JP6722000B2 - Surveying support device - Google Patents

Description

The present invention relates to a surveying support device.

At the construction site, work to adjust the vertical/horizontal position of the pillars and beams, as well as the plane position/elevation position (building work), and work to confirm that the construction target is as designed (measurement work) Is done. In building work and performance surveys, targets are set on columns, beams, etc., and the positional deviation between the set target position and the target point position (regular position) based on the design is calculated. Then, in the case of construction work, the positions of the pillars and beams are adjusted based on the positional deviation, and in the case of finished work measurement, the construction object is evaluated based on the positional deviation. The position of the target is measured using a surveying instrument.

2. Description of the Related Art Conventionally, a technique has been developed in which a surveying instrument such as a total station is equipped with a camera, and an image sent from the camera is used to remotely operate the surveying instrument from a distant position (for example, see Patent Documents 1 and 2).

The measurement work of the target using the surveying instrument is performed in the following procedure, for example. First, while aiming the collimation direction toward the target point while shooting the image with the camera, the target point is located in the center of the screen. Since the pillars and beams are constructed based on the design, the target is usually shown in the image taken with the target point in the center of the screen. Next, while looking at the captured image, the collimation direction is aimed at the target by remote control so that the target is located at the center of the screen, and then the target is measured. Thereby, the coordinates of the target can be acquired, and the positional deviation between the target and the target point can be known.

JP 2000-275044 A Patent No. 3854168

However, the conventional surveying instrument is operated remotely while watching the captured image, so it is difficult to know in which direction and how much the surveying instrument should be rotated. It was difficult to adjust. Therefore, there is a problem that the work using the surveying instrument (for example, the building work or the work surveying work) cannot be efficiently performed.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a surveying support device capable of efficiently performing work using a surveying instrument.

In order to solve the above problems, a surveying assistance device according to the present invention is a surveying assistance device that assists a building operation performed at a construction site.
This surveying support device includes an image acquisition unit that acquires a captured image captured so as to include a collimation point of a surveying instrument, and a designated point associated with a designated mark and the visual point by performing image processing on the captured image. An image analysis processing unit that calculates the positional deviation from the reference point, and a work support unit that supports the work performed using the surveying instrument based on the calculated positional deviation.
The designated point is a representative point of an object to be built, and the collimation point is a target point of building at the representative point.
The work support unit causes the display unit to display a positioning guide screen in which the calculated positional deviation is superimposed on the captured image.

According to such a surveying support device, it is possible to calculate the positional deviation between the collimation point of the surveying instrument and the designated point of the designated mark from the photographed image photographed by the surveying instrument. Then, the alignment guide screen visually indicates the alignment direction and distance. Therefore, the measurer can perform the building work according to the alignment guide screen to easily set the designated point of the designated mark as the collimation point. Can be matched. Therefore, the building work can be performed without measuring the position of the designated point of the designated mark.

The image analysis processing unit may further include a binarization processing unit, a designated point position calculation unit, and a position shift calculation unit.
The binarization processing unit creates binarized image data in which the designated mark of the acquired captured image is binarized so as to be distinguishable from other portions.
The designated point position calculation unit detects the designated mark from the binarized image data, and calculates the coordinates of the designated point of the designated mark in the orthogonal coordinate system set in the binarized image data.
The positional shift calculation unit calculates a positional shift between the coordinates of the collimation point and the coordinates of the designated point of the designated mark.

The designation mark may be any of a circle, a quadrangle, a rhombus, an arrow figure, a cross line, a combination of the figure and the cross line, and a plain area.

According to the present invention, work using a surveying instrument can be efficiently performed.

