Surveying system and surveying method

Abstract

To provide a surveying system and a surveying method that allow measurement data obtained by measuring a measurement target to be visually recognized as measurement data with a position other than a position of a measurement device as a reference, from a position other than the position of the measurement device.SOLUTION: A surveying system 1 includes a measurement device 2 and a mobile terminal 3. The measurement device 2 includes a measuring instrument 4 that measures a measurement target, an AR marker 7 having a known relationship with a measurement reference position of the measuring instrument 4, a control unit 5, and a communication unit 6. The control unit 5 is configured to convert measurement data acquired by the measuring instrument 4 into AR-marker-referenced measurement data. The communication unit 6 transmits the converted measurement data to the mobile terminal 3. The mobile terminal 3 includes a camera 11 that captures an image of the measurement target so as to include the AR marker 7, a terminal communication unit 13 that receives the converted measurement data, a terminal control unit 12, and a display unit 14. The terminal control unit 12 recognizes the AR marker 7 from the image, creates an AR image on the basis of a recognition result of the AR marker 7 and the converted measurement data, and displays the AR image on the display unit 14.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a surveying system and a surveying method that displays measurement data of a measurement object measured by a measuring device on a portable terminal at any location in real time on the display unit of the portable terminal as measurement data based on the portable terminal. [Background technology]

[0002] Conventionally, measurement data (e.g., three-dimensional distance measurement data) obtained by a measuring device has been acquired as distance measurement data with an image by overlapping it with an image of the measurement target acquired by the measuring device, in order to make it easier to understand the measurement situation. Alternatively, the measurement data has been displayed in real time on the display unit of the measuring device as an image with distance measurement data.

[0003] On the other hand, it is the measurement operator who operates the measurement device who visually views the image with the distance measurement data on the display unit of the measurement device, and the measurement operator can proceed with the measurement while checking the measurement status.

[0004] Furthermore, there are cases where measurement work and construction work based on the measurement results are carried out in parallel, in which case the construction workers either carry out the work according to the instructions of the measurement worker, or the construction workers proceed with the work while checking the construction status at the completion of each predetermined construction step, which results in poor workability. For this reason, it is desirable to be able to check the measurement results even at the work site. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2023-50332 [Patent Document 2] Japanese Patent Application Laid-Open No. 2005-140523 [Patent Document 3] Japanese Patent Application Laid-Open No. 2006-84346 [Patent Document 4] Japanese Patent Application Publication No. 9-210687 [Patent Document 5] Japanese Patent Application Laid-Open No. 2004-45159 Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention provides a surveying system and a surveying method that enable the measurement results (measurement data) of a measurement object measured by a measuring device to be visually recognized from a position other than the position of the measuring device as measurement data based on a position other than the position of the measuring device. [Means for solving the problem]

[0007] The present invention relates to a surveying system comprising a measuring device and a mobile terminal, wherein the measuring device is provided movably and comprises a measuring instrument that measures an object to be measured, an AR marker that has a known relationship with the measurement reference position of the measuring instrument, a control unit, and a communication unit, wherein the control unit is configured to convert measurement data acquired by the measuring instrument into measurement data based on the AR marker, and the communication unit is configured to transmit the converted measurement data to the mobile terminal, and the mobile terminal has a camera that acquires an image of the object to be measured so as to include the AR marker, a terminal communication unit that receives the converted measurement data, a terminal control unit, and a display unit, and the terminal control unit is configured to recognize the AR marker from the image, create an AR image based on the recognition result of the AR marker and the converted measurement data, and display the AR image on the display unit.

[0008] The present invention also relates to a surveying system in which a predetermined pattern is formed on the AR marker, and the terminal control unit calculates the line of sight direction of the measurement object from the mobile terminal and the relative position and attitude of the measuring device with respect to the mobile terminal based on shape recognition of the pattern, and corrects the display position of the AR image based on the calculation results.

[0009] The present invention also relates to a surveying system in which the measuring device further comprises a tilt sensor, and the control unit is configured to correct the converted measurement data based on the detection result of the tilt sensor.

[0010] The present invention also relates to a surveying system further comprising a reference level measuring device for setting a reference level for the measurement object, and the converted measurement data is unevenness data relative to the reference level.

[0011] The present invention also relates to a surveying system in which the control unit creates a colored unevenness map based on the unevenness data.

[0012] The present invention also relates to a surveying system in which the reference level measuring device is composed of a photoreceiver provided in the measuring device and a laser level planar that forms a reference plane at a predetermined distance from the object to be measured.

[0013] The present invention also relates to a surveying system in which the reference level measuring device is configured with a prism provided in the measuring device and a total station provided at a known height.

[0014] The present invention also relates to a surveying system that further includes a second measuring instrument capable of acquiring information about the object to be measured, and the terminal control unit is configured to create the AR image based on the converted measurement data and the information acquired by the second measuring instrument.

