JP2012112896A - Measurement system - Google Patents

Abstract

An object of the present invention is to provide a surveying system configured to maintain a relative position between an imaging target and a crosshair image before and after zooming by an optical zoom mechanism.
Surveying means, imaging means, and crosshair image data including a crosshair indicating a horizontal axis and / or a vertical axis in image data of an imaging target imaged at an arbitrary zoom magnification by the imaging means. A surveying system having an image synthesizing unit for synthesizing and a display unit for displaying the synthesized image data, wherein the image synthesizing unit includes first image data captured at a first zoom magnification and the cross-hair image data. Based on deviation information about the center of the optical axis stored in the storage means so as to maintain the composition positional relationship between the first image data and the cross-hair image data at the time of synthesizing at any zoom magnification m. Then, the second image data captured at the second zoom magnification and the cross-line image data are synthesized.
[Selection] Figure 1

Description

  The present invention synthesizes cross-line image data indicating the horizontal axis and / or the vertical axis to the surveying means, the imaging means set in the surveying means, and the image data of the imaging target imaged by the imaging means. The present invention relates to a surveying system having an image composition means.

  A surveying apparatus that can measure a distance to a collimation point and an angle based on a predetermined direction generally has a narrow viewing angle from the viewpoint of surveying accuracy. However, in recent years, there is a demand for displaying a wide range of images including surveying positions from civil engineering work sites. For this reason, a wide range of images including the surveying position are picked up and displayed on the monitor by using an image pickup means including a telephoto lens of an optical system with a wide viewing angle and a CCD camera.

  Furthermore, a cross-hair image is synthesized with an image photographed by the imaging means and displayed on a monitor (see Patent Document 1).

JP 2009-139319 A

  However, since the imaging means of the above-mentioned patent document 1 uses a telephoto lens of an optical system, the lens position fluctuates due to the zoom operation and the center of the optical axis cannot be kept constant. Some collimation is off. This is confirmed by always synthesizing the crosshair image so that it is positioned at the center of the imaging range. For example, FIG. 11 shows changes in captured images before and after zooming. The intersection of the cross-hair image) is located with the top, bottom, left and right center coordinates of the imaging range (within the thick frame) as the origin, but the intersection of the object to be imaged (structure) and the cross-hair image is zoomed. There is a difference between before and after zooming at a magnification of 0 times and a zoom magnification of 10 times, and the imaging target (structure) has moved to the right with respect to the crosshair image. Conventionally, in order to avoid such a problem, a telephoto lens having a high-precision optical system in which the lens position does not fluctuate by a zoom operation has been used. In addition, zooming operation is performed within a zoom range that does not cause any problem in surveying accuracy, and since the surveying accuracy is taken into consideration, there is a limit to the zoom magnification that can actually be used. That is, there are problems such as the work of inspecting and selecting a telephoto lens of a high-accuracy optical system, the problem that the apparatus cost increases, the use limit range of the zoom magnification, and the like, and improvement has been demanded.

  In addition, the above-described problem also occurs when a commonly available digital video camera, surveillance camera, or the like is used as the imaging means. That is, in a zoom operation employing an optical zoom mechanism, there are cases where the lens position fluctuates and the center of the optical axis cannot be kept constant, and the intersection of the crosshairs and the collimation are shifted before and after zooming. Further, there is a demand to use the imaging means for surveying purposes separately from the surveying means. In this case, there is a demand to put a vertical axis in the image data picked up by the imaging means.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a surveying system capable of maintaining the combined position of the imaging target and the crosshair image before and after zooming by the optical zoom mechanism. It is another object of the present invention to provide an imaging system in which a vertical axis can be inserted into image data captured by an imaging unit, and the combined position of the imaging target and the vertical axis can be maintained before and after zooming by an optical zoom mechanism. To do.

In order to solve the above-described problem, the present invention measures the distance to a collimation point installed horizontally and / or the collimation point installed on the imaging target in the optical axis direction and / or the angle of the collimation based on a predetermined direction A horizontal axis is connected to the surveying means, the imaging means set in parallel to the collimation axis of the surveying means and having an optical zoom mechanism, and the image data of the imaging target imaged by the imaging means at an arbitrary zoom magnification. And / or a survey system having image composition means for compositing cross-line image data including a cross line indicating a vertical axis, and display means for displaying the composite image data synthesized by the image composition means,
A storage unit that preliminarily stores deviation information of the optical axis center for each arbitrary zoom magnification m caused by the optical zoom mechanism of the imaging unit;
The image synthesizing means is configured to arbitrarily synthesize a positional relationship between the first image data and the crosshair image data when the first image data captured at a first zoom magnification and the crosshair image data are synthesized. The second image data imaged at the second zoom magnification and the crosshair image data are synthesized based on the deviation information about the optical axis center stored in the storage means so as to be maintained even at the magnification m. It is characterized by.

  According to this configuration, the second zoom magnification is maintained while maintaining the combined positional relationship (relative position) between the image data captured at the first zoom magnification and the cross-hair intersection of the cross-hair image data combined therewith. The image data captured at the second zoom magnification and the crosshair image data can be combined with the same combination positional relationship (relative position). For example, as shown in FIG. 1, the combined position (relative position) of the cross-hair image and the imaging target (structure) is the same before and after zooming with a zoom magnification of 0 and 10 times. That is, it is possible to provide a surveying system in which the positions of the crosshair intersection and the target point (or collimation point) are not shifted before and after zooming.

