Design model display system, method, and program

Abstract

To provide a technique that supports construction of a target object at a site of construction, engineering work and the like, is small, lightweight, low-cost, and easy to handle, can readily generate a design model of a three-dimensional image for superimposed display using simple three-dimensional image creation software, and can easily set installation coordinates of itself and design model coordinates.SOLUTION: A design model display system includes current position coordinate acquisition means which acquires current position coordinates including a GNSS receiver 101 or a prism device, and a terminal device 102 incorporating at least a camera, a processor, and a display in a manner of being integrated with each other by a system pole 103. The processor of the terminal device 102, while imaging a site with the camera at a set direction angle, superimposes, on an image of the site on a projection plane of the camera, a design model drawn based on design model data including design model coordinates indicating a position in a site coordinate system corresponding to a target object to be constructed at the site, on the basis of the direction angle, the design model coordinates, and camera coordinates, and displays the superimposed image on the display.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technique for supporting construction of an object at a construction site, such as a building site. [Background technology]

[0002] A technology is known that supports the construction of an object (hereinafter simply referred to as "object") at a construction site (hereinafter simply referred to as "site") by generating a virtual three-dimensional image of the object (hereinafter simply referred to as "object") to be constructed at the site, and combining and displaying it with an image captured at the site.

[0003] For example, the following technology is known as a conventional technology relating to an image display system that acquires three-dimensional images for accurately guiding an object to a target position on-site (for example, Patent Document 1). This image display system includes a surveying device and a controller. The above-mentioned surveying instrument comprises a surveying information output means, a driving means, a surveying information transmitting means, an imaging means, and an image synthesizing means. The measurement information output means measures the angle of the optical axis direction for aiming at the aiming point and outputs it as measurement information. The driving means changes the direction of the optical axis. The measurement information transmitting means transmits the measurement information obtained by the measurement information output means to the controller. The imaging means also captures and outputs an image including a collimation point in the optical axis direction, and changes the imaging magnification based on a control signal sent from the controller. Furthermore, the image synthesis means generates a virtual three-dimensional image showing the position and posture of the object placed at the target position by adjusting the magnification according to the imaging magnification, using the imaging means as the viewpoint, and synthesizes the generated three-dimensional image with the captured image captured by the imaging means. On the other hand, the controller includes a communication means and a display means. The communication means transmits a control signal specifying an imaging magnification to the surveying instrument. The display means displays a captured image that is a composite of the three-dimensional image transmitted from the surveying instrument.

[0004] For example, according to the description in Patent Document 1, the above-mentioned surveying device is a so-called total station device that includes a telescope for aiming at the aiming point of the survey object, a rotary knob for guiding the aiming point into the field of view of the telescope, a rotary knob drive device, an instrument including the drive device and measuring the angle of the optical axis direction for aiming at the aiming point (a theodolite as defined by the Geospatial Information Authority of Japan), and a distance measuring unit (a range finder as defined by the Geospatial Information Authority of Japan) that irradiates laser light or infrared light, receives reflected light from the aiming point, and measures the distance between the distance measuring unit and the aiming point from the phase difference between the irradiated light and the reflected light. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6174199 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the surveying equipment, which is a component of the above-mentioned conventional technology, is an expensive instrument generally priced in the order of several million yen, and there was a problem in that the manufacturing and sales costs of an image display system equipped with such a surveying equipment would be high.

[0007] Furthermore, the surveying device, together with the tripod on which it is mounted, weighs around 10 kilograms, which makes it difficult to move it around the site and display images.

[0008] Furthermore, according to Patent Document 1, for example, the design data required to generate a virtual 3D image includes CAD (Computer-Aided Design) data and 3D position information expressed in a 3D Cartesian coordinate system with the surveying reference point as the origin, which indicates the installation position of the surveying device and the position and orientation of objects such as piles upon completion of installation. The CAD data must be accurately designed using CAD software, which poses a problem in that the data preparation is not easy. Another problem is that the 3D position information indicating the installation position of the surveying device and the position and orientation of objects must be obtained by separate surveying.

[0009] Therefore, the present invention aims to provide a small, lightweight, low-cost, and easy-to-handle device that can easily generate design models for superimposed 3D images using simple 3D image creation software, and that can easily set its own installation coordinates and design model coordinates. [Means for solving the problem]

[0010] One example of a design model display system includes a current position coordinate acquisition means for acquiring current position coordinates, and a terminal device incorporating at least a camera, a processor, and a display, all of which are integrated together. The processor of the terminal device performs the functions of a site image capture unit that captures an image of the site using the camera as site image and displays it on the display, a camera coordinate calculation unit that calculates the coordinates of the camera's viewpoint in the site coordinate system as camera coordinates based on the current position coordinates and the positional relationship between the current position coordinate acquisition means and the camera's viewpoint, a direction angle setting unit that sets the direction angle of the camera's optical axis, and a design model overlay display unit that, while capturing the site using the site image capture unit at the set direction angle, superimposes a design model drawn using design model data that corresponds to an object to be constructed at the site and includes design model coordinates that indicate its position in the site coordinate system onto the site image on the camera's projection surface based on the direction angle, the design model coordinates, and the camera coordinates, and displays it on the display. [Effects of the Invention]

[0011] According to the present invention, a small, lightweight, low-cost device is easy to handle, and a design model for a 3D image to be superimposed can be easily generated using simple 3D image creation software, making it possible to easily set the device's own installation coordinates and the design model coordinates. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is an external view of a first embodiment of a design model display system; [Figure 2] FIG. 2 is a hardware block diagram of a tablet terminal device according to the first or second embodiment. [Figure 3] FIG. 1 is a functional block diagram of a first embodiment. [Figure 4] FIG. 10 is an explanatory diagram of system numbers. [Figure 5] FIG. 10 is an explanatory diagram of a camera coordinate offset. [Figure 6] FIG. 10 is an explanatory diagram of a direction angle setting process. [Figure 7] FIG. 10 is a diagram showing an example of a design model of a three-dimensional shape of a pile superimposed on a site image. [Figure 8] FIG. 10 is a diagram showing an example of a pile design model superimposed on a site image. [Figure 9] 4 is a flowchart showing a process according to the first embodiment. [Figure 10] FIG. 10 is an external view of a second embodiment of a design model display system. [Figure 11] FIG. 10 is a functional block diagram of a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Figure 1 is an external view of a first embodiment of a design model display system, where Figure 1(a) is a front view as seen from the direction of arrow I, and Figure 1(b) is a side view as seen from the direction of arrow II.

[0014] In the first embodiment, a Global Navigation Satellite System (hereinafter referred to as "GNSS") receiver 101 (hereinafter referred to as "GNSS receiver 101") that determines the current position on Earth by receiving radio waves from positioning satellites, and a terminal device 102 are integrally connected to a pair of poles (hereinafter referred to as "system poles") 103.

[0015] The GNSS receiver 101 is fixedly connected to the upper end of the upper system pole 103a by a fastener (not shown). After the terminal device 102 is fixed by clamping it with the fasteners 106a and 106b, the fasteners 106a and 106b clamp the upper system pole 103a below the GNSS receiver 101, and the clamps 107a and 107b are tightened, thereby fixing the terminal device 102 to the upper system pole 103a.

[0016] Meanwhile, erecting legs 109a and 109b are connected to the lower system pole 103b in an extended manner. Then, by inserting (or placing) the system pole ferrule 110 at the bottom end of the lower system pole 103b and the erecting leg ferrules 111a and 111b at the bottom ends of the two erecting legs 109a and 109b into (or placing) the ground, the lower system pole 103b and the two extended erecting legs 109a and 109b can be placed upright on the ground.