FIG. 1 is a schematic diagram of a workable type survey system using a surveying support device according to a first embodiment of the present invention. It is an example of a target used in a performance survey system. It is a functional block diagram of a surveying instrument. It is a figure for demonstrating the measurement work which uses a survey instrument, (a) shows the state which cannot perform target measurement correctly, (b) shows the state which can perform target measurement correctly. It is a functional block diagram of the surveying assistance apparatus which concerns on 1st Embodiment of this invention. It is an example of a flowchart showing the processing of the work-type surveying system using the surveying assistance apparatus according to the first embodiment of the present invention. 6A and 6B are diagrams for explaining the image analysis process, FIG. 7A is an image diagram of binarized image data, and FIG. 6B is a diagram showing coordinate points of designated points of designated marks. It is a schematic diagram of a building adjustment system using a surveying assistance device concerning a 2nd embodiment of the present invention. It is an example of the target used by a build-in adjustment system. It is a figure for demonstrating the construction work using a survey instrument, (a) shows the state before completion of the construction work, (b) shows the state which the construction work was completed. It is a functional block diagram of the surveying assistance apparatus which concerns on 2nd Embodiment of this invention. It is an example of a positioning guide, (a), (b) shows a box type guide, (c) shows an arrow type guide. It is an example of the flowchart which shows the process of the building adjustment system using the surveying assistance apparatus which concerns on 2nd Embodiment of this invention. It is a figure for demonstrating the modification of a target and a designation mark, and (a)-(c) is an example of a target and a designation mark.

Hereinafter, modes for carrying out the present invention will be described in detail with reference to the drawings as appropriate.
The drawings are merely schematic representations so that the present invention can be fully understood. Therefore, the present invention is not limited to the illustrated examples. In addition, in the drawings to be referred to, the dimensions of each member may be exaggerated for clarity of explanation. In each figure, common or similar components are designated by the same reference numerals, and duplicated description thereof will be omitted.

[First Embodiment]
«Regarding the configuration of the surveying support device according to the first embodiment»
A surveying support device 3A according to the first embodiment will be described with reference to FIG. FIG. 1 is a schematic configuration diagram of a work-type survey system 1A using a survey support device 3A according to the first embodiment. The work-finding system 1A realizes work-finding of a construction object by one measurer. The performance measurement system 1A includes a surveying instrument 2 and a surveying support device 3A communicable with the surveying instrument 2.

The surveying instrument 2 measures the distance to the collimation point, the horizontal angle of the collimation direction with respect to the reference line, and the angle of the collimation direction with respect to the horizontal plane (hereinafter collectively referred to as “position”). The surveying instrument 2 is, for example, an imaging station, and is a non-prism type three-dimensional surveying instrument with a built-in digital camera. In this embodiment, it is assumed that a confirmation work is performed to confirm that the finished product is as designed. Therefore, the surveying instrument 2 in the present embodiment measures the target T _A installed at the position corresponding to the target point (normal position).
The surveying support device 3A is operated by a measurer, and can remotely operate the surveying instrument 2. Further, the surveying support device 3A has a function of supporting a work using the surveying instrument 2 (here, a finished survey). Details of the function will be described later. The surveying support device 3A may be, for example, a mobile terminal or a PC (Personal Computer), and here, the surveying support device 3A is illustrated assuming a mobile terminal.

An example of the configuration of the target T _A used in the work-measurement system 1A will be described with reference to FIG. The target T _A here is, for example, one in which a designated mark U _{A in} which a circle and a cross line are combined is printed on a rectangular (including square) sheet. Intersection S _A of the cross-hairs of the specified mark U _A has become the center point of the specified mark U _A. The target T _A may be installed on the construction object so that the designated mark U _A can be visually recognized from the position of the surveying instrument 2. That is, the target T _A does not necessarily face the surveying instrument 2 and may be installed at a predetermined angle with respect to the surveying instrument 2. The allowable amount of the installation angle of the target T _A depends on the image analysis processing described later. In order to facilitate the image analysis processing, it is desirable that there is a difference in contrast between the background color of the target T _A and the color of the designation mark U _A. For example, when the background of the designated mark U _A is “white”, the designated mark U _A is “black”. Note that the target T _A does not necessarily have to be a quadrangle, and may have another shape (for example, a polygon other than a quadrangle or a circle).

A specific configuration of the surveying instrument 2 will be described with reference to FIG. FIG. 3 is a functional configuration diagram of the surveying instrument 2. The surveying instrument 2 includes an imaging unit 21, a driving unit 22, a measuring unit 23, a communication unit 24, and a control unit 25.
The image capturing unit 21 captures an object existing in the optical axis direction (imaging direction) of the lens. The photographing unit 21 is, for example, a CCD (Charge Coupled Device) camera whose photographing direction and focus can be adjusted.
The drive unit 22 is for rotating the imaging unit 21 with respect to the horizontal plane and the vertical plane, and is composed of, for example, a motor and gears.

