Wide-angle camera device and survey system

Abstract

To provide a wide-angle camera device having a wide angle of view, generating less distortion at an image peripheral part and less deteriorating in resolution, and a survey system capable of obtaining an image with three-dimensional point group data.SOLUTION: A wide-angle camera device comprises a plurality of cameras 2a, 2b which comprising: imaging lens rear groups 10a, 10b as objective lens; imaging lens front groups 11a, 11b as imaging lens; prisms 6a, 6b optically coupling the imaging lens rear group and the imaging lens front group; and image sensors 8a, 8b receiving an image formed by the imaging lens rear groups. The prisms are bonded or brought into close contact with each other, the plurality of cameras is integrated, and angle of views of the adjacent cameras are partially overlapped. Incident pupil positions Oa, Ob of each camera are formed between the imaging lens front group and the prism, and a point intersected by an optical axis serves as a camera origin O.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a wide-angle camera device that captures images with a wide angle of view, and a surveying system that acquires point cloud data using a laser scanner and synthesizes the point cloud data with an image to obtain an image with three-dimensional coordinates. [Background technology]

[0002] 2. Description of the Related Art A laser scanner is an example of a surveying device for acquiring the shape of a measurement object and three-dimensional point cloud data.

[0003] Laser scanners can acquire point cloud data over a wide area, and by acquiring 3D point cloud data using a laser scanner, it is possible to measure the 3D shape of a wide range of measurement targets. Furthermore, by acquiring an image of the measurement target and combining it with the point cloud data to create an image with 3D data, the understanding and visibility of the measurement results can be improved.

[0004] A wide-angle camera is used to capture images that cover the measurement range of a laser scanner. Typically, a wide-angle camera has a wide-angle lens, such as a fisheye lens, and captures images over a wide range, such as a 180° or greater angle of view. However, images captured with a wide-angle lens have significant distortion and reduced resolution at the periphery.

[0005] For this reason, when combined with point cloud data, there is a large deviation between the pixels of the image and the measurement points of the point cloud in the peripheral areas, which reduces the coloring accuracy and resolution of the point cloud data with image. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Special Publication No. 2023-509137 Summary of the Invention [Problem to be solved by the invention]

[0007] The present invention provides a wide-angle camera device with a wide angle of view and minimal distortion or loss of resolution in the periphery of the image, and a surveying system that enables the acquisition of images with 3D point cloud data. [Means for solving the problem]

[0008] The present invention relates to a wide-angle camera device comprising a plurality of cameras, each having a rear imaging lens group as an objective lens, a front imaging lens group as an imaging lens, a prism optically connecting the rear imaging lens group and the front imaging lens group, and an image sensor that receives an image formed by the rear imaging lens group, the prisms being cemented or tightly attached to one another to integrate the plurality of cameras, the angles of view of adjacent cameras being configured to partially overlap, the entrance pupil position of each camera being formed between the front imaging lens group and the prism, and the point where the optical axes intersect being the camera origin.

[0009] The present invention also relates to a wide-angle camera device in which the wide-angle camera device is equipped with two cameras, the prisms have reflecting surfaces that deflect the optical axes of the cameras, the rear imaging lens group is provided on one of the deflected optical axes, and the front imaging lens group is provided on the other optical axis, and the prisms of the two cameras are joined or tightly attached at the reflecting surfaces to form an integrated unit.

[0010] The present invention also relates to a wide-angle camera device in which the wide-angle camera device comprises three cameras arranged on the same plane, the central prism of the central camera has a three-dimensional shape formed by six faces, the optical axis of the central camera travels straight through the prism, and the prisms of the other two cameras each have a reflective surface that deflects the optical axis of the camera, and the reflective surfaces of the prisms of the two cameras are respectively joined or tightly attached to the two opposing faces of the central prism, thereby integrating three cameras into one wide-angle camera device.

[0011] The present invention also relates to a wide-angle camera device comprising a plurality of cameras arranged radially at predetermined angular intervals on the same plane, the prism of each camera having a trapezoidal planar shape, and the plurality of cameras being integrated by successively joining or adhering the prisms together.

[0012] The present invention also relates to a wide-angle camera device in which the prism has a reflecting surface that deflects the optical axis of the camera in a direction perpendicular to the same plane.

[0013] The present invention also relates to a wide-angle camera device configured so that the directions of deflection of the optical axes by the reflecting surfaces are opposite between adjacent cameras.

[0014] The present invention also relates to a surveying system having any of the wide-angle camera devices described above and a surveying instrument mounted on a tripod, wherein the wide-angle camera device is integrally provided with the surveying instrument, the surveying instrument has a mechanical center, the wide-angle camera device has a camera origin, the surveying instrument is configured so that the surveying instrument can rotate around a center line passing through the camera origin, and the offset distance between the mechanical center and the camera origin is known.

[0015] The present invention also relates to a surveying system in which the surveying instrument comprises a distance measuring unit that emits distance measuring light and receives reflected distance measuring light from the object to be measured, a rotating unit that irradiates the distance measuring light, a vertical rotation drive unit that rotates the rotating unit vertically, a surveying instrument body on which the rotating unit is mounted, a horizontal rotation drive unit that rotates the surveying instrument body horizontally, an angle measuring unit that detects the irradiation direction of the distance measuring light, and an arithmetic and control unit that controls the driving of the vertical rotation drive unit and the horizontal rotation drive unit and calculates three-dimensional point cloud data based on the reception result of the reflected distance measuring light and the detection result of the angle measuring unit, and the arithmetic and control unit converts the point cloud data into point cloud data based on the camera origin based on the offset distance, and combines the converted point cloud data with the wide-angle image acquired by the wide-angle camera device.

[0016] The present invention also relates to a surveying system in which the wide-angle camera device is provided on the side of the surveying instrument.

[0017] Furthermore, the present invention relates to a surveying system in which the wide-angle camera device is provided on the upper surface of the surveying instrument. [Effects of the Invention]

[0018] According to the present invention, a plurality of cameras are provided, each having a rear imaging lens group as an objective lens, a front imaging lens group as an imaging lens, a prism optically connecting the rear imaging lens group and the front imaging lens group, and an image sensor that receives an image formed by the rear imaging lens group, the prisms are cemented or tightly attached to each other to integrate the plurality of cameras, and the angles of view of adjacent cameras are configured to partially overlap, the entrance pupil position of each camera is formed between the front imaging lens group and the prism, and the point where the optical axes intersect is configured to be the camera origin, so that a wide-angle image with no or almost no parallax can be acquired.