[0017] Thereafter, the upper system pole 103a, on which the GNSS receiver 101 and the terminal device 102 are integrally installed, is inserted into the lower system pole 103b and tightened at an appropriate position by the system pole extension knob 108.

[0018] The terminal device 102 incorporates at least a camera 104, a processor 201 (see FIG. 2, which will be described later), and a touch panel display 105. As the terminal device 102, for example, a general consumer tablet terminal can be adopted.

[0019] 1(a) and 1(b), the camera 104 built into the terminal device 102 is installed so that its optical axis direction C faces in the opposite direction to the touch panel display 105 on the back. Furthermore, since the camera 104 is built into the vicinity of one of the four corners of the terminal device 102, the optical axis direction C is not blocked by the upper system pole 103a.

[0020] A bubble-type level 112, for example, for leveling, is installed near the top of fastener 106b on the underside of terminal device 102. By watching this level 112 and adjusting erecting legs 109a and 109b so that the bubble is centered, for example, the entire design model display system can be leveled.

[0021] As described above, a consumer tablet terminal can be used as the terminal device 102, which is light in weight and reasonably priced. Furthermore, the GNSS receiver 101 is also priced at a fraction to a tenth of the price of a total station device, and weighs approximately 1 kilogram. Furthermore, since the design model display system is not a surveying instrument, high accuracy is not required. Therefore, the system pole 103 and erecting legs 109a and 109b only need to be strong enough to support the GNSS receiver 101 and the terminal device 102, and do not need to be strong, heavy, or expensive. As described above, the first embodiment of the design model display system differs from the prior art in that it is small, lightweight, low-cost, and easy to handle. In addition, as will be described later, the GNSS receiver 101 can easily acquire the coordinates of its own current position. Furthermore, one person can easily carry this system to the location of the object or reference pile to be installed on-site, as described below, and easily obtain the design model coordinates and reference pile coordinates, as described below.

[0022] Fig. 2 is a hardware block diagram of the terminal device 102 in Fig. 1. This is a typical computer configuration of, for example, a consumer tablet terminal, and includes a processor 201, a ROM 202, a RAM 203, an SSD (Solid State Drive) storage device 204, a touch panel display interface 205, a camera interface 206, a near field communication interface 207, and a mobile communication interface 208, all of which are interconnected by a system bus 209.

[0023] The processor 201 loads a design model display processing program stored in the ROM 202 into the RAM 203 and executes it, thereby performing the design model display processing described below.

[0024] The SSD storage device 204 is an external storage device configured from a semiconductor memory, and stores GNSS data 351 from the GNSS receiver 101 (described later), on-site video data onto which a design model 357 (described later) is superimposed, and the like.

[0025] The touch panel display interface 205 is a circuit that controls the input and output of data to and from the touch panel display 105 in FIG.

[0026] The camera interface 206 is a control circuit that captures images captured by the camera 104 in FIG.

[0027] The short-range wireless communication interface 207 is a circuit that controls wireless communication with the GNSS receiver 101, for example, according to the Bluetooth short-range wireless communication standard ("Bluetooth" is a registered trademark of Bluetooth SIG, Inc. of the United States).

[0028] The mobile communication interface 208 is a circuit that controls IP (Internet Protocol) communication between the Internet or a local area network (not shown) according to communication standards such as 5G (fifth generation mobile communication system) or 4G (fourth generation mobile communication system).

[0029] Fig. 3 is a functional block diagram of a first embodiment of a design model display system according to the present invention. The functions represented by blocks 301 to 315 in Fig. 3 represent processing functions shown in the flowchart in Fig. 9, which will be described later, that are executed by the processor 201 in Fig. 2 by loading a design model display processing program stored in the ROM 202 into the RAM 203.

[0030] First, the processor 201 executes the function of the on-site video capture unit 301, thereby capturing video of a construction site, work site, etc. using the camera 104 in Figure 1 as on-site video 350, importing it into the RAM 203 in Figure 2, and displaying the on-site video 350 as a moving image on the touch panel display 105 in Figure 1 via the touch panel display interface 205 in Figure 2. 9, which will be described later, the processing of the on-site video shooting unit 301 is automatically activated by the processor 201 after the user turns on the power of the terminal device 102 until the user turns it off. As a result, the on-site video 350 is always displayed on the touch panel display 105 of the terminal device 102 while the terminal device 102 is on, unless other processing is performed.

[0031] Next, the GNSS data receiving unit 302, coordinate system selecting unit 303, and on-site coordinate system current position coordinate calculation unit 304 executed by the processor 201, together with the GNSS receiver 101 in Figure 1, constitute a current position coordinate acquisition means that acquires current position coordinates.

[0032] As described above, the GNSS receiver 101 receives radio waves from positioning satellites to determine the current position (latitude, longitude, altitude) on the Earth and outputs GNSS data 351. In response to this, the GNSS data receiving unit 302 executed by the processor 201 of the terminal device 102 receives the GNSS data 351 of the current position output by the GNSS receiver 101 of FIG. 1 via the short-range wireless communication interface 207 of FIG.

[0033] Because construction sites, etc., are small enough compared to the size of the Earth, it is easier to handle calculations by projecting the position, direction, distance, etc. indicated by GNSS data, which is expressed by a position on Earth (latitude, longitude, altitude), onto a plane in a planar rectangular coordinate system corresponding to the site and performing position calculations.For example, in Japan, in accordance with Article 11, Paragraph 1, Item 1 of the Japanese Survey Act, the country is divided into 19 regions, and conversion from GNSS data is stipulated to select a planar rectangular coordinate system with a different coordinate system origin for each region.

[0034] Therefore, the coordinate system selection unit 303 executed by the processor 201 displays a list of system numbers of 19 planar rectangular coordinate systems, such as those illustrated in Figure 4, on the touch panel display 105 of Figure 1, for example, and allows the user to select one system number from the list that corresponds to the site where the user wants to display the design model.

[0035] Next, the on-site coordinate system current position coordinate calculation unit 304 executed by the processor 201 converts the GNSS data 351 of the current position output by the GNSS data receiving unit 302 into current position coordinates 353 on a planar rectangular coordinate system (hereinafter referred to as the "on-site coordinate system") corresponding to the system number selected by the user in the coordinate system selection unit 303. Specifically, in the on-site coordinate system current position coordinate calculation unit 304, a calculation program for converting the longitude and latitude coordinates of the GNSS data 351 into XY coordinates on a plane rectangular coordinate system 352 corresponding to a predetermined system number can be used, for example, a program described in the following non-patent document 1, which uses the Gauss-Krüger equirectangular projection method. <Non-Patent Document 1> Kawase, Kazushige (2011): TIFF2025136961000002.tif842 A simpler calculation method for the conversion between longitude and latitude coordinates and plane rectangular coordinates in the projection. Geospatial Information Authority of Japan Bulletin, 121, 109-124.

[0036] The current position coordinates 353 output by the on-site coordinate system current position coordinate calculation unit 304 indicate coordinates in the on-site coordinate system corresponding to the current position of the GNSS receiver 101. In other words, by erecting the system pole 103 on which the GNSS receiver 101 is installed at any position in the on-site coordinate system, the coordinates of that position in the on-site coordinate system can be easily acquired at any time as the current position coordinates 353. This function can be used to acquire design model coordinates 355 by the design model selection unit 308 (described later) and to acquire reference stake coordinates 356 by the reference stake setting unit 307.

[0037] Next, the camera coordinate calculation unit 310 executed by the processor 201 calculates the coordinates in the on-site coordinate system of the viewpoint of the camera 104 as camera coordinates 360 based on the current position coordinates 353 output by the on-site coordinate system current position coordinate calculation unit 304 (current position coordinate acquisition means) and the positional relationship between the viewpoints of the GNSS receiver 101 and the camera 104 built into the terminal device 102.