The measuring unit 23 measures the position of the object (the position of the collimation point). The measuring unit 23 includes an optical distance meter that measures the distance to an object existing in the collimation direction and an encoder that measures the angle in the collimation direction.
The light wave range finder irradiates an object existing in the collimation direction with laser light from the center of the objective lens of the telescope, detects the reflected light, and calculates the distance from the number of times the light wave oscillates before the detection. The position where the laser beam is applied to the object becomes the collimation point, and the collimation point is measured, so the collimation point may be referred to as a measurement point. The collimation direction of the lightwave rangefinder coincides with the shooting direction of the shooting unit 21. Therefore, as shown in FIG. 4A, when the screen center L _A (that is, the collimation direction) of the image M _A captured by the image capturing unit 21 and the target T _A are deviated from each other, the measurement of the target T _A is performed. Can't do. In order to measure the target T _A , the target T _A must be in the center L _A of the screen as shown in FIG. The light-wave rangefinder may be housed inside the imaging unit 21 to have an integrated structure.
The encoder is installed in the drive unit 22 and detects the rotation angle of the optical distance meter in the horizontal plane and the vertical plane.

Returning to FIG. 3, the description of the surveying instrument 2 will be continued. The communication unit 24 performs wireless communication with the surveying support device 3A, and is, for example, a transceiver for wireless communication.
The control unit 25 controls the photographing unit 21, the driving unit 22, the measuring unit 23, and the communication unit 24, and includes, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory). Become. The CPU is a central control unit, and executes a program execution process. RAM is a temporary storage means used by the CPU. The ROM is a non-volatile storage unit and stores programs executed by the CPU.

A specific configuration of the surveying support device 3A will be described with reference to FIG. FIG. 5 is a functional configuration diagram of the surveying support device 3A. The surveying support device 3A includes an input unit 31, a display unit 32, a storage unit 33, a communication unit 34, and a control unit 40A.
The input unit 31 receives various information input by a measurer. The display unit 32 displays various information to the measurer. The input unit 31 and the display unit 32 may be separate devices (for example, a keyboard, a mouse, and a display) or may be integrated devices (for example, a touch display).

The storage unit 33 stores various information used by the surveying support device 3A. In the storage unit 33, for example, the position of the reference point, the position of the surveying instrument, the position of the target point, etc. (all three-dimensional coordinate values of the overall coordinate system) input by the measurer via the input unit 31 and the communication unit. Images and the like received from the surveying instrument 2 via 34 are stored.
The communication unit 34 performs wireless communication or wired communication with the surveying instrument 2, and is, for example, a transceiver for wireless communication. The surveying support device 3A transmits a control signal to the surveying instrument 2 via the communication unit 34. The surveying support device 3</b>A also receives the image captured by the image capturing unit 21 from the surveying instrument 2 via the communication unit 34.

The control unit 40A includes, for example, a CPU, a RAM, and a ROM, and controls the input unit 31, the display unit 32, the storage unit 33, and the communication unit 34. Further, the control unit 40A includes a remote operation unit 41, an image acquisition unit 42, an image analysis processing unit 43, and a work support unit 44. These functions are realized by the program execution processing by the CPU. The functions of the control unit 40A will be described below, but only the outline will be described here, and a detailed description of the processing will be given later.

The remote control unit 41 remotely controls the surveying instrument 2. For example, the remote control unit 41 converts the operation information input via the input unit 31 into a control signal, and the control signal converted via the communication unit 34 into the surveying instrument. Send to 2.
The image acquisition unit 42 captures (captures) the video imaged by the imaging unit 21 of the surveying instrument 2 as image data. The captured image data is stored in the storage unit 33.

