JPH10291187A - Remote execution assisting image system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image system for assisting a slope working by remote execution. SOLUTION: A range finder 50 is installed at a specified measuring point C facing toward an execution object 1 which must be a design surface given by a three-dimensional coordinate, and a distance L from the range finder 50 to the execution object surface R is measured while the measuring direction a of the range finder 50 is switched over by a direction changing means 51. Also the three-dimensional coordinate of multiple points to be measured G on the execution object surface R is calculated by a coordinate calculation means 54 based on the position of the measuring point C where the range finder 50 is located, multiple measuring directions α, and distance measured values L at each measuring direction α. In addition, the three-dimensional coordinate of multiple corresponding design points D where a virtual straight line for connecting the measuring point C to each point to be measured G is intersected with a design surface T is calculated. Then a cross-sectional image Ig in which multiple points to be measured G and corresponding design point D are included is prepared by a computer graphic means 46, and displayed on a display means 15 for use of remote control.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote construction support image system, and more particularly to an image system for supporting remote construction by using a cross-sectional image capable of comparing a current surface and a design surface of a remote construction object.

[0002]

2. Description of the Related Art When performing earthwork in an area where there is danger to humans or in an off-limits area, there are cases where remote construction is performed by remotely operating a work machine or the like from a safe operation room that is sufficiently far away. For example, disaster recovery work and disaster prevention work at Unzen Fugendake are actually carried out by remote construction. When the remote construction target is close to the operation room, it is possible to perform remote control while directly checking the construction status with the naked eye. However, when the construction target is far from the operation room, an operation image (hereinafter, referred to as an image). Remote control using is performed. In the disaster prevention work at Unzen Fugendake, an image of a monocular or stereo CCD camera attached to a remote control machine, an image of a surveillance camera attached to a monitoring vehicle that can overlook the entire construction area, and the like are used.
The present inventors have developed an image system for remote construction support that can be applied to construction requiring high precision of the finished shape, and disclosed in Japanese Patent Application Laid-Open Nos. 8-144328 and 7-267549. did. 8 to 10 show the configuration of an image system disclosed in Japanese Patent Application No. 7-267549.

The image system shown in FIG. 8 _converts a stereo operation image pair I _w (a pair of left and right operation images I _wL and I _wR ; the same _applies hereinafter) of a shooting target into a viewpoint V, an optical axis O, and an angle of view W. depending imager pair 5 gives it (pair of right and left imaging device 5 _L and 5 _R. hereinafter the same.), stereo design image pair I _e (the left-right pair design image of points designed one coordinate I _eL and I _eR Consists of
same as below. ) According to the viewpoint, the optical axis, and the angle of view, and a stereo operation image pair I _w
And a stereo design image pair _Ie .

Referring to FIG. 9, in an initial process, an initial stereo operation image pair I _w1 of a plurality of targets 8 at known coordinates P in a field of view of an imaging device pair 5 is _compared with an initial viewpoint V ₁ by the imaging device pair 5. An image is taken with the initial optical axis O ₁ and the fixed angle of view W _w
Pairs of initial stereo design images of multiple targets 8 (target plate 8a)
Initial viewpoint V ₁ and the initial optical axis O of the I _e1 by the graphic means 30
Created in ₁ and with any angle of view W _x. Initial stereo operation image pair I _w1 and the initial stereo design image pair I _e1 superimposed in the same direction by superposing unit 36, the initial stereo operation image pair I _w1 and superimposed by changing any angle W _x graphics unit 30 initial stereo design image pairs to match all of the image of the corresponding optotype 8 I _e1, to any angle W _x matches the time graphics unit 30 and the imaging device corresponding angle W _e.