[0038] Fig. 5 is an explanatory diagram of a camera coordinate offset showing the positional relationship of the viewpoints of the GNSS receiver 101 and the camera 104. The GNSS receiver 101 (the same applies to the prism device 1001 in Fig. 10 in the second embodiment described later) and the viewpoint of the camera 104 built into the terminal device 102 (the center of the imaging sensor of the camera 104, not shown) have offset value relationships of A, B, C, D, and E in Fig. 5 when the GNSS receiver 101 and the terminal device 102 are installed on the system poles 103a and 103b. The offset value E indicates the condition that the system pole ferrule 110 is buried in the ground by the offset value E. The camera coordinate calculation unit 310 calculates the camera coordinate 360 ​​as the coordinate obtained by shifting the current position coordinate 353 in the on-site coordinate system corresponding to the GNSS receiver 101 by the offset values ​​A, B, C, D, and E shown in Figure 5.

[0039] Here, the offset values ​​A, B, C, D, and E can change depending on the state in which the terminal device 102 is attached to the system pole 103. Therefore, every time the user attaches the terminal device 102 to the system pole 103, the processor 201 activates the camera coordinate offset setting unit 305 of Fig. 3 in accordance with an instruction from the user. The camera coordinate offset setting unit 305 displays, for example, on the touch panel display 105 of the terminal device 102, a registration form that prompts the user to register each of the offset values ​​A, B, C, D, and E shown in Fig. 5, and prompts the user to set these values ​​as camera coordinate offsets 359. The camera coordinate calculation unit 310 calculates the camera coordinates 360 using the camera coordinate offset 359 output by the camera coordinate offset setting unit 305 .

[0040] 9 described later, each process of the GNSS data receiving unit 302, the on-site coordinate system current position coordinate calculation unit 304, and the camera coordinate calculation unit 310 is automatically activated by the processor 201 from the time the user turns on the power of the terminal device 102 until the time the user turns it off. As a result, every time the value of the GNSS data 351 acquired by the GNSS receiver 101 changes, the GNSS data receiving unit 302 continues to receive the GNSS data 351, the on-site coordinate system current position coordinate calculation unit 304 continues to calculate and output the current position coordinate 353 in the on-site coordinate system corresponding to the newly input GNSS data 351, and the camera coordinate calculation unit 310 continues to calculate and output the camera coordinate 360 ​​corresponding to the current position coordinate 353 output from the on-site coordinate system current position coordinate calculation unit 304.

[0041] Next, the direction angle setting unit 309 executed by the processor 201 sets the direction angle 358 of the optical axis of the camera 104 (optical axis C in FIG. 1).

[0042] Specifically, as illustrated in Fig. 6, the user first sets up a direction reference pole 601 on the ground at an arbitrary position near the location where an object 604, whose design model is to be displayed, will be constructed at a construction site 605. The structure of this direction reference pole 601 may be the same as the structure consisting of the system pole 103 (103a, 103b) and erecting legs 109a, 109b shown in Fig. 1. At this time, the user uses a spirit level (similar to spirit level 112 in Fig. 1) attached to the pole to adjust the pole of the direction reference pole 601 so that it is perpendicular to the ground. Note that Figure 6 shows an example in which the object 604 is a pile (e.g., a steel pipe pile), but even if the object 604 has a three-dimensional shape (e.g., a caisson), as shown in Figure 7, the operations for the system pole 103 and the direction reference pole 601 are the same, except for the object 604.

[0043] Next, the user adjusts the system pole 103, erecting legs 109a, 109b, and spirit level 112 in Figure 1 so that the camera 104 of the terminal device 102 is roughly facing in a direction in which the direction reference pole 601 and the object 604 are within the field of view of the touch panel display 105, and then activates the function of the direction angle setting unit 309. As a result, as shown in Figure 6, the direction angle setting unit 309 displays a center line 602 for direction angle guide in the center of the left and right of the touch panel display 105, superimposed on the on-site image 350, which is displayed on the touch panel display 105 by the on-site image capturing unit 301 and shows the direction reference pole 601 and the target object 604.

[0044] While viewing the display on the touch panel display 105, the user holds, for example, the left and right ends of the terminal device 102 with both hands and rotates (shakes) the terminal device 102 around the system pole 103 in Fig. 1 in the direction of, for example, the arrow 606 in Fig. 6 so that the direction reference pole 601 displayed on the screen overlaps with a center line 602 that is displayed in the center of the touch panel display 105 and is perpendicular to the ground. Note that the arrow 606 is for illustrative purposes only and is not actually displayed on the touch panel display 105. When the direction reference pole 601 overlaps with the center line 602, the user fixes the movement of the terminal device 102 and taps the direction angle confirmation button 603 on the touch panel display 105, and the direction angle setting unit 309 sets the direction of the line segment extending from the current position coordinates 353 output by the camera coordinate calculation unit 310 toward the reference stake coordinates 356, which indicate the position in the on-site coordinate system of the reference stake on which the direction reference pole 601 is to be erected, as the direction angle 358.

[0045] The design model selection unit 308 executed by the processor 201 selects one of the multiple design model data 354 set by the design model setting unit 306 described later, and inputs the selected design model data 354 to the design model superimposition display unit 311.

[0046] The design model overlay display unit 311 executed by the processor 201 photographs the site 605 using the site video shooting unit 301 at the direction angle 358 set by the direction angle setting unit 309, as explained in Figure 6, and then, as illustrated in Figure 7 or Figure 8, superimposes a design model 357 corresponding to the object 604 to be constructed at the site 605 and drawn using design model data 354 including design model coordinates 355 indicating its position in the site coordinate system onto the projection surface of the camera 104 (in particular, the imaging surface of the imaging sensor not shown) based on the direction angle 358, the design model coordinates 355, and the camera coordinates 360, and displays it on the touch panel display 105. Here, the coordinate value in the height direction calculated by the GNSS data receiving unit 302 may not be accurate, and in this case, the display position of the design model 357 superimposed and displayed by the design model superimposition display unit 311 via the site coordinate system current position coordinate calculation unit 304 and the camera coordinate calculation unit 310 may be shifted in the height direction. Therefore, while viewing the image of the design model 357 superimposed on the site image 350 displayed on the display 105, the user can correct the height display position of the superimposed design model 357 in the direction perpendicular to the ground by using the function of the height correction unit 316 provided in the design model superimposition display unit 311, for example, by sliding a height correction slider or the like (not specifically shown) displayed on the display 105 with a finger, or by directly inputting a correction value into a numerical input box (not specifically shown) displayed on the display 105. This allows the user to appropriately superimpose and display the design model 357 corresponding to the object 604 at the location in the site video 350 where the object 604 is to be installed.

[0047] 7 shows an example where the site 605 is, for example, a caisson installation site for port construction work, and the object 604 has a three-dimensional shape corresponding to the caisson, for example. In this case, a three-dimensional shape model of the object 604 is set as the design model 357 corresponding to the object 604.

[0048] The design model data 354 includes three-dimensional shape model data for drawing a design model 357 of the three-dimensional shape of the object 604, such as a caisson, and design model coordinates 355 which define the coordinates in the site coordinate system of at least three points of the three-dimensional shape of the object 604, such as a caisson, when installed at the site 605, as coordinates for superimposing at least three points on the design model 357 of the three-dimensional shape corresponding to each of the at least three points on the site image 350. Then, the design model superimposition display unit 311 superimposes a three-dimensional shape design model 357 drawn based on the three-dimensional shape model data onto the site image 350 on the display 105 (projection surface of the camera 104) based on the direction angle 358 set by the direction angle setting unit 309, the design model coordinates 355 in the site coordinate system of at least three points included in the design model data 354, and the camera coordinates 360 calculated by the camera coordinate calculation unit 310.

