JP5550853B2 - Surveying device with image transmission function and surveying method - Google Patents

Description

  The present invention relates to a surveying technique for surveying position information of a point whose position information is unknown with reference to a point whose position information is known, and particularly to a technique for surveying with a small number of people.

Conventionally, when surveying the location information of a location whose location information is unknown based on a location where the location information is known, the surveying device installed at the known location collimates the unknown location, Based on the relative positional relationship between them, a survey calculation is performed to obtain position information of an unknown point.
In recent years, the surveying instrument can obtain the angle information of the collimation direction electrically, and can obtain the distance to the collimation point electrically using various optical methods. An electronic surveying instrument such as a total station which can be quickly and accurately calculated using electronic means such as a microcomputer is increasingly used.
In addition, the electronic surveying device such as the total station has a motor drive capable of directing the optical axis in a designated direction by controlling a driving means such as a motor by instructing a collimation direction with an electric signal. Those equipped with a mechanism have come to be used.
Also, a total station with a CCD camera has been proposed. (For example, see Patent Documents 1 and 2)

JP 2000-275044 A Japanese Patent No. 3854168

The surveying instrument can be operated with electrical signals, so remote control is possible.
In order to confirm the collimating direction, it is necessary for the operator to visually check the eyepiece of the telescope of the surveying device and confirm whether or not the predetermined point is collimated. It was necessary to report on the transceiver etc. in order to communicate to the manager.
Therefore, at least one operator of the surveying instrument is required at the point where the surveying instrument is installed in order to view the eyepiece of the surveying instrument.
In particular, when a slant pile is driven at sea, and when the slant pile is driven from a nearby shore or the like to a predetermined position at a predetermined angle, the position of the slant pile is a predetermined position. In order to confirm whether or not, for example, it is necessary to survey a surveying object from two different directions.
Therefore, in such a case, surveying devices are installed at the two locations, and operators of the surveying devices are required at the two locations.
However, it is very difficult to confirm the angle of the slant pile by surveying from these two directions. Usually, it was measured by directly applying an inclinometer to the pile, or using the angle of the leader of the pile driving ship. .

Therefore, the present invention allows an operator at another point such as a remote place to check an image of the collimation direction of the surveying device by looking at the display or the like without placing an operator at the site where the surveying device is installed. The collimation direction can be operated, and the purpose is to confirm the position and / or angle of the pile.

In claim 1 of the surveying apparatus with an image transmission function according to the present invention,
Surveying means for measuring the angle of the optical axis ( collimation ) direction for collimating the collimation point to be surveyed with reference to a predetermined direction and outputting it as survey information, driving means for changing the optical axis direction, and the surveying Surveying information transmission means for transmitting survey information obtained by the means to a remote place,
Imaging means for converting an electrical signal by imaging an image including the collimation point of the optical axis direction as image information, the image information transmitting means for transmitting the image information obtained by said imaging means to said remote location Receiving means for receiving a control signal transmitted from the remote place, and control means for controlling the driving means so as to change the optical axis direction of the surveying means based on the received control signal ,
The optical axis of the surveying means and the optical axis of the imaging means are configured to maintain a predetermined relative relationship ,
The imaging means has a zoom function for imaging images with different magnifications and outputting them as image information,
The control means changes the imaging magnification by controlling the zoom function of the imaging means based on a control signal transmitted from the remote place,
The remote location is provided with auxiliary line synthesis means for synthesizing and outputting separately generated auxiliary line images to an image whose imaging magnification is changed by the zoom function from the imaging means .
In 請 Motomeko 2,
The surveying means optically measures the distance to the collimation point and outputs it as survey information .