  “Crosshair” indicates a horizontal line and / or a vertical line. The crosshair includes a form in which the lines intersect each other. For example, when the lines are orthogonal to each other, it may indicate a horizontal line and a vertical line, and the length of one of the lines is the other. It may be longer than the line. Examples of the “crosshair image” include a crosshair (horizontal line, vertical line) as shown in FIG. In imaging during surveying, settings are made so that the intersection of the collimation and the crosshairs overlap. Further, the intersection of the cross lines may be a point, but may be indicated by a circle or an arbitrary mark. Further, the cross line may be a solid line, a dotted line, etc., and the thickness and color can be set as appropriate. Further, it is possible to synthesize the images so that the intersection of the cross-hair images is the center position of the upper, lower, left, and right (vertical and horizontal) of the imaging range captured by the display screen or imaging means. It is preferable for position confirmation. For example, a cross line is displayed at the center of the display screen in the vertical and horizontal directions.

  The “first zoom magnification” is not limited to 0 times and may be any magnification. The “second zoom magnification” is not limited to the enlargement magnification of the “first zoom magnification”, and may be a reduction magnification. For example, the “first zoom magnification” may be set to 10 times, and the “second zoom magnification” may be set to 0 times, 20 times, or the like.

  The deviation of the optical axis center is caused by an optical zoom mechanism such as movement of the lens position. The deviation information about the center of the optical axis is, for example, the difference between the horizontal angle and the vertical angle of the target point at other zoom magnifications m based on the horizontal angle and the vertical angle of the target point (collimation point) at a zoom magnification of 0. It can also be represented by the difference between the (pixel) coordinates of the target point at a zoom magnification of 0 and the (pixel) coordinates of the target point at other zoom magnifications. The deviation information about the optical axis center may be stored in advance in the storage means and read out during the image composition process, or the deviation information read out from the storage means may be stored in a temporary memory and used. . In addition, the communication unit included in the surveying system may receive data of deviation information about the optical axis center from an external device at a predetermined timing and store the data in the storage unit.

In the above invention, the deviation information about the optical axis center is the cross of the first image data imaged at the first zoom magnification and the crosshair image data whose composite position is fixed in advance with respect to the imaging area of the imaging means. When the overlapping pixel position with the line intersection is the origin pixel coordinate, the overlapping pixel position between the n-th image data captured at other zoom magnification m and the cross line intersection of the cross line image data, and the origin pixel coordinate Is set as a relative pixel coordinate that is the pixel difference between
The image synthesizing unit synthesizes the second image data captured at the second zoom magnification and the cross-line image data in which the synthesis position is offset based on the relative pixel coordinates related to the second zoom magnification. Or
The image synthesizing unit captures the second image captured at the second zoom magnification obtained by offsetting the composition position based on the cross-line image data whose composition position is fixed in advance and the relative pixel coordinates related to the second zoom magnification. It is characterized by combining image data.

According to this configuration, it is possible to synthesize image data captured at an arbitrary zoom magnification m and cross-hair image data based on preset relative pixel coordinates. Relative pixel coordinates are, for example, pixel coordinates (X ₀ +1 pixel, Y ₀ +2) at other zoom magnifications of 5 ×, 10 ×, etc. with reference to the origin pixel coordinates (X ₀ , Y ₀ ) at a zoom magnification of ₀ ×. Pixel), (X ₀ +2 pixel, Y ₀ -2 pixel), and the like.

  As a first composition method, the image composition means includes second image data captured at the second zoom magnification and cross-line image data in which the composition position is offset based on relative pixel coordinates related to the second zoom magnification. And synthesize. This is a configuration in which the combined position of the crosshair image data is offset with respect to the captured image data. For example, when the offset is based on the relative pixel coordinates, the intersection of the cross lines is moved to the right after zooming and displayed as shown in FIG.

  As a second combining method, the image combining means offsets the combining position based on the cross-line image data whose combining position is fixed in advance and the relative pixel coordinates related to the second zoom magnification. The second image data captured at the zoom magnification is combined. For example, when the setting is to be combined with image data captured so that the crosshairs are centered on the top, bottom, left, and right (vertical and horizontal) of the display screen, the captured image data is offset based on relative pixel coordinates. By combining, the cross line can always be positioned at the center of the display screen in the vertical and horizontal directions.

  In the first composition method, the intersection of the crosshairs is displayed before and after zooming. However, it is preferable from the viewpoint of visibility that the intersections of the cross lines in the composite image data are displayed so as to be positioned at the top and bottom and left and right centers of the display screen at any zoom magnification m. For example, the display control unit of the display unit performs display control so that the intersection of the cross lines becomes the center position in the vertical and horizontal directions on the display screen after the image synthesis of the cross line image data. As a result, the intersection of the cross lines before and after zooming is not displayed as if it has moved from the top, bottom, left, and right centers of the screen as shown in FIG. 2, but can always be positioned at the top, bottom, left and right centers of the screen. Furthermore, when the intersection of the crosshairs is not at the center position of the imaging range (display screen), the operator can omit the work of adjusting the intersection of the crosshairs to the center position, so that the operability is excellent.

  In addition, the display control unit of the display unit obtains the image data captured by the imaging unit (and the combined image data of the image data and the crosshair image data) and the image data captured by the imaging unit of the surveying unit. It is possible to control the display so that the images are displayed separately on a plurality of display screens on the monitor or displayed separately by switching one screen.

