JP6991268B2 - Surveying system and surveying method - Google Patents

Description

The present invention relates to a technique for comprehensively photographing the ground such as a residential land, and more specifically, a surveying system capable of photographing while ensuring an appropriate side lap between adjacent photographing courses. It relates to a surveying method using.

Generally, when determining the exact land area when selling the owned land, when applying for separate registration to divide the land due to inheritance, etc., to install a new facility near the boundary such as a block wall When clarifying the boundary, when constructing or restoring a boundary marker, etc., a boundary witness with the landowner of the adjacent land is performed. Then, in the boundary witness, discussions on the boundary are held while checking the materials of the Legal Affairs Bureau and the current survey map.

The current condition survey used in boundary witnessing is a survey conducted to measure the current condition of land including features such as block walls and boundary markers, and to grasp the approximate dimensions, area, and ground height of the land. Compared to definite boundary surveying, the work is completed in a short period of time, and therefore the cost of surveying can be reduced. When conducting a current plane survey, high-low survey and true north survey are often performed together.

On the other hand, in Japan, more than 900,000 single-family homes are newly built annually, and the current level survey is also carried out when new single-family homes are built. The current plane survey is carried out in order to grasp the shape and area of the site, or to plan the layout and frontage of the building. In addition, when purchasing land, the seller presents a survey map of the land, but in order to judge the suitability of the survey map, a current plane survey (so to speak, inspection survey) may be carried out.

As described above, the current plane survey is a survey that is frequently used in various situations, and as described above, it is performed in a relatively short period of time and at low cost. In other words, the person who receives the request for the current plane survey is required to perform the work in a short period of time and at low cost. However, in order to actually perform a current plane survey, at least two people are required regardless of whether the length is calculated with a tape (tape measure) or the height is calculated with a spirit level (level), and labor costs are required. Considering travel costs, it is not so easy to keep costs down.

By the way, in recent years, with the progress of technology, various surveying techniques have been proposed in order to save labor, shorten work time, and control costs. A surveying method using a drone is one of them. For example, Patent Document 1 proposes a technique of arranging an anti-aircraft sign on a land to be surveyed and performing photogrammetry while the drone flies over the land.

Japanese Unexamined Patent Publication No. 2019-60641

The photogrammetry disclosed in Patent Document 1 can be carried out only by the operator of the drone, and can be said to be a suitable method in terms of labor saving. However, operating a drone requires considerable knowledge and skill, that is, it requires a considerable labor cost because it is necessary to ask a specialist, and also the cost related to the drone, so the cost is reduced. That is difficult.

In addition, in order to measure the target land by photogrammetry, a predetermined overlap is secured between consecutive images, and a predetermined side lap is secured between adjacent shooting courses. It is necessary to acquire images for each, but it is difficult to shoot while ensuring such overlap and side wrap in aerial photography with a drone.

It is also conceivable that the operator can take a photogrammetry of the target land by taking a picture while walking without taking an aerial photograph by a drone. In this case, SfM (Structure from Motion) can be used. This SfM is a method of restoring the shape of an object (that is, creating a three-dimensional model) by using a plurality of photographs of the object. The feature points of the object contained in the photographs taken from various directions (for example, a part of the facility), of course, have different positions in the image for each photograph, but they are actually the same positions. Using the condition that it is in (coordinates), the external control element is obtained and the three-dimensional coordinates of the feature point are obtained by performing adjustment calculation such as the bundle adjustment method for all the photographs.

However, even in the case where a worker shoots while walking, it is difficult to acquire an image so that a predetermined side lap is secured between adjacent shooting courses, as in the case of aerial shooting by a drone. Normally, what the operator checks through the camera is exactly the range to be shot by the camera, and it is not possible to grasp the positional relationship of the range with the image already shot. Therefore, the image is acquired depending on the sense of the photographer, and it is extremely difficult to surely secure the side lap with the image of the adjacent course.

The object of the present invention is to solve the conventional problem, that is, to enable independent work and to confirm the side wrap on the spot without requiring specialized knowledge as in the case of drone operation. It is to provide a surveying system capable of performing photogrammetry and a surveying method using the surveying system.

The present invention focuses on the point that the photographer can confirm the side wrap by displaying the shooting range of the already acquired image together with the current shooting range, which is an idea that has never existed in the past. It is an invention made based on.