[0019] Furthermore, according to the present invention, there is provided a surveying system having any of the wide-angle camera devices described above and a surveying instrument mounted on a tripod, wherein the wide-angle camera device is integrally provided with the surveying instrument, the surveying instrument has a mechanical center, the wide-angle camera device has a camera origin, the surveying instrument is configured so that the surveying instrument can rotate around a center line passing through the camera origin, and the offset distance between the mechanical center and the camera origin is known, thereby providing the excellent effect of being able to acquire wide-angle images or omnidirectional images with no or almost no parallax, and being able to synthesize point cloud data obtained in a known relationship with the wide-angle images or omnidirectional images. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a diagram showing an optical system of a wide-angle camera device according to a first embodiment. [Figure 2] FIG. 2 is a schematic diagram illustrating the configuration of the wide-angle camera device. [Figure 3]FIG. 10 is a diagram showing an optical system of a wide-angle camera device according to a modified example of the first embodiment. [Figure 4] FIG. 10 is a diagram showing an optical system of a wide-angle camera device according to a second embodiment. [Figure 5] FIG. 10 is a diagram showing an optical system of a wide-angle camera device according to a modified example of the second embodiment. [Figure 6] 10A is a diagram showing an optical system of a wide-angle camera device according to a third embodiment, FIG. 10B is a view taken along the arrow A in FIG. 10A, and FIG. 10C is a view taken along the arrow B in FIG. [Figure 7] FIG. 10 is an external view of a surveying system according to a fourth embodiment. [Figure 8] FIG. 10 is a schematic configuration diagram of a surveying system according to a fourth embodiment. [Figure 9] FIG. 10 is an explanatory diagram showing the main parts of a surveying system according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0021] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0022] FIG. 1 shows a wide-angle camera device according to a first embodiment of the present invention.

[0023] It should be noted that FIG. 1 shows the optical system of the wide-angle camera device, and mechanical parts such as a case for accommodating the optical system and a holding member for holding optical members etc. are not shown.

[0024] The wide-angle camera device 1 according to the first embodiment includes an imaging unit 2 made up of two cameras, that is, a first camera 2a and a second camera 2b.

[0025] The optical axes 4a and 4b of the first and second cameras 2a and 2b are arranged in the same plane (vertical plane) and intersect at an angle of 90°. Prisms 6a and 6b are provided at the intersection of the optical axes 4a and 4b. The prisms 6a and 6b are bonded or tightly attached at their reflective surfaces. Note that tight attachment includes physical contact and a slight gap.

[0026] The optical axis 4a of the first camera 2a and the optical axis 4b of the second camera 2b are deflected at right angles in the direction away from each other by the reflecting surfaces of the prisms 6a and 6b, respectively, and the angle formed by the two deflected optical axes 4a and 4b (hereinafter referred to as deflected optical axes 4a' and 4b') is 90°.

[0027] The intersection of the optical axis 4a and the optical axis 4b is the camera origin O of the wide-angle camera device 1, and the camera origin O is located on the reflecting surfaces of the prisms 6a and 6b.

[0028] The first camera 2a and the second camera 2b are arranged symmetrically with respect to the reflecting surface.

[0029] First, the first camera 2a will be described.

[0030] An image sensor 8a, an IR cut filter 9a, and a rear imaging lens group 10a as an imaging lens are arranged on the optical axis 4a of the first camera 2a, one of the two cameras deflected by the reflecting surface.

[0031] The image sensor 8a is a CCD or CMOS sensor that is a collection of pixels, and the position of each pixel on the image sensor 8a can be specified. For example, each pixel has pixel coordinates with the center of the image sensor 8a as the origin, and the position on the image sensor 8a is specified by the pixel coordinates. The position where the optical axis 4a passes through may also be set as the origin.

[0032] A front imaging lens group 11a serving as an objective lens is disposed on the other deflection optical axis 4a' deflected by the reflecting surface.

[0033] The front imaging lens group 11a is provided as close as possible to the prism 6a. In the drawing, the front imaging lens group 11a is provided in close contact with the entrance surface 7a of the prism 6a.

[0034] In FIG. 1, Oa indicates the entrance pupil position of the first camera 2a, and the entrance pupil position Oa is located between the entrance surface 7a and the front imaging lens group 11a.

[0035] The imaging lens front group 11a is configured to be in close contact with the entrance surface 7a of the prism 6a, thereby minimizing the distance between the entrance pupil position Oa and the camera origin O. In addition, the distance between the entrance pupil position Oa and the camera origin O is known.

[0036] The vertical angle of view of the first camera 2a alone is approximately 90° to 110°, and in the drawing it is, for example, 96°.

[0037] The second camera 2b has a configuration similar to that of the first camera 2a, and an image sensor 8b, an IR cut filter 9b, and a rear imaging lens group 10b are disposed on the optical axis 4b of the second camera 2b, and the front imaging lens group 11b is disposed on the deflection optical axis 4b'.

[0038] The front imaging lens group 11b is also provided in close contact with the entrance surface 7b of the prism 6b, similar to the first camera 2a, and the entrance pupil position Ob of the second camera 2b is at the shortest distance from the camera origin O and is known.

[0039] The angle of view of the second camera 2b alone in the vertical direction is also approximately 90° to approximately 110°, and in the drawing it is, for example, 96°.

[0040] The angle of view of the first camera 2a and the angle of view of the second camera 2b are set so as to partially overlap at the boundary, and the overlapping angle of view is selected appropriately depending on the angle of view of the individual cameras, the composite angle of view required for the wide-angle camera device 1, coloring accuracy, resolution, etc., but is usually set to about 0° to 15°.

[0041] Therefore, the combined angle of view of the first camera 2a and the second camera 2b is set to cover 135° to 200° in the vertical direction.

[0042] Since the front imaging lens group 11a and the front imaging lens group 11b are provided in close contact with the adjacent surfaces of the prisms 6a and 6b, there are cases where the adjacent portions of the front imaging lens group 11a and the front imaging lens group 11b interfere with each other.

[0043] In this case, adjacent portions of the front imaging lens group 11a and the front imaging lens group 11b are appropriately processed by cutting, chamfering, stepping, or the like to prevent interference between the front imaging lens group 11a and the front imaging lens group 11b (see part A in FIG. 1).

[0044] It goes without saying that when processing the front imaging lens group 11a and the front imaging lens group 11b, the cutting portions and the shapes of the cutting portions are selected so as not to impair the optical functions of the front imaging lens group 11a and the front imaging lens group 11b.