[0015] Furthermore, the present invention relates to a surveying method in a surveying system comprising a measuring device including an AR marker and a portable terminal having a display unit, the method including the steps of measuring an object to be measured using the measuring device and acquiring measurement data, converting the measurement data based on the AR marker, transmitting the converted measurement data to the portable terminal, acquiring an image of the object to be measured using the portable terminal so as to include the AR marker, recognizing the AR marker from the image, creating an AR image based on the AR marker recognition result and the received converted measurement data, and displaying the AR image on the display unit. [Effects of the Invention]

[0016] According to the present invention, there is provided a surveying system comprising a measuring device and a mobile terminal, wherein the measuring device is movably provided and comprises a measuring instrument that measures an object to be measured, an AR marker that has a known relationship with the measurement reference position of the measuring instrument, a control unit, and a communication unit, wherein the control unit is configured to convert the measurement data acquired by the measuring instrument into measurement data based on the AR marker, and the communication unit is configured to transmit the converted measurement data to the mobile terminal, and the mobile terminal has a camera that acquires an image of the object to be measured so as to include the AR marker, a terminal communication unit that receives the converted measurement data, a terminal control unit, and a display unit, and the terminal control unit is configured to recognize the AR marker from the image, create an AR image based on the recognition result of the AR marker and the converted measurement data, and display the AR image on the display unit, thereby making it possible to recognize the AR marker even at a bright construction site and visually observe the surface texture of the object to be measured.

[0017] Furthermore, according to the present invention, in a surveying system comprising a measuring device including an AR marker and a portable terminal having a display unit, the system includes the steps of measuring the object to be measured using the measuring device and acquiring measurement data, converting the measurement data to the AR marker standard, transmitting the converted measurement data to the portable terminal, acquiring an image of the object to be measured using the portable terminal so as to include the AR marker, recognizing the AR marker from the image, creating an AR image based on the AR marker recognition result and the received converted measurement data, and displaying the AR image on the display unit, thereby achieving the excellent effect of being able to recognize the AR marker even at a bright construction site and visually observing the surface properties of the object to be measured. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic configuration diagram of a surveying system according to a first embodiment of the present invention. [Figure 2] FIG. 10 is a schematic diagram of a surveying system according to a second embodiment. [Figure 3] FIG. 1 is a schematic diagram illustrating the configuration of a laser level planar. [Figure 4] FIG. 2 is a schematic diagram of a pole device. [Figure 5] FIG. 1 is a schematic configuration diagram of a mobile terminal. [Figure 6] FIG. 10 is an explanatory diagram of measurement of unevenness. [Figure 7] FIG. 10 is an explanatory diagram of an unevenness map. [Figure 8] FIG. 10 is a diagram showing a state in which an AR image is displayed on a terminal display unit of a mobile terminal. [Figure 9] 1 is a flowchart of unevenness measurement in a pole device. [Figure 10] 10 is a flowchart of unevenness measurement using a mobile terminal. [Figure 11] FIG. 10 is a schematic diagram of a surveying system according to a third embodiment. [Figure 12] FIG. 10 is a schematic configuration diagram of a total station according to a third embodiment. [Figure 13] FIG. 10 is a schematic diagram of a pole device according to a third embodiment. [Figure 14] FIG. 10 is an explanatory diagram of measurement of unevenness in the third embodiment. [Figure 15] FIG. 10 is a schematic diagram of a surveying system according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0020] A first embodiment of the present invention will be described with reference to FIG.

[0021] The surveying system 1 basically comprises a measuring device 2 and a portable terminal 3 .

[0022] Furthermore, the measuring device 2 includes a measuring device 4, a control unit 5, a communication unit 6, and an AR marker 7. The measuring device 4, the control unit 5, the communication unit 6, and the AR marker 7 are provided on a movable support 8, and the AR marker 7 is provided at a known position relative to the measuring device 4.

[0023] By moving the support 8, the measuring device 2 can be moved to an appropriate position, and measurements can be made at the moved position.

[0024] The mobile terminal 3 is a handheld device, and includes a camera 11, a terminal control unit 12, a terminal communication unit 13, and a display unit .

[0025] The measuring instrument 4 is capable of measuring distances, shapes, etc. of a measurement object around or near the measuring device 2, and measures and acquires measurement data such as distance measurement data or data on planar properties.

[0026] The control unit 5 converts the measurement data (measurement results) into measurement data with the position for the AR marker 7 .

[0027] The mobile terminal 3 acquires a local image of the measurement target including the AR marker 7 with the camera 11 from an arbitrary position relative to the measurement device 2 .

[0028] When the portable terminal 3 accesses the measurement device 2 and requests information, the control unit 5 transmits the measurement data to the portable terminal 3 via the communication unit 6 .

[0029] The portable terminal 3 acquires the measurement data via the terminal communication unit 13. This measurement data is measurement data based on the position of the measuring device 2.