The surveying system of the present invention is a system used by a photographer having an image acquisition means to shoot and survey the ground in the target range while advancing the shooting course and securing side laps between the shooting courses. It is provided with an image acquisition means, a posture sensor, a shooting position calculation means, a shooting range calculation means, and a display means. The image acquisition means is a means for acquiring an image by continuous automatic shooting, and the posture sensor measures the "shooting posture" of the image acquisition means. The shooting position calculation means is a means for calculating the "shooting position" of the image acquisition means by spatial calculation using a plurality of images acquired by the image acquisition means, and the shooting range calculation means is a shooting posture, a shooting position, and an image. It is a means for calculating the "shooting range (including the size and position of the shooting area by the image acquisition means)" based on the specifications of the acquisition means. The display means is a means for displaying the "current shooting range (current shooting range)" and the "acquired shooting range (shooting range of the already acquired image)". Then, during shooting by the photographer, the current shooting range and the acquired shooting range are displayed on the display means, so that the side wrap with the adjacent shooting course can be visually observed while visually observing the overlapping situation between the current shooting range and the acquired shooting range. Can be confirmed.

In the surveying system of the present invention, the display means may display the current shooting range and the acquired shooting range with borders of different line types . Further , the surveying system of the present invention may further include a side wrap calculation means and a suitability determination means. The side wrap calculation means is a means for calculating the side lap ratio between the current shooting range and the acquired shooting range of the adjacent shooting course, and the suitability determination means is a means for determining the suitability of the current shooting range. The side wrap calculation means calculates the side wrap rate based on the area of the current shooting range and the area occupied by the acquired shooting range in the current shooting range, and the suitability determination means is based on the side wrap rate and a predetermined threshold value. To determine the suitability of the current shooting range.

In the surveying system of the present invention, the image acquisition means supported by the support columns may be arranged higher than the photographer's head, and the display means may be arranged at the photographer's hand. Further , in the surveying system of the present invention, the current shooting range and the acquired shooting range are each displayed by a frame line, and the current image obtained by the image acquisition means is displayed in the frame line of the current shooting range. You can also. The display position of the current shooting range in the display means changes with the movement of the image acquisition means.

The surveying system of the present invention may be further provided with display switching means. The display switching means is a means for switching the display contents of the display means by the operation of the operator, and switches between "whole display (display of the entire target range)" and "enlarged display (display around the current shooting range)". ..

The surveying system of the present invention may be further provided with a three-dimensional model creating means. The three-dimensional model creating means is a means for creating a three-dimensional model of the ground in the target range based on a plurality of images acquired by the image acquiring means.

The surveying method of the present invention is a method of using the surveying system of the present invention to photograph and measure the ground in the target range while securing side wraps between imaging courses, and the coordinate system setting process and the photographing process are performed. It is a prepared method. In the coordinate system setting step, a plurality of markers (coordinates known) are continuously photographed by an image acquisition means, and a coordinate system is set by performing a spatial calculation based on the acquired plurality of images and the coordinates of the markers. In the shooting process, the ground is shot by image acquisition means while advancing the shooting course. The imaging position calculation means of the survey system of the present invention calculates the imaging position in the coordinate system set in the coordinate system setting step, and the imaging range calculation means of the survey system of the present invention calculates the imaging range in this coordinate system. .. Then, in the shooting process, by visually observing the overlapping situation between the current shooting range and the existing shooting range, shooting is performed while confirming the side lap with the adjacent shooting course.

The surveying method of the present invention may be a method further including an outer edge calculation step. In the outer edge calculation step, the outer edge of the target range is continuously photographed by the image acquisition means, and the position of the outer edge of the target range in the coordinate system set in the coordinate system setting step is performed by performing spatial calculation based on the acquired multiple images. Is calculated. In this case, in the shooting step, shooting is performed while visually observing all or part of the outer edge of the target range displayed on the display means.

The surveying method of the present invention may be a method further including a marker setting step. In the marker installation process, a plurality of markers are installed using a marker ruler. The marker ruler has a marker installation mark indicating the installation position of a plurality of markers, and each marker installation mark is known to have a relative position.

The surveying system and the surveying method of the present invention have the following effects.
(1) It is possible to work independently, and it is possible to save labor as compared with the conventional photogrammetry method.
(2) Since photogrammetry can be performed while checking the side wrap on the spot, rework work can be reduced as compared with the conventional case.
(3) Since a person with specialized knowledge is not required and a special device such as a drone is not always required, the cost can be reduced as compared with the conventional case.