In the surveying method of claim 3 ,
Surveying means for measuring the angle of the optical axis ( collimation ) direction collimating the first point to be surveyed with reference to a predetermined direction and outputting it as survey information, driving means for changing the optical axis direction, and the surveying Surveying information transmission means for transmitting the survey information obtained by the means to the fourth point, installing surveying devices at the second and third points where the position information is known,
An imaging unit that has an optical axis that maintains a predetermined relative relationship with the optical axis of the surveying unit, captures an image including a collimation point of the first point, converts the image into an electrical signal, and outputs the image information; image information transmitting means for transmitting the image information obtained by the imaging means to the fourth point of the surveying device based on a receiving means, and the received control signal receives the control signal transmitted from the fourth point Using a surveying device with an image transmission function, each of which has a control means for controlling the drive means to change the optical axis direction, a surveying method in the case of placing a slant pile at the first point to be surveyed There,
The image including a first point of the surveying object, together to output the image information of the image by the image pickup in the second and third, respectively arranged an imaging unit to the point, based on the second and third point wherein the first point to output survey information of the first point by surveying respectively the surveying device, the so converted to an electric signal obtained image information and the measurement information image information transmitting unit and the measurement information transmitting means To transmit to the fourth point,
Wherein the fourth point, and transmits the control signal to the surveying device in the second and third point, a communication means for receiving the image information and the measurement information from the surveying instrument in the second and third point, The control signal is generated and transmitted to the communication means, and a predetermined angle at which the oblique pile is to be placed on the oblique pile images at the second and third points received by the communication means, Auxiliary line synthesizing means for performing a correction calculation according to a sandwiching angle of the second and third points with respect to the first point, which is already known, and synthesizing and outputting it as an oblique auxiliary line, and the second and third points at the point A surveying device with an image transmission function , comprising a controller having a screen for displaying an image of a slant pile with an auxiliary line synthesized, was used .
In 請 Motomeko 4,
The distance to the first point from the second and third point is measured in the surveying device,
Wherein the surveying information transmitting means to transmit the survey information output from the surveying device to said fourth point.

According to the surveying apparatus with an image transmission function according to the present invention, an image including a collimation point in the optical axis direction is picked up, converted into an electrical signal, and output as image information. Therefore, the image of the collimation point can be confirmed at a remote place.
In addition, since the collimation direction can be changed based on a control signal transmitted from a remote location, an operator at the remote location can operate as if operating the surveying device directly. It becomes possible.
Further, since the optical axis of the surveying means and the optical axis of the imaging means are maintained in a predetermined relative relationship, proper surveying is possible even if the optical axis is changed.
In addition, since the zoom function is provided, it is possible to obtain an enlarged image of the survey target and view a detailed image, and obtain a reduced image including the periphery of the survey target to facilitate confirmation of the survey target. .
Thus, according to the surveying instrument of the present invention, when guiding the driving pile, the driving pile is driven directly by looking at the screen without guiding the driving pile like a conventional surveyor. Since it can be done while checking the state of the pile, it is possible to induce stable quality that does not depend on differences in skills such as the surveyor's experience. In addition, since the position and inclination of the driving pile can be adjusted simultaneously on the screen, the accuracy is very good.
In addition, the zoom function allows the narrow range to be enlarged and displayed, or reduced to display the wide range, so that detailed adjustments can be made and the overall image of the pile can be easily confirmed.

According to the surveying method of the present invention, an image including the first point to be surveyed is picked up by the image pickup means arranged at the second and third points where the position information is known, and the image pickup means uses the first point. the image information of the captured image including a single point, to send a first point to the fourth point in the imaging condition information including the shooting direction information captured, was converted into an electric signal, the fourth point, the surveying Since the optical axis direction of the means can be remotely controlled, the work of analyzing the positional relationship between the first point and the second and third points based on the image and the imaging condition information is efficient with less personnel arrangement Can be done well. The positional relationship between the first point and the second and third points includes position information of the first point on the basis of the second and third points. Further, the position information of the first point on the basis of the second and third points is reflected in the image information.

Hereinafter, a surveying apparatus with an image transmission function according to the present invention will be described in detail with reference to the drawings showing embodiments thereof.
1 and 2,
Reference numeral 1 denotes a surveying instrument main body having a configuration similar to that of the prior art and disposed on a gantry 101 such as a tripod.
Reference numeral 2 denotes a drive unit built in the surveying instrument main body 1. The surveying instrument main body 1 is moved relative to the gantry 101 to change the collimation direction (optical axis direction) of the surveying instrument main body 1. change. The drive unit 2 includes a drive mechanism for rotating the optical axis direction of the surveying instrument main body 1 in a horizontal plane and a drive mechanism for rotating the optical axis direction in a vertical plane. That is, a drive mechanism that rotates around the vertical axis and a drive mechanism that rotates around the horizontal axis are included. The drive unit 2 is configured to output angle information in the optical axis direction.

Reference numeral 3 denotes a distance measuring unit built in the surveying instrument main body 1, for example, by irradiating laser light or infrared light in the optical axis direction and detecting reflected light from the collimation point, for example, irradiation light The distance to the collimation point is measured by detecting the phase difference between the reflected light and the reflected light, and the distance information is output from the point where the surveying instrument main body 1 is installed to the collimation point. .
Reference numeral 4 denotes a main body control unit built in the surveying instrument main body 1 so as to change the optical axis direction of the distance measuring unit 3 by controlling the driving unit 2 based on a control signal input from the outside. It is configured.
Reference numeral 5 denotes a telescope built in the surveying instrument main body 1, and the optical axis of the telescope 5 is adjusted to be parallel to the optical axis of the distance measuring unit 3.
The driving unit 2 and the distance measuring unit 3 constitute the surveying means described in the claims, and the surveying instrument main body 1 constitutes the surveying device described in the claims. Survey information is composed of the angle information and the distance information.