[0005] Referring to FIG. 10, at the time of use, the stereo operation image pair I _w of the construction object 1 is taken into a predetermined viewpoint by the image pickup device pair 5.
Taken with V _i and a predetermined optical axis O _i constant angle W _w, construction predetermined optical axis and a predetermined view point V _i by the graphic means 30 stereo design image pair I _e of the object 1 O _i and the imaging unit corresponding angle Create with W _e .
By superimposing the stereo operation image pair construction target 1 I _w stereo design image pair I _e by the superimposing means 36 stereo superimposed image pair I _t (pair of right and left superimposed image I _tL and I _tR. Hereinafter the same. ) creates a stereo superimposed image pair enter the I _t in the stereoscopic image generating apparatus 42, for example, a display for operation while alternately switched at a high speed of about 1/120 sec created
14 time-division display. The operator operates the display for operation via the liquid crystal shutter glasses 16 in which the left and right eyes are alternately closed in synchronization with the image switching of the stereo image generator 42, for example.
By observing a stereo superimposed image pair I _t on 14, it is possible to stereoscopically stereo superimposed image pair I _t.

[0006] Figure 11 shows an example of a stereo superimposed image pair I _t. Fig (A) shows a superimposed image I _t displaying the Hokata Zhang Zhang and Hoshiri Zhang Zhang used in general soil construction on operation image I _w of the construction subject to be done modulo surface of a predetermined slope as virtual Zhang Zhang , FIG. (B) shows a superimposed image I _t representing the design gradient of slope to be construction the shape of the virtual method Katahinoto Zhang.

[0007]

[0005] The stereo superimposed image pair I _t is an excellent effect in the remote operation machines the positioning operation for remote installation (for example, a hydraulic Burekanomi destination positioning operation, etc.) and working range notification. However, the slope operations in remote installation is sometimes superimposed image pair I _t is not pass to less useful. Referring to FIG. 11, the stereo superimposed image pair I _t
Although it is possible to clearly recognize the position of the shoulders and hips, due to the operator's psychology and perception of stereo images,
Because difficult to recognize the design gradient etc. of slopes from superimposed image pair I _t. If you can recognize the design gradient of slopes from superimposed image pair I _t, it is difficult to Cut-fill operations in slope construction, not be expected the improvement of efficiency and construction quality of the slope face work by remote construction.

Accordingly, an object of the present invention is to provide an image system for supporting a slope work in remote construction.

[0009]

Referring to the embodiment of FIGS. 1 and 2, a remote construction support image system according to the present invention provides a remote construction support system for a construction object 1 to be a design plane T given by three-dimensional coordinates. , A distance meter 50, a distance meter 50 provided at a predetermined measurement point C facing the construction object 1.
The direction changing means 51 for switching the measurement direction α, the position of the measurement point C of the distance meter 50, the plurality of measurement directions α, and the distance measurement value L from the distance meter 50 to the construction target surface R in each measurement direction α. The three-dimensional coordinates of a plurality of measurement points G on the surface R are calculated, and the three-dimensional coordinates of a plurality of corresponding design points D at which a virtual straight line connecting the measurement point C and each measurement point G intersects the design plane T are calculated. coordinate calculation unit 54 for calculating, made of comprises a computer graphic means 46 and display means 15 for displaying the cross-sectional image I _g, to create a cross-sectional image I _g contains multiple of the measurement points G and the corresponding design point D is there.

[0010] Preferably imager pair 5 which gives depending stereo operation image pair I _w construction target 1 in a predetermined view point V _i with a predetermined optical axis O _i and a predetermined angle W _w, the design surface T of the construction target 1 stereo design image pair I _e a predetermined view point V _i and the three-dimensional graphics unit 30 creates in accordance with a predetermined optical axis O _i and a predetermined angle W _e, and stereo operation image pairs I _w stereo design image pair I _e It comprises window creation unit 48 for multi-window display in superposition means 36, and the stereo superimposed image pair I _t and cross-sectional image I _g and a display unit 15 superimposed to create a stereo superimposed image pair I _t.