[0045] The image sensors 8a and 8b are at known positions relative to the camera origin O.

[0046] The optical characteristics of the front imaging lens groups 11a and 11b are set so that the horizontal angle of view of the front imaging lens groups 11a and 11b is approximately 50° to 150°.

[0047] Therefore, the angle of view of the wide-angle camera device 1 is approximately 135° to 200° in the vertical direction and 50° to 150° in the horizontal direction.

[0048] Next, light incident from the front imaging lens group 11a is reflected by the prism 6a, passes through the rear imaging lens group 10a, and passes through the IR cut filter 9a to form an image on the image sensor 8a.

[0049] Furthermore, background light incident from the front imaging lens group 11b is reflected by the prism 6b, passes through the rear imaging lens group 10b, and passes through the IR cut filter 9b to form an image on the image sensor 8b.

[0050] Therefore, an image captured by the first camera 2a with a vertical angle of view of 96° and a horizontal angle of view of 50° to 150° is focused on the image sensor 8a, and an image captured by the second camera 2b with a vertical angle of view of 96° and a horizontal angle of view of 50° to 150° is focused on the image sensor 8b.

[0051] Furthermore, the deflection optical axis 4a' and the deflection optical axis 4b' have a known relationship, and the vertical angle of view of the first camera 2a and the vertical angle of view of the second camera 2b overlap at a boundary portion at an angle of view of 0° to 15°, so the images acquired by the image sensor 8a and the image sensor 8b can be easily synthesized based on the known relationship between the deflection optical axis 4a' and the deflection optical axis 4b' and the overlapping portion of the images.

[0052] Therefore, a wide-angle image with a vertical angle of view of 135° to 200° and a horizontal angle of view of 50° to 150° can be obtained.

[0053] Furthermore, the wide-angle camera device 1 has a wide-angle image with a vertical angle of view of 135° to 200° and a horizontal angle of view of 50° to 150°, but the angles of view of the first camera 2a and the second camera 2b alone are a vertical angle of view of 96° and a horizontal angle of view of 50° to 150°, so distortion and a decrease in resolution at the periphery of the image can be suppressed compared to a wide-angle camera that can capture the angle of view of the wide-angle camera device 1 alone.

[0054] Furthermore, since the distances between the entrance pupil position Oa and the entrance pupil position Ob and the camera origin O are small, the parallax between the first camera 2a and the second camera 2b is small, and when the image of the first camera 2a and the image of the second camera 2b are combined (especially for a subject at close range), misalignment between pixels can be suppressed, thereby improving resolution.

[0055] FIG. 2 shows a schematic configuration of the wide-angle camera device 1. As shown in FIG.

[0056] The wide-angle camera device 1 includes an imaging control unit 12 that controls imaging by the first camera 2a and the second camera 2b and executes image processing, a camera storage unit 13, and a camera communication unit .

[0057] The imaging control unit 12 may be a CPU specialized for this embodiment, or a general-purpose CPU, an embedded CPU, a microprocessor, etc. The camera storage unit 13 may be a semiconductor storage memory such as RAM, ROM, Flash ROM, DRAM, etc.

[0058] The imaging control unit 12 performs imaging control and synchronization control of the first camera 2a and the second camera 2b, and further performs image processing such as combining the images acquired by the first camera 2a and the second camera 2b to create a wide-angle image.

[0059] The camera storage unit 13 stores programs necessary for acquiring wide-angle images, such as an imaging control program and an image processing program, etc. The camera storage unit 13 also stores image data captured by the first camera 2 a and the second camera 2 b, and the acquired wide-angle images.

[0060] The camera communication unit 14 transmits the created wide-angle image to other devices, such as a personal computer, a surveying device, etc. When the wide-angle camera device 1 is used alone, the camera communication unit 14 can be omitted.

[0061] In the wide-angle camera device 1 according to the first embodiment, the horizontal direction may be fixed and a wide-angle image may be acquired in only one direction, or a full-circle image may be acquired by rotating the wide-angle camera device 1 horizontally around a vertical line passing through the camera origin O.

[0062] When capturing a panoramic image, the wide-angle camera device 1 is rotated intermittently in the horizontal direction at a predetermined angle step, capturing images with overlapping at each step, and the captured images are synthesized. Here, the predetermined angle step is determined by the horizontal angle of view of the selected first camera 2a and second camera 2b, the angle of view at which the images are overlapped in the horizontal direction (overlap angle of view), and the required image resolution and coloring accuracy.

[0063] Fig. 3 shows a modified example of the first embodiment. In Fig. 3, the same components as those shown in Fig. 1 are given the same reference numerals.

[0064] In this modified example, similar to the first embodiment, the system is configured with two cameras, a first camera 2a and a second camera 2b, but the optical axis 4a of the first camera 2a is deflected by 100° by a prism 6a', and similarly the optical axis 4b of the second camera 2b is deflected by 100° by a prism 6b', so that the angle formed between the deflected optical axis 4a' and the deflected optical axis 4b' is 80°.

[0065] The angle of the optical axis 4a to the incident surface of the prism 6a' is 90°, and the angle of the deflection optical axis 4a' to the incident surface of the prism 6a' is also 90°. Similarly, the angle of the optical axis 4b to the incident surface of the prism 6b' is 90°, and the angle of the deflection optical axis 4b' to the incident surface of the prism 6b' is also 90°.

[0066] Also in this embodiment, it goes without saying that in order to avoid interference between the front imaging lens group 11a and the front imaging lens group 11b, the adjacent portions of the front imaging lens group 11a and the front imaging lens group 11b are appropriately processed by cutting, chamfering, stepping, or the like.

[0067] In this modification, by setting the deflection angle of the prisms 6a' and 6b' to 100°, the angle between the deflection optical axis 4a' and the deflection optical axis 4b' becomes small, and the vertical angle of view of the wide-angle camera device 1 also becomes small. Alternatively, the deflection angles of the prisms 6a' and 6b' may be set small, for example to 80°. In this case, the angle between the deflection optical axis 4a' and the deflection optical axis 4b' becomes large, and the vertical angle of view of the wide-angle camera device 1 also becomes large.

[0068] On the other hand, by increasing the deflection angles of the deflection optical axes 4a', 4b' by the prisms 6a', 6b', the depth dimension of the wide-angle camera device 1 decreases and the vertical dimension increases. Therefore, the deflection angles by the prisms 6a', 6b' are appropriately selected according to the required design specifications of the camera.

