JP7406904B2 - Surveying system, surveying equipment, surveying method and program - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act Published on the company's website on August 3, 2020 [Publications, etc.] Published on the company's website on August 3, 2020 [Publications, etc.] Ordinance Published on the company-operated website “Digicon” on November 30, 2020 [Publications, etc.] Published on the company-operated website “Digicon” on June 15, 2021 [Publications, etc.] Reiwa 3 Published on the video site “Youtube” on June 4, 2020 as “https://www.youtube.com/watch?v=7gDmJg_WQM4” [Publications, etc.] Nikkan Construction Co., Ltd. on October 29, 2020 Published on Tsushin Shimbun's website "Architecture Tsushin Shimbun DIGITAL" [Publications, etc.] Published on June 16, 2021 on Kensetsu IT World Co., Ltd.'s website "Kensetsu IT World" [Publications, etc.] Announced at the webinar “OPTiM INNOVATION 2020” operated by the company on October 27, 2020 [Publications, etc.] Announced at the webinar “OPTiM INNOVATION 2020” operated by the company on October 27, 2020

The present invention relates to a technique effective for surveying.

As a method of surveying real space, it is known to perform image detection and distance measurement using LiDAR (Laser Imaging Detection and Ranging) technology (see Patent Document 1). LiDAR irradiates with a laser or the like and forms a point cloud at each irradiated point.
By using such LiDAR technology, for example, it is possible to survey a 3D point cloud of an object, link all points in the surveyed 3D point cloud to world geodetic system coordinates, and set verification points. This makes it possible to check the accuracy of coordinate transformation (linking world geodetic system coordinates).

JP2019-078732A

However, the world geodetic system coordinates of the control point required for coordinate conversion have a large number of digits, making it difficult to input them without making mistakes.
Therefore, the present inventors focused on the need for a surveying system, a surveying device, a surveying method, and a program that can input the world geodetic system coordinates necessary for coordinate transformation without making a mistake.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a surveying system, a surveying device, a surveying method, and a program that can input world geodetic system coordinates necessary for coordinate transformation without making a mistake.

The present invention includes a photographed image acquisition unit that acquires a photographed image of a real space in which a sign is installed;
a three-dimensional data acquisition unit that scans the topography of the real space and acquires data based on the scan results as three-dimensional data of the real space;
a 3D model generation unit that generates a 3D model of the real space based on the acquired 3D data;
a mixed reality display unit that displays mixed reality in which the generated three-dimensional model is superimposed on the acquired captured image;
a recognition unit that automatically recognizes the position of the one marking in mixed reality by image-recognizing the one marking in the photographed image;
From a three-dimensional position storage device that stores the survey results of the three-dimensional positions of points in the real space where any plurality of signs are installed, three of the three points in the real space where any plurality of signs are installed are stored. a three-dimensional position information acquisition unit that acquires the measurement result of the dimensional position as three-dimensional position information in the real space;
In the surveying screen displayed by accepting the input regarding the position of the one marking in the displayed mixed reality, the point where the one marking for which the input was accepted is installed, how much control point or data is available for correcting the data. A specification part to be specified as a verification point to confirm correctness,
When specifying the control point or verification point, a setting unit that sets the three-dimensional position information of the control point or verification point based on input to the acquired three-dimensional position information in the displayed coordinate system;
an arbitrary coordinate system display unit that displays the acquired three-dimensional position information in the coordinate system and clearly indicates the three-dimensional position information that is not a candidate for the control point or the verification point;
a coordinate system input reception unit that receives input for three-dimensional position information displayed in the coordinate system;
Provided is a surveying device comprising:

According to the present invention, a photographed image of a real space in which a sign is installed is acquired, the topography of the real space is scanned, data based on the scan result is acquired as three-dimensional data of the real space, and the acquired three A three-dimensional model of the real space is generated based on the dimensional data, a mixed reality is displayed in which the generated three-dimensional model is superimposed on the captured image, and the one mark in the captured image is recognized as an image. By this, the position of the one sign in mixed reality is automatically recognized and stored from a three-dimensional position storage device that stores the survey result of the three-dimensional position of the point where any plurality of signs in the real space are installed. A survey result of a three-dimensional position of a point where a plurality of arbitrary signs are installed in the real space is acquired as three-dimensional position information in the real space, and an input regarding the position of the one sign in the displayed mixed reality is accepted. On the surveying screen displayed by When specifying a fixed point or verification point, the acquired three-dimensional position information is set as the three-dimensional position information of the control point or verification point based on the input for the acquired three-dimensional position information in the displayed coordinate system, and the acquired three-dimensional position information is set in the coordinate system. Three-dimensional position information is displayed, the three-dimensional position information that is not a candidate for the control point or the verification point is clearly indicated, and input for the three-dimensional position information displayed in the coordinate system is accepted.