In the above invention, when the image data captured before and after zooming due to the deviation of the optical axis center is displayed rotated around a predetermined axis, the storage means is imaged at the first zoom magnification. Relative to the first image data, the relative rotation angle of the nth image data imaged at other zoom magnifications m is stored in advance in the deviation information about the center of the optical axis,
The image synthesizing unit generates cross-line image data indicating the horizontal axis and / or vertical axis and second image data captured at a second zoom magnification based on a relative rotation angle according to the second zoom magnification. It is characterized by being synthesized by offsetting.

  According to this configuration, even when image data captured before and after zooming due to a shift in the optical axis center is displayed rotated with respect to a predetermined center (for example, the optical axis), the image synthesis means Since the crosshair image data and the second image data captured at the second zoom magnification are combined by being offset based on the relative rotation angle according to the second zoom magnification, the rotation is corrected on the display screen. The captured image can be confirmed. In image composition, the offset is preferably performed on captured image data.

In the above invention, the storage means is position information of a position where the imaging target is to be placed and / or positional information of a predetermined object, and auxiliary data which is image data for virtual display of the imaging target and / or the predetermined object. Further memorize line image data,
An auxiliary line image synthesizing unit that synthesizes the auxiliary line image data with the image data captured by the imaging unit so as to enable virtual display of the imaging target and / or a predetermined object based on the position information; It is further preferable that

  According to this configuration, a virtual display (auxiliary line image) of the imaging target and / or the predetermined object based on position information of the imaging target (collimation) or a predetermined object (for example, a boundary line or a structure that can be a reference object). ) Can be displayed together with the image data being captured at the present time, for example, it is suitable for guiding the subject to the location where the subject is to be photographed. Easy to do.

  The “auxiliary line image” is an image showing a virtual display of the object to be imaged or the predetermined object, and may be a line imitating the appearance of the object to be imaged or the object or a simple line. In this case, the auxiliary line of the diagonal pile can be constituted by an oblique line (broken line) as shown in FIG. Moreover, the auxiliary line of a boundary line can be comprised with a boundary line (broken line) like FIG. The auxiliary line image data is not limited to the one configured to cross the intersection of the cross lines as shown in FIGS. The lines of the auxiliary line image may be solid lines, dotted lines, etc., and the thickness and color can be set as appropriate.

  “Position information” is, for example, GPS position information or position information from a reference point of a surveying system, and is not limited to two-dimensional position information, but may be three-dimensional position information. The position information includes identification information for identifying the object to be imaged and the predetermined object, and it is preferable that the type of the auxiliary line image is automatically selected according to the identification information. In this case, auxiliary line image data is also stored in advance in the storage means. For example, when the auxiliary line image data is set to a straight line, the three-dimensional position coordinate data of the start point and the end point is stored in the storage unit. The position information is stored in advance in the storage means, and an auxiliary line image (straight line) is selected based on the identification information of the position information read from the storage means, and is imaged at a position based on the position information. The image data can be combined with the image data. As another example, the captured image data is subjected to image processing, the contour of the imaging target is extracted, and this contour line (or part of the contour line) may be converted into image data captured at a position based on the positional information. A composition to synthesize is also possible.

  Further, when the auxiliary line image data is combined with the image data, the auxiliary line image combining unit captures the image at the first zoom magnification in the same manner as the combining process of the cross line image data by the function of the image combining unit. Stored in the storage means so that the composite positional relationship between the first image data and the auxiliary line image data when the first image data and the auxiliary line image data are combined can be maintained even at an arbitrary zoom magnification m. The second image data captured at the second zoom magnification and the auxiliary line image data can be synthesized based on the deviation information about the center of the optical axis, and the first or second of the image synthesizing means can be synthesized. A synthesis method can be applied.

In addition, an imaging system according to another invention includes an imaging unit installed horizontally in advance,
Image synthesizing means for synthesizing vertical axis data indicating a vertical axis with image data of the object imaged by the imaging means;
Display means for displaying the synthesized image data synthesized by the image synthesizing means;
Storage means for preliminarily storing deviation information of the optical axis center for each arbitrary zoom magnification m caused by the optical zoom mechanism of the imaging means;
The image synthesizing unit is configured to arbitrarily zoom the composition positional relationship between the first image data and the vertical axis image data when the first image data captured at the first zoom magnification and the vertical axis image data are synthesized. The second image data captured at the second zoom magnification and the vertical axis image data are synthesized based on the deviation information about the optical axis center stored in the storage means so as to be maintained even at the magnification m. It is characterized by.

  As a result, the vertical axis can be entered in the image data captured by the imaging means, and the combined position of the imaging target and the vertical axis can be maintained before and after zooming by the optical zoom mechanism. Further, the vertical axis image can be combined with the image data before and after zooming using the first combining method and the second combining method described in the surveying system.

Further, as one embodiment of the above invention, the surveying system includes an apparatus body having at least an imaging unit and a surveying unit, and a controller for remotely operating the imaging unit and / or the surveying unit,
The apparatus main body includes first communication means for transmitting image data obtained by the imaging means to the controller,
A second communication unit for receiving image data transmitted from the first communication unit; and an image combining unit for combining the image data received by the second communication unit with the crosshair image data. Display means for displaying synthesized image data obtained by image synthesis, input means for receiving a remote operation instruction input for remotely operating the imaging means and / or surveying means, and a remote operation instruction received by the input means And remote operation control means for controlling the imaging means and / or surveying means so as to be remotely operable.

  According to this configuration, the apparatus main body provided with the imaging means and the like can be remotely operated with a controller at a position away from the apparatus main body, and the image data transmitted from the apparatus main body can be displayed on the monitor for confirmation. It is preferable because an operator does not always have to be attached to each of the main bodies, and manpower can be saved.