[0069] FIG. 4 shows a second embodiment.

[0070] In the second embodiment, the wide-angle camera device 1 is made up of three cameras, namely a first camera 2a, a second camera 2b, and a third camera 2c, which are arranged in the same plane.

[0071] In the second embodiment, the first camera 2a and the second camera 2b have the same configuration as the first camera 2a and the second camera 2b in the first embodiment. In Fig. 4, the same reference numerals are used for the same components as those shown in Fig. 1, and the description thereof will be omitted.

[0072] The first camera 2a, the second camera 2b, and the third camera 2c are arranged in the vertical direction.

[0073] The third camera 2c is disposed in the center, and the first camera 2a and the second camera 2b are disposed symmetrically above and below the third camera 2c. The optical axis 4c of the third camera 2c, the optical axis 4a of the first camera 2a, and the optical axis 4b of the second camera 2b are in the same vertical plane.

[0074] The third camera 2c will now be described.

[0075] The third camera 2c includes a front imaging lens group 11c, a prism 6c, a rear imaging lens group 10c, an IR cut filter 9c, and an image sensor 8c, which are arranged linearly on the optical axis 4c. The front imaging lens group 11c and the rear imaging lens group 10c are optically connected by the prism 6c.

[0076] The front imaging lens group 11c has a configuration equivalent to that of the front imaging lens groups 11a and 11b, and the rear imaging lens group 10c has a configuration equivalent to that of the rear imaging lens groups 10a and 10b.

[0077] The prism 6c has a three-dimensional shape made up of six planes, and in this embodiment has a rectangular parallelepiped shape with six faces that intersect at right angles, with the top and bottom faces and the front and back faces being parallel to each other.

[0078] The prism 6a of the first camera 2a is bonded or adhered to one of the opposing surfaces of the prism 6c, i.e., the upper surface, and the prism 6b of the second camera 2b is bonded or adhered to the other opposing surface, i.e., the lower surface. The optical axis 4c of the third camera 2c is perpendicular to the front and rear surfaces of the prism 6c.

[0079] The prism 6c has no deflection effect with respect to the optical axis 4c, and has an optical path length equivalent to that of the prisms 6a and 6b, so that the first camera 2a, the second camera 2b, and the third camera 2c have equivalent optical performance.

[0080] Furthermore, the prism 6a of the first camera 2a deflects the optical axis 4a at a right angle, and the prism 6b of the second camera 2b deflects the optical axis 4b at a right angle, with the intervals between the deflected optical axis 4a' and the optical axis 4a, and between the optical axis 4b and the deflected optical axis 4b' being 45° apart.

[0081] 4, Oa, Ob, and Oc respectively indicate the entrance pupil positions. The extensions of the deflection optical axis 4a' and the deflection optical axis 4b' intersect on the optical axis 4c, and the point O at which they intersect is the camera origin.

[0082] Furthermore, the entrance pupil positions Oa, Ob, and Oc are on the same or substantially the same arc centered at the camera origin O, and the radius of the arc is known. By placing the entrance pupil positions Oa, Ob, and Oc on the same arc, calculations become easier when processing images.

[0083] In the second embodiment, the wide-angle camera device 1 is configured with three cameras and is set to cover a vertical angle of view of 135° to 200°.

[0084] In the second embodiment, the vertical angle of view of the first camera 2a, the second camera 2b, and the third camera 2c alone is set to be approximately 30° to approximately 150°, and the horizontal angle of view (i.e., the horizontal angle of view of the wide-angle camera device 1) is set to be approximately 30° to approximately 150°.

[0085] When the images acquired by the first camera 2a, the second camera 2b, and the third camera 2c are combined, they are overlapped by a predetermined angle of view in both the vertical and horizontal directions, as in the first embodiment.

[0086] In the second embodiment, the wide-angle camera device 1 is made up of three cameras, and the angle of view of each camera can be made small, so distortion and a decrease in resolution at the periphery of the image can be further suppressed.

[0087] Furthermore, prisms 6a, 6b, and 6c are interposed between the optical systems of the first camera 2a, the second camera 2b, and the third camera 2c to form a space for accommodating the third camera 2c, thereby making it possible to make the overall configuration of the wide-angle camera device 1 compact, and furthermore, it is possible to bring the entrance pupil positions Oa, Ob, and Oc closer to the camera origin O, thereby reducing the parallax between the first camera 2a, the second camera 2b, and the third camera 2c.

[0088] FIG. 5 shows a modification of the second embodiment.

[0089] This modified example has a configuration substantially similar to that of Example 2. Compared to Example 2, the shape of prism 6c is changed to prism 6c', thereby changing the angle between the deflection optical axis 4a' of the first camera 2a and the optical axis 4c of the third camera 2c, and the angle between the deflection optical axis 4b' of the second camera 2b and the optical axis 4c of the third camera 2c.

[0090] The prism 6c' has a three-dimensional shape composed of six planes, and the upper and lower surfaces, that is, the surfaces to which the prisms 6a and 6b are joined or adhered, are inclined.

[0091] 5, the upper and lower surfaces of the prism 6c' are inclined toward the image sensor 8c, so that the angle between the deflection optical axis 4a' and the optical axis 4c and the angle between the deflection optical axis 4b' and the optical axis 4c are increased. In the illustration, the angle between the optical axes is set to 50°.

[0092] The angle between the optical axes is not limited to 50°, but may be any suitable angle between 50° and 70°.

[0093] The upper and lower surfaces of the prism 6c' may be tilted away from each other toward the image sensor 8c, in which case the angle between the deflection optical axis 4a' and the optical axis 4c and the angle between the deflection optical axis 4b' and the optical axis 4c are changed to decrease.

[0094] The angles between the deflection optical axis 4a', the optical axis 4c, and the deflection optical axis 4b' are appropriately selected in accordance with the required design specifications of the camera.

[0095] In the modified example of the second embodiment, the angle of view of each of the first camera 2a, the second camera 2b, and the third camera 2c is set to 30° to 135°.

[0096] Therefore, the vertical angle of view of the wide-angle camera device 1 is 135° to 200°, and the horizontal angle of view of the wide-angle camera device 1 is 30° to 135°.

[0097] When the images acquired by the first camera 2a, the second camera 2b, and the third camera 2c are combined, they are overlapped by a predetermined angle of view in both the vertical and horizontal directions, as in the first embodiment.