Although the present invention is in the category of systems, similar actions and effects can be achieved even when the present invention is applied to devices, methods, and programs.

According to the present invention, it is possible to input world geodetic system coordinates necessary for coordinate transformation without making a mistake.

1 is a diagram illustrating an overview of a surveying system 1. FIG. 1 is a diagram showing a functional configuration of a surveying system 1. FIG. 3 is a diagram showing a flowchart of three-dimensional position information setting processing executed by the surveying system 1. FIG. An example of a photographed image acquired by the surveying device 10 is schematically shown. 2 is a diagram schematically showing an example of mixed reality displayed by the surveying device 10. FIG. 3 is a diagram schematically showing an example of a surveying screen displayed by the surveying device 10. FIG. 3 is a diagram schematically showing an example of a list displayed by the surveying device 10. FIG. 2 is a diagram schematically showing an example of an arbitrary coordinate system displayed by the surveying device 10. FIG. 3 is a diagram schematically showing an example of a surveying screen displayed by the surveying device 10. FIG. 3 is a diagram schematically showing an example of control points displayed by the surveying device 10. FIG.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described in detail with reference to the accompanying drawings. In the subsequent figures, the same numbers or symbols are given to the same elements throughout the description of the embodiments.

[Basic concept/basic configuration]
FIG. 1 is a diagram for explaining an overview of a surveying system 1. As shown in FIG.
The surveying system 1 is a system that includes at least a surveying device 10 and performs surveying using LiDAR technology. In this embodiment, the surveying system 1 is a three-dimensional system that stores survey results of three-dimensional positions of arbitrary points in real space surveyed by a surveying device 10, a GNSS (Global Navigation Satellite System) device, a total station, and other surveying devices. A position storage device (eg, GNSS device, total station, cloud computer) 20 is connected for data communication.

In this embodiment, the premise is that the survey is carried out using LiDAR technology, and the 3D position storage device 20 stores the survey results of the 3D position of any point in the real space surveyed by the surveying device (3D position of any point). It is a device that stores dimensional position information).

Processing steps when the surveying system 1 sets three-dimensional position information at a control point or a verification point will be described based on FIG. 1.
First, the surveying device 10 acquires a photographed image of real space (step S1).
The surveying device 10 photographs the real space to be surveyed using a photographing device such as a camera provided therein. The surveying device 10 acquires a photographed image of the real space by photographing the real space.

The surveying device 10 acquires three-dimensional data in real space (step S2).
The surveying device 10 acquires three-dimensional data in real space using LiDAR technology. For example, the surveying device 10 uses LiDAR technology to scan the topography of the real space and acquires three-dimensional data of the real space based on the scan results.

The surveying device 10 generates a three-dimensional model of the real space based on the acquired three-dimensional data (step S3).
The surveying device 10 generates a three-dimensional model of the real space based on the acquired three-dimensional data using a data structure such as a three-dimensional point cloud or TIN (Triangulated Irregular Network). For example, the surveying device 10 generates mesh image data of real space as a three-dimensional model.

The surveying device 10 displays mixed reality in which the generated three-dimensional model is superimposed on the acquired captured image (step S4).
The surveying device 10 displays this mixed reality on its own display unit.

The surveying device 10 acquires three-dimensional position information in the real space from the three-dimensional position storage device 20 that stores the survey result of the three-dimensional position of an arbitrary point in the real space (step S5).
The surveying device 10 acquires three-dimensional position information in real space from a GNSS device, a total station, a cloud computer, or the like.
A GNSS device or a total station measures the three-dimensional positions of a plurality of control points set in the real space in advance, and uses the survey results of the three-dimensional positions of the control points in the real space according to a request from the surveying device 10. It is transmitted to the surveying device 10 as three-dimensional position information.
In addition, the total station measures the 3D positions of multiple control points set in real space in advance, and sends the survey results of the 3D positions of these control points to the cloud computer as 3D position information in real space. do. The cloud computer receives this three-dimensional position information in real space and stores this three-dimensional position information in real space. The cloud computer transmits this stored three-dimensional position information in real space to the surveying device 10 in response to a request from the surveying device 10.
The surveying device 10 acquires the three-dimensional position information in the real space by receiving the three-dimensional position information in the real space transmitted by these methods.