In the surveying instrument main body 1 used in the present invention, a CCD imaging unit 8 is attached to the upper part of the surveying instrument main body 1 via an attachment mechanism 80.
Reference numeral 6 denotes a pair of manual operation knobs for rotating the optical axis direction of the surveying instrument main body 1 up, down, left and right via the drive unit 2. 6a is a knob for rotating up and down, and 6b is a knob for rotating left and right.
When an operator performs surveying using the surveying instrument main body 1 having the above-described configuration, while viewing the eyepiece of the telescope 5 with the naked eye of the operator, the operator operates the rotary knob 6 to view the survey target point. The distance information to the collimation point is obtained by the distance measurement unit 3, the angle information of the collimation point is obtained by the drive unit 2, and the survey information is taken into the control unit 4, It can be displayed on the display unit.
The surveying instrument main body 1 described above has a function equivalent to, for example, a known total station.

  The CCD image pickup unit 8 is an image pickup means having a zoom function, and is detachable or integrally attached to the surveying instrument main body 1. The CCD imaging unit 8 is configured to capture an image including a collimation point in the imaging direction (optical axis direction), convert the image into an electrical signal, and output the image information. The optical axis of the CCD image pickup unit 8 is adjusted to be parallel to the optical axis of the telescope 5. The CCD image pickup unit 8 is configured to increase / decrease the zoom magnification according to a control signal input from the outside, and output image condition information such as the zoom magnification at the time of image pickup and the shutter speed together with image information. Yes.

  Reference numeral 9 denotes a rotary knob driving device, which is a detachable unit for remotely operating the rotary knob 6 provided in the surveying instrument main body 1. When this rotary knob driving device is mounted on the surveying instrument main body 1, the unevenness on the outer peripheral surface of the pair of drive gears 9a, 9b meshes with the unevenness on the outer peripheral surface of the rotary knobs 6a, 6b. Can be rotated in the forward and reverse directions with a motor (not shown), so that the optical axis direction can be directed to a desired direction as if the operator is directly performing manual operation.

11 is an additional control unit,
The image information and the imaging condition information output from the CCD imaging unit 8, and <br/> the distance information and the angle information outputted from the main controller 4,
And a function for outputting to the communication unit 12 to be described later for communicating to the outside,
Each control signal input from the outside via the communication unit 12 is output to the main body control unit 4, the CCD imaging unit 8, and the rotary knob drive unit 9 in accordance with the control target of each signal.
For example, when a control signal for controlling the driving unit 2, the distance measuring unit 3 , the telescope 5, etc. is input, the control signal is output to the main body control unit 4,
When a control signal for changing imaging conditions such as the zoom magnification of the CCD imaging unit 8 is input, the control signal is output to the CCD imaging unit 8;
When the control signal instructing the collimating direction changes seen in the CCD image sensor 8 is input, and outputs the control signal to the rotary knob driving unit 9.
Reference numeral 81 denotes an auxiliary line synthesizing unit, which is configured to generate and synthesize an auxiliary line image of a vertical, horizontal, or predetermined angle with the image information obtained by the CCD imaging unit 8. The auxiliary line image may be generated and synthesized inside the CCD imaging unit 8 or the additional control unit 11.

  The connecting cables connecting the CCD image pickup unit 8, the rotary knob drive unit 9, the main body control unit 4 and the additional control unit 11 minimize the load applied to the operation of the drive unit 2. It is preferable to employ a soft cable.

12 is a communication part,
Surveying information including distance information and angle information to the collimation point obtained through the main body control unit 4 and the additional control unit 11;
The image information of the CCD imaging unit 8 obtained through the main body control unit 4 and the imaging condition information of the CCD imaging unit 8 are obtained.
It has a transmission function that converts it into a digital signal and transmits it to a remote location via a wired or wireless communication means.
Further, it has a receiving function for receiving a control signal transmitted from a remote place and outputting it to the additional control unit 11.