[0049] 7, on the touch panel display 105 of the terminal device 102, a site video 350, for example a real-time video of a caisson, which is an object 604 that is about to be installed and suspended by a wire from a crane, is displayed. A design model 357 corresponding to the object 604 to be installed is superimposed on the site video 350 at the position where it will be installed.

[0050] This allows the operator of the design model display system to, for example, watch an image in which the design model 357 is superimposed on the site image 350 on the touch panel display 105 of the terminal device 102, and give instructions to the crane operator via a transceiver or the like so that the installation position of the target object 604 accurately overlaps the display position of the design model 357.

[0051] Alternatively, by transmitting an image in which the design model 357 is superimposed on the site image 350 directly to a computer (tablet terminal, etc.) installed in the driver's seat of the crane by the remote image transmission unit 315 shown in Figure 3 (described later), the crane operator can operate the crane while viewing the image so that the installation position of the target object 604 accurately overlaps the display position of the design model 357.

[0052] Fig. 8 shows an example in which the object 604 is the three-dimensional shape of a pile. In Fig. 8, on-site video 350, which is, for example, a real-time video, of the object 604, a pile (for example, a steel pipe pile), which is about to be driven by a pile driver, is displayed on the touch panel display 105 of the terminal device 102, which corresponds to the projection surface of the camera 104 in Fig. 1. The design model data 354 includes three-dimensional shape model data of the pile, including the pile length, which is the length of the pile, the pile diameter, the inclination angle indicating the inclination of the pile with respect to a line perpendicular to the ground, and the driving direction angle indicating the direction horizontal to the ground in which the pile is driven, for drawing a design model 357 of the three-dimensional shape of the pile, which is the object 604, and design model coordinates 355 which set the coordinates in the site coordinate system of the pile center, which is defined by the center of the cross section of the pile at the driving limit height, which is the upper end of the pile when the pile, which is the object 604, is driven at the site 605, as coordinates for superimposing the design pile center, which is defined by the design cross-section center of the pile at the design driving limit height, which is the upper end of the pile on the design model 357 of the three-dimensional shape of the pile corresponding to that pile center, on the site image 350. The design model 357 is drawn to include shapes such as design lines 801a, 801b, 801c, and 801d of the pile body, which are drawn based on the pile length and pile diameter, which are the three-dimensional shape model data of the pile, and shapes such as extension design lines 802a and 802b, which are drawn by extending the design lines 801a and 801b of the pile body in the pile length direction from the design finish height 804, which is the upper end of the pile body on the design model 357, in the upward direction of the pile length. Then, the design model superimposition display unit 311 superimposes the design model 357 on the site image 350 on the display 105 (projection surface of the camera 104) based on the direction angle 358 set by the direction angle setting unit 309 with respect to the direction perpendicular to the ground and the design model coordinates 355 of the center of the design pile contained in the design model data 354, and the camera coordinates 360 calculated by the camera coordinate calculation unit 310, so that the direction of the pile length on the display 105 (projection surface of the camera 104) has an inclination determined by the direction angle 358 set by the direction angle setting unit 309 and the aforementioned inclination angle and pouring direction angle. On the display 106, not only the design line shapes 801a, 801b, 801c, and 801d of the pile body but also the design line shapes 802a and 802b of the extensions extended in the direction of the pile length are displayed as the pile design model 357, making it possible to continue driving the pile at an accurate inclination even after the pile has been driven into the ground.

[0053] Here, the design model overlay display unit 311 may be configured to superimpose on the site image 350 projected on the display 105 (projection surface of the camera 104) a pair of auxiliary lines 803a and 803b or a pair of auxiliary lines 803c and 803d, which are parallel to the design lines 801a / 802a, 801b / 802b, etc. in the pile length direction in the design model 357 drawn based on the design model data 354 and are offset by a first tolerance value on both the left and right sides of the design lines on the display 105 (projection surface of the camera 104). These pairs of auxiliary lines 803a and 803b or 803c and 803d correspond to the tolerance (first tolerance) of how far the edge of the pile, which is the object 604, in the longitudinal direction can be shifted left and right on the display 105 (projection surface of camera 104) relative to the design lines 801a / 802a, 801b / 802b, etc. in the design model 357 when cast.

[0054] In addition, the design model overlay display unit 311 may be configured to overlay a pair of auxiliary lines 805a and 805b, which are parallel to the design cross section of the three-dimensional shape of the pile at the design finish height 804, which is the upper end of the pile in the design model 357 drawn based on the design model 357, and which are offset by a second tolerance value on both the upper and lower sides of the design cross section on the display 105 (projection surface of the camera 104), on the site image 350 projected on the display 105 (projection surface of the camera 104). These pairs of auxiliary lines 805a and 805b correspond to the tolerance (second tolerance) of how much the cross section of the pile's final driving height, which is the target object 604, can be shifted vertically on the display 105 (projection surface of the camera 104) relative to the design cross section of the pile's design final driving height 804 in the design model 357.

[0055] As an example of the left-right pouring tolerance (first tolerance), in the example of Figure 8, the current installation position of the object 604 is between the pair of auxiliary lines 803a and 803b or between the pair of 803c and 803d, but is slightly deviated from the design lines 801a / 802a and 801b / 802b. Although not shown in FIG. 8, the same applies to the relationship between the design driving height 804 of the pile and the pair of auxiliary lines 805a and 805b, which is an example of the driving tolerance in the vertical direction (second tolerance). The construction worker can carry out construction of the pile, which is the object 604, while determining these relationships.

[0056] Here, the object 604 is pile-shaped, and the installation state of the object 604 in the depth direction corresponding to one direction angle 358 cannot be determined from the image of the design lines and auxiliary lines of the design model 357 corresponding to that direction angle 358, which are superimposed as described above using the design lines 801a / 802a, 801b / 802b, 801c, and 801d and pairs of auxiliary lines 803a and 803b, pairs 803c and 803d, or pairs 805a and 805b. Therefore, in this embodiment, the design model display system is moved so that it is at another direction angle 358 that is perpendicular to one direction angle 358, and the superimposed image is displayed in the same manner, thereby enabling accurate placement of the target object 604.

[0057] That is, a design model display system is installed corresponding to each of two direction angles 358 that are approximately perpendicular to each other, and the design model superimposition display unit 311 displays the design line groups 801a / 802a, 801b / 802b, 801c, and 801d and the pairs of auxiliary line groups 803a and 803b, 803c and 803d, or 805a and 805b illustrated in Figure 8, superimposed on the site image 350 and projected and displayed on the display 105 (the projection surface of the camera 104), thereby making it possible to accurately drive the target object 604, that is, the pile, in accordance with the design line groups and auxiliary line groups that are displayed for each of the two direction angles 358.

[0058] As described above, the design model display system according to this embodiment is small and lightweight, and therefore, such operation can be easily performed.

[0059] This allows the operator of the design model display system to, for example, while viewing the on-site image 350 on the touch panel display 105 of the terminal device 102, and while viewing the degree of overlap between the pair of design lines 801a / 802a and 801b / 802b, which are the design model 357, and the pair of auxiliary lines 803a and 803b or the pair of auxiliary lines 803c and 803d, and the edge portion of the pile length direction of the object 604, or while viewing the degree of overlap between the design end height portion 804 of the pile, which is the design model 357, and the pair of auxiliary lines 805a and 805b, and the end height portion of the pile, which is the object 604, and issue instructions to the crane operator via a transceiver or the like so that the installation position of the object 604 accurately overlaps with the display position of the design model 357.