[0030] The terminal control unit 12 extracts an image of the AR marker 7 from the local image, reads information contained in the AR marker 7 from the extracted image of the AR marker 7, and calculates the direction of the mobile terminal 3 relative to the AR marker 7 from the information contained in the AR marker 7.

[0031] Furthermore, based on the calculated direction of the mobile terminal 3, the terminal control unit 12 converts the measurement data into local measurement data based on the position of the mobile terminal 3, and combines the local measurement data with the local image to create a local image with the measurement data.

[0032] The terminal control unit 12 displays this local image with measurement information on the display unit 14.

[0033] Thus, an operator carrying the portable terminal 3 can display the measurement data superimposed on an image of the object to be measured from any position and any direction on the display unit 14 in real time, and can visually confirm the measurement data in real time.

[0034] Therefore, when measurement work and construction work based on the measurement results are carried out in parallel, the construction status is measured in real time and the measurement results can be confirmed in real time using the mobile terminal 3, so there is no waste in the construction work and the construction can be carried out efficiently.

[0035] The measurement data acquired by the measuring instrument 4 includes the properties of the plane (flatness, unevenness, curvature, inclination) or cracks on the plane if the measurement object is a plane, and includes shape data of the measurement object if the measurement object is a three-dimensional object. Furthermore, if the measurement object is a surface with large irregularities such as steps, the measurement data also includes the position, height, size, etc. of the irregularities.

[0036] Next, a second example will be described in which the measurement target of this surveying system is a plane, and this surveying system is used to measure unevenness on a concrete pouring surface.

[0037] Figure 2 shows an outline of a surveying system according to the second embodiment. The surveying system 1 mainly comprises a height measuring device 16, a pole device 17, and a portable terminal 18. The pole device 17 comprises a pole 19 (described below) as a movable support, and the measuring instrument 4 (see Figure 1) in the first embodiment is provided on the pole 19.

[0038] In the second embodiment, a laser level planar 21 is used as the height measuring device 16. Incidentally, examples of the laser level planar 21 include those shown in Patent Documents 2 to 5, for example.

[0039] The laser level planar 21 forms a horizontal reference plane at a predetermined height using a laser beam. The horizontal reference plane may be formed by rotating the laser beam onto a horizontal plane, or by horizontally irradiating a fan-shaped laser beam. In the following explanation, we will explain the case where the horizontal reference plane O is formed by rotating the laser beam onto a horizontal plane.

[0040] The laser level planar 21 will be outlined with reference to FIG.

[0041] The laser level planar 21 is installed at a required position via a support device (not shown) such as a tripod. The laser level planar 21 mainly includes a control unit 22, a first tilt sensor (tilt sensor) 23, a laser beam irradiation unit 24, a leveling unit 25, a horizontal rotation drive unit 26, an operation unit 27, and a display unit 28.

[0042] The first tilt sensor 23 detects the tilt of the laser level planar 21 relative to the horizontal, that is, the tilt of the irradiated laser beam relative to the horizontal. The detection result of the first tilt sensor 23 is input to the control unit 22.

[0043] The control unit 22 drives the leveling unit 25 based on the detection result of the first tilt sensor 23 to horizontally adjust the laser level planar 21. The control unit 22 causes the laser beam application unit 24 to apply a laser beam, and causes the horizontal rotation drive unit 26 to rotate the laser beam application unit 24, thereby rotating and applying the laser beam so that a horizontal reference plane O is formed.

[0044] The laser level planar 21 is installed so that the horizontal reference plane O is at a known height. For example, the height of the horizontal reference plane O from the reference floor surface is known from actual measurement or from the specifications of the laser level planar 21. By forming a known horizontal reference plane O, it is possible to measure the height of the measurement target surface and the irregularities on the measurement target surface relative to the horizontal reference plane O.

[0045] An ON / OFF command for the operation of the laser level planar 21, settings of operating conditions, etc. are inputted from the operation unit 27, and the operating state, etc. are displayed on the display unit .

[0046] The pole device 17 will be described with reference to FIGS.

[0047] The pole device 17 acquires measurement data of the surrounding area and functions as the measurement device 2 (see FIG. 1).

[0048] The pole device 17 comprises a pole 19 as a movable support, a photodetector 31 as a measurement object mounted at a required height on the pole 19, an AR (Augumented Reality) marker 32 mounted on the pole 19 below the photodetector 31, a distance sensor 33 as a measuring device mounted on the upper end of the pole 19, a second tilt sensor 34, an arithmetic control unit 35, and a communication unit 36.

[0049] The light receiving reference position of the light receiver 31 and the measurement reference position of the distance measuring sensor 33 are set to have a known positional relationship, and the measurement reference position of the distance measuring sensor 33 and the reference position of the AR marker 32 are set to have a known relationship.

[0050] The light receiver 31 has a light receiving sensor 37 that extends in the vertical direction and has a predetermined length, and the light receiving sensor 37 detects the laser beam and emits a detection signal. The light receiving sensor 37 has the light receiving reference position (for example, the vertical center of the light receiving sensor 37 or the lower end of the light receiving sensor 37), and the light receiving reference position is a known position on the pole device 17. For example, the distance between the light receiving reference position and the lower end of the pole 19 is known.