As one embodiment of the invention, a surveying system includes a plurality of apparatus main bodies having at least imaging means and surveying means, and one controller for remotely operating the imaging means and / or surveying means of the plurality of apparatus main bodies. And
Each of the apparatus main bodies includes first communication means for transmitting each image data obtained by the imaging means to the controller together with identification information for identifying the apparatus main body,
Based on the identification information, the controller receives the second communication means received together with the image data and the identification information transmitted from each of the first communication means of the plurality of apparatus main bodies, and the image data received by the second communication means. For remotely operating the image synthesizing means for synthesizing the crosshair image data and the image, the display means for displaying the synthesized image data synthesized, and the imaging means and / or the surveying means of each of the plurality of apparatus bodies. And remote control for controlling the imaging means and / or the surveying means of each of the plurality of apparatus main bodies based on the remote operation instruction received by the input means. It has a control means.

  According to this configuration, each of the apparatus main bodies provided with the imaging means and the like is remotely operated by one controller at a position away from them, and image data transmitted from each of the apparatus main bodies is simultaneously displayed on a plurality of screens on the monitor. This is preferable because it can be confirmed by displaying it individually or by switching the screens, etc., and it is not necessary for the operator to always stick to each of the plurality of apparatus main bodies, thereby saving labor. Examples of the remote operation include operations such as an imaging operation by changing the zoom magnification, switching of a plurality of imaging means, and communication ON / OFF. Furthermore, an angle adjustment mechanism (various rotation mechanisms) for adjusting the optical axis direction, surveying means, and the like can be configured to be remotely operated, and a survey system capable of remote operation can be suitably configured. Further, when the apparatus main body is installed and fixed on a leveling mechanism (horizontal table), the vertical angle can be finely adjusted by remotely operating the leveling mechanism.

The figure which shows an example of the monitor display of the image which combined the imaged image data and the crosshairs The figure which shows an example of the monitor display of the image which combined the imaged image data and the crosshairs The figure which shows an example of the monitor display of the image which combined the imaged image data and the crosshairs The figure which shows an example of the monitor display of the image which combined the imaged image data and the crosshairs The figure for demonstrating the function of the surveying system of Embodiment 1. The figure for demonstrating the mechanism of the surveying system of Embodiment 1. Explanatory drawing of the structure which imaged the structure from two directions using two surveying systems An example of relative pixel coordinate data and rotation angle The figure for demonstrating the function of the surveying system of Embodiment 2. The figure for demonstrating the correction process of the image rotated before and after zooming The figure which shows an example of the monitor display of the image which combined the conventional imaged image data and the crosshairs

(Embodiment 1)
A functional configuration of the surveying system according to the first embodiment will be described with reference to FIGS. 5 and 6. The surveying system is configured such that the imaging unit 11 and the surveying unit 14 can be remotely operated by the remote control controller 20. The remote operation controller 20 can be realized by, for example, software including a computer and processing procedures for realizing various functions, or can be configured by a combination with a dedicated circuit, firmware, or the like. The surveying means 14 is horizontally installed because the apparatus main body 10 is installed on a horizontal base (leveling mechanism).

  The imaging means 11 can have a wide view of the entire structure by using an optical telephoto lens mechanism and an imaging device such as a CCD camera or a CMOS camera. In addition to the zoom function of the optical system, an electronic zoom function may be provided. As shown in FIG. 6, the imaging means 11 is fixed horizontally on the upper part of the apparatus main body 10. Therefore, it is adjusted and fixed in parallel with the optical axis direction of the surveying means 14. The imaging unit 11 is configured to capture a still image and / or a moving image.

  The angle adjustment mechanism 12 can be configured to include a rotation mechanism that rotates the optical axis direction of the imaging unit 11 around a horizontal axis and a rotation mechanism that rotates around a vertical axis. The angle adjustment mechanism 12 can function in accordance with a remote operation command from the remote operation means 22 described later. Also, by rotating the knob 6a for rotating up and down and the knob 6b for rotating left and right, various rotating mechanisms can be manually rotated.

  The surveying means 14 detects reflected light from a collimation point (for example, an omnidirectional prism installed in the imaging target) by irradiating irradiation light such as laser light or infrared light in the optical axis direction. A distance measuring unit that calculates the phase difference between the irradiated light and reflected light to measure the distance to the collimation point, the horizontal angle of the surveying instrument body with respect to the horizontal line, and a survey with respect to the vertical line relative to the horizontal line An angle information calculation unit that calculates the vertical angle of the main body from the rotation angles of the various rotation mechanisms can be configured. The surveying means 14 and the imaging means 15 are preferably configured so that their optical axis directions are fixed in parallel so that various rotation mechanisms simultaneously act on both the surveying means 14 and the imaging means 11.

  The remote control unit 22 transmits the remote operation instruction received by the input unit 21 to the first communication unit 15 via the second communication unit 24, and performs an imaging operation by changing the zoom magnification, switching of the imaging unit 11, and communication ON. Remote operation such as / OFF can be executed. The remote control means 22 can remotely operate an angle adjustment mechanism (various rotation mechanisms) for adjusting the optical axis direction, the surveying means 14, and the like. Further, when the apparatus main body 10 of the imaging unit 11 and the surveying unit 14 is installed and fixed to a leveling mechanism (not shown), the remote control unit 22 remotely operates the leveling mechanism to finely adjust the vertical angle. Can be configured.