The image analysis processing unit 43 performs image analysis processing of the video imaged by the imaging unit 21 of the surveying instrument 2. The image analysis processing unit 43 includes a contrast adjustment unit 43a, a binarization processing unit 43b, a designated point position calculation unit 43c, and a position shift calculation unit 43d.
The contrast adjustment unit 43a adjusts the contrast of the image data in order to facilitate the binarization processing by the binarization processing unit 43b.
The binarization processing unit 43b binarizes the image data into, for example, black and white by the threshold value discrimination method to create binarized image data. In this binarized image data, an orthogonal coordinate system having an arbitrary position as an origin (for example, a two-dimensional coordinate having an X axis in the horizontal direction and a Y axis in the vertical direction) is set. The binarized image data may be a combination other than white and black.
The designated point position calculation unit 43c calculates the position of the designated point associated with the designated mark U _A from the binarized image data. Here, the specified point, as long that it can identify the position from the specified mark U _A, for example, the center point and center-of-gravity point of the specified mark U _A, good in such intersection or apex of the lines constituting the specified mark U _A .. Here, the intersection S _A (see FIG. 2) is calculated from the binarized image data as the designated point of the designated mark U _A. Intersection S _A specified mark U _A is also the center point of the specified mark U _A. Incidentally, the specified point position calculation section 43c may calculate the center of gravity of the designated marks U _A as designated point in the specified mark U _A. Intersection S _A specified mark U _A is calculated as coordinate values based on an orthogonal coordinate system set in the binarized image data.
The positional shift calculation unit 43d calculates the positional shift between the coordinate value of the screen center L _A that is the collimation point and the coordinate value of the designated point (here, the intersection S _A ) of the designated mark U _A.

The work support unit 44 includes a position shift notification unit 44a. The misregistration notifying unit 44a detects the displacement of the surveying instrument 2 required for the collimation direction and the designated point (here, the intersection S _A ) of the designated mark U _A to coincide with each other from the displacement calculated by the displacement calculation unit 43d. The rotation direction and rotation angle are calculated. Then, the positional deviation notifying unit 44a notifies the surveying instrument 2 of the calculated rotation direction and rotation angle of the surveying instrument 2. The surveying instrument 2 controls the angle of the collimation direction based on the notified rotation direction and rotation angle, so that the target T _A is located at the screen center L _A , that is, the screen center L that is the collimation point. There is no positional deviation between the coordinate value of _{A and} the coordinate value of the designated point (here, the intersection S _A ) of the designated mark U _A. Note that the positional deviation notifying unit 44a does not transmit the calculated rotation direction and rotation angle as the information as it is, but converts it into some form (information including the rotation direction and rotation angle) to the surveying instrument 2. You may send it.

<<Processing of Surveying Assistance Device According to First Embodiment>>
The processing of the surveying support device 3A will be described with reference to FIG. FIG. 6 is an example of a flowchart showing the processing of the work-type surveying system 1A using the surveying assistance apparatus 3A according to the first embodiment.
Here, the measurer installs the target T _A on the construction object in advance. Since the construction object is constructed based on the design, the target T _A will be installed in the vicinity of the target point. Further, the measurer inputs in advance the information necessary for the quality measurement to the surveying support device 3A. The input information is, for example, the position of the surveying instrument 2, the position of the target point, and the like (both are three-dimensional coordinate values in the overall coordinate system).

First, the surveying instrument 2 collimates the target point by controlling the driving unit 22 to direct the photographing unit 21 to the target point, and starts photographing in the vicinity of the target point with the screen center L _A as the target point ( Step S10). This process is started, for example, by the measurer using the surveying support device 3A to instruct the surveying instrument 2 to start photographing. Since the target T _A is installed in the vicinity of the target point, the target T _A appears in the image M _A shot with the collimation direction toward the target point, as shown in FIG. Become. However, in this state, the target T _A cannot be measured because of the displacement. If the target T _A is not captured, the zoom magnification is reduced so that the target T ₁ fits in the image. The captured image is transmitted to the surveying support device 3A.

Subsequently, the image acquisition unit 42a of the surveying support device 3A captures the image M _A acquired from the surveying instrument 2 as image data P (step S11). In the following, since the processing using the image data P of each time point is performed, to represent the image data at a point in time (time t _i) in the image data P (t _i) (where, i is a natural number) .. Next, the contrast adjusting unit 43a adjusts the contrast of the image data P(t _i ) so that the binarization process becomes easy (step S12).