In FIG. 3, reference numeral 15 denotes a controller, which is provided with a communication function 151 for a remote operator to communicate with the surveying instrument body 1 via the communication unit 12 and control the surveying instrument. A portable computer 152 is used.
The computer 152 incorporates storage means such as a hard disk device and a semiconductor memory, and is installed with software for remotely controlling the surveying instrument main body 1 and transmitted from the communication unit 12 of the surveying instrument main body 1. The survey information, the image information of the CCD imaging unit 8 and the imaging condition information of the CCD imaging unit 8 are received by the communication function 151, stored in a storage medium, and displayed on the display 153.
In addition, a keyboard, a touch panel, and a joystick for inputting a control signal for changing the optical axis direction, a control signal for controlling the zoom function of the CCD imaging unit, a control signal for controlling the surveying instrument body 1, and the like. And an input means 154 such as a tech, and the function of displaying these input control signals on the display 153 and transmitting them to the communication unit 12 of the surveying instrument main body 1 using the communication function 151. Yes.
All or some of the functions of the auxiliary line synthesis unit 81 may be built in the controller 15.

When surveying using the above surveying apparatus, prior to surveying, the optical axis of the CCD imaging unit 8 of the surveying apparatus with an image transmission function 10 having the above-described configuration is adjusted as follows.
Align the optical axis using the target for adjustment. The adjustment target displays the camera axis at a position offset to the upper part in the vertical direction of the survey axis of the surveying means.
First, the optical axis of the CCD image pickup unit 8 is aligned with the surveying axes of the surveying means being aligned. This optical axis alignment can be 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. Visual collimation may be used.
In this way, optical axis alignment is performed so that the collimation axis of the surveying means and the optical axis of the CCD image pickup unit 8 are parallel, but the optical axis is changed as long as it is not parallel and has a certain relative relationship. The angle information can be known relatively.

A surveying method in the case where the slant pile P is placed at the first point A to be surveyed using the surveying apparatus 10 with the image transmission function having the above configuration will be described with reference to FIG.
In FIG. 4, at the first point A, a driving boat capable of driving the driving piles obliquely at a predetermined angle is arranged.
Assume that the surveying devices 10B and 10C with image transmission function are installed at the second point B and the third point C, and the operator is at the fourth point D together with the controller 15. It is assumed that the position information of the two surveying apparatuses 10B and 10C is determined by a method such as a backward meeting, and is known at the time of starting the placing work.
At this time, if the two surveying apparatuses 10B and 10C are arranged at a position where the angle between the first point A is 90 degrees, the placement is easy, but it is not limited to 90 degrees. According to the sandwiched angle, the predetermined angle to be driven is corrected according to the position of the two surveying devices, whereby the angle of the pile to be driven when viewed from the position of the two surveying devices is determined. The auxiliary line corresponding to the angle is calculated and displayed on the screen of the controller 15.
The fourth point D may be near the first point A. In this case, the operator can board the placing ship and perform the placing work while looking at the screen of the controller 15.

The operator looks at the images from the respective CCD imaging units of the two surveying apparatuses 10B and 10C with an image transmission function displayed on the controller 15.
At this time, the zoom function of each CCD imaging unit can be operated and panned or zoomed via an input means such as a joystick provided in the controller 15.

As shown in FIG. 4, the screen of the controller 15 is viewed from the placement point image D2 viewed from the second point transmitted from the surveying device 10B and from the third point transmitted from the surveying device 10C. A driving pile image D3 is displayed.
On the screen of the controller 15, an auxiliary line L2 generated by calculation corresponding to an oblique angle to be placed is displayed together with the placement pile image D2, and together with the placement pile image D3, An auxiliary line image L3 generated by calculation corresponding to the oblique angle to be set is displayed.
In the example of the image shown in FIG. 4, the angle of the pile is too high in any of the images. Therefore, the placement ship is operated and adjusted so that the image of the placement pile overlaps the auxiliary line image. To do.
The driving pile is guided while adjusting the angle of the driving pile to a predetermined angle as described above. The driving position of the driving pile is determined by a GPS device or the surveying device. It can be measured and adjusted using the distance measuring function provided by.

In the case where the driving pile is guided while viewing the image displayed on the controller 15 as described above, excellent operability can be obtained by operating while changing the zoom magnification of the CCD imaging unit 8.
For example, when adjusting the placement position and angle to the predetermined design position and design angle, first, reduce the zoom magnification and adjust the position and angle while grasping the entire image around the placement pile. If it is almost matched, the zoom magnification is increased, the image of the placing pile is enlarged and displayed, and fine adjustment of the position and angle enables smooth alignment and angle adjustment.