[0060] Alternatively, as in the case of Figure 7, by transmitting an image in which the design model 357 is superimposed on the site image 350 directly to a computer (tablet terminal, etc.) installed in the driver's seat of the crane by the image remote transmission unit 315 of Figure 3 described later, the operation output of the crane can be controlled by viewing the image and operating the crane so that the installation position of the target object 604 accurately overlaps the display position of the design model 357.

[0061] As illustrated in FIG. 7, when the object 604 is a three-dimensional shape and the corresponding design model 357 is a three-dimensional shape model, the design model data 354 in FIG. 3 includes, as shown below, identification information for the design model 357, as well as three-dimensional shape model data such as wireframe model data, surface model data, or solid model data for drawing the three-dimensional shape model, and design model coordinates 355 that define the coordinates in the site coordinate system of at least three points of the three-dimensional shape when the object 604 is installed at the site 605 as coordinates for superimposing at least three points on the design model 357 of the three-dimensional shape corresponding to each of the at least three points on the site image 350. Design model name 3D shape model data Coordinates in the site coordinate system for at least three points A, B, C Coordinate A: X coordinate value / Y coordinate value / Z coordinate value (unit: meters) Coordinate B: X coordinate value / Y coordinate value / Z coordinate value (unit: meters) Coordinate C: X coordinate value / Y coordinate value / Z coordinate value (unit: meters) Here, the at least three design model coordinates 355 may be any three coordinates in the site coordinate system of the three-dimensional shape when the object 604 corresponding to the design model 357 is installed at the site 605, but preferably they are the coordinates in the site coordinate system at the front corner, the rear left corner, and the rear right corner when the three-dimensional shape of the object 604 is viewed from a direction angle 358 at a certain site 605, for example.

[0062] In FIG. 3 , when an object 604 corresponding to a design model 357 has a three-dimensional shape, the design model setting unit 306 executed by the processor 201 creates a design model 357 of the three-dimensional shape corresponding to the three-dimensional shape, and generates design model data 354, such as wireframe model data, surface model data, or solid model data, that depicts the created design model 357 of the three-dimensional shape. The design model setting unit 306 does not need to be sophisticated CAD software, but may be, for example, three-dimensional design software such as SketchUp software ("SketchUp" is a registered trademark of Trimble Inc., USA).

[0063] Next, the design model setting unit 306 executed by the processor 201 may set the design model coordinates 355 (coordinates A, B, and C) of the at least three points mentioned above by displaying a coordinate registration form on the touch panel display 105 of the terminal device 102 and having the user input the coordinates, but it is preferable to input the coordinates on site 605 using the design model display system of Figure 1 as follows.

[0064] That is, when a user places the GNSS receiver 101 of the design model display system of Figure 1 at each of at least three positions of the three-dimensional shape of an object 604 corresponding to the design model 357 when it is installed at the site 605, the design model setting unit 306 sets each current position coordinate 353 calculated by the site coordinate system current position coordinate calculation unit 304 (current position coordinate acquisition means) of Figure 3 as design model coordinates 355 of at least three points. As described above, the design model display system according to this embodiment is small and lightweight, and therefore, such operation can be easily performed.

[0065] As illustrated in Figure 8, when the object 604 is a pile shape and the corresponding design model 357 is a group of design lines representing the outline of the pile, the design model data 354 in Figure 3 includes, as shown below, identification information for the design model 357, three-dimensional shape model data of the pile including the pile length, pile diameter, inclination angle, and driving direction angle described above for generating the design line of the design model 357, and design model coordinates 355 which define the coordinates in the site coordinate system of the pile center described above when the object 604, the pile, is driven at the site 605 as coordinates for superimposing the design pile center described above on the design model 357 of the three-dimensional shape of the pile corresponding to that pile center on the site image 350. Design model name Pile length (unit: meters) Pile diameter (unit: meters) · Tilt angle (unit: degrees) Pouring direction angle (unit: degrees) Design pile center coordinates: On-site coordinate system coordinates of the center of the pile cross section (pile center) at the pile driving height X coordinate value / Y coordinate value / Z coordinate value (unit: meters) In other words, if the object 604 is a pile, the three-dimensional shape of the pile can be generated and superimposed by simply setting the above-mentioned design parameters, without generating three-dimensional shape data using three-dimensional shape creation software, etc.

[0066] In Figure 3, when the object 604 corresponding to the design model 357 is the three-dimensional shape of a pile, the design model setting unit 306 executed by the processor 201 sets the aforementioned pile length, pile diameter, inclination angle, and driving direction angle as three-dimensional shape model data of the pile, which is part of the design model data 354. Preferably, the design model setting unit 306 displays a registration form for the pile's three-dimensional shape model data regarding the pile length, pile diameter, inclination angle, and driving direction angle on, for example, the touch panel display 105 of the terminal device 102, and allows the user to input and set the data.

[0067] Next, the design model setting unit 306 executed by the processor 201 may set the design model coordinates 355, which are the coordinates of the center of the design pile mentioned above, by displaying a coordinate registration form on the touch panel display 105 of the terminal device 102 and having the user input the coordinates, but it is preferable to input the coordinates on site 605 using the design model display system of Figure 1 as follows.

[0068] That is, when the user places the GNSS receiver 101 of the design model display system of Figure 1 at the center of the pile (the center position of the cross section of the pile at the driving height, which is the upper end of the pile) when the pile, which is the object 604 corresponding to the design model 357, is driven at the site 605, the design model setting unit 306 sets the current position coordinate 353 calculated by the site coordinate system current position coordinate calculation unit 304 (current position coordinate acquisition means) of Figure 3 as the design model coordinate 355 (design pile center coordinate). As described above, the design model display system according to this embodiment is small and lightweight, and therefore, such operation can be easily performed.

[0069] In this way, the design model setting unit 306 can create design model data 354 including design model coordinates 355 in advance to match multiple objects 604 to be constructed at the site 605, and the design model setting unit 306 can select one of them.

[0070] As for the reference stake for erecting the direction reference pole 601 (see FIG. 6) used in the direction angle setting unit 309 in FIG. 3 described above, multiple reference stakes can be set in advance as reference stake coordinates 356 along with the identification information of the reference stake, as shown below. Note that the reference stake coordinates 356 do not need to have a Z coordinate value. Reference pile name Reference stake coordinates: X coordinate value / Y coordinate value (unit: meters)

[0071] That is, the reference pile setting unit 307 executed by the processor 201 may set the above-mentioned reference pile coordinates 356, for example, by displaying a coordinate registration form on the touch panel display 105 of the terminal device 102 and having the user input the coordinates, but it is preferable to input the coordinates on site 605 using the design model display system of Figure 1 as follows.

[0072] That is, the reference stake setting unit 307 sets the current position coordinate 353 calculated by the site coordinate system current position coordinate calculation unit 304 (current position coordinate acquisition means) in Figure 3 when the user sets up the system pole 103 of the design model display system in Figure 1 at the site 605 at the position of the reference stake where the direction reference pole 601 (see Figure 6) is to be set up, as the reference stake coordinate 356 of the direction reference pole 601. As described above, the design model display system according to this embodiment is small and lightweight, and therefore, such operation can be easily performed.

[0073] In this way, the reference pile setting unit 307 creates reference pile coordinates 356 for erecting the direction reference pole 601 in advance to match multiple objects 604 to be constructed at the site 605, and by selecting one of them, it becomes possible to respond to any direction angle 358.