[0011]

1 and 2 show a remote control machine 2 according to the present invention.
The measuring point position C of the distance meter 50, the direction changing means 51 and the distance meter 50
And position measuring means 55 for measuring
An embodiment is shown in which 54, computer graphic means 46 and display means 15 are provided in the remote control room 3, and communication means 24 and 26 for data transmission are provided between the remote control machine 2 and the remote control room 3. The distance meter 50 can be, for example, a non-prism type light wave distance meter or an ultrasonic distance meter.

The position measuring means 55 includes, for example, the position measuring device 22
And a posture measuring device 23 for measuring the three-dimensional coordinates and posture of the remote-controlled machine 2 in the construction area coordinate system (hereinafter referred to as a site coordinate system). In FIG. 1, the distance meter 50
Is attached to a predetermined position on the remote control machine 2, the three-dimensional coordinates and the attitude of the remote control machine 2 are measured by the position measuring device 22 and the posture measuring device 23, and the three-dimensional coordinates and the attitude of the remote control machine 2 and the remote control machine are measured. The coordinates of the measurement point C of the range finder 50 in the site coordinate system are calculated from the mounting position of the range finder 50 on 2. An example of the positioning device 22 is GPS (Global Posit
An example of the attitude measuring device 23 is a gyrocompass. However, the position surveying means 55 is not essential to the present invention. For example, if the measurement point C is fixed to the ground surface known coordinates of the construction area, the position measuring means 55 can be omitted.

[0013] To create a cross-sectional image I _g in the image system of the illustrated example, the first by moving the remote control machine 2 rangefinder
After the positioning of the measuring device 50 at the desired position, the measuring device 50 is stopped, and the position measuring means 55 measures the measuring point C of the distance meter 50. Next, the measurement direction α of the distance meter 50 is switched by the direction changing unit 51. FIG. 3 shows the direction changing means 51 as viewed from the direction of arrows III-III in FIG.
The direction measuring means 51 shown in the figure has an axis 52a for pivotally supporting the distance meter 50 in a direction crossing the measurement direction α, and the distance meter 50 is provided around the axis 52a.
, And an angle measuring means 53 for measuring a rotation angle θ about the axis 52a of the distance meter 50.
The axial direction U of the pivot shaft 52a in FIG. 3 can be obtained, for example, from the initial mounting direction of the distance meter 50 with respect to the remote control machine 2 and the attitude of the remote control machine 2 measured by the position measuring means 55.

As shown in FIG. 4, the distance meter 50 at the measurement position C is rotated by the rotation driving means 52 so as to be opposed to the point G to be measured on the construction target surface R, and the angle measuring means 53 of the direction changing means 51.
To measure the rotation angle θ of the distance meter 50, and obtain a distance measurement value L from the measurement point C to each of the measured points G by the distance meter 50. One example of the angle measuring means 53 is an encoder that outputs the rotation angle θ from the initial angle as a digital signal. Preferably, the output of the encoder when the measurement direction of the distance meter 50 is horizontal is zero. FIG. 4 shows a coordinate system (hereinafter, referred to as a distance meter coordinate system) in which the axis of the pivot shaft 52a is the Xa axis and the measurement direction of the distance meter 50 is in the YaZa plane. The vector in the measurement direction of the distance meter 50 in the distance meter coordinate system can be represented as (0, sin θ, cos θ) using the rotation angle θ.

By converting the Xa axis of the rangefinder coordinate system into the axial direction U of the pivot 52a, the rangefinder expressed in the rangefinder coordinate system is obtained.
The 50 measurement direction vectors (0, sin θ, cos θ) can be converted to the measurement direction α in the on-site coordinate system. Referring to FIG. 5, this conversion allows the measured points G ₁ , G ₂ ,
Measurement direction alpha ₁ on the ground coordinate system towards ......, alpha _2, ...... can be calculated, the measurement and three-dimensional coordinates of the measurement point C direction alpha _1,
By using α ₂ ,... and the distance measurement values L ₁ , L ₂ ,..., three-dimensional coordinates of the measured points G ₁ , G ₂ ,. However, the direction changing means 51 is not limited to the example of FIG. 3, and the method of measuring the measurement direction α of the rangefinder 50 is not limited to the illustrated example.