The surveying device 10 designates any point in the displayed mixed reality as a control point or a verification point (step S6).
In this specification, a control point means a known point for correcting data, and a verification point means a known point for checking how correct the created data is.
The surveying device 10 accepts an input indicating whether to input a control point or a verification point for the displayed mixed reality. The surveying device 10 designates the received location as a control point or verification point based on the input contents and inputs such as tap operations on the displayed mixed reality.

When specifying a control point or a verification point, the surveying device 10 sets the acquired three-dimensional position information as the three-dimensional position information of the control point or verification point (step S7).
In the process of specifying the control point or verification point described above (step S6), the surveying device 10 displays the surveyed three-dimensional position information as a list or an arbitrary coordinate system superimposed on the mixed reality. The surveying device 10 receives an input such as a tap operation on this three-dimensional position information from an operator, and sets the received three-dimensional position information to a specified control point or verification point.

According to such a surveying system 1, it is possible to input world geodetic system coordinates necessary for coordinate transformation without making a mistake.

[Functional configuration]
The functional configuration of the surveying system 1 will be explained based on FIG. 2.
The surveying system 1 includes at least a surveying device 10, and a three-dimensional position storage device (GNSS device, total station, This is a system that performs surveying using LiDAR technology, which is connected to a cloud computer (such as a cloud computer) 20 and a network 9 such as a public line for data communication.
The surveying system 1 may also include other terminals, devices, and the like. In this case, the surveying system 1 executes the processing described below using the surveying device 10, any one of the included terminals, devices, etc., or a combination of a plurality of them.
In this specification, a cloud computer refers to one that uses any computer in a scalable manner to perform a certain function, or one that includes multiple functional modules to realize a certain system, and whose functions can be freely combined. It can be any of the following.

The surveying device 10 is a mobile terminal such as a mobile phone, a smartphone, or a tablet terminal owned by a surveying worker, and uses a predetermined application installed on the surveying device 10 to perform processing related to surveying using LiDAR technology and displaying mixed reality. This is a terminal device that performs processing, processing related to various data communications, and various other data processing.

The surveying device 10 includes a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), etc. as a control unit, and a communication unit. as, other terminals, devices, etc. The device includes a device for enabling communication with the computer, a three-dimensional position information acquisition unit 11 that acquires three-dimensional position information in real space, and the like.
The surveying apparatus 10 also includes, as processing units, various devices that execute various processes, a captured image acquisition unit 12 that acquires captured images of real space, a 3D data acquisition unit 13 that acquires 3D data of real space, and A three-dimensional model generation unit 14 that generates a three-dimensional model of space, a mixed reality display unit 15 that displays mixed reality in which a three-dimensional model is superimposed on a captured image, and an arbitrary point in mixed reality that is designated as a control point or a verification point. It includes a specifying unit 16, a setting unit 17, etc., which sets the three-dimensional position information as the three-dimensional position information of the control point or the verification point.

In the surveying apparatus 10, the control section reads a predetermined program, thereby realizing a three-dimensional position information acquisition module in cooperation with the communication section.
In addition, in the surveying device 10, by reading a predetermined program, the control unit cooperates with the processing unit to create a captured image acquisition module, a three-dimensional data acquisition module, a three-dimensional model generation module, a mixed reality display module, and a recognition module. , a specification module, a setting module, a list display module, a list input reception module, an arbitrary coordinate system display module, and a coordinate system input reception module.

Hereinafter, each process executed by this surveying system 1 will be explained together with the processes executed by each of the modules described above.

[Three-dimensional position information setting process executed by surveying device 10]
The three-dimensional position information setting process executed by the surveying device 10 will be explained based on FIG. 3. This figure is a flowchart of a three-dimensional position information setting process executed by the surveying device 10. This 3D position information setting process includes the above-mentioned captured image acquisition process (step S1), 3D data acquisition process (step S2), 3D model generation process (step S3), and mixed reality display process (step S2). S4), three-dimensional position information acquisition process (step S5), control point or verification point designation process (step S6), and three-dimensional position information setting process of the control point or verification point (step S7).

