus an object of the present invention according to the "progress
To provide a stereoscopic operation support image system that superimposes and displays a work area whose position changes .

[0021]

FIG. 2 and FIG. 3 (B) show a plurality of moving bodies 2 for construction.
5 shows an embodiment of the present invention in which, when sequentially moving on an adjacent predetermined movement planning line segment, the movement planning line segment is displayed as a plate-like guide point group. In the construction of concrete dams,
In order to secure the finish quality of the cast concrete, it is essential to perform a work (hereinafter, referred to as a compaction roller) for rolling a compacting work body (hereinafter, referred to as a compaction roller) on concrete before solidification. Rolling work is performed by reciprocating the compaction roller a predetermined number of times on a predetermined moving planned line segment (including a curve as a set of line segments; the same applies hereinafter) after the concrete is cast, and the roller width on the moving planned line segment is reduced. Rolling a belt-shaped area (hereinafter referred to as a roller pressing area), then moving the compaction roller onto the adjacent movement planned line segment, and reciprocating the compaction roller a predetermined number of times on the adjacent movement planned line segment to adjoin the belt. This is an operation of rolling the roller pressurized area on the movement planned line segment and repeating the predetermined number of reciprocating movements and moving to the adjacent movement planned line segment. Since the compaction work is an important process to ensure the quality of concrete, the number of reciprocations of the compaction roller on the same
The overlap width of the adjacent roller pressurized areas is subject to construction management. However, in remote construction, it may be difficult to move the compaction roller on the same movement plan line segment or to move it to an adjacent movement plan line segment with a predetermined overlap width.
The compaction roller tends to deviate from the predetermined movement planned line segment, and there is a possibility that desired concrete quality cannot be ensured. If the movement planning line segment can be displayed as a plate-like guide image, it is possible to prevent the compaction roller from deviating from the movement planning line segment and to expect improvement in construction quality.

In the embodiment shown in FIG. 2, coordinate measuring means 22a and 22a for measuring the position coordinates of the construction moving body 2 in the construction area 1.
2b is provided so as to be connected to the guide point input means 44. In addition, the guide point input means 44 in FIG.
Input means 54 for inputting the coordinates, and the coordinate measuring means 22a and 22b
And a coordinate calculating means 55 for calculating three-dimensional coordinates T of the guide point group from the position coordinates R and the guide azimuth D measured by. One example of the coordinate measuring means 22a and 22b is a coordinate measuring device using GPS. In this case, the measuring device 22b measures the three-dimensional coordinates of the operation room 3 of the known coordinates on the ground, and at the same time, the measuring device 22a measures the tertiary coordinates of the moving body 3. The original coordinates are measured, and a three-dimensional belt from the operation room 3 to the construction moving body 2 is obtained from the measured values of the two measurement devices 22a and 22b by a relative positioning method, and is obtained from the known coordinates of the operation room 3 and the three-dimensional vector. The position coordinates R of the construction moving body 2 are calculated. However, the coordinate measuring means 22 is not limited to the GPS measurement, and may be, for example, a surveying instrument such as an automatic tracking type total station provided in the operation room 3.

After the concrete is poured in and the work is spread with a bulldozer, the compaction roller is moved to the initial position on the concrete. For example, the position coordinates R of this initial position
Is measured by the coordinate measuring means 22 and input to the coordinate calculating means 55. On the other hand, the azimuth of the predetermined movement planned line is input as the guidance azimuth D from the azimuth input means 54 to the coordinate calculation means 55. The coordinate calculation means 55 calculates three-dimensional coordinates T on a predetermined movement planning line segment based on the position coordinates R and the guide direction D, and calculates the three-dimensional coordinates T
Is output to the three-dimensional graphic means 30. Three-dimensional graphics unit 30 creates a stereo guide image I _g of predetermined movement plan segment based on the three-dimensional coordinates T, the image superimposing unit 36 is a stereo operational support from its stereo guide image I _g and stereo operation image I _w to create the image I _s.

It should be noted stereo guidance image I _g in FIG. 3 (B) represents a guidance point group as a belt guidance point group of roller width. When creating a stereo guide image I _g as in the figure stores the roller width coordinate calculation unit 55, the strip guide point from the three-dimensional coordinates and the roller width of the predetermined movement plan segment calculated by the above method The three-dimensional coordinates T of the group are calculated.

[0025]

As described above, the remote control assisting image system for a construction moving object according to the present invention provides a stereo operation image of a construction area photographed by a pair of image pickup devices and a guide point group inputted from a guide point input means. Since the stereo operation support image is created by superimposition with the stereo guide image created by the three-dimensional graphic means based on the three-dimensional coordinates, the following remarkable effects are obtained.

(A) By simply inputting the coordinates of the guide point group from the guide point input means, the stereo guide image to be superimposed on the stereo operation image can be changed relatively easily. (B) Even when the work area of the construction moving object changes in accordance with the progress of the construction, the work area caused by an operation error or the like can be provided to the remote operator with the stereo operation support image clearly indicating the work area. It can be expected to prevent the occurrence of deviation accidents. (C) When the moving object for construction is moved on the predetermined movement planning line segment, a stereo operation support image that clearly indicates the movement planning line segment can be provided, so that improvement in construction quality in remote construction can be expected.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of one embodiment of the present invention.

FIG. 2 is an explanatory diagram of another embodiment of the present invention.