[0051] The detection signal includes the light receiving signal as well as detection position information. The detection position information includes deviation from the light receiving reference position, etc. Therefore, based on the detection signal, the height of the light receiving reference position relative to the horizontal reference plane O (the level of the reference position) can be measured. The detection signal is input to the calculation control unit 35.

[0052] The laser level planar 21 that forms the horizontal reference plane O and the light receiving sensor 37 that detects the position of the horizontal reference plane O measure the level that serves as the reference for unevenness measurement, and function as a reference level measuring device.

[0053] The AR marker 32 has information that can determine the viewing direction. The AR marker 32 is, for example, a sphere with a predetermined pattern 38 formed on its surface, and is attached to the pole 19 via a support part 39. The marker reference position of the AR marker 32, for example, the position of the center of gravity of the sphere, is a known position in the pole device 17; for example, as described above, the measurement reference position of the distance measuring sensor 33 and the reference position of the AR marker 32 are known.

[0054] The pattern 38 has a predetermined shape and is configured so that the shape of the pattern changes depending on the angle from which the AR marker 32 is viewed. Therefore, it is possible to identify the angle from which the AR marker 32 is viewed based on the shape of the pattern 38 relative to the optical axis of the camera when the AR marker 32 is captured as an image.

[0055] The AR marker 32 is not limited to a sphere on which the pattern 38 is formed, but may be a flat plate or cube on which the pattern 38 is formed, or may be a three-dimensional object or flat pattern having a characteristic shape or pattern that allows the direction to be identified. Alternatively, the pattern 38 may be a specific picture or image. In other words, the pattern 38 may be any shape that allows the direction and size to be identified and functions as the AR marker 32.

[0056] The distance measuring sensor 33 is directed downward and measures the distance to the ground surface, and various types of sensors can be used as the distance measuring sensor 33. For example, a distance measuring camera, a laser scanner, a stereo camera, etc. In the following embodiment, a distance measuring camera 41 is used as an example.

[0057] The distance measuring camera 41 has an imaging element consisting of multiple pixels, and emits distance measuring light for each pixel, receives reflected light, and measures distance using TOF (Time Of Flight), acquiring distance measuring data in a planar manner like an image. The distance measuring data output by each pixel includes position information on the imaging element. The distance measuring data is input to the arithmetic control unit 35. Note that the distance measuring data may be acquired by high-speed two-dimensional scanning of the distance measuring light to measure in a planar manner. The distance measuring data may also be transmitted to the mobile terminal 18 in real time via the communication unit 36.

[0058] The distance measuring camera 41 has the measurement reference position, and the distance measured by the distance measuring camera 41 is the distance from the measurement reference position. In addition, the relationship between the measurement reference position of the distance measuring camera 41 and the light receiving reference position of the light receiving sensor 37 is known, and the vertical distance between the measurement reference position and the light receiving reference position is also known.

[0059] Therefore, by measuring the height of the horizontal reference plane O using the light receiving sensor 37, it is possible to obtain the height of the measurement reference position relative to the horizontal reference plane O. In addition, the distance measurement data can be converted into distance data based on the horizontal reference plane O.

[0060] The positional relationship between the measurement reference position and the marker reference position is known, and the positional relationship between the optical axis of the distance measuring camera 41 and the marker reference position is also known.

[0061] The second tilt sensor 34 detects the tilt of the distance measuring camera 41 with respect to the horizontal, or the tilt of the optical axis of the distance measuring camera 41 with respect to the vertical, or the tilt of the pole 19 with respect to the vertical. The tilt detection result of the second tilt sensor 34 is input to the arithmetic control unit 35. The tilt detection result of the second tilt sensor 34 may also be transmitted to the mobile terminal 18 in real time via the communication unit 36.

[0062] The optical axis of the distance measuring camera 41 is inclined at a required angle with respect to the pole 19. When the second tilt sensor 34 is configured to detect the tilt of the pole 19 with respect to the vertical, the optical axis of the distance measuring camera 41 is inclined at a known angle with respect to the axis of the pole 19.

[0063] The second tilt sensor 34 may be built into the arithmetic control unit 35. As the second tilt sensor 34, various IMU sensors such as an acceleration sensor and a gyro sensor can be used.

[0064] The arithmetic control unit 35 includes an arithmetic processing unit 42 and a memory unit 43. The arithmetic processing unit 42 may be a CPU specialized for this embodiment, or a general-purpose CPU, an embedded CPU, a microprocessor, etc. The memory unit 43 may be a semiconductor memory such as RAM, ROM, Flash ROM, or DRAM, or a magnetic memory such as an HDD.

[0065] The communication unit 36 ​​transmits and receives data to and from the mobile terminal 18 , and also receives various commands from the mobile terminal 18 .