[0074] In Figure 3, the video remote transmission unit 315 executed by the processor 201 transmits a superimposed image of the site 605, the design model 357 (design lines), and the auxiliary lines on the projection surface of the camera 104 (particularly the imaging surface of the imaging sensor, not shown), to a remotely connected computer via the mobile communication interface 208 in Figure 2, for sharing. This makes it possible to support construction by displaying superimposed images of the object 604 at the site 605, the design model 357 (design lines), and auxiliary lines on a tablet device, for example, in the driver's seat of a crane at the site 605, or to display the images on a tablet device, for example, of workers at the site to warn them about safety and conditions, or to display the images on a computer at the head office or a client's site to use for checking the site 605 or for presentations, for example.

[0075] The information insertion display unit 312 executed by the processor 201 allows the user to input arbitrary information 362, for example, from the touch panel display 105 of the terminal device 102, and inserts and displays the information 362 into the superimposed image of the site 605 and design model 357 on the projection screen of the camera 104. This will enable video users to more easily grasp information and manage history.

[0076] The video recording unit 313 executed by the processor 201 records the superimposed video of the site 605 and the design model 357 displayed on the projection screen of the camera 104 as a moving image, for example, in the SSD storage device 204 (FIG. 2) of the terminal device 102. This makes it possible to educate and train workers, manage image history, and use images in presentations.

[0077] The captured image storage unit 314 executed by the processor 201 captures the superimposed image of the site 605 and the design model 357 displayed on the projection screen of the camera 104 at any timing, and stores the captured image 363, for example, in the SSD storage device 204 (Figure 2) of the terminal device 102. This allows for image history management and the use of images in presentations.

[0078] Fig. 9 is a flowchart showing processing by the processor 201 of Fig. 2 to execute each function of Fig. 3 in the first embodiment of the design model display system. This processing is processing in which the processor 201 of Fig. 2 reads out the design model display processing program stored in the ROM 202 into the RAM 203 and executes it.

[0079] First, the processor 201 executes the functional processing of the coordinate system selection unit 303 in FIG. 3 to display, for example, on the touch panel display 105 in FIG. 1, a list of system numbers of 19 types of planar rectangular coordinate systems as illustrated in FIG. 4, and allows the user to select one system number from the list that corresponds to the site where the user wants to display the design model (step S901 in FIG. 9).

[0080] Next, the processor 201 repeatedly executes a series of processes from step S902 to step S907 in Fig. 9, thereby causing the user to create or edit one or more design models 357. This series of processes corresponds to the function of the design model setting unit 306 in Fig. 3.

[0081] In the above series of processes, the processor 201 first determines whether the user has instructed to create a new design model 357 or to edit an existing design model 357, for example, from the touch panel display 105 of the terminal device 102 (step S902 in FIG. 9).

[0082] If it is determined that the user has instructed to create a new design model 357, the processor 201 causes the user to create new design model data 354 (step S903 in FIG. 9). As described above, when the object 604 corresponding to the design model 357 is a three-dimensional shape, the design model data 354 includes the design model name, three-dimensional shape model data, and coordinates A, B, and C. The three-dimensional shape model data may be created by having the user separately start software for creating a three-dimensional shape model, and the resulting three-dimensional shape model data may be read into the design model data 354. On the other hand, as described above, when the object 604 corresponding to the design model 357 is a pile shape, the design model data 354 is three-dimensional shape model data of the pile including the design model name, pile length, pile diameter, inclination angle, and driving direction angle, and design model coordinates 355 which are the coordinates of the center of the designed pile. The processor 101 may allow the user to directly input these numerical values ​​from the display 105.

[0083] If it is determined that the user has instructed to edit an existing design model 357, the processor 201 reads a list of the design models 357, for example, from the SSD storage device 204 (FIG. 2), and allows the user to select one of the design models 357 to edit and update (step S904 in FIG. 9).

[0084] In the above series of processes, the processor 201 then determines whether the user has instructed, for example, from the touch panel display 105 of the terminal device 102, to reflect the current position coordinates 353 as the design model coordinates 355 in the created or selected design model 357 (step S905 in Figure 9).

[0085] If it is determined that the user has instructed to reflect the current position coordinates 353 as the design model coordinates 355, as described above as a function of the design model setting unit 306, the processor 201 acquires the current position coordinates 353 calculated by the site coordinate system current position coordinate calculation unit 304 of Figure 3 when the user places the GNSS receiver 101 of the design model display system of Figure 1 at at least three positions (if the object 604 has a three-dimensional shape) or the center of the pile (if the object 604 has a pile shape) at the site 605 where the object 604 corresponding to the design model 357 is to be installed, as the design model coordinates 355, and reflects them in the design model data 354 (step S906 of Figure 9).

[0086] If it is determined that the user has not instructed to reflect the current position coordinates 353 as the design model coordinates 355, the processor 201 skips the process of step S906.

[0087] Thereafter, the processor 201 determines whether or not the user has issued an instruction to add the design model 357 from, for example, the touch panel display 105 of the terminal device 102 (step S907 in FIG. 9).

[0088] If it is determined that the user has instructed to add a design model 357, the processor 201 returns to the processing of step S902 and causes the user to create or edit a new design model 357.

[0089] If it is determined that the user has not instructed the addition of the design model 357, the processor 201 executes the functional processing of the reference pile setting unit 307 in FIG. 3 by repeating the processing of the next steps S908 and S909.

[0090] First, the processor 201 determines whether or not the user has instructed the addition of a reference stake from, for example, the touch panel display 105 of the terminal device 102 (step S908 in FIG. 9).

[0091] If it is determined that the user has instructed the addition of a reference pile, as described above in the explanation of the function of the reference pile setting unit 307 in Figure 3, the processor 201 acquires the current position coordinate 353 calculated by the site coordinate system current position coordinate calculation unit 304 in Figure 3 when the user erects the system pole 103 of the design model display system in Figure 1 at the position of the reference pile where the direction reference pole 601 (see Figure 6) is to be erected, as the reference pile coordinate 356 of the direction reference pole 601, and reflects this as the reference pile coordinate 356 (step S909 in Figure 9).

[0092] Thereafter, the processor 201 returns to the determination process of step S908.

[0093] If it is determined that the user has not instructed the addition of a reference pile, as described above in the description of the function of the design model setting unit 306 in Figure 3, the processor 201 selects one from a list of one or more design models 357 stored, for example, in the SSD storage device 204, in accordance with an instruction from the user, for example, on the touch panel display 105 of the terminal device 102 (step S910 in Figure 9).

[0094] Next, the user selects one reference stake from a list of one or more reference stakes stored in, for example, the SSD storage device 204, and checks the reference stake coordinates 356 (step S911 in FIG. 9).

[0095] Next, the user sets up a direction reference pole 601 at the position of the site 605 corresponding to the reference stake coordinates 356 selected in step S911, and adjusts the level using a level (similar to the level 112 in FIG. 1). Then, the user sets up the system pole 103 of the design model display system. to any position where the user wishes to superimpose the design model 357 (this is step S912 in FIG. 9).

[0096] Next, the user uses the spirit level 112 (see FIG. 1) to level the system pole 103, and then presses, for example, a coordinate record button (not shown) on the touch panel display 105 of the terminal device 102. As a result, the processor 201 records the camera coordinates 360, which are calculated at any time by the function of the camera coordinate calculation unit 310 in FIG. 3, in, for example, the RAM 203 in FIG. 2 (this is step S913 in FIG. 9).

[0097] Furthermore, as described above in the description of the function of the direction angle setting unit 309 in Figure 3, the processor 201 determines the direction angle 358 by rotating the terminal device 102 around the system pole 103 so that the direction reference pole 601 in the on-site image 350 displayed on the touch panel display 105 overlaps with the center line 602 (see Figure 6) (step S914 in Figure 9).