(Offset processing before and after zooming)
The image synthesizing unit 25 has a function of synthesizing the crosshair image data with the image data captured by the imaging unit 11. A known method can be applied as the image composition processing method, and for example, superimpose processing can be used. The image synthesizing unit 25 synthesizes the crosshair image data with the imaged image data at the synthesis position corresponding to the offset value (see FIG. 8) using the zoom magnification as a key. For example, as shown in FIG. 1, before and after zooming with a zoom magnification of 0 × and 10 ×, the overlapping position (pixel) of the intersection of the crosshairs and the imaging target (structure) coincides, and the imaging target (structure) The relative position of the crosshair image with respect to) is the same.

  In addition, the image composition unit 25 offsets (corrects) the combined position based on the image data captured at the second zoom magnification and the offset value (relative pixel coordinates) related to the second zoom magnification. Data can be synthesized. In another embodiment, the image composition unit 25 includes the second zoom magnification obtained by offsetting the composition position based on the cross-line image data in which the composition position is fixed in advance and the relative pixel coordinates related to the second zoom magnification. The image data picked up by can be synthesized. As shown in FIG. 8A, the storage unit 23 stores in advance offset values of each zoom magnification (relative pixel coordinates with respect to a zoom magnification of 0). This offset value is attributed to the optical zoom mechanism, and overlap between the first image data imaged at the first zoom magnification and the cross line intersection of the cross line image data whose composite position is fixed in advance. When the pixel position is the origin pixel coordinate, the pixel difference between the n-th image data captured at other zoom magnification m and the cross line intersection of the cross line image data and the origin pixel coordinate It is set as a certain relative pixel coordinate.

  Furthermore, when the image pickup means 11 is provided with an electronic zoom function, it is preferable to correct a position variation of the image before and after zooming caused by the electronic zoom function. The offset value related to the electronic zoom can also be obtained by the same operation as described above. The first image data imaged at the first zoom magnification and the cross hair of the cross hair image data whose composite position is fixed in advance. When the overlapping pixel position with the intersection is set as the origin pixel coordinate, the overlapping pixel position between the nth image data captured at other zoom magnification m and the cross line intersection of the cross line image data, and the origin pixel coordinate Relative pixel coordinates that are pixel differences are set as offset values and stored in the storage means 23. Then, the image synthesizing unit 25 performs an image synthesizing process using the offset value related to the electronic zoom at the time of the electronic zoom. Further, when the optical system zoom and the electronic zoom are used in combination, the image composition processing is executed using both offset values.

(Offset processing for images rotated before and after zooming)
In addition, image data captured before and after zooming due to a shift in the center of the optical axis may be displayed rotated around a predetermined axis (for example, the optical axis). In such a case, the storage unit 23 uses the first image data captured at the first zoom magnification as a reference, and the nth image captured at other zoom magnification m (for example, 5, 10, 15 times, etc.). The relative rotation angle of the data is stored in advance by being included in the deviation information about the optical axis center. For example, as shown in FIG. 8B, the storage unit 23 stores a relative rotation angle for each zoom magnification with a zoom magnification of 0 times as a reference.

  As shown in FIG. 10A, the straight pile structure imaged at a zoom magnification of 0 times is along the vertical line of the crosshair, but the problem of rotation of the captured image due to the shift of the optical axis center 10b, as shown in FIG. 10B, for example, when the zoom magnification is 15 times, the structure of the straight pile is tilted by “+2” ° clockwise (around the optical axis) with respect to the vertical line of the crosshairs. It will be displayed. In order to solve this problem, the image synthesizing unit 25 rotates the straight pile structure imaged at the zoom magnification of 15 times based on the relative rotation angle (+ 2 °) related to the zoom magnification of 15 times, thereby (The structure of a straight pile is rotated by -2 ° and synthesized). Therefore, on the display screen, the image of the structure of the straight pile whose rotation is corrected can be confirmed.

  Further, the image composition means 25 can be configured to create the composite image data so that the cross line intersection is located at the center of the top, bottom, left and right of the display screen at any zoom magnification in consideration of the offset value. As another embodiment, the display control unit of the display unit 29 can be configured to display the composite image so that the cross line intersection is located at the center of the top, bottom, left, and right of the display screen at any zoom magnification.

(Auxiliary line image composition processing)
The auxiliary line image synthesizing unit 27 reads the position information including the identification information and the auxiliary line image data from the storage unit 23 in which the position information is stored, and selects the auxiliary line image (for example, a straight line) based on the identification information. Then, the auxiliary line image data is combined with the captured image data at a position based on the position information. For example, as shown in FIG. 3, the auxiliary line of the diagonal pile is displayed as a diagonal line (broken line) on the display screen. Alternatively, as shown in FIG. 4, an auxiliary line (broken line) indicating a boundary line is displayed on the display screen. Further, the auxiliary line image data is synthesized so as to intersect with the intersections of the cross lines as shown in FIGS. 3 and 4, thereby facilitating the operator's confirmation. Further, the auxiliary line image combining means 27 indicates a combination positional relationship between the first image data and the auxiliary line image data when the first image data captured at the first zoom magnification and the auxiliary line image data are combined. The second image data imaged at the second zoom magnification and the auxiliary line image data are synthesized based on the deviation information about the optical axis center stored in the storage means 23 so that it can be maintained even at an arbitrary zoom magnification. The first or second composition method of the image composition means 25 can be applied.