[0066] The calculation processing unit 42 expands various programs stored in the memory unit 43 to execute the required processing and operation, and controls the photodetector 31, the communication unit 36, the ranging camera 41, and the memory unit 43 to perform the required operations at the required timing.

[0067] The storage unit 43 stores various programs for executing this embodiment. Examples of the programs include a distance measurement program for causing the distance measurement camera 41 to capture images and perform distance measurement, a calculation program for calculating three-dimensional data based on distance measurement data, a conversion program for converting data into three-dimensional data (unevenness distribution) based on the positional relationship between the measurement reference position and the marker reference position, with the AR marker 32 as the reference, a program for calculating a video signal based on the converted three-dimensional data, and a communication program for transmitting and receiving distance measurement data, image data, and various commands. The storage unit 43 also stores thresholds for determining elevation states, measurement results, image data, and the like.

[0068] The elevation state includes the deviation of the measurement target surface from the set height, the unevenness (irregularity) of the set surface, and the tilt of the measurement target surface from the horizontal plane. Furthermore, the elevation information includes information on the deviation of the measurement target surface from the set height, the unevenness of the set surface, and the tilt of the measurement target surface from the horizontal plane.

[0069] The mobile terminal 18 will be described with reference to FIG.

[0070] The mobile terminal 18 corresponds to the mobile terminal 3 (see FIG. 1), and examples of the mobile terminal 18 include a terminal device made specifically for this embodiment, or a general-purpose smartphone, tablet, eyeglass-type terminal device (VR goggles, head-mounted display (hereinafter, HMD)), or a portable PC, etc., which has a calculation unit, a display unit, and a communication function. A program installed on these mobile terminals to adapt them to this embodiment is used.

[0071] The mobile terminal 18 mainly includes a terminal control unit 44 , a terminal storage unit 45 , an imaging unit 46 , a terminal display unit 47 , a terminal communication unit 48 , and a terminal input unit 49 .

[0072] The imaging unit 46 is exemplified by a camera, which captures an image of the measurement target surface including at least the AR marker 32 , and the image data is input to the terminal control unit 44 .

[0073] The terminal display unit 47 displays an AR image 51 (see Figure 2) created based on the unevenness distribution transmitted from the pole device 17 and the image of the surface to be measured, and the terminal communication unit 48 transmits and receives data between the pole device 17 and the mobile terminal 18.

[0074] The terminal storage unit 45 stores various programs for operating the mobile terminal 18. The programs include an AR marker recognition program for recognizing the AR marker 32 in the image acquired by the imaging unit 46 and detecting the shape, orientation, tilt, tilt direction, and size of the pattern 38 relative to the optical axis of the imaging unit 46; a position calculation program for comparing the recognized pattern 38 with a pattern image (described later) to calculate the relative position of the AR marker 32 with respect to the imaging unit 46; an attitude calculation program for calculating the direction of the ranging optical axis of the ranging camera 41 relative to the optical axis of the imaging unit 46, i.e., the attitude of the pole device 17, based on the position of the AR marker 32 and the known positional relationship between the measurement reference position of the ranging camera 41 and the marker reference position of the AR marker 32; a communication program for exchanging data with the pole device 17; an AR image creation program for creating the AR image 51 based on the position of the mobile terminal 18 based on the positional relationship between the unevenness distribution received from the pole device 17 and the AR marker 32; and a display program for displaying the created AR image 51 on the terminal display unit 47.

[0075] Furthermore, the device storage unit 45 stores a plurality of pattern images of the pattern 38 required for recognizing the AR marker 32. The pattern images associate the shape of the pattern 38 with the posture of the pole device 17. The posture of the pole device 17 can be determined by selecting the pattern 38 recognized from the image captured by the imaging unit 46 and a pattern image that matches the pattern 38. Note that the pattern image may be created on the spot by a creation program based on, for example, a three-dimensional image of the pattern 38 stored in the device storage unit 45.

[0076] The terminal control unit 44 deploys and executes the program stored in the terminal memory unit 45, and controls the terminal memory unit 45, the imaging unit 46, the terminal display unit 47, and the terminal communication unit 48 to perform the required operations at the required timing.

[0077] The terminal control unit 44 recognizes the pattern 38 of the AR marker 32 from the image of the measurement target surface acquired by the AR marker recognition program, and further detects the orientation, tilt, tilt direction, and size of the AR marker 32 relative to the optical axis of the imaging unit 46 based on the pattern 38. Therefore, the imaging unit 46 and the terminal control unit 44 constitute an AR marker recognition unit.

[0078] In addition, based on the detected pattern 38, the terminal control unit 44 calculates the relative position of the AR marker 32 with respect to the imaging unit 46, and also calculates the relative attitude of the pole device 17 with respect to the imaging unit 46 (the mobile terminal 18).