(A) is a plan view schematically showing a target range and a shooting course, and (b) is a perspective view schematically showing a shooting position and a shooting range. A model diagram schematically showing an image acquisition means placed overhead by a support support. The block diagram which shows the main structure of the surveying system of this invention. A side view schematically showing an image acquisition means and a shooting range. A model diagram schematically showing a display means in an enlarged display. A model diagram schematically showing a display means as a whole display. The flow chart which shows the flow of the main processing when using the surveying system of this invention. A plan view schematically showing the outer edge of the target range and a plurality of markers arranged on the outer edge. The flow chart which shows the flow of the main process of the surveying method of this invention. (A) is a plan view schematically showing an L-shaped marker ruler, and (b) is a plan view schematically showing a T-shaped marker ruler.

An example of the surveying system and the surveying method of the present invention will be described with reference to the drawings.

1. 1. Overall Overview The present invention is a technique for comprehensively photographing a land that has been partitioned such as a residential land and a land that will be partitioned from now on. More specifically, as shown in FIG. 1A, sufficient side laps (adjacent) when shooting while advancing the shooting course SC with respect to the range to be surveyed (hereinafter, simply referred to as “target range TA”). This is a technology that enables shooting after confirming that (overlap with the image of the shooting course SC) is secured. In FIG. 1A, the photographing course SC is taken in the short side direction (vertical direction in the figure) of the target range TA, and the entire area of the target range TA is photographed by making four round trips for convenience.

As shown in FIG. 1 (b), the range of the acquired images (hereinafter referred to as “shooting range PR”) partially overlaps with each other, that is, with sufficient overlap (overlap between images continuous in the traveling direction). When the side wrap is secured, the lens center coordinates of the image acquisition means (for example, a camera or a video camera) by executing bundle adjustment using photogrammetry technology or spatial calculation processing such as SfM (hereinafter, "shooting position CT"). ".) Can be calculated. Further, by using the image as shown in FIG. 1 (b), it is possible to create a three-dimensional model of the ground using the conventional photographic measurement technology, and an orthoscopic image (ortho) of the target range TA seen from the sky. You can also create a photo).

When shooting while advancing the shooting course SC, for example, the device shown in FIG. 2 may be used. In this figure, the operator is taking a picture with the image acquisition means 101 supported by the support column 112 while checking the display means 105 at hand. When the image acquisition means 101 is arranged higher than overhead (for example, 2.0 to 2.5 m above the ground) in this way, the shooting range PR can be made wider, which is preferable. Of course, the image acquisition means 101 can be placed at hand for shooting without using the support column 112.

2. 2. Surveying system
Next, the surveying system of the present invention will be described in detail with reference to the drawings. The measuring method of the present invention is a method of photographing a target range using the measuring system of the present invention. Therefore, the three-dimensional model creating apparatus of the present invention will be described first, and then the measuring method of the present invention will be described. I will do it.

FIG. 3 is a block diagram showing a main configuration of the surveying system 100 of the present invention. As shown in this figure, the surveying system 100 of the present invention includes an image acquisition means 101, a posture sensor 102, a shooting position calculation means 103, a shooting range calculation means 104, and a display means 105, and further includes a display switching means 106 and a display switching means 106. The side wrap calculation means 107, the suitability determination means 108, the three-dimensional model creation means 109, the image storage means 110, the shooting range storage means 111, the support support column 112 (FIG. 2), and the like can also be included.

The imaging position calculation means 103, the imaging range calculation means 104, the display switching means 106, the side wrap calculation means 107, the suitability determination means 108, and the three-dimensional model creation means 109 that constitute the survey system 100 may be manufactured as dedicated ones. It can be done, or a general-purpose computer device can be used. This computer device is equipped with a processor such as a CPU and a memory such as a ROM or RAM, and some include an input means such as a mouse or a keyboard and a display, such as a tablet computer (iPad (registered trademark)) or the like. A portable terminal device such as a smartphone, a personal computer (PC), a server, or the like can be exemplified. It is also possible to implement all of the above-mentioned shooting position calculation means 103, shooting range calculation means 104, and display switching means 106 to 3D model creating means 109 in one computer device, for example, display switching means 106, side. The lap calculation means 107 and the suitability determination means 108 can be mounted separately on a portable terminal device, and the others can be mounted on different computer devices (servers or the like placed in a cloud environment). When each of the above means is mounted on two or more computer devices, it is preferable to provide wireless (or wired) communication means so that information (data) can be transmitted and received between the computer devices.

Further, as the image acquisition means 101, a digital video camera, a digital camera, or the like can be used as described later, and it is particularly preferable to use a digital video camera or the like equipped in a portable terminal device such as a tablet computer or a smartphone. Similarly, the display means 105 may also use the liquid crystal display of the portable terminal device.