(Other configurations)
The first and second communication means 15 and 24 are communication devices that transmit and receive data, and may be wireless or wired communication, but wireless communication is preferable from the viewpoint of remote operation. The input unit 21 includes, for example, a joystick, a touch panel, a dedicated keyboard, a mouse, a voice recognition input device, and the like, and has a function of receiving a remote operation instruction input for remotely operating the imaging system. The storage means 23 can be constituted by a device that exhibits a storage function, such as a semiconductor storage device, a hard disk, or various media. The display unit 29 can be configured to include, for example, a liquid crystal display device, an organic EL display device, a CRT display device, and the like.

(Crosshair image composition position offset processing)
The apparatus main body 10 is installed on a mount (not shown) such as a tripod or leveling apparatus. The collimating direction (optical axis direction) of the apparatus main body 10 can be adjusted by moving the apparatus main body 10 relative to the gantry by the angle adjusting mechanism 12. The rotation mechanism drive control unit 13 detects the horizontal angle and vertical angle information of the angle adjustment mechanism 12 and transmits the information to the remote operation controller 20. Further, the distance information to the collimation obtained by the surveying means 14 is transmitted to the remote operation controller 20. The eyepiece camera 7 is installed in the eyepiece 141 of the surveying means 14, and the captured image data is transmitted to the remote operation controller 20. The image data and imaging condition data captured by the imaging unit 11 are transmitted to the remote operation controller 20.

  The remote operation controller 20 processes the various data transmitted from the apparatus main body 10. Image data captured by the eyepiece camera 7 is displayed on a predetermined window screen of the display means 29. The image synthesizing unit 25 adds the cross-line image data read from the storage unit 23 to the image data captured by the imaging unit 11 by using an offset value (0 pixel on the right in FIG. The image is synthesized by correcting the synthesis position based on 0 pixel). Here, the intersection of the crosshairs is fixed at a position in the center of the top, bottom, left, and right of the captured image, and that position is the origin coordinate. The composite image data generated thereby is displayed on a predetermined window screen of the display means 29 (see the zoom magnification of 0 in FIG. 1). By configuring the composite image data and the image data picked up by the eyepiece camera 7 at the same time, the operator can simultaneously display the wide viewing angle video and the telescope 5 video of the surveying means 14 of the narrow viewing angle. Since it can see, it is preferable at the point of visibility.

  When the operator uses the input means 21 to instruct the zoom magnification to be increased from 0 to 10 times, the remote control means 22 transmits a command for setting the zoom magnification to 10 times to the apparatus body 10. Based on this command, the imaging means 11 of the apparatus body 10 moves the optical system lens and sets the zoom magnification to 10 times. Image data having a zoom magnification of 10 is transmitted to the remote controller 20. Then, the image composition unit 25 adds the cross-hair image data to the image data picked up by the image pickup unit 11 based on an offset value (+3 pixels on the right and +2 pixels on the right in FIG. 8) corresponding to the zoom magnification of 10 times. The image is synthesized by correcting the composition position. The composite image data generated thereby is displayed on a predetermined window screen of the display means 29 (see the zoom magnification of 10 times in FIG. 1). In addition, image processing or display control based on the offset value may be performed so that the intersection of the cross lines is positioned at the center of the display screen in the vertical and horizontal directions.

(Auxiliary line image display processing)
In the following, the auxiliary line image is described as a broken straight line, and a cross line is also displayed at the same time as described above. When the object to be imaged is a pile, the identification information of the pile may be input using the input unit 21 of the remote operation controller 20. The position information on which the pile should be installed may be stored in advance in the storage unit 23, or the position information received by the second communication unit 24 at a predetermined timing may be stored in the storage unit 23.

  The auxiliary line image synthesizing unit 27 reads out the position information of the pile from the storage unit 23 and synthesizes the straight line (broken line) data with the image data captured by the image capturing unit 11 so that the position is based on the position information. At this time, the images are combined so that the intersection of the cross lines and the straight line (auxiliary line image) intersect. When the zoom magnification is changed as described above, the straight line is subjected to position correction based on the offset value, and the image is synthesized as in the case of the crosshair.

  FIG. 7 shows a state in which a structure (tilted pile) is monitored from two directions using two surveying systems. The imaging means 11a and surveying means (not shown) of the first surveying system and the imaging means 11b and surveying means (not shown) of the second surveying system are respectively installed on the leveling device. As shown in the lower part of the drawing, a composite image in which a cross line and an auxiliary line (broken line) are combined with image data obtained by each of the imaging units 11a and 11b on the monitor of the display unit of each remote controller. Is displayed. The display position (composite position) of the auxiliary line (broken line) differs depending on the position of each of the imaging units 11a and 11b. This is because the three-dimensional positions of the structures are different when the imaging units 11a and 11b are used as reference points. The auxiliary line image synthesizing unit 27 of the first and second surveying systems appropriately calculates and synthesizes the synthesized position of the auxiliary line image based on the reference points of the imaging units 11a and 11b and the position information of the structure. . As another embodiment, the imaging means 11a and surveying means (not shown), and the imaging means 11b and surveying means (not shown) can be remotely operated by a single remote controller (not shown).

  Further, FIG. 4 already described above shows a state in which the structure is monitored using the surveying system. A boundary line as a construction area is set in advance, and the position information is stored in the storage means 23. As shown in FIG. 4, the display unit of the remote control controller (not shown) combines the cross data and the auxiliary line for the boundary line (broken line) with the image data obtained by imaging with the imaging unit 11 of the surveying system. An image is displayed. The auxiliary line image synthesizing unit 27 appropriately calculates and synthesizes the synthesis position of the boundary line auxiliary line image based on the reference point of the surveying system and the boundary line position information.