[0079] Furthermore, based on the AR image creation program, the terminal control unit 44 creates an AR image 51 (described later) based on the position of the mobile terminal 18 including the unevenness distribution, based on the unevenness distribution received from the pole device 17, the image captured by the imaging unit 46, and the positional relationship with the AR marker 32, and displays the AR image 51 on the terminal display unit 47.

[0080] With reference to FIG. 6, a case where the measurement target surface is a floor surface and the unevenness of the floor surface is measured will be described.

[0081] 6, 52 indicates a reference floor surface, and the laser level planer 21 is installed at a known height relative to the floor surface 52, forming a horizontal reference surface O at a known height relative to the floor surface 52. Also, concrete is to be poured on a construction floor surface 53 that is a predetermined distance lower than the floor surface 52, and the construction finish surface is designated as 53a.

[0082] The measurer places the pole 19 on the construction floor surface 53, for example, and supports the pole device 17 vertically or approximately vertically. The vertical state of the pole device 17 is detected by the second tilt sensor .

[0083] The following description will be given on the assumption that the pole device 17 is supported vertically.

[0084] 6, O1 indicates a horizontal line passing through the measurement reference position of the distance measuring camera 41, and O2 indicates a horizontal line passing through the light receiving reference position of the light receiving sensor 37. The construction finishing surface 53a is set to a height difference D from the horizontal reference surface O so as to achieve a predetermined pouring height.

[0085] As mentioned above, the measurement reference position and the light-receiving reference position have a known relationship, and the distance between the horizontal line O1 and the horizontal line O2 is a known value d. Also, let Δ be the deviation between the laser beam receiving position of the light-receiving sensor 37 and the light-receiving reference position (i.e., the deviation Δ between the horizontal reference plane O and the light-receiving reference position), and let S be the distance measurement value of the construction surface (concrete pouring surface) 53b by the distance measuring camera 41 (i.e., the distance from the measurement reference position of the distance measuring camera 41 to the construction surface 53b).

[0086] The unevenness ΔF (height difference) of the construction surface 53b with the finished construction surface 53a as a reference is calculated by the following formula.

[0087] ΔF=D+(d-Δ)-S (equation 1)

[0088] Here, Δ indicates + above the light receiving reference position and - below. In addition, the unevenness ΔF indicates a convex state relative to the finished construction surface 53a when it is +, and a concave state relative to the finished construction surface 53a when it is -.

[0089] The height difference D and the distance d between the measurement reference position and the light-receiving reference position are set in advance in the calculation control unit 35, and the distance measurement results of the distance measuring camera 41 and the detection signal of the light-receiving sensor 37 are input to the calculation control unit 35. The calculation control unit 35 calculates the unevenness ΔF based on the height difference D, distance d, the distance measurement results, and the detection signal.

[0090] In addition, the ranging camera 41 is capable of measuring distance in pixel units of the image sensor, and the calculation control unit 35 calculates the unevenness ΔF in pixel units, thereby making it possible to obtain unevenness ΔF data and unevenness ΔF distribution over the entire field of view of the ranging camera 41 in real time.

[0091] Furthermore, the calculation control unit 35 can create an unevenness map 54 (see FIG. 7) by classifying the unevenness ΔF according to threshold values ​​set in the storage unit 43.

[0092] The unevenness map 54 can be visualized as a heat map colored according to the value of the unevenness ΔF. For example, if the unevenness ΔF is positive with respect to the finished construction surface 53a, the color is warm, and the density or color tone becomes darker with each increase of, for example, 3 mm. Furthermore, if the unevenness ΔF is negative with respect to the finished construction surface 53a, the color is cool, and the density or color tone becomes darker with each decrease of, for example, 3 mm.

[0093] The threshold for classification is not limited to 3 mm, but can be set appropriately to 5 mm, 1 cm, etc. Furthermore, classification may be displayed only by shading in one color.

[0094] The calculation control unit 35 converts the unevenness data including the unevenness ΔF data (numerical data of elevation), the unevenness ΔF distribution obtained from the position information contained in the unevenness ΔF data and ranging data, and the created unevenness map into data (converted unevenness data) based on the AR marker 32, and transmits the data in real time to the mobile terminal 18 via the communication unit 36. Note that the unevenness data may be referred to as measurement data, and the converted unevenness data may be referred to as converted measurement data.

[0095] The mobile terminal 18 stores the converted unevenness data received via the terminal communication unit 48 in the terminal memory unit 45, and calculates the relative position and relative positional relationship of the imaging unit 46 with respect to the AR marker 32 based on the image including the AR marker 32 captured by the imaging unit 46, and creates the AR image 51 based on the position of the mobile terminal 18 based on the relative position and positional relationship, the stored converted unevenness data, and the image captured by the imaging unit 46.

[0096] The AR image 51 is displayed on the terminal display unit 47 of the mobile terminal 18, and can be visually confirmed in real time. Confirmation of the AR image 51 by the mobile terminal 18 will be described below.

[0097] The imaging unit 46 of the mobile terminal 18 captures an image of the construction floor surface 53 so as to include the AR marker 32. The images to be acquired may be continuous images or still images taken at predetermined time intervals.