Subsequently, the binarization processing unit 43b performs the binarization process of the image data P(t _i ) by the threshold value discrimination method (step S13). The binarization process may be performed, for example, as long as the designated mark U _A can be discriminated from other portions. For example, with the brightness that allows the designated mark U _{A to} be clearly extracted as a threshold value, pixels within the image data P(t _i ) that do not exceed this threshold value are converted into black pixels as pixels corresponding to the designated mark U _A. In addition, pixels exceeding this threshold value are converted into white pixels as pixels corresponding to other portions. Thus, the image data P (t _i) the binarized processed binarized image data Q (t _i) is created (see FIG. 7 (a)). Note that this binarization processing may be realized by, for example, general image processing software, or by software that uses advanced image processing technology such as wavelet transform processing used in crack image processing technology. May be done.

Subsequently, the designated point position calculation unit 43c extracts the designated mark U _{A shown} in the binarized image data Q(t _i ) (step S14). If the designated mark U _A cannot be extracted (“NO” in step S14), the process returns to step S12 to readjust the contrast. On the other hand, when the designated mark U _A can be extracted (“YES” in step S14), the designated point position calculation unit 43c calculates the position of the intersection S _A that is the designated point of the designated mark U _A (step S15). ). Here, in the binarized image data Q(t _i ), an orthogonal coordinate system (for example, the horizontal direction is the X axis and the vertical direction is the Y axis) having an origin at an arbitrary position is set, and the designation mark U is set. intersection S _a of _a, the coordinate values based on this coordinate system is calculated as _{(X (t i), Y} (t i)) ( see FIG. 7 (b)). Here, the case where the intersection S _A is calculated as the designated point of the designated mark U _A will be described as an example.

The positional deviation calculator 43d calculates the coordinates (Xo, Yo) of the center L _A of the screen of the binarized image data Q(t _i ) and the coordinates (X(t _i )) of the intersection S _A that is the designated point of the designated mark U _A. , Y(t _i )) is calculated, and it is determined whether the calculated positional deviation is within the allowable value (step S16). Here, the center L _A of the screen is the collimation direction. When the calculated positional deviation exceeds the allowable value (“Yes” in step S16), the positional deviation notification unit 44a causes the screen center L _A , which is the collimation direction, and the intersection S _A of the designated mark U _A to coincide with each other. The rotation direction and the rotation angle of the surveying instrument 2 required to do so are calculated. Then, the positional deviation notifying unit 44a notifies the surveying instrument 2 of the calculated rotation direction and rotation angle of the surveying instrument 2, and the surveying instrument 2 controls the drive unit 22 based on the notified rotation direction and rotation angle. And turns the photographing unit 21 (step S17). After the turning, the process is returned to step S15 to calculate the intersection S _A of the designated mark U _A of the binarized image data Q(t _i+1 ) photographed in the collimation direction after the turning.

In other words, steps S15 to S17 mean that this process is repeated until the positional deviation is within the allowable value. For example, the image capturing unit 21 of the surveying instrument 2 is turned based on the positional deviation in the binarized image data Q(t ₁ ) at the first time point t ₁ captured toward the target point. Next, the image capturing unit 21 of the surveying instrument 2 is further rotated based on the positional deviation in the binarized image data Q(t ₂ ) at the next time (t ₂ ) captured at the position after the turning. In this way, the amount of positional deviation is gradually reduced, and finally the target T _A is positioned at the center L _A of the screen as shown in FIG.

When the calculated positional deviation is within the permissible value (“NO” in step S16), the positional deviation notification unit 44a transmits an instruction to measure the target T _{A to} the surveying instrument 2 (step S18). As a result, the measuring unit 23 of the surveying instrument 2 measures the target T _A.

As described above, the surveying support apparatus 3A according to the first embodiment calculates the intersection point S _A is the designated point in the specified mark U _A by image analysis processing from video captured by the surveying instrument 2. Moreover, to calculate the positional deviation of the center of the screen L _A is the intersection S _A and collimation direction of the specified mark U _A, from the calculated positional deviation between the center of the screen L _A and the intersection S _A specified mark U _A matches The rotation direction and the rotation angle of the surveying instrument 2 required for are calculated. Then, the surveying instrument 2 is notified of the calculated rotation direction and rotation angle. In the surveying instrument 2, so turning the imaging unit 21 based on the rotation direction and the rotation angle of the received, it is possible to match the screen center L _A is a collimating direction to a specified point in the specified mark U _A intersection S _A .. Therefore, the measurer does not need to remotely operate the surveying instrument 2 while watching the captured image, and can measure the target T _A.