(Configuration of other surveying mechanisms)
Although a known configuration can be applied to the surveying means 14, an example of the function and mechanism configuration of the surveying means 14 will be described below. A telescope 5 for surveying is built in the apparatus main body 10, and the optical axis of the telescope 5 is adjusted to be parallel to the optical axis of the irradiation light. In the apparatus main body 10, an internal thread as an attaching / detaching structure (not shown) is formed in the eyepiece 51, and a fixing mechanism 72 for fixing the balance weight 73 is formed in the objective 52. Further, an attachment mechanism (not shown) for attaching the imaging means 11 is formed on the upper part of the apparatus main body 10. The rotary knob 6 is a pair of manual rotary knobs for rotating the optical axis direction of the apparatus main body 10 (imaging means 11 and surveying means 14) up and down and left and right. It consists of a knob 6b for rotation.

  When the operator performs surveying using the apparatus main body 10 having the above-described configuration, the operator turns the rotary knob 6 while collimating the eyepiece 51 of the telescope 5 with the naked eye of the operator, and collimates the point to be surveyed. The distance information to the collimation point is obtained by the surveying means 14, the angle information of the collimation point is obtained from the horizontal angle and the vertical angle of the rotation mechanism, and these survey information is obtained from the apparatus main body 10 (not shown). It can be configured to be stored in the storage means and displayed on a monitor (not shown). The apparatus main body 10 with the above surveying function can be configured with functions equivalent to, for example, a known total station.

  In FIG. 6, an eyepiece camera 7 is detachably attached to the eyepiece 51 of the telescope 5, and an image including a collimation point in the optical axis direction of the telescope 5 is captured using an image sensor and converted into an electrical signal. It can be output as eyepiece camera image data. The eyepiece camera 7 may include an optical system such as a lens as necessary. The eyepiece camera 7 can be easily and accurately attached to the eyepiece 51 of the telescope 5 by a detachable structure such as a screwing method, a magnet adsorbing method, or a spring pressing method. it can. By attaching the eyepiece camera 7 to the eyepiece 51 of the telescope 5, the weight balance between the front and rear of the apparatus body 10 (around the horizontal axis perpendicular to the optical axis) is lost, so the eyepiece camera 7 is fixed around the objective lens 52 of the telescope 5. The mechanism 72 is configured so that a balance weight 73 for balance adjustment can be mounted.

  The imaging means 11 is detachable or integrally attached to the apparatus main body 10. The imaging unit 11 is configured to capture an image including a collimation point in the imaging direction (optical axis direction), convert the image into an electrical signal, and output the image data. The optical axis of the imaging means 11 can be adjusted to be parallel to the optical axis of the telescope 5. The imaging unit 11 can change the zoom magnification in accordance with a command signal from the remote controller 20 and can output imaging condition information such as a zoom magnification and a shutter speed at the time of imaging together with image data.

  The following configuration is exemplified as a method of not directly driving the motor of the rotating mechanism. The rotary knob driving device 9 is a detachable unit for remotely operating the rotary knob 6 provided in the apparatus main body 10. When the rotary knob driving device 9 is mounted on the apparatus main body 10, the irregularities on the outer peripheral surfaces of the pair of drive gears 9a, 9b mesh with the irregularities on the outer peripheral surfaces of the rotary knobs 6a, 6b. By driving forward / reverse rotation with a motor (not shown), the optical axis direction can be directed to a desired direction as if the operator is directly performing manual operation.

(Embodiment 2)
As shown in FIG. 9, the second embodiment has a configuration in which components such as an image composition function are incorporated in the apparatus main body 10. Since the same code | symbol has the same function, detailed description is abbreviate | omitted.

  The first communication unit 15 transmits the composite image data (cross line and / or auxiliary line (straight line)) generated by the image composition unit 25 to the remote display device 30. The display device 30 can receive the composite image data via the second communication means 24 and display it on the liquid crystal monitor of the display means 32 or the like. The composite image data is created by the apparatus main body 10 and the composite image data is displayed by the display device 30. The display device 30 has a so-called monitoring monitor function. Furthermore, the display device 30 can be configured to have a recording device (not shown) and record the composite image data. Further, the composite image data can be displayed on the display means (not shown) of the apparatus main body 10.

(Embodiment 3)
The surveying systems of the first and second embodiments described above have the configuration including the surveying unit 14, but can be configured as an imaging system that does not include the surveying unit 14.

  Further, the imaging means 11 can be constituted by a general-purpose digital video camera, a surveillance camera, or the like. For example, image data (including zoom magnification information) captured by a digital video camera placed on a leveling device at a predetermined reference point is transferred to a controller composed of a computer (general-purpose personal computer) via communication means. Send. The controller is preinstalled with software for realizing the various functional elements. Then, an image of a cross line and / or an auxiliary line can be combined with the received image data and displayed on the monitor. In addition, when the zoom magnification of the digital video camera is changed, the position correction of the crosshairs and auxiliary lines can be performed using the offset value in the same manner as described above.

(Imaging system)
An imaging system combines image data of an imaging unit (for example, a digital video camera or a surveillance camera) installed in advance horizontally and vertical axis data indicating a vertical axis with image data of an object captured by the imaging unit. Means, display means for displaying the synthesized image data synthesized by the image synthesizing means, and information on the deviation of the optical axis center for each arbitrary zoom magnification m caused by the optical zoom mechanism of the imaging means is stored in advance. Storage means. Then, the image synthesizing unit arbitrarily determines a composition positional relationship between the first image data and the vertical axis image data when the first image data captured at the first zoom magnification and the vertical axis image data are synthesized. The second image data imaged at the second zoom magnification and the vertical axis image data are synthesized based on the deviation information about the optical axis center stored in the storage means so that the zoom magnification m is maintained. To do.