[0098] The terminal control unit 44 recognizes the AR marker 32 from the acquired image and calculates the relative position and orientation of the AR marker 32 with respect to the imaging unit 46 from the pattern 38 in the image. The terminal control unit 44 also creates the AR image 51 based on the converted unevenness data received from the pole device 17 and the relative position and orientation of the AR marker 32. The AR image 51 is created each time the imaging unit 46 captures an image of the construction floor surface 53 including the AR marker 32.

[0099] The terminal control unit 44 displays the created AR image 51 on the terminal display unit 47. The AR image 51 is an image including information on the positional relationship between the AR marker 32 and the converted unevenness data, and is displayed as viewed from the direction (line of sight) in which the construction floor surface 53 is imaged by the mobile terminal 18 (the imaging unit 46). The worker can identify the display position of the converted unevenness data via the AR image 51 displayed on the terminal display unit 47.

[0100] The AR image 51 is obtained by superimposing converted unevenness data on an image of the construction floor surface 53 captured by the imaging unit 46, for example. The converted unevenness data includes unevenness ΔF data based on the AR marker 32, unevenness ΔF distribution, and the unevenness map 54, and each piece of information can be appropriately selected and displayed as the AR image 51. Note that Fig. 8 shows the AR image 51 in a state where the unevenness data is the unevenness map 54 and the unevenness map 54 is displayed superimposed on the construction surface 53b.

[0101] The AR image 51 displayed on the terminal display unit 47, i.e., the construction surface 53b and the unevenness map 54, are accurately displayed with their relative positions, orientations, inclinations, etc. perfectly aligned. Therefore, the worker can visually check the unevenness of the construction surface 53b in real time from the AR image 51 displayed on the terminal display unit 47. The display of the AR image 51 may be continuous or intermittent.

[0102] Since the unevenness can be checked in real time, the unevenness can be corrected in real time during concrete pouring. Therefore, the worker can carry out the concrete pouring work while correcting the unevenness.

[0103] Furthermore, if the inclination, inclination direction, rotation angle (direction of line of sight), and size in the image of the pattern 38 relative to the imaging optical axis of the imaging unit 46 can be input from the terminal input unit 49 of the mobile terminal 18, the worker can input the desired inclination, inclination direction, and rotation angle of the pattern 38, and can visually check the unevenness data from any direction.

[0104] Alternatively, the terminal display unit 47 of the mobile terminal 18 may be a touch panel that also serves as the terminal input unit 49, and the unevenness data displayed on the terminal display unit 47 may be scrolled on the terminal display unit 47, making the unevenness data visible from any direction.

[0105] Furthermore, when the unevenness map 54 is displayed superimposed on an image of the construction surface 53b on which concrete has already been poured, the finished state and finishing accuracy of the construction surface 53b can be confirmed.

[0106] In the above description, the pole device 17 is described as being supported vertically, but in reality, it is possible that the pole device 17 may tilt or swing. The pole device 17 is equipped with the second tilt sensor 34, which detects the tilt (tilt angle, tilt direction) of the pole device 17 (the optical axis of the pole 19 or the distance measuring camera 41) in real time, and the tilt detection result is input to the arithmetic and control unit 35 in real time. In addition, the arithmetic and control unit 35 transmits the detection result (tilt) of the second tilt sensor 34 to the mobile terminal 18 in real time.

[0107] The arithmetic and control unit 35 corrects the measurement results (measurement distance, measurement position) of the distance measuring camera 41 in real time based on the distance from the construction finishing surface 53a to the measurement reference position and the tilt detection result, and converts them into measurement results based on the AR marker 32. Therefore, the arithmetic and control unit 35 can transmit corrected accurate measurement data to the mobile terminal 18.

[0108] Next, the unevenness measurement work in the pole device 17 will be described with reference to the flowchart of Fig. 9. The case where unevenness data obtained in the unevenness measurement work is made into the visually recognizable unevenness map 54 will be described.

[0109] STEP 01: The height measuring device 16 (in this embodiment, the laser level planar 21) is installed at a predetermined position, and after leveling, the height of the emitted laser beam from the reference position (in this embodiment, the position of the floor surface 52) is measured and made known.

[0110] STEP 02 The height measuring device 16 rotates and projects a laser beam, and a horizontal reference plane O is formed.

[0111] STEP 03: The pole device 17 detects the horizontal reference plane O using the light receiver 31. From the light receiving position of the light receiving sensor 37, the height of the measurement reference position of the distance measuring sensor 33 (the distance measuring camera 41 in this embodiment) relative to the horizontal reference plane O is calculated.

[0112] STEP: 04 The pole device 17 measures the construction surface using the distance measurement sensor 33. Since the marker reference position of the AR marker 32 is located at a known distance (actual measurement value) from the measurement reference position, the construction surface 53b may be measured before, after, or simultaneously, and the distance measurement camera 41 may be calibrated by comparing the measurement result with the actual measurement value.