[Second Embodiment]
<<Regarding the Configuration of the Surveying Assistance Device According to the Second Embodiment>>
The configuration of the surveying assistance device 3B according to the second embodiment will be described with reference to FIG. FIG. 8 is a schematic configuration diagram of a building adjustment system 1B using a surveying support device 3B according to the second embodiment. The build-in adjustment system 1B realizes a build-in work for adjusting vertical/horizontal of columns and beams by a measurer.

The building adjustment system 1B includes a surveying instrument 2 and a surveying support device 3B communicable with the surveying instrument 2. The surveying instrument 2 has the same configuration as that of the first embodiment.
The surveying support device 3B is operated by a measurer, and can remotely operate the surveying instrument 2. Further, the surveying support device 3B has a function of supporting a work using the surveying instrument 2 (here, a building work). Details of the function will be described later.

An example of the configuration of the target T _B used in the placement adjustment system 1B will be described with reference to FIG. 9. The target T _B here is, for example, one in which a designated mark U _B formed of a cross line is printed on a rectangular (including square) sheet. Intersection S _B of the cross line of the designated mark U _B is made the center point of the specified mark U _B. The target T _B has the designated mark U _B visible from the position of the surveying instrument 2, and is installed on a pillar or beam at a predetermined angle with respect to the surveying instrument 2. The allowable amount of the installation angle of the target T _B depends on the image analysis processing. In order to facilitate the image analysis process, it is desirable that the background color of the target T _B and the color of the designation mark U _B have a difference in contrast. For example, when the background of the designated mark U _B is “white”, the designated mark U _B is “black”. Note that the target T _B is not limited to that described with reference to FIG. 9 as with the target T _A. For example, the target T _B may be the same as the target T _A shown in FIG.

As shown in FIG. 10A, when the screen center L _B of the image M _B photographed with the target point as the collimation direction is displaced from the intersection S _B of the target T _B , the work for adjusting the installation position is not possible. It is in a necessary state (before the completion of construction work). On the other hand, as shown in FIG. 10B, when the screen center L _B of the image M _B captured with the target point as the collimation direction and the intersection S _B of the target T _B match, the building operation is completed. It is in the state of having done.

A specific configuration of the surveying support device 3B will be described with reference to FIG. FIG. 11 is a functional configuration diagram of the surveying support device 3B. The surveying support device 3B includes an input unit 31, a display unit 32, a storage unit 33, a communication unit 34, and a control unit 40B. Since the configuration other than the control unit 40B is the same as that of the first embodiment, the description thereof will be omitted.

The control unit 40B includes, for example, a CPU, a RAM, and a ROM, and controls the input unit 31, the display unit 32, the storage unit 33, and the communication unit 34. Further, the control unit 40B includes a remote control unit 41, an image acquisition unit 42, an image analysis processing unit 43, and a work support unit 44. These functions are realized by the program execution processing by the CPU. The control unit 40B according to the second embodiment is different from the control unit 40A according to the first embodiment in that the work support unit 44 includes a guide screen creation unit 44b and a guide screen output unit 44c.

The guide screen creation unit 44b creates a position alignment guide screen in which the graphic indicating the positional deviation calculated by the positional deviation calculation unit 43d is superimposed on the image captured by the imaging unit 21. Here, the measurer performs the building operation based on the figure indicating the positional deviation, and hence this figure will be referred to as "guide G" hereinafter. The guide screen output unit 44c causes the display unit 32 to display the guide screen created by the guide screen creating unit 44b. The guide G is generated based on, for example, a three-dimensional coordinate system similar to the global coordinate system, which is virtually set in the captured image. The guide G may be, for example, a box type (rectangular parallelepiped) type (see FIGS. 12A and 12B) or an arrow type (see FIG. 12C).

In the box-shaped guide G shown in FIGS. 12A and 12B, one end of the diagonal line of the rectangular parallelepiped is located at the intersection S _B which is the designated point of the designated mark U _B , and the other end is located at the center L _B of the screen. ing. That is, the larger the positional deviation, the larger the size of the guide G, and the smaller the positional deviation, the smaller the size of the guide G. Thereby, the measurer can grasp the alignment direction from the direction of the box-shaped guide G, and can also grasp the alignment distance from the size of the guide G. The length of each side of the guide G (positioning distance) may be expressed as a numerical value.