[0098] Thereafter, the processor 201 determines whether the user has pressed the direction angle confirmation button or the direction angle reset button on, for example, the touch panel display 105 of the terminal device 102 (step S915 in FIG. 9).

[0099] If it is determined that the user has pressed the direction angle reset button, the processor 201 returns to the processing of step S911 and sets the direction angle 358 again.

[0100] If it is determined that the user has pressed the direction angle confirmation button, the processor 201 generates a design model 357 based on the design model data 354 selected in step S910, and superimposes the generated design model 357 on the site image 350 acquired by the function of the site image capturing unit 301 in Figure 3 and displayed on the display 105 (projection surface of the camera 104) at a display position corresponding to the coordinates in the site coordinate system calculated from the direction angle 358 confirmed in step S915, the camera coordinates 360 calculated at that time by the function of the camera coordinate calculation unit 310 in Figure 3, and the design model coordinates 355 in the design model data 354 selected in step S910 (step S916 in Figure 9).

[0101] Fig. 10 is an external view of a second embodiment of the design model display system. As in Fig. 1, Fig. 2(a) is a front view seen from the direction of arrow I, and Fig. 2(b) is a side view seen from the direction of arrow II.

[0102] The configuration of the second embodiment in FIG. 10 differs from the configuration of the first embodiment in FIG. 1 in that the GNSS receiver 101 in FIG. 1 is replaced with a prism device 1001 in FIG.

[0103] In the second embodiment, when a total station device has already been introduced and used as a surveying device at the site 605, a prism device 1001 is installed at the upper end of the system pole 103 of the design model display system to receive light waves from the existing total station device. Then, when the system pole 103 is installed at the site 605, the position of the prism device 1001 can be measured from a total station device whose coordinates in the site coordinate system are known, and the coordinates of the prism device 1001 in the site coordinate system can be measured as the current position coordinates 353. In the second embodiment, the design model display system itself does not need to be equipped with large and heavy equipment such as a surveying instrument, and only the prism device 1001 is integrated with the terminal device 102, so it has the same effect as the first embodiment, that is, it is small and lightweight.

[0104] Fig. 11 is a functional block diagram of a design model display system according to a second embodiment of the present invention. As in Fig. 3 of the first embodiment, the functions indicated by the blocks 301, 305 to 315, and 1101 shown in Fig. 11 are processes executed by the processor 201 in Fig. 2 reading the design model display processing program stored in the ROM 202 into the RAM 203. In the second embodiment, the hardware configuration for executing each functional block in FIG. 11 is the same as the hardware configuration in FIG. 2 in the first embodiment.

[0105] The functional blocks in Figure 11 of the second embodiment differ from the functional blocks in Figure 3 of the first embodiment in that the GNSS data receiving unit 302, coordinate system selection unit 303, and on-site coordinate system current position coordinate calculation unit 304, which are provided to receive and process GNSS data 351 from the GNSS receiver 101 in Figure 2 of the first embodiment, are replaced by a on-site coordinate system current position coordinate calculation unit 1101 in Figure 11 of the second embodiment.

[0106] In the second embodiment, the on-site coordinate system current position coordinate calculation unit 1101 in Figure 11 executed by the processor 201 in Figure 2 sets the coordinates of the prism device 1001 in the on-site coordinate system calculated by the total station device based on the distance and angle to the prism device 1001 surveyed by the total station device as the current position coordinates 353. If the total station device is equipped with, for example, a short-range wireless communication function, the on-site coordinate system current position coordinate calculation unit 1101 can receive the coordinates of the prism device 1001 directly from the total station device via the short-range wireless communication interface 207 in Figure 2. Alternatively, the user may register the coordinates of the prism device 1001 measured by a total station device, for example, through a registration form displayed on the touch panel display 105 of the terminal device 102 in FIG.

[0107] In the second embodiment of the design model display system, the flowchart showing the processing by the processor 201 in Fig. 2 to execute each function in Fig. 11 can be the same as that in the flowchart in Fig. 9 for the first embodiment, with the system number selection processing in step S901 deleted. In the second embodiment, the GNSS receiver 101 is not used, so the processing in step S901 is unnecessary. The other processing is the same as in the first embodiment.

[0108] As described above, the second embodiment of the design model display system can utilize existing total station equipment and achieve the same effects as the first embodiment without losing its small size and light weight characteristics.

[0109] In the first or second embodiment, the GNSS receiver 101 or the prism device 1001 is installed separately from the terminal device 102, although the GNSS receiver 101 or the prism device 1001 is integrated with the terminal device 102 via the upper system pole 103a and the lower system pole 103b. However, the GNSS receiver 101 or the prism device 1401 may be installed fixedly as an integrated unit, for example, by directly and fixedly connecting the GNSS receiver 101 or the prism device 1401 to the terminal device 102 via metal fittings or a connector, or by the GNSS receiver 101 being built into the terminal device 102. In this case, the positional relationship between the GNSS receiver 101 and the camera 104 can be fixed, so the camera coordinate offset setting unit 305 in FIG. 3 is not necessary.

[0110] In the above-described embodiment, there may be a plurality of objects 604 to be constructed in parallel, and the function of the design model superimposition display unit 311 may be to display a plurality of design models 357 corresponding to these plurality of objects 604, respectively, superimposed on the site image 350 on the display 105 (the projection surface of the camera 104). [Explanation of symbols]

[0111] 101 GNSS sensor 102 Terminal Equipment 103 System Pole 104 Camera 105 Display 106a, 106b Fasteners 107a107b clamp 108 System pole telescopic knob 109a, 109b upright legs 110 System Pole Ferrule 111a, 111b Upright foot ferrule 112 Level 201 processor 202 ROM 203 RAM 204 SSD storage 205 Touch Panel Display Interface 206 Camera Interface 207 Short-range wireless communication interface 208 Mobile Communication Interface 209 System Bus 301 On-site Videography Department 302 GNSS data receiver 303 Coordinate system selection section 304, 1101 Current position coordinate calculation unit for on-site coordinate system 305 Camera coordinate offset setting section 306 Design Model Setting Section 307 Standard pile setting section 308 Design Model Selection Section 309 Direction angle setting unit 310 Camera coordinate calculation unit 311 Design model superimposition display section 312 Information insertion display section 313 Video Recording Department 314 Capture image storage unit 315 Video Remote Transmission Unit 316 Height correction unit 350 On-site footage 351 GNSS data 352 Planar Cartesian Coordinate System 353 Current location coordinates 354 Design model data 355 Design Model Coordinates 356 Reference pile coordinates 357 Design Model 358 direction angle 359 Camera Coordinate Offset 360 Camera Coordinates 361 On-site video and design model superimposed video data 362 Information 363 Captured Images 601 Directional Reference Pole 602 Center line 603 Direction angle confirmation button 604 Object 605 On-site 801a, 801b, 801c, 801d Design lines of the pile body 802a, 802b Extension design line 803a, 803b, 803c, 803d, 805a, 805b Auxiliary line 804 Design driving height of pile 1001 Prism device

Claims

1. a current location coordinate acquisition means for acquiring current location coordinates; a terminal device incorporating at least a camera, a processor, and a display; and prepare them to be one with each other, The processor of the terminal device a site image capturing unit that captures a site image as a site image using the camera and displays the site image on the display; a camera coordinate calculation unit that calculates, as camera coordinates, coordinates of the viewpoint of the camera in a site coordinate system based on the current position coordinates, the current position coordinate acquisition means, and a positional relationship between the viewpoint of the camera; a direction angle setting unit that sets a direction angle of the optical axis of the camera; a design model superimposition display unit that, while photographing the site using the site image photographing unit at the set direction angle, superimposes a design model that corresponds to an object to be constructed at the site and is drawn using design model data including design model coordinates that indicate a position in the site coordinate system onto the image of the site on a projection surface of the camera based on the direction angle, the design model coordinates, and the camera coordinates, and displays the superimposed design model on the display; perform the functions of Design model display system.