The photographed image acquisition module acquires a photographed image of real space (step S10).
The photographed image acquisition module photographs the real space to be surveyed. The worker installs a sign 30 indicating a control point or a verification point in this real space, and the photographed image acquisition module obtains a photographed image 31 of the real space by photographing the real space in which this sign 30 is installed. (See Figure 4).
Note that the photographed image acquisition module can also be configured to acquire photographed images taken by other terminals or devices having photographing functions that are connected to the surveying apparatus 10 in a data communicable manner.

The three-dimensional data acquisition module acquires three-dimensional data in real space (step S11).
The three-dimensional data acquisition module uses LiDAR technology to scan the topography of the real space to be surveyed, and acquires three-dimensional data of the real space based on the scan results.

The three-dimensional model generation module generates a three-dimensional model of the real space based on the acquired three-dimensional data (step S12).
The three-dimensional model generation module generates a three-dimensional model of the real space based on the acquired three-dimensional data using a data structure such as a three-dimensional point group or TIN. In this embodiment, the three-dimensional model generation module generates mesh video data based on three-dimensional data.
Note that the three-dimensional model is not limited to the example described above, and may have other data structures.

The mixed reality display module displays mixed reality in which the generated three-dimensional model is superimposed on the acquired captured image (step S13).
The mixed reality display module displays this mixed reality 40 on its own display unit (see FIG. 5). In this embodiment, the mixed reality module displays a photographed image overlaid with mesh video data as mixed reality.
Note that the mixed reality displayed by the mixed reality display module is not limited to the example described above, and may be other types.

The recognition module automatically recognizes a sign 30 indicating a control point or a verification point in mixed reality (step S14).
The recognition module performs image recognition, etc., and recognizes the sign 30 in the mixed reality 40.
For example, the recognition module recognizes the sign 30 in the photographed image by performing image recognition on the photographed image and extracting its feature amounts and feature points. The recognition module recognizes the sign 30 in mixed reality by recognizing the sign 30 in the captured image.

The three-dimensional position information acquisition module acquires three-dimensional position information in real space from the three-dimensional position storage device 20 (step S15).
The three-dimensional position information acquisition module acquires this three-dimensional position information from a GNSS device, total station, cloud computer, or the like.

<When acquiring 3D position information from a GNSS device or total station>
A case will be described in which the three-dimensional position information acquisition module acquires three-dimensional position information from a GNSS device or a total station.
The GNSS device or total station measures the three-dimensional positions of a plurality of control points set in the real space in advance, and uses the survey results of the three-dimensional positions of the control points in the real space according to a request from the surveying device 10. It is transmitted to the surveying device 10 as three-dimensional position information.
The three-dimensional position information acquisition module acquires three-dimensional position information in real space by receiving this three-dimensional position information.

<When obtaining 3D position information from a cloud computer>
A case will be described in which the three-dimensional position information acquisition module acquires three-dimensional position information from a cloud computer.
The total station measures the three-dimensional positions of a plurality of control points set in the real space in advance, and transmits the survey results of the three-dimensional positions of the control points to the cloud computer as three-dimensional position information in the real space. The cloud computer receives this three-dimensional position information in real space and stores this three-dimensional position information in real space. The cloud computer transmits the stored three-dimensional position information in real space to the surveying device 10 in response to a request from the surveying device 10.
The three-dimensional position information acquisition module acquires three-dimensional position information in real space by receiving this three-dimensional position information.

The designation module designates any point in the displayed mixed reality as a control point or a verification point (step S16).
The designated module accepts input from the worker and launches the survey screen. The designation module accepts input as to whether to designate a control point or a verification point on this survey screen. The designation module determines whether an arbitrary point to be specified is a control point or a verification point by accepting input to either the control point icon 50 or the verification point icon 51 on the surveying screen 50 shown in FIG. Accept input. The figure shows an example in which a worker inputs a control point icon 50.
The designation module receives an input for the sign 30 in the displayed mixed reality, and designates the location where the input is received as the control point or verification point for which the input was received on the surveying screen 50 (in this embodiment, the control point ). At this time, the designation module receives input regarding the center of the sign 30 and designates this location as a control point or a verification point.

When specifying the control point or verification point, the setting module sets the acquired three-dimensional position information as the three-dimensional position information of the control point or verification point (step S17).
The setting module sets the three-dimensional position information of the control point or the verification point based on the input of the three-dimensional position information displayed as a list or an arbitrary coordinate system superimposed on the mixed reality.