[0098] In a modification of the second embodiment, as shown in the modification of the first embodiment, the shapes of the prisms 6a and 6b may be modified so that the deflection angle is an angle other than 90°, and the prism 6c' may be modified.

[0099] 6(A), 6(B), and 6(C) show a third embodiment.

[0100] Here, FIG. 6(A) is an elevation view, FIG. 6(B) is a view seen from the arrow A in FIG. 6(A), and FIG. 6(C) is a view seen from the arrow B in FIG. 6(A).

[0101] In the third embodiment, wide-angle camera device 1 is configured with four cameras, first camera 15a to fourth camera 15d, which have the same configuration. In Figures 6(A), 6(B), and 6(C), the same reference numerals are used to designate components that are the same as those shown in Figure 1.

[0102] Front imaging lens groups 17a to 17d of first camera 15a to fourth camera 15d are arranged in the same vertical plane, and are arranged radially at predetermined angular intervals (35° intervals in the drawing) around camera origin O. Adjacent prisms 18a to 18d of first camera 15a to fourth camera 15d are sequentially joined or tightly attached to each other, thereby integrating the four cameras.

[0103] First, first camera 15a will be described with reference to FIGS. 6(A) and 6(B).

[0104] The first camera 15a has a rear imaging lens group 16a and a front imaging lens group 17a, which are optically connected via a prism 18a.

[0105] Prism 18a has a reflecting surface 21a, and optical axis 19a of first camera 15a is deflected at a right angle by reflecting surface 21a (deflected perpendicularly to the paper surface in FIG. 6(A)). Furthermore, the planar shape of prism 18a is trapezoidal. That is, the opposing surfaces are inclined so as to approach the center (camera origin O). The apex angle of the trapezoid corresponds to the arrangement interval angle of first camera 15a to fourth camera 15d, and is 35° in the drawing.

[0106] Regarding the state of the optical axis 19a and the deflected optical axis 19a', the paper surface of FIG. 6(A) represents a vertical plane, the optical axis 19a extends perpendicular to the paper surface, i.e., horizontally toward the back side of the paper surface, and the deflected optical axis 19a' is parallel to the paper surface, i.e., is included in a vertical plane.

[0107] The imaging lens rear group 16a is provided on the optical axis 19a, and the imaging lens front group 17a is provided on the deflection optical axis 19a'.

[0108] The rear imaging lens group 16a and the front imaging lens group 17a have the same configuration as the rear imaging lens group 10a and the front imaging lens group 11a, respectively.

[0109] The angle of view of the front imaging lens group 17a, that is, the angle of view of the first camera 15a alone, is set to about 22.5° to 60°.

[0110] Light incident via the front imaging lens group 17a and the prism 18a passes through the IR cut filter 9a by the rear imaging lens group 16a and is imaged on the image sensor 8a.

[0111] The second camera 15b provided adjacent to the first camera 15a has the same configuration as the first camera 15a, but the direction of deflection of the optical axis 19b by the prism 18b is different.

[0112] The optical axis 19b of the second camera 15b is deflected by the reflecting surface 21b and extends perpendicularly from the paper surface to the front side, and the prism 18b deflects the optical axis 19b at a right angle so that it is in a vertical plane.

[0113] In addition, in the third camera 15c adjacent to the second camera 15b, the deflection direction of the optical axis 19c by the prism 18c is the same as that of the first camera 15a.

[0114] Furthermore, in the fourth camera 15d adjacent to the third camera 15c, the deflection direction of the optical axis 19d by the prism 18d is the same as that of the second camera 15b.

[0115] That is, the deflection directions by the prisms 18a to 18d are opposite between adjacent cameras among the first to fourth cameras 15a to 15d.

[0116] Therefore, the imaging lens rear groups 16a to 16d of the first to fourth cameras 15a to 15d are configured to extend alternately in opposite directions.

[0117] The first camera 15a to the fourth camera 15d are arranged so that the adjacent prisms 18a to 18d are successively in close contact with each other (see FIG. 6(A)), and the extensions of the deflection optical axes 19a' to 19d' intersect at the camera origin O. Furthermore, the entrance pupil positions Oa to Od of the first camera 15a to the fourth camera 15d exist on an arc with the camera origin O as its center.

[0118] In the present embodiment, the entrance pupil positions Oa to Od are located on the same arc, which improves the symmetry of the first camera 15a to the fourth camera 15d, making it easier to combine the images acquired by each camera.

[0119] Moreover, with the above configuration, interference between the imaging lens rear groups 16a to 16d and between the image sensors 8a to 8d can be avoided.

[0120] Furthermore, if interference between lenses and interference between image sensors can be avoided by appropriately adjusting the lens shapes of the imaging lens rear group 16a to 16d and the shapes of the image sensors 8a to 8d, the deflection directions of the optical axes by the prisms 18a to 18d may be made the same.

[0121] The horizontal angle of view of each of the first camera 15a to the fourth camera 15d is set to about 22.5° to 60°, and the horizontal angle of view of the wide-angle camera device 1 is also set to about 22.5° to 60°.

[0122] The vertical angle of view of the wide-angle camera device 1 is a combination of the vertical angles of view of the first camera 15a to the fourth camera 15d, and is set to cover 135° to 200°.

[0123] As described above, the images acquired by the first camera 15a to the fourth camera 15d are overlapped, and the overlapping angle of view is determined by the required image resolution and coloring accuracy.

[0124] In the third embodiment, the wide-angle camera device 1 is made up of four cameras, and the angle of view of each camera can be further reduced, so distortion and degradation of resolution in the periphery of the image can be further suppressed.

[0125] In the third embodiment, the rear imaging lens groups 16a to 16d of the first to fourth cameras 15a to 15d, which are radially arranged, are provided on optical axes deflected in a perpendicular direction, so that the distance between the entrance pupil positions Oa to Od and the camera origin O can be shortened, and the parallax between the first to fourth cameras 15a to 15d can be reduced.

[0126] The wide-angle camera device 1 can capture wide-angle images with a horizontal angle between 22.5° and 60° and a vertical angle between 135° and 200°.

[0127] Furthermore, by capturing images at predetermined angular intervals around a vertical line passing through the camera origin O with the wide-angle camera device 1 and then rotating it 360°, it is possible to capture panoramic images at any vertical angle of view between 135° and 200°.

[0128] In the third embodiment, it goes without saying that by appropriately selecting the apex angles of the trapezoids of the prisms 18a to 18d and the angles of view of the imaging lens rear groups 16a to 16d, it is possible to integrate two, three, or even five or more cameras.