In the above operation, when there are a plurality of piles to be laid, one pile is selected and guided sequentially. At this time, the pile number to be guided is selected, and the pile attributes (X coordinate, Y coordinate, Z coordinate, pile angle, pile direction angle, pile diameter) indicated by the design information, and the installation position B of the surveying instrument From the positional relationship of C, the pile direction (left tangent, right tangent, center) is calculated, and the collimation axis of the surveying device is directed to the left tangent of the pile. Then, an apparent angle of the pile to be placed as seen from the surveying device is calculated, and an image of an inclination line of the angle is generated and displayed as an auxiliary line image.
Thus to display the position of the surveying device, a zoom magnification of the CCD image sensor 8, in a state where the auxiliary line image is fixed, by moving the pouring should do pile, the angle of the hitting set should do pile Fit to the auxiliary line image. Such an instruction for alignment may be given while looking at the image of the controller 15 on the driving vessel, or may be given while looking at the image of the controller 15 at the fourth point at a position different from that of the driving vessel. Good.

As described above, in the case of an oblique pile, the surveying device is preferably arranged so as to collimate from two different directions.

It is a side view of a surveying instrument main body used for an embodiment of a surveying instrument with an image transmission function concerning the present invention. It is a block diagram of a surveying apparatus with an image transmission function according to the present invention. It is explanatory drawing of the controller used for the surveying method concerning this invention. It is explanatory drawing of the surveying method concerning this invention.

DESCRIPTION OF SYMBOLS 1 Surveying device main body, Surveying device 2 Drive part 3 Distance measuring part 4 Main body control part 5 Telescope 6 Rotation knob 71 Detachable structure 72 Fixing mechanism 73 Balance weight 8 CCD imaging part 81 Auxiliary line composition part 9 Rotation knob drive 10 Image transmission function Attached surveying device 11 Additional control unit 12 Communication unit 15 Controller

Claims (4)

Obtained by a surveying 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 survey information, a driving means for changing the optical axis direction, and the surveying means Surveying equipment equipped with surveying information transmitting means for transmitting the surveyed information to a remote location,
Imaging means for converting an electrical signal by imaging an image including the collimation point of the optical axis direction as image information, the image information transmitting means for transmitting the image information obtained by said imaging means to said remote location Receiving means for receiving a control signal transmitted from the remote place, and control means for controlling the driving means so as to change the optical axis direction of the surveying means based on the received control signal ,
The optical axis of the surveying means and the optical axis of the imaging means are configured to maintain a predetermined relative relationship ,
The imaging means has a zoom function for imaging images with different magnifications and outputting them as image information,
The control means changes the imaging magnification by controlling the zoom function of the imaging means based on a control signal transmitted from the remote place,
The remote transmission is provided with an auxiliary line synthesizing unit that synthesizes and outputs a separately generated auxiliary line image to an image whose imaging magnification is changed by the zoom function from the imaging unit. Surveyor with function. The surveying device with an image transmission function according to claim 1, wherein the surveying unit optically measures the distance to the collimation point and outputs it as surveying information. Obtained by surveying means for measuring the angle of the optical axis direction collimating the first point to be surveyed with reference to a predetermined direction and outputting it as survey information, drive means for changing the optical axis direction, and surveying means A surveying device comprising surveying information transmitting means for transmitting the surveyed information to the fourth point, at the second and third points where the position information is known,
An imaging unit that has an optical axis that maintains a predetermined relative relationship with the optical axis of the surveying unit, captures an image including a collimation point of the first point, converts the image into an electrical signal, and outputs the image information; image information transmitting means for transmitting the image information obtained by the imaging means to the fourth point of the surveying device based on a receiving means, and the received control signal receives the control signal transmitted from the fourth point Using a surveying device with an image transmission function, each of which has a control means for controlling the drive means to change the optical axis direction, a surveying method in the case of placing a slant pile at the first point to be surveyed There,
The image including a first point of the surveying object, together to output the image information of the image by the image pickup in the second and third, respectively arranged an imaging unit to the point, based on the second and third point wherein the first point to output survey information of the first point by surveying respectively the surveying device, the so converted to an electric signal obtained image information and the measurement information image information transmitting unit and the measurement information transmitting means To transmit to the fourth point,
Wherein the fourth point, and transmits the control signal to the surveying device in the second and third point, a communication means for receiving the image information and the measurement information from the surveying instrument in the second and third point, The control signal is generated and transmitted to the communication means, and a predetermined angle at which the oblique pile is to be placed on the oblique pile images at the second and third points received by the communication means, Auxiliary line synthesizing means for performing a correction calculation according to a sandwiching angle of the second and third points with respect to the first point, which is already known, and synthesizing and outputting it as an oblique auxiliary line, and the second and third points at the point A surveying method using a surveying apparatus with an image transmission function , comprising a controller having a screen for displaying an image of a slant pile with an auxiliary line synthesized . The distance to the first point from the second and third point is measured in the surveying device,
Surveying method using the image transmission function of the surveying device according to claim 3, characterized in that to transmit the survey information output from the surveying means to the fourth point in the surveying information transmitting means.

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