FIG. 3 is an explanatory diagram of a stereo operation support image.

FIG. 4 is an explanatory diagram of an image superimposing method according to the present invention.

FIG. 5 is an explanatory diagram of remote construction.

FIG. 6 is an explanatory diagram of a conventional image system.

FIG. 7 is an explanatory diagram of a conventional method of determining an angle of view of an image system.

FIG. 8 is an explanatory diagram of an image superimposing method in a conventional image system.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Construction area 1a ... Construction object 2 ... Construction moving body 3 ... Operation room 4,5 ... Imaging machine 6,7 ... Image transmitter 8a ... Target 10 ... Image receiver 11 ... Data transmission tower 12 ... Surveying Helicopter 13 ... moving object 14 ... display 16 ... liquid crystal shutter glasses 20,22 ... coordinate measuring means 23 ... posture measuring means 24 ... wireless transmitting device 26 ... wireless receiving device 30 ... three-dimensional graphic means 31 ... memory means 32 ... graphics Creating means 33 ... left-right synchronizing means 34 ... image converter 36 ... superimposing means 37 ... superimposing synchronizing means 38 ... image synthesizing means 40 ... recording / reproducing means 42 ... stereo image generator 44 ... guide point input means 45 ... coordinate input means 46a ... Monitor 46b ... Coordinate designating means 47 ... Frame memory 48 ... Coordinate detection means 49 ... Storage means 50 ... Conversion parameters 52 ... Coordinate calculation means 54 ... Coordinate calculation means 55 ... Coordinate calculation means I _w ... Stereo operation image I _e ... Stereo design image I _k ... Traffic image I _t ... stereo-assisted image I _g ... stereo guide image I _s ... stereo operation supporting image V ... point of view O ... optical axis P ... coordinate W ... angle of view W _w ... corresponding constant angle of view W _e ... imaging machine of target Angle of view W _x … Arbitrary angle of view S _k … Synchronization signal S _e … Stereo synchronization signal S _w … Stereo synchronization signal R… Coordinates of moving object D… Guidance azimuth T ₀ … Two-dimensional coordinates of guide point group T… Guide point The three-dimensional coordinates of the group.

Continuation of front page (56) References JP-A-4-281572 (JP, A) JP-A-5-61962 (JP, A) JP-A-5-143710 (JP, A) JP-A-6-214639 (JP) JP-A-6-214640 (JP, A) JP-A-6-3322993 (JP, A) JP-A-7-141022 (JP, A) JP-A-8-83398 (JP, A) 8-114463 (JP, A) JP-A-8-144328 (JP, A) JP-A-8-189838 (JP, A) Shingo Kita, Heisho Aikage et al. Development of teleearth work system (remote earthwork system) Application to Unzen Reconstruction Work ”, Fujita R & D Laboratories, Japan, Fujita R & D Co., Ltd., September 20, 1995, No. 31, 73-78 Sakamu Shinichi, Development and Implementation of Teleearth Work System Proceedings of the 12th Conference on Research and Discussion on Construction Management Issues, Japan, Japan Society of Construction Engineers, Construction Management Committee, November 30, 1994, 201-208 (58) Field surveyed (Int.Cl. ⁷ , DB name) G06T 17/40 E02F 9/20 JICST file (JOIS)

Claims (4)

(57) [Claims] 1. A pair of movable imagers for photographing a pair of stereo operation images having a predetermined angle of view with a viewpoint and an optical axis facing a construction movable body driven by remote control and a construction area of the movable body ; Measuring means for measuring a pair of viewpoints and an optical axis ; means for storing the size of a plate-like guide point group indicating a work area in a construction area ;
A pair of frames that store a stereo operation image pair for each frame
Frame memory and each of the images in the frame memory pair
Coordinate detecting means for detecting two-dimensional coordinates of a designated position
When, and a transformation parameter between the three-dimensional coordinates of the two-dimensional coordinate pairs and said arbitrary point of the image on the stereo operation image pairs for any point of the construction region, image Taiue of the frame memory pairs
Guide point input means for calculating the three-dimensional coordinates of the position of the guide point group by a stereo image measurement method from the two-dimensional coordinate pair input as the position of the guide point group and the conversion parameter ; Three-dimensional graphic means for creating a pair of stereo guide images at the predetermined angle of view at the viewpoint and optical axis measured by the measuring means based on the three-dimensional coordinates of the position and the size of the stored guide point group ; and the stereo A remote operation support image system for a construction mobile object, comprising image superimposing means for creating a pair of stereo operation support images in which a work area is specified by superimposing an operation image and the stereo guide image. 2. The imaging system according to claim 1, wherein said plate
Shape guide points in a work area where the shape changes according to progress
Along remote operation supporting image system having a predetermined thickness and a predetermined height of the wall plate shaped guide point group and to become in construction for mobile. 3. An imaging system according to claim 1, the coordinate measuring means for measuring the position coordinates of the construction for a mobile in the construction zone is provided, set more the guiding point group in the guide point input means
Enter the azimuth to be location, on the three-dimensional graphics unit
From the measured position coordinates and the azimuth and the stored
A remote control support image system for a construction mobile object, wherein the stereo guide image is created based on the size . 4. The remote control support image system according to claim 3, wherein said coordinate measuring means is a coordinate measuring device by a satellite navigation system.