As shown in FIG. 5, the coordinate calculating means 54 also determines a corresponding design point D as an intersection of a virtual straight line connecting the measurement point C and each of the measured points G ₁ , G ₂ ,. _1, D _2, ......
Is calculated. The design surface T is, for example, a three-dimensional coordinate of a group of points on the toe of the construction object 1 or a group of points on the design drawing of the construction object 1 created by three-dimensional CAD or the like in a site coordinate system. Storage means 31 connected to calculation means 24
(See FIG. 1). Since each of the measurement point C, each measured point G, and each corresponding design point D is a point expressed in the site coordinate system and on the same plane, the computer graphic means
46 (see FIG. 1), each measured point G and each corresponding design point D
It is possible to create a two-dimensional cross-sectional image I _g including.

FIG. 7A shows an example of a cross-sectional image _Ig . According to cross-sectional image I _g As can be seen from the figure, when a remote construction construction object 1 to be made with the slope, designed surface T and is clearly recognized that the design gradient and construction target surface R at present slopes gradient Can and can be compared. That is, the operator can perform cutting and embankment while appropriately comparing the slope slope and the design slope during construction, and therefore, it is possible to expect an improvement in efficiency and an improvement in construction quality in the slope work of remote construction.

In the embodiment of FIGS. 1 and ₂ , the three-dimensional coordinates of the measured points G ₁ , G ₂ ,... And the corresponding design points D ₁ , D ₂ ,. The measurement point C of the distance meter 50 and the measurement direction α (or the axial direction U)
And the rotation angle θ) and the distance measurement value L are transmitted from the remote control machine 2 to the remote control room 3 via the transmitting device 24 and the receiving device 26. However, the arrangement of each component is not limited to the illustrated example.

Thus, the object of the present invention, that is, the provision of the "image system for supporting slope work in remote construction" can be achieved.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A position surveying device 22 shown in FIG. 1 and FIG. 2 includes a GPS surveying device 22a mounted on a remote control machine 2 (hereinafter, may be referred to as a mobile station) and an arbitrary position (coordinate known in the field). Hereinafter, it may be referred to as a fixed station.)
And a PS surveying device 22b. Fixed station surveying equipment 22b is G
The satellite radio wave is received by the PS antenna 21b, and the received signal (fixed station data) is transmitted from the transmitter 20b. On the other hand, the surveying device 22a of the mobile station receives the satellite radio wave with the GPS antenna 21a and the fixed station data with the receiver 20a,
The three-dimensional coordinates of the mobile station are calculated based on the received signal (mobile station data) of 1a, the fixed station data of the receiver 20a, and the known coordinates of the fixed station. According to the relative positioning using the two GPS surveying devices 22a and 22b, the three-dimensional coordinates of the remote control machine 2 as a mobile station can be accurately obtained. The relative positioning of the GPS survey is described in detail in Japanese Patent Application No. 8-92657, in which the present inventors have disclosed the invention of a real-time surveying system for the position of a moving object.

In the embodiment shown in FIGS. 1 and 2, the distance meter 50 is attached to a movable part of the remote control machine 2 which is a boom arm in this case, and the position measuring means 55 is mounted on the remote control machine 2 through which the distance meter 50 can be seen. And a position measuring device 22 and a posture measuring device 23 for measuring the three-dimensional coordinates and posture of the remote-controlled machine 2. The stereo image measuring device 55a obtains a relative position of the movable distance meter 50 with respect to the image measuring device 55a by a stereo image measuring method. The stereo image measurement method, as shown in FIG. 12, creates a pair of images by photographing an object 1a from different directions with a pair of measurement imagers 57a and 57b provided at different positions, and creating a pair of images on the image pair. Each two-dimensional coordinate E of the image of 1a
This is a measurement method for obtaining the three-dimensional coordinates E of the object 1a from a and Eb. The position of the measurement point C of the movable distance meter 50 is determined based on the three-dimensional position and orientation of the remote operation machine 2, the mounting position of the image measuring device 55a on the remote operation machine 2, and the relative position of the distance meter. be able to.