The length of each side of the guide G (positioning distance) can be calculated by various methods. For example, the actual dimensions of the target T _B and the designated mark U _B are stored in advance, and the length of each side of the guide G is calculated from the ratio with the size (the number of pixels) of the target T _B and the designated mark U _B in the captured image. May be calculated. In this case, the camera that is the imaging unit 21 may be used as a compound eye to acquire the actual dimensions of the target T _B and the designation mark U _B.
Alternatively, the size of the captured image may be calculated from the angle of view of the imaging unit 21, and the length of each side of the guide G may be calculated from the ratio of the number of pixels in the horizontal and vertical widths of the captured image.

In the arrow-shaped guide G shown in FIG. 12C, the starting point of the arrow is the intersection S _B of the designated mark U _B , the direction of the arrow indicates the alignment direction, and the numbers near the arrow indicate the position. Indicates the distance of alignment. Thereby, the measurer can grasp the alignment direction from the direction of the arrow-shaped guide G, and can also grasp the alignment distance from the numerical value near the arrow. The arrow-shaped guide G is effective when it is difficult to describe the box-shaped guide G due to the small positional deviation. Therefore, the box-shaped guide G and the arrow-shaped guide G may be selectively used according to the displacement distance.

<<Processing of Surveying Assistance Device According to Second Embodiment>>
The processing of the surveying support device 3B will be described with reference to FIG. FIG. 13 is an example of a flowchart showing a process of the building adjustment system 1B using the surveying assistance device 3B according to the second embodiment.
Here, the measurer inputs the information necessary for the installation work into the surveying support device 3B in advance. The input information is, for example, the position of the surveying instrument 2, the position of the target point, and the like (both are three-dimensional coordinate values in the overall coordinate system). Further, the measurer installs the target T _B on the built-in pillar or beam in advance, and guides the pillar or the like so that the target T _B is located near the target point.

The processing from step S30 to step S36 shown in FIG. 13 is the same as the processing from step S10 to step S16 of the first embodiment (see FIG. 6). Therefore, the description of these processes will be omitted.
When the positional displacement calculated in step S36 exceeds the allowable value (“YES” in step S36), the guide screen creating unit 44b uses the guide G (see FIG. 12) indicating the positional displacement (direction, distance, etc.). An alignment guide screen superimposed on the image data P(t _i ) is created. Then, the guide screen output unit 44c causes the display unit 32 to display the alignment guide screen (step S37). The measurer builds columns and beams based on the guide screen displayed on the display unit 32 (step S38). After the installation is completed, the process is returned to step S35 to calculate the intersection S _B which is the specified point of the specified mark U _B of the binarized image data Q(t _i+1 ) photographed after the installation.

That is, steps S35 to S38 mean that this process is repeated until the positional deviation is within the allowable value. For example, the measurer performs the installation according to the guide screen at the first time point t ₁ (for example, see FIG. 12A). Next, create a new guide screen (for example, see FIG. 12(b)) from the image at the next time (t ₂ ) taken at the position after the installation, and perform further installation according to the guide screen. Go In this way, for example, the position shift amount is gradually reduced from the state shown in FIG. 12A to the state shown in FIG. 12B and the state shown in FIG. As shown in 10(b), the target T _B is placed in the center L _B of the screen.

When the calculated positional deviation is within the allowable value (“NO” in step S36), the guide screen output unit 44c causes the display unit 32 to display a screen of completion of the building operation, thereby ending the building operation ( Step S39). In addition, it is preferable to measure the target T _B after the completion of the building. This makes it possible to carry out the building work more accurately.

As described above, the surveying support device 3B according to the second embodiment calculates the intersection point S _B , which is the designated point of the designated mark U _B , from the video imaged by the surveying instrument 2 by the image analysis process. Moreover, to calculate the positional deviation of the center of the screen L _B is the intersection S _B and collimation direction of the specified mark U _B, the guide G indicating the calculated position shift on the display unit 32 the alignment guide screen superimposed on the image indicate. Since this guide G visually indicates the direction and distance of the alignment, the measurer carries out the installation work according to the alignment guide screen, so that the intersection S _B , which is the designated point of the designated mark U _B , is displayed at the center of the screen. It can be easily adjusted to L _B. Therefore, the erection work can be performed without measuring the position of the target T _B.