[0129] When the wide-angle camera device 1 is used alone, the optical axes of the multiple cameras may be positioned in a horizontal plane, providing a wide angle of view in the horizontal direction.

[0130] Next, a surveying system 21 according to a fourth embodiment of the present invention will be described with reference to Figures 7 and 8. This surveying system 21 includes one of the wide-angle camera devices 1 described above and a surveying device 22, with the wide-angle camera device 1 being provided integrally with the surveying device 22. Examples of the surveying device 22 include a laser scanner or a total station. The integration of the wide-angle camera device 1 and the surveying device 22 may involve the wide-angle camera device 1 being built into the surveying device 22, or the wide-angle camera device 1 being formed as a unit and attached externally to the surveying device 22.

[0131] 7, the surveying device 22 is, for example, a laser scanner, and is installed via a tripod 23. The surveying device 22 can measure the three-dimensional coordinates of a desired measurement point based on the machine center (measurement reference point) M, and can also measure three-dimensional point cloud data of the entire 360° circumference centered on the center line C based on the machine center M.

[0132] The wide-angle camera device 1 is housed in the surveying device body 24 of the surveying device 22.

[0133] The camera origin O and the mechanical center M of the wide-angle camera device 1 are set to be located on the center line C. Furthermore, the distance (offset distance) D between the camera origin O and the mechanical center M is known.

[0134] The surveying instrument 22 has a leveling unit 25 mounted on a tripod 23, a horizontal rotation drive unit 26 mounted on the leveling unit 25, and a surveying instrument main body 24. The surveying instrument main body 24 is connected to the horizontal rotation drive unit 26 via a rotation shaft 27, and can be rotated horizontally by the horizontal rotation drive unit 26 via the rotation shaft 27. In addition, the center line V of the rotation shaft 27 is set so as to pass through the camera origin O.

[0135] The horizontal rotation drive unit 26 is provided with a rotation angle detector (not shown) and is capable of detecting the rotation angle of the rotation shaft 27 (that is, the horizontal rotation angle of the surveying instrument main body 24).

[0136] The leveling unit 25 has a sensor (not shown) for detecting the inclination of the leveling unit 25 and a motor (not shown) for driving a leveling screw that levels the leveling unit 25, and is configured to automatically level the leveling unit 25 based on the detection results of the sensor.

[0137] A recess 28 is formed in the upper part of the surveying instrument main body 24, with the front, back and top sides open, and a lens barrel part 29 serving as a rotating part is provided in the recess 28. The lens barrel part 29 is equipped with a scanning mirror and is rotatable around the center line C, i.e., rotatable in the vertical direction.

[0138] A distance measuring unit 34 (described later) is provided inside the lens barrel 29. The distance measuring unit 34 is configured to emit distance measuring light onto the distance measuring optical axis via the scanning mirror and receive the reflected distance measuring light reflected by the object to be measured via the scanning mirror, and is configured to measure the distance to the object to be measured based on the time difference between the emission timing of the distance measuring light and the reception timing of the reflected distance measuring light and the speed of light. Furthermore, by cooperating the horizontal rotation of the surveying instrument main body 24 about the rotation axis 27 (i.e., center line V) and the vertical rotation of the lens barrel 29 about the center line C, it is possible to emit distance measuring light all around 360°, and to acquire 3D point cloud data all around 360°.

[0139] The mechanical center M of the lens barrel portion 29 rotates while being offset by D from the rotation center (center line V).

[0140] Further, any one of the wide-angle camera devices 1 shown in the first to third embodiments is housed in the housing of the surveying device main body 24. In the following explanation, it is assumed that the wide-angle camera device 1 according to the first embodiment is housed, and explanation will be given with reference to FIG.

[0141] The wide-angle camera device 1 is provided so that at least the objective lenses of the front imaging lens group 11a and the front imaging lens group 11b are exposed from the housing of the surveying device main body 24.

[0142] In Fig. 7, the objective lens is provided so as to be exposed on the side of the surveying device main body 24. The side is shaped so as not to restrict the field of view of the wide-angle camera device 1. Fig. 7 shows the state in which the side is inclined.

[0143] The front imaging lens group 11a and the front imaging lens group 11b may be provided on the front surface or on the rear surface.

[0144] Thus, by rotating the surveying device main body 24 by the horizontal rotation drive unit 26, the wide-angle camera device 1 can acquire a full-circle image with a vertical angle of view of 135° to 200°.

[0145] Next, the configuration of the surveying system 21 will be further explained with reference to FIG.

[0146] The surveying system 21 includes the surveying device 22 and the wide-angle camera device 1, and the surveying device 22 further includes the horizontal rotation drive unit 26 that rotates the surveying device main body 24 relative to the leveling unit 25, a horizontal angle detector 31 that detects the rotation angle (horizontal angle) of the surveying device main body 24, a vertical rotation drive unit 32 that rotates the telescope tube unit 29, and a vertical angle detector 33 that detects the rotation angle (vertical angle) of the telescope tube unit 29. The surveying device 22 also includes the distance measurement unit 34, an arithmetic and control unit 35, a memory unit 36, a communication unit 37, a display unit 38, and an operation unit 39.

[0147] The horizontal rotation drive unit 26 and the vertical rotation drive unit 32 constitute the drive unit of the surveying instrument 22, and the horizontal angle detector 31 and the vertical angle detector 33 constitute the angle measurement unit for detecting the irradiation direction of the distance measurement light.

[0148] A CPU specialized for this embodiment, or a general-purpose CPU, an embedded CPU, a microprocessor, etc. is used as the arithmetic control unit 35. Furthermore, semiconductor storage memories such as RAM, ROM, Flash ROM, and DRAM, magnetic storage memories such as HDD, optical storage memories such as CD-ROM, etc. are used as the storage unit 36.

[0149] The arithmetic control unit 35 may also serve as the imaging control unit 12 of the wide-angle camera device 1. Furthermore, the storage unit 36 ​​may also serve as the camera storage unit 13 of the wide-angle camera device 1.