Referring to FIG. 6, which is an enlarged view of the dotted frame VI in FIG. 2, the stereo image measuring device 55a shown
A pair of measuring imagers 57a and 57b fixed to a predetermined position on the remote control machine 2 so that 0 always falls within the field of view, and a pair of imagers 57
a, a group of reference optotypes 58 provided at predetermined positions in the field of view of 57b
And a calculating means 60 (see FIG. 1) storing a conversion parameter 62 of the stereo image measurement method. Conversion parameters 62
Are parameters for calculating three-dimensional coordinates E from the two-dimensional coordinates Ea and Eb in FIG. 12, and a group of reference targets 58 is for calibrating the conversion parameters 62. Calibration of the transformation parameters 62 requires at least six different reference indices 58 at predetermined locations. The three-dimensional coordinates of the reference target 58 in FIG. 6 are obtained from the three-dimensional coordinates and posture of the remote control machine 2 by the position surveying means 55 and the mounting position of the reference target 58 on the remote control machine 2. The reference numeral 61 in FIG. 1 indicates the two-dimensional coordinates Ea of the image of the distance meter 50 from the image pair of the measuring instrument imager pair 57a, 57b,
5 shows a coordinate detecting means for detecting Eb.

Distance meter 50 using stereo image measuring device 55a
The coordinates of the measurement point C are calculated by first positioning the distance meter 50 at a desired position, and then using the position
The coordinates in the on-site coordinate system of 58 are obtained, and the conversion parameters of the stereo image measurement method are obtained by the reference target 58 from which the coordinates are obtained.
Calibrate 62. Next, the measurement point C of the distance meter 50 is obtained by the stereo image measurement method using the conversion parameter 62 after calibration. As for the stereo image measurement method, the present inventors have disclosed a method for monitoring the deviation of heavy equipment for remote construction, as disclosed in Japanese Patent Application
It is described in detail in No. 8-160311.

The three-dimensional graphic means 30 of FIG.
10 to the imaging device pair 5 (the left imaging device 5_LPassing
And right imager 5_R) Is set according to the viewpoint V, the optical axis O, and the angle of view W.
Stereo design image vs. I of face T_eIs to create.
The graphic means 30 of FIG._LCorresponding to the left
Graphic image signal I_kLAnd left synchronization signal S_kLOutput
Left graphic creation device 32_LAnd the right imager 5_RCorresponding to
Right graphic image signal I_kRAnd right synchronization signal S_kROutput
Right graphic creation device 32_RAnd the left synchronization signal S _kLAnd right
Sync signal S_kRAnd input the stereo sync signal S_eOutput
Left and right synchronizer 33 and left graphic image signal I_kLAnd ste
Leo sync signal S_eEnter the left design image I _eLOutput
Left image converter 34_LAnd the right graphic image signal I_kRAnd ste
Leo sync signal S_eEnter the right design image I_eROutput
Right image converter 34_RAnd

Further superposing means 36 of FIG. 1, similar to that shown in FIGS. 8 to 10, creating a stereo superimposed image pair I _t are superimposed and stereo operation image pairs I _w stereo design image pair I _e Is what you do. The superimposing means 36 shown in FIG. 8 includes a superimposition synchronization device 37 and an image synthesizing device 38. Superimposing synchronizer 37 inputs the stereo imaging synchronizing signal S _w of the stereo design image pairs I _e and the stereo synchronization signal S _e and imager pair 5, a stereo imaging synchronizing signal S _w
And outputs a stereo design image pair _Ie synchronized with. The image synthesizing device 38 includes a stereo design image pair I _e from the superposition synchronizer 37 and a stereo operation image pair I _w from the imager pair 5.
And it outputs a stereo superimposed image pair I _t superimposed and.