[Modification]
Although the embodiments of the present invention have been described above, the present invention is not limited to the embodiments and can be carried out within the scope of the claims. A modified example of the embodiment will be described below.

In each embodiment, a combination of a circle and a crosshair is shown as the designation mark U _A , and a crosshair is shown as the designation mark U _B. However, the designation marks U _A and U _B are not limited to this, and various shapes can be adopted. For example, as the designation marks U _A and U _B , figures such as a quadrangle and a rhombus, or a combination of these figures and a cross line may be used.
Further, as shown in FIG. 14A, a plain rectangular sticker without a figure such as a circle or a cross line may be used as the target T _C. In this case, the outer shape of the target T _C becomes the designated mark U _C , and for example, the center of gravity is calculated as the designated point of the designated mark U _C. The color of the target T _C may be arbitrary.
Further, as shown in FIG. 14B, an arrow-shaped seal may be used as the target T _D. In this case, the outer shape of the target T _D becomes the designated mark U _D , and for example, the tip S _D of the arrow is calculated as the designated point of the designated mark U _D. The color of the target T _D may be arbitrary.

In the embodiments, specify the sealing marks U _A, had marked the U _B, execution object directly specified (column, including beams) mark U _A, also be marks the U _B Alternatively, a target other than the seal (for example, a plate material) may be used as the target, and the designation mark may be marked on these. For example, as shown in FIG. 14(c), a rectangular plate may be bent at a right angle and a designation mark U _E may be formed on one outer surface of the target T _E.

Further, in the first embodiment, the position shift notification unit 44a requires the rotation direction of the surveying instrument 2 required for the screen center L _A that is the collimation direction and the intersection S _A that is the designated point of the designated mark U _A to match. Then, the rotation angle was calculated, and the calculated rotation direction and rotation angle of the surveying instrument 2 were notified to the surveying instrument 2. However, the misregistration notification unit 44a may transmit information (for example, direction and distance) regarding the misregistration to the surveying instrument 2 so that the surveying instrument 2 calculates the rotation direction and the rotation angle.

Further, in the second embodiment, the guide screen is displayed on the surveying support device 3B owned by the measurer, but when a person other than the measurer performs the installation work, the guide is displayed on the device owned by the worker. You may make it transmit a screen.

1A Measurement system 1B Built-in adjustment system 2 Surveyors 3A, 3B Surveying support device 42 Image acquisition unit 43 Image analysis processing unit 43a Contrast adjustment unit 43b Binarization processing unit 43c Specified point position calculation unit 43d Position shift calculation unit 44 Work support unit 44a Displacement notification unit 44b Guide screen creation unit 44c Guide screen output unit T _{A to} T _E target U _{A to} U _E designation mark G guide

Claims (3)

A surveying support device that supports the construction work performed at the construction site,
An image acquisition unit that acquires a captured image captured so as to include the collimation point of the surveying instrument,
An image analysis processing unit that calculates a positional deviation between a designated point associated with a designated mark and the collimation point by performing image processing on the captured image,
A work support unit that supports work performed using the surveying instrument based on the calculated positional deviation ,
The designated point is a representative point of the object to be built,
The collimation point is a target point for building in the representative point,
The work support unit causes a display unit to display a position alignment guide screen in which the calculated positional deviation is superimposed on a captured image.
A surveying support device characterized in that The image analysis processing unit,
A binarization processing unit that creates binarized image data in which the designated mark of the acquired captured image is binarized so as to be distinguishable from other portions.
A specified point position calculation unit that detects the specified mark from the binarized image data and calculates the coordinates of the specified point of the specified mark in the rectangular coordinate system set in the binarized image data,
A position shift calculation unit that calculates a position shift between the coordinates of the collimation point and the coordinates of the designated point of the designated mark;
The surveying assistance device according to claim 1, further comprising: The designation mark is any one of a circle, a quadrangle, a rhombus, an arrow figure, a cross line, a combination of the figure and the cross line, and a plain area.
The surveying support device according to claim 1 or 2, wherein

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