<Setting 3D position information using a list>
A case in which the setting module sets three-dimensional position information of control points or verification points based on input to the list will be described based on FIG. 7.
The list display module displays a list 60 of the acquired three-dimensional position information, superimposed on the mixed reality 40 displayed by the mixed reality display module. This list 60 may be displayed over a part of the mixed reality, may be displayed transparently over the entire mixed reality, or may be displayed in other locations or by other methods.
The list 60 is a summary of the acquired three-dimensional position information, and shows the identifiers of the coordinates that are candidates for control points or verification points, the three-dimensional position information, and the survey date. In addition, in the list 60, for three-dimensional position information that has already been set as a control point or a verification point, that fact is clearly indicated. For example, in the same figure, "coordinate 2" is written as "already set" to clearly indicate that it is set as a control point or verification point, and "coordinate 1" is marked as "set" to clearly indicate that it is set as a control point or verification point. "Set" is not written to clearly indicate that it has not been set.
Note that methods to clearly indicate whether or not settings have been completed are not limited to the examples described above, but may also be done by other methods such as changing the display format, changing the size of items or character strings, or adding icons or marks. Also good.
The list input reception module receives an input for three-dimensional position information in the list 60 (for example, a tap operation on a cell or coordinate identifier) from an operator.
The setting module sets the received three-dimensional position information as three-dimensional position information at an arbitrary point specified by the designation module.

<Setting 3D position information using arbitrary coordinate system>
Next, a case where the setting module sets three-dimensional position information of a control point or a verification point based on input to an arbitrary coordinate system will be described based on FIG. 8.
The arbitrary coordinate system display module displays the arbitrary coordinate system 61 of the acquired three-dimensional position information, superimposed on the mixed reality 40 displayed by the mixed reality display module. This arbitrary coordinate system 61 may be displayed overlapping a part of the mixed reality, may be displayed transparently over the entire mixed reality, or may be displayed at other locations or by other methods.
The arbitrary coordinate system 61 summarizes the acquired three-dimensional position information on an arbitrary coordinate system (XY coordinate system in the figure), and indicates coordinate points that are candidates for control points or verification points. It is something that Three-dimensional position information is linked to each coordinate point. In addition, in the arbitrary coordinate system 61, for three-dimensional position information that has already been set as a control point or a verification point, that fact is clearly indicated. For example, in the same figure, the coordinates of "Grace Point 1,""Grace Point 2," and "Verification Point 1" are indicated by icons that clearly indicate that they are set as control points or verification points, and "Coordinates 4 ” to “Coordinate 8” are icons that clearly indicate that they are not set as control points or verification points, and the coordinates are indicated. Further, in the arbitrary coordinate system 61, the contents of each coordinate axis are specified. For example, in the figure, it is clearly shown that the coordinate axes are the X axis and the Y axis, respectively.
Note that the method to clearly indicate whether or not a setting has been completed is not limited to the example described above, but may be performed by other methods such as different display formats, changing the size of items or character strings, or adding a mark. . Furthermore, the method of specifying the coordinates is not limited to the above-mentioned example, and may be done by other methods such as writing at the end of the axis, writing on the axis, different display modes, and adding icons, marks, etc. .
The coordinate system input reception module receives input regarding three-dimensional position information in the arbitrary coordinate system 61 (for example, a tap operation on coordinates or an icon) from an operator.
The setting module sets the received three-dimensional position information as three-dimensional position information at an arbitrary point specified by the designation module.

After setting this three-dimensional position information, the surveying device 10 launches a survey screen and displays the three-dimensional position information at this arbitrary point on the survey screen (see FIG. 9). By accepting the input of the addition icon 53, the surveying device 10 adds the designated arbitrary point and the three-dimensional position information set to the arbitrary point to the survey results. The surveying device 10 also displays the characters of the designated control point or verification point near this arbitrary point (see FIG. 10). In the figure, the surveying device 10 displays a specified control point 70 on the mixed reality 40, and also displays the text of the control point to indicate that this point is a control point. .

The above is the three-dimensional position information setting process.
In the above-mentioned processing, explanation is given mainly using control points as an example, but it goes without saying that the same processing also applies to verification points. In addition, the present three-dimensional position information setting process is applicable not only to either a control point or a verification point, but also to both.
Furthermore, the surveying device 10 may display the list 60 and the arbitrary coordinate system 61 simultaneously on the mixed reality 40.