[0026] The window creation unit 48 for multi-window display on the display unit 15 and a stereo superimposed image pair I _t and cross-sectional image I _g as shown in FIG. 1 is provided, for example, as shown in FIG. 7 (B), remote control it is possible to cancel the display or display the superimposed if necessary a cross-sectional image I _g as a child screen type window anywhere on the superimposed image I _t of use. Design surface T
A plurality of corresponding design point D above was displayed on the design surface T, if generated by the three-dimensional graphics unit 30 the stereo design image pair I _e based on the design surface T after the display, superimposed image I _t and cross-sectional image I _It is possible to easily associate the position with _g .

[0027]

As described above, the remote construction support image system of the present invention includes a plurality of measurement points on the construction target surface to be a design surface and a plurality of corresponding design points on the design surface. Since a cross-sectional image is created, the following remarkable effects are achieved.

(A) In remote construction of a construction object to be a slope, a cross-sectional image for facilitating comparison between a current slope gradient and a design gradient, which has been difficult to recognize conventionally, can be provided. (B) Since cutting and embankment work can be performed while comparing the construction target surface with the design surface, the execution efficiency of slope work in remote construction is almost the same as that using conventional hohari. It can be expected to increase to. (C) In addition, since the condition of the construction target surface can always be compared with the design surface after completion, improvement of construction quality in the slope work of remote construction can be expected.

[Brief description of the drawings]

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

FIG. 2 is an explanatory diagram of a remote control machine to which the present invention is applied.

FIG. 3 is an explanatory diagram illustrating a configuration of a direction changing unit.

FIG. 4 is an explanatory diagram showing an operation of a direction changing unit.

FIG. 5 is an explanatory diagram of a process in a coordinate calculation unit.

FIG. 6 is an explanatory diagram of a stereo image measuring device.

FIG. 7 is an explanatory diagram of a cross-sectional image according to the present invention.

FIG. 8 is an explanatory diagram of a conventional remote operation support image system.

FIG. 9 is an explanatory diagram of conventional initial processing of a superimposed image.

FIG. 10 is an explanatory diagram of a conventional process of creating a superimposed image.

FIG. 11 is an explanatory diagram of a conventional superimposed image.

FIG. 12 is an explanatory diagram of a stereo image measurement method.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Construction target 2 ... Work machine 3 ... Operation room 5 ... Imaging machine 6 ... Image transmitter 8 ... Target 8a ... Target plate 10 ... Image receiver 14 ... Operation display 15 ... Display means 16 ... Liquid crystal shutter glasses 20a , 20b ... fixed station data transceiver 21a, 21b ... GPS antenna 22a, 22b ... position measuring device 23 ... attitude measuring device 24 ... transmitting device 26 ... receiving device 30 ... three-dimensional graphic means 31 ... storage means 32 ... graphic creating means 33 … Left and right synchronization means 34… image converter 36… superimposition means 37… superposition synchronization means 38… image synthesis means 40… recording and playback means 42… stereo image generator 44… Zhang 46 ... Computer graphic means 48 ... Window creation means 50 ... Distance meter 51 ... Direction change means 52 ... Rotation drive means 52a ... Pivot shaft 53 ... Angle measurement means 54 ... Coordinate calculation means 55 ... Position measurement means 55a ... Stereo image measurement Device 57… Measurement imager 58 ... Reference target 60 ... Calculation means 61 ... Coordinate detection means 62 ... Conversion parameter C ... Measurement point D ... Corresponding design point E ... Measurement point G ... Measurement point _Ig ... Section image _Iw ... Stereo operation image _Ie ... stereo design image I _k ... graphic image I _t ... coordinates R of the stereo superimposed image L ... distance measurement value O ... optical axis P ... target ... construction target surface S _k ... synchronization signal S _e ... stereo synchronization signal S _w ... stereo imaging synchronizing signal T ... design surface U ... rotational axis V ... viewpoint W ... angle W _w ... constant angle W _e ... imager corresponding angle W _x ... arbitrary angle alpha ... measurement direction theta ... measured angle