[0150] The storage unit 36 ​​stores a control program for integrally controlling the surveying device 22 and the wide-angle camera device 1, a sequence program for controlling distance measurement operations, a distance measurement program for calculating distances by distance measurement operations, an angle measurement program for calculating the extension direction (angle) of the distance measurement optical axis based on the detection results of the horizontal angle detector 31 and the vertical angle detector 33, a measurement program for calculating three-dimensional coordinates of a desired measurement point based on the distance and angle, a leveling program for causing the leveling unit 25 to perform leveling, and a communication program for communicating with a remote control device (not shown). The storage device 38 stores a drive control program for controlling the horizontal rotation drive unit 26 and the vertical rotation drive unit 32, an imaging program for causing the imaging unit 2 (the first camera 2 a and the second camera 2 b) to acquire images, an image processing program for creating a panoramic image by combining the wide-angle images acquired by the first camera 2 a and the second camera 2 b, a synthesis program for creating colored point cloud data or a panoramic image with three-dimensional coordinates by combining the panoramic image and point cloud data, and a display program for displaying measurement results and the like on the display unit 38.

[0151] Furthermore, measurement data (distance measurement data and angle measurement data) obtained when measuring predetermined measurement points, and three-dimensional coordinate data and three-dimensional point cloud data of desired measurement points are stored in the storage unit 36. The calculation control unit 35 develops and executes various programs stored in the storage unit 36, and performs various processes.

[0152] The communication unit 37 has a function of transmitting data from the surveying instrument 22 to a terminal device (not shown) such as a smartphone or tablet, or receiving data from the terminal device to the surveying instrument 22. The operation unit 39 allows measurement conditions and the like to be input, and the display unit 38 is configured to display a setting screen, measurement results, and the like.

[0153] Next, the acquisition of point cloud data and wide-angle images by the surveying system 21 will be described.

[0154] First, the surveying instrument 22 is set at a reference point having known three-dimensional coordinates, and leveled by the leveling unit 25. The height from the reference point to the mechanical center M of the surveying instrument main body 24 is known.

[0155] The arithmetic and control unit 35 causes the distance measuring unit 34 to emit pulses of distance measuring light at a predetermined emission interval. The arithmetic and control unit 35 also drives the horizontal rotation drive unit 26 and the vertical rotation drive unit 32 to rotate the surveying instrument main body 24 horizontally at a predetermined rotation speed and rotate the telescope tube unit 29 vertically at a predetermined rotation speed.

[0156] While the distance measuring light is emitted at a predetermined pulse interval, the surveying device main body 24 and the telescope tube portion 29 are each rotated at a constant speed, and the distance measuring light is scanned two-dimensionally by the cooperation of the constant speed vertical rotation of the telescope tube portion 29 and the horizontal rotation of the surveying device main body 24.

[0157] Furthermore, distance measurement is performed for each pulse of light, and the vertical angle and horizontal angle are detected by the vertical angle detector 33 and the horizontal angle detector 31, so that distance measurement data, vertical angle data, and horizontal angle data can be obtained for the point (measurement point) where the pulse of light is irradiated. Based on the vertical angle data, horizontal angle data, and distance measurement data, the three-dimensional coordinates of the measurement point can be obtained.

[0158] Thus, point cloud data of the entire 360° circumference with the mechanical center M of the surveying instrument 22 as the reference is acquired, and each point of the point cloud data has three-dimensional coordinates.

[0159] Here, the mechanical center M is offset by a distance D in the horizontal direction from the rotation center of the surveying device main body 24 (offset distance D).

[0160] Therefore, by correcting the measured horizontal distance of each point of the point cloud data based on the distance D, the point cloud data can be converted into point cloud data based on the center line V, i.e., point cloud data based on the camera origin O.

[0161] The horizontal distance may be corrected in real time for each point when acquiring each point of the point cloud, or may be corrected all at once after acquiring the point cloud data.

[0162] Furthermore, point cloud data based on the reference point is calculated based on the known height from the reference point to the machine center M. The acquired point cloud data is stored in the storage unit 36.

[0163] When point cloud data is acquired by the surveying device 22, the calculation control unit 35 causes the imaging unit 2 to capture wide-angle images. In this embodiment, the imaging unit 2 is composed of the first camera 2a and the second camera 2b, and therefore a first wide-angle image and a second wide-angle image are acquired by the first camera 2a and the second camera 2b, respectively. The acquired wide-angle images are stored in the camera storage unit 13, and further the first wide-angle image and the second wide-angle image are combined into a wide-angle image of the imaging unit 2.

[0164] As described above, the horizontal angle of view of the first camera 2a and the second camera 2b is 50° to 150°. For example, if the horizontal angle of view is 90°, by rotating the surveying instrument main body 24 horizontally in 72° angular steps and acquiring a wide-angle image at each step, it is possible to acquire images of the entire circumference with an overlapping angle of view of 18°. Each acquired wide-angle image is stored in the memory unit 36.

[0165] The arithmetic and control unit 35 combines the wide-angle images based on the overlapping portions to create a 360° panoramic image. The imaging control unit 12 may also create the 360° panoramic image.

[0166] The arithmetic and control unit 35 combines the wide-angle images and combines the panoramic image with the point cloud data.

[0167] When combining a panoramic image and point cloud data, no positional deviation occurs in the correspondence between the pixels of the image and each point of the point cloud data because the point cloud data is converted into point cloud data based on the camera origin O. This makes it possible to accurately color the point cloud data based on the panoramic image, or assign three-dimensional coordinates to each pixel of the panoramic image based on the point cloud data.

[0168] As described above, the three-dimensional coordinates of each point in the point cloud data are converted into three-dimensional coordinates based on the camera origin O, so the parallax between the surveying device main body 24 and the camera, i.e., the parallax between the point cloud data and the 360-degree image, can be reduced or almost eliminated.

[0169] Therefore, the accuracy of coloring the point cloud or the accuracy of assigning three-dimensional coordinates to each pixel of the omnidirectional image can be improved, and when measuring a specific measurement point, high-precision collimation can be performed by using the omnidirectional image as a collimation image.

[0170] FIG. 9 shows a surveying system according to a fifth embodiment.

[0171] 9, the same components as those shown in FIG. 7 are denoted by the same reference numerals, and the description thereof will be omitted. Also, in FIG. 9, the tripod 23, the leveling unit 25, and the horizontal rotation drive unit 26 are not shown.

[0172] The fifth example shows a case where the camera origin O of the wide-angle camera device 1 and the mechanical center M of the surveying device main body 24 (lens barrel part 29) are offset in both the horizontal and vertical directions. Here, the horizontal offset distance is indicated by D, and the vertical offset distance is indicated by H.

[0173] The surveying instrument main body 24 is provided so as to be horizontally rotatable about a center line V via a rotation axis 27. The lens barrel portion 29 is provided on the surveying instrument main body 24 so as to be vertically rotatable about a center line C. The lens barrel portion 29 has a scanning mirror 41, and emits distance measurement light onto a distance measurement optical axis via the scanning mirror 41. The distance measurement optical axis rotates within a vertical plane due to the rotation of the lens barrel portion 29.