  Since the imaging means is previously installed horizontally, it is possible to easily synthesize a vertical axis image with image data by assuming that the horizontal line of the imaging area is set horizontally.

  An example of another embodiment is shown below. In the case of an image pickup means such as a general video camera or surveillance camera, even if the device is installed horizontally, the image pickup area constituted by the CCD elements or the like inside the device is not always horizontal. In some cases, the CCD element substrate inside the apparatus is incorporated in a distorted manner. Therefore, for surveying purposes that require high accuracy, calibration is performed using a nearby building whose vertical axis is known to be vertical, a pendulum by gravity, and the like. Alternatively, it is set by regarding the building being imaged as the vertical axis. For example, the image analysis unit of the image synthesizing unit analyzes the image data of the object captured by the imaging unit and determines a line indicating the vertical direction. Thereby, a vertical axis can be combined with the vertical line. For example, vertical lines such as distant high-rise buildings, buildings perpendicular to the ground, and straight piles are analyzed using a known image processing technique. Moreover, it is preferable from a viewpoint of visibility that an image composition means synthesize | combines vertical axis line data with the image data of a to-be-photographed object so that a vertical axis line may become a horizontal center position of a display screen.

DESCRIPTION OF SYMBOLS 1 Surveying system 10 Apparatus main body 11, 11a, 11b Imaging means 12 Angle adjustment mechanism 13 Rotation mechanism drive control part 14 Surveying means 15 First communication means 20 Remote operation controller 21 Input means 22 Remote control means 23 Storage means 24 Second communication means 25 Image composition means 27 Auxiliary line image composition means 28 Angle adjustment arithmetic units 29 and 32 Display means 30 Display device

Claims (5)

Surveying means for measuring the distance to the collimation point installed on the object to be imaged in the optical axis direction and / or the angle of the collimation with reference to a predetermined direction, and the collimation of the surveying means An imaging means that is set in parallel to the axis and has an optical zoom mechanism, and a cross line indicating a horizontal axis and / or a vertical axis is added to the image data of the imaging target imaged at an arbitrary zoom magnification by the imaging means. A surveying system comprising: image combining means for combining the crosshair image data including the display means for displaying the combined image data combined by the image combining means;
A storage unit that preliminarily stores deviation information of the optical axis center for each arbitrary zoom magnification m caused by the optical zoom mechanism of the imaging unit;
The image synthesizing means is configured to arbitrarily synthesize a positional relationship between the first image data and the crosshair image data when the first image data captured at a first zoom magnification and the crosshair image data are synthesized. The second image data imaged at the second zoom magnification and the crosshair image data are synthesized based on the deviation information about the optical axis center stored in the storage means so as to be maintained even at the magnification m. Surveying system characterized by The optical axis center misalignment information includes the first image data imaged at the first zoom magnification and the crosshair intersection point of the crosshair image data whose composite position is fixed in advance with respect to the imaging area of the imaging means. When the overlapping pixel position is set as the origin pixel coordinate, the pixel difference between the overlapping pixel position between the nth image data captured at other zoom magnification m and the cross line intersection of the cross line image data and the origin pixel coordinate Is set as a relative pixel coordinate,
The image synthesizing unit synthesizes the second image data captured at the second zoom magnification and the cross-line image data in which the synthesis position is offset based on the relative pixel coordinates related to the second zoom magnification. Or
The image synthesizing unit captures the second image captured at the second zoom magnification obtained by offsetting the composition position based on the cross-line image data whose composition position is fixed in advance and the relative pixel coordinates related to the second zoom magnification. The survey system according to claim 1, wherein the survey data is synthesized with image data. When the image data captured before and after zooming is displayed rotated around a predetermined axis due to the shift of the optical axis center, the storage means stores the first image data captured at the first zoom magnification. And the relative rotation angle of the nth image data imaged at other zoom magnification m is stored in advance in the deviation information about the optical axis,
The image synthesizing unit generates cross-line image data indicating the horizontal axis and / or vertical axis and second image data captured at a second zoom magnification based on a relative rotation angle according to the second zoom magnification. The surveying system according to claim 1, wherein the composition is performed by offsetting. The storage means includes position information on a position where the imaging target is to be installed and / or positional information of a predetermined object, and auxiliary line image data which is image data for virtual display of the imaging target and / or the predetermined object. Remember more,
An auxiliary line image synthesizing unit that synthesizes the auxiliary line image data with the image data captured by the imaging unit so as to enable virtual display of the imaging target and / or a predetermined object based on the position information; The surveying system according to any one of claims 1 to 3, further comprising: Imaging means installed horizontally in advance;
Image synthesizing means for synthesizing vertical axis data indicating a vertical axis with image data of the object imaged by the imaging means;
Display means for displaying the synthesized image data synthesized by the image synthesizing means;
Storage means for preliminarily storing deviation information of the optical axis center for each arbitrary zoom magnification m caused by the optical zoom mechanism of the imaging means;
The image synthesizing unit is configured to arbitrarily zoom the composition positional relationship between the first image data and the vertical axis image data when the first image data captured at the first zoom magnification and the vertical axis image data are synthesized. The second image data captured at the second zoom magnification and the vertical axis image data are synthesized based on the deviation information about the optical axis center stored in the storage means so as to be maintained even at the magnification m. An imaging system characterized by the above.