The means and functions described above are realized by a computer (including a CPU, an information processing device, and various terminals) reading and executing a predetermined program. For example, the program may be provided from a computer via a network (SaaS: Software as a Service) or in a cloud service. Further, the program may be provided in a form recorded on a computer-readable recording medium. In this case, the computer reads the program from the recording medium, transfers it to an internal recording device or an external recording device, records it, and executes it. Alternatively, the program may be recorded in advance on a recording device (recording medium) and provided to the computer from the recording device via a communication line.

Although the embodiments of the present invention have been described above, the present invention is not limited to these embodiments described above. Furthermore, the effects described in the embodiments of the present invention are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are limited to those described in the embodiments of the present invention. isn't it.

(1) A photographed image acquisition unit (for example, a photographed image acquisition unit 12, a photographed image acquisition module) that acquires a photographed image of the real space;
a 3D data acquisition unit (for example, 3D data acquisition unit 13, 3D data acquisition module) that scans the topography of the real space and acquires data based on the scan result as 3D data of the real space;
a 3D model generation unit (for example, 3D model generation unit 14, 3D model generation module) that generates a 3D model of the real space based on the acquired 3D data;
a mixed reality display unit (for example, a mixed reality display unit 15, a mixed reality display module) that displays mixed reality in which the generated three-dimensional model is superimposed on the acquired captured image;
3D position information that acquires 3D position information in the real space from a 3D position storage device (for example, a GNSS device, a total station, a cloud computer) that stores a survey result of a 3D position of an arbitrary point in the real space; An acquisition unit (for example, 3D position information acquisition unit 11, 3D position information acquisition module),
a designation unit (for example, a designation unit 16, a designation module) that designates any plurality of points in the displayed mixed reality as a control point for correcting data or a verification point for checking how correct the data is; ,
a setting unit (for example, a setting unit 17, a setting module) that sets the acquired three-dimensional position information as three-dimensional position information of the control point or verification point when specifying the control point or verification point;
A list of the acquired three-dimensional position information is displayed on the mixed reality , and if the three-dimensional position information is already set at the control point or the verification point, the list is displayed on the mixed reality. a list display section (for example, a list display module) that clearly indicates that the
a list input reception unit (for example, a list input reception module) that receives input regarding the three-dimensional position information in the list;
Equipped with
The setting unit sets the received three-dimensional position information as the three-dimensional position information of the control point or the verification point.
Surveying system.

According to the invention (1), by setting the three-dimensional position information displayed in the list, it becomes possible to input the world geodetic system coordinates required for coordinate transformation without making a mistake.

(2) a recognition unit (for example, a recognition module) that automatically recognizes a sign indicating the control point or verification point;
further comprising;
The designation unit designates a point indicated by the recognized sign as the control point or verification point;
The surveying system described in (1).

According to the invention (2), it becomes possible to appropriately recognize the sign, and it becomes possible to input the world geodetic system coordinates required for coordinate transformation without making a mistake.

( 3 ) an arbitrary coordinate system display unit (for example, an arbitrary coordinate system display module) that displays the acquired three-dimensional position information in an arbitrary coordinate system on the mixed reality;
a coordinate system input reception unit (for example, a coordinate system input reception module) that receives input for the three-dimensional position information in the arbitrary coordinate system;
further comprising;
The setting unit sets the received three-dimensional position information as the three-dimensional position information of the control point or the verification point.
The surveying system according to (1), comprising:

According to the invention ( 3 ), by setting the three-dimensional position information displayed in an arbitrary coordinate system, it becomes possible to input the world geodetic system coordinates necessary for coordinate transformation without making a mistake.

( 4 ) The arbitrary coordinate system display section clearly indicates whether three-dimensional position information of the control point or verification point has been set.
The surveying system described in ( 3 ).

According to the invention ( 4 ), it is possible to easily determine whether or not three-dimensional position information has been set.

( 5 ) The arbitrary coordinate system display section clearly indicates the contents of each coordinate axis,
The surveying system described in ( 3 ).

According to the invention ( 5 ), it is possible to grasp the contents of the coordinate axes.