[0174] The mechanical center M (measurement reference point) of the lens barrel portion 29 is the intersection of the center line C and the reflecting surface of the scanning mirror 41.

[0175] The wide-angle camera device 1 is integrally provided on the upper surface of the surveying device main body 24. The center line V is set so as to pass through the camera origin O of the wide-angle camera device 1. The shape of the upper part of the surveying device main body 24 is a truncated cone so as not to obstruct the imaging range of the wide-angle camera device 1.

[0176] The fifth embodiment shows a case where the wide-angle camera device 1 shown in the second embodiment is used, which is equipped with three cameras, a first camera 2a, a second camera 2b, and a third camera 2c.

[0177] Incidentally, a description of the wide-angle camera device 1 of the second embodiment will be omitted.

[0178] In the fifth embodiment, a pulse of distance measuring light is emitted through the scanning mirror 41, the surveying instrument main body 24 rotates horizontally at a constant speed, and the lens barrel part 29 rotates vertically at a constant speed, thereby scanning the distance measuring light two-dimensionally. The distance is measured for each pulse of light, and point cloud data in which each measurement point has three-dimensional coordinates (three-dimensional data) is acquired.

[0179] The three-dimensional coordinates of the point cloud data are based on the machine center M, and are offset by a horizontal distance D and a vertical distance H from the camera origin O of the wide-angle camera device 1.

[0180] Therefore, the horizontal distance and vertical distance of each point in the point cloud data are corrected based on the horizontal distance D and vertical distance H, and the point cloud data is converted into point cloud data based on the camera origin O.

[0181] By synthesizing the converted point cloud data with the panoramic image acquired by the wide-angle camera device 1, the parallax between the surveying device main body 24 and the camera can be reduced or substantially eliminated.

[0182] Therefore, in the fifth embodiment, the accuracy of coloring the point cloud or the accuracy of assigning three-dimensional coordinates to each pixel of the omnidirectional image is improved, and when measuring a specific measurement point, high-precision aiming can be performed by using the omnidirectional image as a aiming image.

[0183] Although the wide-angle camera device according to the second embodiment has been described as the wide-angle camera device in the fifth embodiment, it goes without saying that the wide-angle camera devices shown in the first embodiment, the modified example of the first embodiment, the modified example of the second embodiment, and the third embodiment may also be used. [Explanation of symbols]

[0184] 1. Wide-angle camera device 2a First Camera 2b Second camera 2c Third Camera 6a Prism 6b Prism 6c Prism 10a Rear imaging lens group 10b Rear lens group 10c Imaging lens rear group 11a Front lens group 11b Front lens group 11c Front imaging lens group 12 Imaging control unit 21 Surveying System 22 Surveying equipment 29 Telescope tube 34 Ranging section 35 Calculation control unit 36 Memory section

Claims

1. a plurality of cameras, each having a rear group of imaging lenses as an objective lens, a front group of imaging lenses as an imaging lens, a prism optically connecting the rear group of imaging lenses and the front group of imaging lenses, and an image sensor that receives an image formed by the rear group of imaging lenses; the prisms are cemented or tightly attached to each other to integrate the plurality of cameras; the angles of view of adjacent cameras are configured to partially overlap; the entrance pupil position of each camera is formed between the front group of imaging lenses and the prism; and the point where the optical axes intersect is the camera origin.

2. 2. The wide-angle camera device according to claim 1, wherein the wide-angle camera device comprises two cameras, the prisms have reflecting surfaces that deflect the optical axes of the cameras, the rear imaging lens group is provided on one of the deflected optical axes, and the front imaging lens group is provided on the other optical axis, and the prisms of the two cameras are joined or tightly attached to each other at the reflecting surfaces to form an integrated unit.

3. 2. The wide-angle camera device according to claim 1, wherein the wide-angle camera device comprises three cameras arranged in the same plane, the central prism of the central camera has a three-dimensional shape formed by six faces, the optical axis of the central camera travels straight through the prism, and the prisms of the other two cameras each have a reflective surface that deflects the optical axis of the camera, and the reflective surfaces of the prisms of the two cameras are respectively bonded or tightly attached to two opposing faces of the central prism, thereby integrating the three cameras.

4. 2. The wide-angle camera device according to claim 1, wherein the wide-angle camera device comprises a plurality of cameras arranged radially at predetermined angular intervals on the same plane, the prism of each camera having a trapezoidal planar shape, and the plurality of cameras are integrated by sequentially joining or adhering the prisms together.

5. 5. The wide-angle camera device according to claim 4, wherein the prism has a reflecting surface that deflects the optical axis of the camera in a direction perpendicular to the same plane.

6. 6. The wide-angle camera device according to claim 5, wherein the directions of deflection of the optical axes by the reflecting surfaces are opposite between adjacent cameras.

7. A surveying system comprising a wide-angle camera device according to any one of claims 1 to 6 and a surveying instrument mounted on a tripod, wherein the wide-angle camera device is integrally provided on the surveying instrument, the surveying instrument has a mechanical center, the wide-angle camera device has a camera origin, the surveying instrument is configured to be rotatable around a center line passing through the camera origin, and an offset distance between the mechanical center and the camera origin is known.

8. 8. The surveying system according to claim 7, wherein the surveying instrument comprises a distance measuring unit that emits distance measuring light and receives reflected distance measuring light from the object to be measured, a rotating unit that irradiates the distance measuring light, a vertical rotation drive unit that rotates the rotating unit in a vertical direction, a surveying instrument main body on which the rotating unit is provided, a horizontal rotation drive unit that rotates the surveying instrument main body in a horizontal direction, an angle measuring unit that detects the irradiation direction of the distance measuring light, and an arithmetic and control unit that controls the drive of the vertical rotation drive unit and the horizontal rotation drive unit and calculates three-dimensional point cloud data based on the reception result of the reflected distance measuring light and the detection result of the angle measuring unit, and the arithmetic and control unit is configured to convert the point cloud data into point cloud data based on the camera origin based on the offset distance, and to combine the converted point cloud data with the wide-angle image acquired by the wide-angle camera device.

9. The surveying system according to claim 7, wherein the wide-angle camera device is provided on a side surface of the surveying instrument.

10. The surveying system according to claim 7, wherein the wide-angle camera device is provided on an upper surface of the surveying instrument.

Images