The image storage means 110 and the photographing range storage means 111 can use a storage device of a computer device including a portable terminal device, or can be constructed on a database server. When building on a database server, it can be placed on a local network (LAN: Local Area Network), or it can be a cloud server that stores via the Internet (that is, wireless communication).

Hereinafter, each of the main means constituting the surveying system 100 will be described in detail.

(Image acquisition means)
The image acquisition means 101 acquires an image of the ground of the target range TA, and has a function of continuously automatically photographing. For example, a video camera (particularly a digital video camera) for acquiring a moving image can be used, and as described above, it is particularly preferable to use a digital video camera or the like equipped in a portable terminal device.

When the photographer operates the shooting start button or the like, the image acquisition means 101 automatically continuously acquires the first image (frame). The acquisition pitch (interval) of the images is short, and for example, 24 to 60 images per second (that is, 24 to 60 fps) are set to be acquired. The image acquired by the image acquisition means 101 is stored in the image storage means 110 (FIG. 3). At this time, all the images (for example, 24 to 60 fps) may be stored in the image storage means 110, or only the images at predetermined intervals may be stored in the image storage means 110.

(Posture sensor)
The posture sensor 102 is a sensor that measures the shooting posture of the image acquisition means 101, and an angular velocity sensor, a geomagnetic sensor, or the like can be used. Here, the shooting posture is the direction of the optical axis of the image acquisition means 101, and is the inclination (yaw, pitch, roll) with respect to three orthogonal axes (for example, XYZ axes), and the angle of rotation around each axis. It is defined by (ω, φ, κ). Some commercially available tablet computers and smartphones (portable terminal devices) have an electronic compass and an acceleration sensor (so-called 6-axis sensor) built-in, and if such a portable terminal is used, the image acquisition means 101 and the posture It can be combined with the sensor 102. Further, the measurement by the posture sensor 102 may be specified to be executed in synchronization with (or to be associated with) the timing in which the image is stored in the image storage means 110.

(Shooting position calculation means)
The photographing position calculation means 103 reads out a plurality of images from the image storage means 110 (FIG. 3), and uses these read images to obtain three-dimensional coordinates (X, Y,) of the shooting position CT (lens center) of the image acquisition means 101. It is a means for obtaining Z). In obtaining the shooting position CT of the image acquisition means 101, it is preferable to execute spatial calculation processing such as bundle adjustment and SfM using the conventional photogrammetry technique. Therefore, as described above, it is necessary to overlap (overlap or side wrap) a certain degree of continuous (adjacent) images.

Regarding the overlap, although it depends on the speed of the photographer who advances (walks) the photographing course SC, sufficient overlap can be ensured by storing the images in the image storage means 110 at a certain short interval. On the other hand, regarding the side wrap, it is difficult to mechanically secure the side wrap because it depends on the position of the photographer. Therefore, in the present invention, as will be described later, the already photographed shooting range PR (hereinafter referred to as “acquired shooting range PRV”) and the current shooting range (hereinafter referred to as “current shooting range PRC”) are displayed on the display means 105. By doing so, it was decided to present the situation of the side lap to the photographer.

(Shooting range calculation means)
The shooting range calculation means 104 calculates the shooting range PR (acquired shooting range or current shooting range) based on the shooting position CT, the shooting posture, and the specifications (focal length, image element, etc.) of the image acquisition means 101. be. As shown in FIG. 4, if the shooting position CT (X, Y, Z), the shooting posture (ω, φ, κ), and the specifications of the image acquisition means 101 are known, the shooting range calculation means 104 takes a picture. The dimensions and shape of the ground (or photographed) can be calculated, and the plane position (coordinates) within the target range TA can also be calculated. That is, the shooting range calculation means 104 calculates the shooting range PR including the dimensions, shape, and plane position.

The shooting range calculation means 104 may be specified to calculate the shooting range PR for all the images stored by the image storage means 110, or at predetermined intervals among the images stored by the image storage means 110. It is also possible to use a specification for calculating the shooting range PR for the extracted image. Then, the shooting range PR calculated by the shooting range calculation means 104 is stored in the shooting range storage means 111 together with the image (that is, after being linked) (FIG. 3).

(Display means and display switching means)
The display means 105 is a means for displaying the acquired shooting range PRV and the current shooting range PRC, and as described above, it is preferable to use a liquid crystal display of a commercially available tablet computer or smartphone (portable terminal device). When a portable terminal device is used as the image acquisition means 101 (posture sensor 102), two portable terminal devices, one for the image acquisition means 101 and the other for the display means 105, can be prepared, and one portable terminal device can be prepared. The image acquisition means 101 (posture sensor 102) and the display means 105 can also be configured by using the terminal device.