(6) a photographed image acquisition unit (for example, a photographed image acquisition unit 12, a photographed image acquisition module) that acquires a photographed image of the real space;
a 3D data acquisition unit (for example, 3D data acquisition unit 13, 3D data acquisition module) that scans the topography of the real space and acquires data based on the scan result as 3D data of the real space;
a 3D model generation unit (for example, 3D model generation unit 14, 3D model generation module) that generates a 3D model of the real space based on the acquired 3D data;
a mixed reality display unit (for example, a mixed reality display unit 15, a mixed reality display module) that displays mixed reality in which the generated three-dimensional model is superimposed on the acquired captured image;
A 3D position information acquisition unit (for example, a 3D position information acquisition unit 11. 3D position information acquisition module);
a designation unit (for example, a designation unit 16, a designation module) that designates any plurality of points in the displayed mixed reality as a control point for correcting data or a verification point for checking how correct the data is; ,
a setting unit (for example, a setting unit 17, a setting module) that sets the acquired three-dimensional position information as three-dimensional position information of the control point or verification point when specifying the control point or verification point;
A list of the acquired three-dimensional position information is displayed on the mixed reality , and if the three-dimensional position information is already set at the control point or the verification point, the list is displayed on the mixed reality. a list display section (for example, a list display module) that clearly indicates that the
a list input reception unit (for example, a list input reception module) that receives input regarding the three-dimensional position information in the list;
Equipped with
The setting unit sets the received three-dimensional position information as the three-dimensional position information of the control point or the verification point.
A surveying device equipped with.

(7) A surveying method executed by a computer,
a step of acquiring a photographed image of real space (for example, step S10);
scanning the topography of the real space and acquiring data based on the scan results as three-dimensional data of the real space (for example, step S11);
a step of generating a three-dimensional model of the real space based on the acquired three-dimensional data (for example, step S12);
Displaying mixed reality in which the generated three-dimensional model is superimposed on the acquired photographic image (for example, step S13);
a step of acquiring three-dimensional position information in the real space from a three-dimensional position storage device that stores a survey result of a three-dimensional position of an arbitrary point in the real space (for example, step S15);
a step of specifying a plurality of arbitrary points in the displayed mixed reality as a control point for correcting data or a verification point for checking how correct the data is (for example, step S16);
When specifying the control point or verification point, setting the acquired three-dimensional position information as the three-dimensional position information of the control point or verification point (for example, step S17);
A list of the acquired three-dimensional position information is displayed on the mixed reality , and if the three-dimensional position information is already set at the control point or the verification point, the list is displayed on the mixed reality. a step (for example, step S16) of clearly indicating that the
a step of receiving input for the three-dimensional position information in the list (for example, step S16);
Equipped with
The setting step sets the received three-dimensional position information as the three-dimensional position information of the control point or the verification point.
Surveying method.

(8) To the computer,
a step of acquiring a photographed image of real space (for example, step S10);
scanning the topography of the real space and acquiring data based on the scan results as three-dimensional data of the real space (for example, step S11);
a step of generating a three-dimensional model of the real space based on the acquired three-dimensional data (for example, step S12);
displaying mixed reality in which the generated three-dimensional model is superimposed on the acquired captured image (for example, step S13);
a step of acquiring three-dimensional position information in the real space from a three-dimensional position storage device that stores a measurement result of a three-dimensional position of an arbitrary point in the real space (for example, step S15);
a step of specifying a plurality of arbitrary points in the displayed mixed reality as a control point for correcting data or a verification point for checking how correct the data is (for example, step S16);
When specifying the control point or verification point, setting the acquired three-dimensional position information as the three-dimensional position information of the control point or verification point (for example, step S17);
A list of the acquired three-dimensional position information is displayed on the mixed reality , and if the three-dimensional position information is already set at the control point or the verification point, the list is displayed on the mixed reality. ( e.g. , step S16);
a step of receiving input for the three-dimensional position information in the list (for example, step S16);
run the
The setting step sets the received three-dimensional position information as the three-dimensional position information of the control point or the verification point.
A computer readable program for.