2. The current position coordinate acquisition means a global navigation satellite system receiver that receives radio waves from positioning satellites to determine a position on the earth; A function executed by a processor of the terminal device, a global navigation satellite system data receiving unit that receives the position on the earth measured by the global navigation satellite system sensor as global navigation satellite system data; a coordinate system selection unit for selecting a plane rectangular coordinate system that is the on-site coordinate system; an on-site coordinate system current position coordinate calculation unit that calculates the current position coordinates as coordinates in the on-site coordinate system based on the GNSS data received by the GNSS data receiving unit and the planar rectangular coordinate system selected by the coordinate system selection unit; and The design model display system according to claim 1 , comprising:

3. The current position coordinate acquisition means a prism device that receives light waves from a total station device installed at an arbitrary point on the site whose coordinates in the site coordinate system are known, and reflects the light waves toward the total station device; A function executed by a processor of the terminal device, the function including a site coordinate system current position coordinate calculation unit that receives or sets, as the current position coordinate, the coordinates of the prism device in the site coordinate system calculated by the total station device based on the distance and angle to the prism device measured by the total station device; The design model display system according to claim 1 , comprising:

4. 2. The design model display system according to claim 1, wherein the hardware components of said terminal device and said current position coordinate acquisition means are fixedly installed as a single unit.

5. 2. The design model display system of claim 1, wherein the direction angle setting unit sets the direction of the line segment extending from the camera coordinates calculated by the camera coordinate calculation unit to the reference stake coordinates indicating the position in the site coordinate system of the reference stake on which the direction reference pole is erected when the terminal device is fixed so that a direction reference pole erected vertically on the ground at the site, which is displayed on the display via the site video shooting unit, overlaps with the center line vertical to the ground displayed on the display, as the direction angle.

6. 2. The design model display system according to claim 1, wherein the design model overlay display unit further includes a function of a height correction unit that corrects the height position of the design model in a direction perpendicular to the ground, the design model being overlaid and displayed on the image of the site on the projection screen of the camera.

7. the object has a three-dimensional shape; the design model data includes three-dimensional shape model data for drawing the design model of the three-dimensional shape, and the design model coordinates, which define coordinates in the site coordinate system of at least three points of the three-dimensional shape when the object is installed at the site, as coordinates for superimposing at least three points on the design model of the three-dimensional shape corresponding to the at least three points on the site image, the design model superimposition display unit superimposes the design model of the three-dimensional shape, which is drawn based on the three-dimensional shape model data, on the image of the site on a projection plane of the camera based on the direction angle, the design model coordinates of the at least three points, and the camera coordinates. The design model display system according to claim 1 .

8. The object has a three-dimensional shape of a stake, The design model data includes three-dimensional shape model data of the pile, including a pile length that is the length of the pile, a pile diameter that is the diameter of the pile, an inclination angle that indicates the inclination of the pile with respect to a line perpendicular to the ground, and a driving direction angle that indicates the direction horizontal to the ground of driving the pile, for drawing the design model of the three-dimensional shape of the pile; and the design model coordinates that set the coordinates in the site coordinate system of the pile center defined by the cross-sectional center of the pile at the driving limit height that is the upper end of the pile when the pile, which is the target object, is driven at the site as coordinates for superimposing the design pile center defined by the design cross-sectional center of the pile at the design driving limit height that is the upper end of the pile on the design model of the three-dimensional shape of the pile corresponding to the pile center on the image of the site, The design model superimposition display unit superimposes the design model of the three-dimensional shape of the pile, which includes the shape of a design line of the pile body drawn based on the pile length and the pile diameter, which are three-dimensional shape model data of the pile, and the shape of an extension design line drawn by extending the design line of the pile body in the pile length direction from the design driving height, which is the upper end of the pile body on the design model, in the upward direction of the pile length, onto the image of the site on the projection surface of the camera based on the direction angle, the design model coordinates of the design pile center, and the camera coordinates, so that the direction of the pile length on the projection surface of the camera has an inclination determined by the direction angle, the inclination angle, and the driving direction angle with respect to the direction perpendicular to the ground.

2. The design model display system according to claim 1.

9. 9. The design model display system of claim 8, wherein the design model overlay display unit overlays a pair of auxiliary lines that are parallel to the design line in the pile length direction in the design model drawn based on the design model data and that are offset by a first tolerance on both the left and right sides of the design line on the projection surface, and a pair of auxiliary lines that are parallel to the design cross section of the three-dimensional shape of the pile at the design driving height of the pile and that are offset by a second tolerance on both the top and bottom sides of the design cross section on the projection surface, on the image of the site projected onto the projection surface of the camera.

10. 10. The design model display system of claim 8 or 9, wherein the design model display system is installed to correspond to each of the two direction angles that are approximately perpendicular to each other, and the design model superimposition display unit displays the design model corresponding to the three-dimensional shape of the pile by superimposing it on the image of the site and projecting it onto the projection surface, thereby driving the object in accordance with the design model corresponding to the three-dimensional shape of the pile that is displayed for each of the two direction angles.

11. the terminal device comprises a mobile communication interface for communicating with a computer remotely connected to a network; 2. The design model display system of claim 1, wherein the processor further performs a function of a remote image transmission unit that transmits and shares the superimposed image of the site and the design model on the projection plane of the camera to the remotely connected computer via the communication interface device.

12. the objects are plural, the design model superimposition display unit simultaneously superimposes the plurality of design models corresponding to the plurality of objects, respectively, on the image of the site on a projection plane of the camera and displays the superimposed design models on the display. The design model display system according to claim 1 .

13. In a processor of a terminal device, a site image capturing process for capturing a site image as a site image using a camera built in the terminal device and displaying the captured image on a display built in the terminal device; a direction angle setting process for setting a direction angle of the optical axis of the camera; a camera coordinate calculation process for calculating, as camera coordinates, coordinates of the viewpoint of the camera in a site coordinate system based on the current position coordinates acquired by a current position coordinate acquisition means and the positional relationship between the current position coordinate acquisition device and the viewpoint of the camera; a design model superimposition display process for superimposing a design model, which corresponds to an object to be constructed at the site and is drawn using design model data including design model coordinates indicating a position in the site coordinate system, onto the image of the site on a projection surface of the camera based on the direction angle, the design model coordinates, and the camera coordinates, while photographing the site by the site image photographing process at the set direction angle, and displaying the superimposed design model on the display; A design model display method that performs

14. a site image capturing process for capturing a site image as a site image using a camera built in the terminal device and displaying the captured image on a display built in the terminal device; a direction angle setting process for setting a direction angle of the optical axis of the camera; a camera coordinate calculation process for calculating, as camera coordinates, coordinates of the viewpoint of the camera in a site coordinate system based on the current position coordinates acquired by a current position coordinate acquisition means and the positional relationship between the current position coordinate acquisition device and the viewpoint of the camera; a design model superimposition display process for superimposing a design model, which corresponds to an object to be constructed at the site and is drawn using design model data including design model coordinates indicating a position in the site coordinate system, onto the image of the site on a projection surface of the camera based on the direction angle, the design model coordinates, and the camera coordinates, while photographing the site by the site image photographing process at the set direction angle, and displaying the superimposed design model on the display; A program that causes a computer to execute the following.

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