The display means 105 shown in FIG. 5 displays the acquired shooting range PRV and the current shooting range PRC with borders, respectively, and the image currently captured by the image acquisition means 101 within the frame of the current shooting range PRC (hereinafter referred to as , "Current image RM") is also displayed. Further, when the outer peripheral boundary line of the target range TA (hereinafter referred to as “outer edge EG”) is obtained, the outer edge EG can be displayed on the display means 105. In FIG. 5, the frame line of the current shooting range PRC is shown by a broken line, and the frame line of the current shooting range PRC is shown by a solid line. ..

By the way, since the acquired shooting range PRV is the shooting range PR related to the already acquired image, the display position of the acquired shooting range PRV (frame line) in the display means 105 does not change. On the other hand, the current shooting range PRC is the position and range currently captured by the image acquisition means 101, that is, it changes according to the position where the photographer stands. Therefore, the display position of the current shooting range PRC (frame line) in the display means 105 changes with the movement of the photographer (that is, the image acquisition means 101). More specifically, the display position of the current shooting range PRC (frame line) is updated at the timing when the shooting range calculation means 104 calculates the shooting range PR. As for the acquired shooting range PRV and the outer edge EG, it is possible to change the display position by swiping or flicking, as in the conventional map display application.

As shown in FIG. 5, by displaying the acquired shooting range PRV and the current shooting range PRC together on the display means 105, the photographer can visually confirm whether a sufficient side wrap is secured. If it is judged that the side lap is sufficient, the shooting course SC will be advanced from that position, and if it is judged that the side lap is not sufficient, the shooting course SC will be started from the position where the position is changed (for example, to the left in FIG. 5). You should proceed.

In FIG. 5, only the current shooting range PRC and the acquired shooting range PRV in the vicinity thereof are displayed, that is, the current shooting range PRC is enlarged (hereinafter referred to as “enlarged display”). , The situation of the side wrap can be easily confirmed. On the other hand, it is difficult to grasp the current position in the target range TA, and it is also difficult to grasp the progress of shooting. Therefore, when grasping the current position in the target range TA and the progress of shooting, it is preferable to display the entire target range (hereinafter referred to as “whole display”) as shown in FIG. The display switching means 106 switches between the enlarged display and the entire display. For example, when the photographer operates (tap, etc.) the switching icon SW displayed in the upper right of FIG. 5, the display switches to the entire display shown in FIG. 6, and the photographer operates (tap) the switching icon SW displayed in the upper right of FIG. Then, the specification can be changed to the enlarged display shown in FIG.

(Side wrap calculation means and suitability judgment means)
It was explained that the photographer visually checks the side wrap, but it is also possible to make a mechanical judgment regardless of the photographer. In this case, it is assumed that the surveying system 100 includes a side wrap calculation means 107 and a suitability determination means 108. The side wrap calculation means 107 is a means for calculating the side wrap rate based on the area of the current shooting range PRC and the area occupied by the acquired shooting range PRV in the current shooting range PRC. For example, the side lap ratio can be calculated by dividing the area occupied by the acquired shooting range PRV in the current shooting range PRC by the area of the current shooting range PRC.

The suitability determination means 108 compares the side lap rate calculated by the side lap calculation means 107 with a predetermined threshold value (hereinafter referred to as “lap threshold value”), and when the side lap rate exceeds the lap threshold value, It is determined that "the current shooting range PRC has sufficient side laps", and conversely, when the side lap ratio is below the lap threshold value, it is determined that "the current shooting range PRC does not have sufficient side laps". do. Then, the result determined by the suitability determination means 108 may be displayed on the display means 105, or may be specified to be transmitted to the photographer by voice, vibration, or a combination of voice and vibration.

(3D model creation means)
The three-dimensional model creating means 109 is a means for creating a three-dimensional model of the ground of the target range TA. More specifically, the three-dimensional model creating means 109 reads out a necessary image (an image covering the target range TA) from the image storage means 110, and executes spatial arithmetic processing such as bundle adjustment and SfM using photogrammetry technology. Create a three-dimensional model of the ground (Fig. 3). Further, the specification may be such that an orthophoto image (orthophoto) of the target range TA viewed from the sky is created by using an image covering the target range TA.

(Process flow)
Subsequently, the main processing flow when using the surveying system 100 of the present invention will be described with reference to FIG. 7. In the flow chart of FIG. 7, the central column shows the actions to be performed, the left column shows what is necessary for the action, and the right column shows what results from the action.