Claims (7)

[Claims] 1. An image system for supporting remote construction of a construction object to be a design surface given by three-dimensional coordinates, a distance meter provided at a predetermined measurement point facing the construction object,
Direction changing means for switching the measurement direction of the distance meter, a plurality of measurement point positions and a plurality of measurement directions on the construction target surface from a plurality of measurement directions and a distance measurement value from the distance meter to the construction target surface in each measurement direction. Coordinate calculation means for calculating three-dimensional coordinates of the measured points and calculating three-dimensional coordinates of a plurality of corresponding design points at which a virtual straight line connecting the measurement points and the measured points intersects with the design surface; A remote construction support image system comprising: computer graphic means for creating a cross-sectional image including a plurality of measured points and corresponding design points; and display means for displaying the cross-sectional image. 2. The image system according to claim 1, wherein said range finder, said direction changing means, and position measuring means for measuring a position of a measuring point of said range finder are mounted on a remote control machine, said coordinate calculating means and said computer. Graphic means and the display means are provided in a remote control room, and for transmitting data including a measurement point position, a measurement direction, and a distance measurement value of the distance meter between the remote control machine and the remote control room. A remote construction support image system provided with communication means. 3. A position measuring device according to claim 2, wherein said distance meter is mounted at a predetermined position on said remote control machine, and said position measuring means measures a three-dimensional position and orientation of said remote control machine. A remote construction support image system including a posture measuring device, wherein the measurement point position is obtained from a three-dimensional position and posture of the remote operation machine and a mounting position of a distance meter on the remote operation machine. 4. A stereo system according to claim 2, wherein said range finder is mounted on a movable part of said remote control machine, and said position measuring means is mounted at a predetermined position on said remote control machine through which said range finder can be seen. An image measuring device, including a position measuring device and an attitude measuring device for measuring three-dimensional coordinates and an attitude of the remote-controlled machine, obtaining a relative position of the distance meter with respect to the image measuring device by a stereo image measuring method, A remote construction support image system, wherein the measurement point position is obtained from the three-dimensional position and orientation of the operation machine, the mounting position of the image measurement device on the remote operation machine, and the relative position of the range finder. 5. An image system according to claim 1, wherein said direction changing means has an axis for pivotally supporting said distance meter in a direction intersecting with a measurement direction, and said distance meter around said axis. A rotation driving means for rotating the distance meter, and an angle measuring means for measuring a rotation angle of the distance meter around the axis, and obtain a measurement direction of the distance meter from the direction of the axis and the rotation angle of the distance meter. A remote construction support image system. 6. The image processing system according to claim 1, wherein said stereo operation image pair to be processed is photographed according to a predetermined viewpoint, a predetermined optical axis, and a predetermined angle of view. Three-dimensional graphic means for creating a stereo design image pair on the design surface according to a predetermined viewpoint, a predetermined optical axis, and a predetermined angle of view; a stereo superimposed image pair obtained by superimposing the stereo operation image pair and the stereo design image pair A remote construction support image system comprising: superimposing means for creating the image; and window creating means for displaying the stereo superimposed image pair and the cross-sectional image on the display means in a multi-window manner. 7. The image system according to claim 6, wherein the plurality of corresponding design points are displayed on the design surface to be constructed, and a stereo design image pair of the displayed design surface is created by the three-dimensional graphic means. Remote construction support image system.