1 Surveying system 9 Network 10 Surveying device 11 3D position information acquisition unit 12 Photographed image acquisition unit 13 3D data acquisition unit 14 3D model generation unit 15 Mixed reality display unit 16 Designation unit 17 Setting unit 20 3D position storage device 30 Marking 31 Photographed image 40 Mixed reality 50 Survey screen 51 Control point icon 52 Verification point icon 53 Additional icon 60 List 61 Arbitrary coordinate system 70 Control point

Claims (5)

a photographed image acquisition unit that acquires a photographed image of a real space in which one sign is installed;
a three-dimensional data acquisition unit that scans the topography of the real space and acquires data based on the scan results as three-dimensional data of the real space;
a 3D model generation unit that generates a 3D model of the real space based on the acquired 3D data;
a mixed reality display unit that displays mixed reality in which the generated three-dimensional model is superimposed on the acquired captured image;
a recognition unit that automatically recognizes the position of the one marking in mixed reality by image-recognizing the one marking in the photographed image;
From a three-dimensional position storage device that stores the survey results of the three-dimensional positions of points in the real space where any plurality of signs are installed, three of the three points in the real space where any plurality of signs are installed are stored. a three-dimensional position information acquisition unit that acquires the measurement result of the dimensional position as three-dimensional position information in the real space;
In the surveying screen displayed by accepting the input regarding the position of the one marking in the displayed mixed reality, the point where the one marking for which the input was accepted is installed, how much control point or data is available for correcting the data. A specification part to be specified as a verification point to confirm correctness,
When specifying the control point or verification point, a setting unit that sets the three-dimensional position information of the control point or verification point based on input to the acquired three-dimensional position information in the displayed coordinate system;
an arbitrary coordinate system display unit that displays the acquired three-dimensional position information in the coordinate system and clearly indicates the three-dimensional position information that is not a candidate for the control point or the verification point;
a coordinate system input reception unit that receives input for three-dimensional position information displayed in the coordinate system;
A surveying device equipped with. The arbitrary coordinate system display section clearly indicates the contents of each coordinate axis,
A surveying device according to claim 1. A surveying system comprising the surveying device according to claim 1 or 2 and a three-dimensional position storage device . A surveying method performed by a computer, the method comprising:
a step of acquiring a photographed image of a real space in which one sign is installed;
scanning the topography of the real space and acquiring data based on the scan results as three-dimensional data of the real space;
generating a three-dimensional model of the real space based on the acquired three-dimensional data;
Displaying mixed reality in which the generated three-dimensional model is superimposed on the acquired captured image;
automatically recognizing the position of the one marking in mixed reality by image-recognizing the one marking in the photographed image;
From a three-dimensional position storage device that stores the survey results of the three-dimensional positions of points in the real space where any plurality of signs are installed, three of the three points in the real space where any plurality of signs are installed are stored. acquiring the measurement result of the dimensional position as three-dimensional position information in the real space;
In the surveying screen displayed by accepting the input regarding the position of the one marking in the displayed mixed reality, the point where the one marking for which the input was accepted is installed, how much control point or data is available for correcting the data. a step of specifying a verification point to check whether it is correct;
When specifying the control point or verification point, setting it as three-dimensional position information of the control point or verification point based on input for the acquired three-dimensional position information in the displayed coordinate system;
displaying the acquired three-dimensional position information in the coordinate system and clearly indicating the three-dimensional position information that is not a candidate for the control point or the verification point;
accepting input for three-dimensional position information displayed in the coordinate system;
A surveying method comprising: to the computer,
a step of acquiring a photographed image of a real space in which a sign is installed;
scanning the topography of the real space and acquiring data based on the scan results as three-dimensional data of the real space;
generating a three-dimensional model of the real space based on the acquired three-dimensional data;
displaying mixed reality in which the generated three-dimensional model is superimposed on the acquired captured image;
automatically recognizing the position of the one marking in mixed reality by image-recognizing the one marking in the photographed image;
From a three-dimensional position storage device that stores the survey results of the three-dimensional positions of points in the real space where any plurality of signs are installed, three of the three points in the real space where any plurality of signs are installed are stored. acquiring the dimensional position survey results as three-dimensional position information in the real space;
In the surveying screen displayed by accepting the input regarding the position of the one marking in the displayed mixed reality, the point where the one marking for which the input was accepted is installed, how much control point or data is available for correcting the data. A step to specify a verification point to confirm correctness,
When specifying the control point or verification point, setting the control point or verification point as three-dimensional position information based on input for the acquired three-dimensional position information in the displayed coordinate system;
displaying the acquired three-dimensional position information in the coordinate system, and specifying the three-dimensional position information that is not a candidate for the control point or the verification point;
receiving input for three-dimensional position information displayed in the coordinate system;
A computer readable program for executing.