First, the coordinate system is set (Step 100 in FIG. 7), and the outer edge EG is calculated (Step 200 in FIG. 7). When setting the coordinate system, it is advisable to use the marker MK as shown in FIG. Hereinafter, an example of the procedure for setting the coordinate system using the marker MK will be described.

First, a plurality of marker MKs are placed at positions where the coordinates are known. Of course, after installing the marker MK, the coordinates of the marker MK may be obtained by performing measurement using a total station or a tape (tape measure). The coordinates used here may be coordinates in an arbitrary coordinate system or coordinates in various geodetic coordinate systems. Further, as shown in FIG. 8, the marker MKs may be installed at three or more places on the outer edge EG so as not to line up in a straight line. When the marker MK is installed at a predetermined position, each marker MK is photographed by the image acquisition means 101 of the surveying system 100. At this time, after the photographer operates the shooting start button or the like, it is preferable to continue the shooting (without stopping) and shoot all the marker MKs.

When the continuous shooting of all the marker MKs is completed, the multiple images obtained by the shooting are used, and the spatial calculation processing such as bundle adjustment and SfM using the conventional photogrammetry technology is executed, so to speak, so to speak of each marker MK. Calculate tentative coordinates. Then, by performing conversion processing, scale adjustment, etc. based on the known coordinates (so to speak, positive coordinates) of the marker MK and the temporary coordinates obtained by the spatial calculation processing, the coordinate system (hereinafter, for convenience) is applied to the survey system 100. "Coordinate system for system") is set.

When the system coordinate system is set in the survey system 100, the outer edge EG of the target range TA is calculated. Specifically, the image acquisition means 101 of the surveying system 100 continuously shoots the outer edge EG (again, shooting without stopping after the start of shooting), and spatial calculation using a plurality of images obtained by the shooting. By executing processing (bundle adjustment or SfM), the position of the outer edge EG in the system coordinate system is obtained. The continuous shooting of the marker MK and the continuous shooting of the outer edge EG may be performed separately, or the images of the marker MK and the outer edge EG can be acquired by one shooting. Further, if the system coordinate system has already been set, the coordinate system setting process (Step 100 in FIG. 7) can be omitted, and if the outer edge EG is also calculated, the edge EG calculation process is performed. (Step 200 in FIG. 7) can be omitted.

When the system coordinate system is set in the surveying system 100 and the outer edge EG of the target range TA is calculated, for example, a photographer having the device shown in FIG. 2 performs a shooting course SC as shown in FIG. 1 (a). While proceeding, I will shoot the ground of the target range TA. In this case as well, it is advisable to continue shooting without stopping after the start of shooting. When shooting is started, images are acquired (Step 300 in FIG. 7), images are stored in the image storage means 110 at predetermined intervals, and the shooting posture is measured at predetermined intervals by the posture sensor 102 (Step 400 in FIG. 7). .. Further, during shooting, the shooting position calculation means 103 calculates the shooting position at predetermined intervals (Step 500 in FIG. 7), and the shooting range calculation means 104 calculates the target range TA at predetermined intervals (Step 600 in FIG. 7) and displays the images. The target range TA (acquired shooting range PRV and current shooting range PRC) is displayed on the means 105 (Step 700 in FIG. 7).

When the system coordinate system is set in the surveying system 100 and the outer edge EG of the target range TA is calculated, for example, a photographer having the device shown in FIG. 2 performs a shooting course SC as shown in FIG. 1 (a). While proceeding, I will shoot the ground of the target range TA. In this case as well, it is advisable to continue shooting without stopping after the start of shooting. When shooting is started, the image acquisition means 101 acquires an image (Step 300 in FIG. 7), the image is stored in the image storage means 110 at predetermined intervals, and the posture sensor 102 measures the shooting posture at predetermined intervals. (Step 400 in FIG. 7). Further, during shooting, the shooting position calculation means 103 calculates the shooting position at predetermined intervals (Step 500 in FIG. 7), and the shooting range calculation means 104 calculates the shooting range PR at predetermined intervals (Step 600 in FIG. 7) and displays the images. The shooting range PR (acquired shooting range PRV and current shooting range PRC) is displayed on the means 105 (Step 700 in FIG. 7).

When the surveying system 100 includes the side wrap calculation means 107 and the suitability determination means 108, the side wrap calculation means 107 calculates the side wrap ratio at the timing when the current shooting range PRC is calculated (Step 800 in FIG. 7). In response to this, the result determined by the suitability determination means 108 is output to the display means 105 or the like (Step 900 in FIG. 7). Further, when the surveying system 100 is provided with the three-dimensional model creating means 109, the target range TA is comprehensively photographed, and then spatial arithmetic processing (bundle adjustment or SfM) using the necessary image is executed. , Create a three-dimensional model of the ground of the target range TA.

3. 3. Survey method
Subsequently, the surveying method of the present invention will be described with reference to FIG. The surveying method of the present invention is a method of photographing a target range using the surveying system 100 described so far, and therefore, avoiding explanations overlapping with the contents described in the surveying system 100, it is peculiar to the surveying method of the present invention. Only the contents of will be explained. That is, the contents not described here are the same as those described in "2. Surveying system ".

FIG. 9 is a flow chart showing the flow of the main process of the surveying method of the present invention. As shown in this figure, the marker MK is first installed (Step 10 in FIG. 9). At this time, as shown in FIG. 8, it is preferable to install the marker MK at three or more places on the outer edge EG so as not to line up in a straight line. Further, in the subsequent step of setting the coordinate system (Step 30 in FIG. 9), since the coordinates of the installation position of the marker MK are required, the marker MK is installed at a known coordinate point or measurement is performed after the installation. If the marker ruler shown in FIG. 10 is used, the marker MK can be easily installed at a known coordinate point.

10A and 10B are plan views schematically showing a marker ruler 200, where FIG. 10A shows an L-shaped marker ruler 200 and FIG. 10B shows a T-shaped marker ruler 200. As shown in this figure, the marker ruler 200 includes a marker installation mark 201 indicating an installation position of the marker MK. As a matter of course, the marker installation marks 201 are provided as many as the number of marker MKs to be installed (three places in the figure), and each marker installation mark 201 is connected by the horizontal axis member 202 and the vertical axis goods 203. The horizontal axis member 202 and the vertical axis member 203 may be made of a foldable material (for example, cloth material, paper material, resin material, etc.) for convenience of carrying.

The distance between the marker installation marks 201 (for example, the distance between the center points) 0 is known. For example, in the case of the L-shaped marker ruler 200 in FIG. 10A, the horizontal axis length LX and the vertical axis length LY are known. In the case of the T-shaped marker ruler 200 of FIG. 10B, the first horizontal axis length LX1, the second horizontal axis length LX2, and the vertical axis length LY are known. Further, the sandwiching angle between the horizontal axis member 202 and the vertical axis asset 203 is also known, and both the L-shaped marker ruler 200 in FIG. 10 (a) and the T-shaped marker ruler 200 in FIG. 10 (b) have a horizontal axis. The angle between the material 202 and the vertical axis product 203 is set to be a right angle.

As described above, the marker installation mark 201 is a so-called arbitrary coordinate system (plane orthogonal coordinate system) itself in which the horizontal axis member 202 is the first axis and the vertical axis asset 203 is the second axis and the origin is an arbitrary point. Therefore, the marker is used. By simply installing the MK on the marker installation mark 201, the coordinates in the arbitrary coordinate system are given.

When the marker installation mark 201 is installed at a predetermined position, the marker MK and the outer edge EG are continuously photographed while advancing along the outer circumference of the target range TA as shown in FIG. 8 (Step 20 in FIG. 9). When the outer circumference is photographed, the system coordinate system is set in the surveying system 100 (Step 30 in FIG. 9), and the outer edge EG of the target range TA is calculated (Step 40 in FIG. 9). Then, while repeating the acquisition of the image (Step 300 shown in FIG. 7) to the display of the shooting range (Step 700 shown in FIG. 7) (or the acquisition of the image (Step 300 shown in FIG. 7) to the appropriateness determination of the shooting range (FIG. 7). (Step 900) shown in FIG. 1), the shooting course SC as shown in FIG. 1 (a) is advanced, and the ground of the target range TA is photographed (Step 50 in FIG. 9). When the surveying system 100 is provided with the three-dimensional model creating means 109, the target range TA is comprehensively photographed and then the target is executed by performing spatial calculation processing (bundle adjustment or SfM) using the necessary images. A three-dimensional model of the ground of the range TA is created (Step 60 in FIG. 9).

The surveying system and surveying method of the present invention are used for civil engineering work and construction work, as well as current surveying performed when witnessing a boundary with a landowner in an adjacent land, constructing a new detached house, or purchasing land. It can be used in all situations of land surveying, such as land surveying.

100 Surveying system of the present invention
101 Image acquisition means (of surveying system ) 102 ( Surveying system ) Attitude sensor 103 ( Surveying system ) Shooting position calculation means 104 ( Surveying system ) Shooting range calculation means 105 ( Surveying system ) Display means 106 ( Surveying system ) ) Display switching means 107 ( Surveying system ) Side wrap calculation means 108 ( Surveying system ) Appropriateness judgment means 109 ( Surveying system ) 3D model creating means 110 ( Surveying system ) Image storage means 111 ( Surveying system ) Shooting Range storage means 112 ( Surveying system ) Support column 200 Marker ruler 201 (Marker ruler) Marker installation marker 202 (Marker ruler) Horizontal axis 203 (Marker ruler) Vertical axis asset CT Imaging position EG Outer edge MK Marker PR Shooting Range PRC Current Shooting Range PRV Obtained Shooting Range RM Current Status Image SC Shooting Course SW Switching Icon TA Target Range

Claims (9)

It is a system used when a photographer with an image acquisition means advances a shooting course and shoots and surveys the ground in the target range while securing side laps between the shooting courses.
The image acquisition means for acquiring an image by continuous automatic shooting, and
A posture sensor that measures the shooting posture of the image acquisition means, and
A shooting position calculation means for calculating a shooting position of the image acquisition means by performing a spatial calculation using the plurality of images acquired by the image acquisition means, and a shooting position calculation means.
A shooting range calculation means for calculating a shooting range including the size and position of a shooting area by the image acquisition means based on the shooting posture, the shooting position, and the specifications of the image acquisition means.
A display means for displaying the current shooting range, which is the current shooting range, and the acquired shooting range, which is the shooting range of the already acquired image, is provided.
By displaying on the display means the current shooting range that fluctuates according to the position of the photographer and the acquired shooting range that the display position does not change during shooting by the photographer, the current shooting range can be obtained. While visually observing the overlapping situation with the acquired shooting range, it is possible to confirm the side lap with the adjacent shooting course.
A surveying system characterized by that. The display means displays the current shooting range and the acquired shooting range with borders of different line types.
The surveying system according to claim 1 . A side lap calculation means for calculating the side lap ratio of the current shooting range and the acquired shooting range of the adjacent shooting course, and
A suitability determination means for determining the suitability of the current shooting range is provided.
The side wrap calculation means calculates the side wrap ratio based on the area of the current shooting range and the area occupied by the acquired shooting range in the current shooting range.
The suitability determination means determines the suitability of the current shooting range based on the side wrap rate and a predetermined threshold value.
The surveying system according to claim 1 or 2 , wherein the surveying system is characterized in that. The image acquisition means supported by the support support is arranged higher than the photographer's head, and the display means is arranged in the photographer's hand.
The surveying system according to any one of claims 1 to 3, wherein the surveying system is characterized in that . A display switching means for switching the display contents of the display means by being operated by an operator is further provided.
The display switching means switches between an overall display that displays the entire target range and an enlarged display that displays the periphery of the current shooting range.
The surveying system according to any one of claims 1 to 4 , wherein the surveying system is characterized in that. A three-dimensional model creating means for creating a three-dimensional model of the ground in the target range based on the plurality of images acquired by the image acquiring means is further provided.
The surveying system according to any one of claims 1 to 5 . A method of taking a picture of the ground in a target range and taking a survey while securing side laps between shooting courses by using the surveying system according to any one of claims 1 to 6 .
A coordinate system setting process for setting a coordinate system by continuously photographing a plurality of markers having known coordinates by the image acquisition means and performing a spatial calculation based on the acquired plurality of images and the coordinates of the markers.
It is equipped with a shooting process in which the ground is shot by the image acquisition means while advancing the shooting course.
The shooting position calculation means calculates the shooting position in the coordinate system set in the coordinate system setting step, and the shooting range calculation means calculates the shooting range in the coordinate system.
In the shooting step, by visually observing the overlapping situation between the current shooting range and the already obtained shooting range, shooting is performed while confirming the side lap with the adjacent shooting course.
A surveying method characterized by that. The outer edge of the target range is continuously photographed by the image acquisition means, and spatial calculation is performed based on the acquired plurality of images to obtain the position of the outer edge of the target range in the coordinate system set in the coordinate system setting step. Further equipped with an outer edge calculation process to calculate
In the shooting step, shooting is performed while visually observing all or part of the outer edge of the target range displayed on the display means.
7. The surveying method according to claim 7 . Further, a marker installation step of installing a plurality of the markers using a marker ruler is provided.
The marker ruler has a marker installation mark indicating a plurality of marker installation positions, and each marker installation mark has a known relative position.
The surveying method according to claim 7 or 8 , wherein the surveying method is characterized in that.

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