[0113] STEP 05 The pole device 17 detects the tilt of the optical axis of the distance measuring sensor 33 by the second tilt sensor .

[0114] STEP 06 The pole device 17 corrects the measurement result of the distance measuring sensor 33 based on the tilt detection result.

[0115] STEP: 07 The pole device 17 determines the height of the construction surface 53b relative to the horizontal reference plane O based on the corrected measurement result (hereinafter referred to as the corrected measurement result) and the height of the measurement reference position relative to the horizontal reference plane O. Since the distance measuring sensor 33 is the distance measuring camera 41, an image of the construction surface 53b and the height of each pixel in the image are determined.

[0116] STEP 08 The pole device 17 calculates the difference (error) in height between the preset construction finish surface 53a and the construction surface 53b, and acquires elevation information (unevenness data) in real time. Since elevation information can be acquired for each pixel, elevation information for the entire measurement range of the distance measuring camera 41, i.e., the unevenness map 54, can be acquired.

[0117] STEP: 09 The acquired unevenness map 54 is an unevenness map 54 based on the construction finishing surface 53a, and the pole device 17 converts the unevenness data into unevenness data based on the AR marker 32 based on the known positional relationship between the measurement reference position and the AR marker reference position, and converts the unevenness map 54 into an unevenness map 54 based on the AR marker 32 based on the converted unevenness data.

[0118] STEP 10: The converted unevenness data and the unevenness map 54 are transmitted to the mobile terminal 18 in real time.

[0119] If the measurement position is changed and the measurement is continued, STEP: 02 to STEP: 10 are repeated. The above-mentioned unevenness data and the unevenness map 54 may be collectively referred to as measurement data. Furthermore, the converted unevenness data and the unevenness map 54 may be collectively referred to as converted measurement data.

[0120] Next, the unevenness measurement operation using the portable terminal 18 will be described with reference to the flowchart of FIG.

[0121] STEP 11 First, the mobile terminal 18 is started up, and an image of the construction surface 53b is captured so as to include the AR marker 32.

[0122] STEP 12 The mobile device 18 recognizes the AR marker 32 in the image, and detects the tilt, tilt direction, and rotation angle (i.e., line of sight) of the AR marker 32 based on the shape of the pattern 38 formed on the AR marker 32. It also detects (calculates) the size of the pattern 38 and calculates the relative position and orientation of the AR marker 32 with respect to the mobile device 18 in real time.

[0123] STEP 13 The mobile terminal 18 receives the converted unevenness map and unevenness data from the pole device 17.

[0124] STEP 14 The mobile terminal 18 creates the AR image 51 based on the relative positional relationship between the mobile terminal 18 and the AR marker 32 and the unevenness data received from the pole device 17.

[0125] STEP 15: The mobile terminal 18 displays the created AR image 51 on the terminal display unit 47. The AR image 51 displayed on the terminal display unit 47 may be displayed by superimposing the unevenness map 54 on the construction surface 53b, or by further superimposing unevenness data on the unevenness map 54. The display mode of the unevenness distribution information can be selected from the terminal input unit 49 of the mobile terminal 18.

[0126] The processes from STEP 11 to STEP 15 are executed in real time in parallel with the unevenness measurement in the pole device 17. Furthermore, since the detection of the AR marker 32 and the creation of the AR image 51 are executed for each mobile terminal 18, unevenness measurement recognition can be performed for one pole device 17 by multiple mobile terminals 18.

[0127] In the second embodiment, an image including the AR marker 32, which is a three-dimensional object integral with the pole device 17, is acquired, and the relative position, posture, and line of sight direction of the pole device 17 with respect to the mobile terminal 18 can be determined based on the AR marker 32 in the image.

[0128] Therefore, there is no need to provide a projector on the pole device 17 and project an AR marker onto the construction floor surface 53, which makes it possible to reduce the number of parts and costs.

[0129] Furthermore, the AR marker 32 integrally provided on the pole device 17 can be recognized and the AR image 51 can be displayed, so that unevenness data can be grasped even when working at a bright construction site where it is difficult to see the projected video or image, thereby improving workability.

[0130] Although the above embodiment has been described with respect to the measurement of unevenness, it goes without saying that it is also possible to measure surface properties such as curvature and inclination of the surface to be measured in the same manner.

[0131] Although the mobile terminal 18 in the above embodiment has been mainly described as a smartphone or a tablet, it may also be a head-mounted display (HMD). By adding a terminal control unit 44, a terminal storage unit 45, etc. to the HMD and configuring it as shown in Fig. 5, the HMD can function not only as a display device but also as the mobile terminal 18.

[0132] When the mobile terminal 18 is an HMD type, both hands are free, so that the operator can carry out work while recognizing changes in the construction status and unevenness in real time.

[0133] In the second embodiment, the AR image 51 is created and displayed based on the AR marker 32 in the image captured by the imaging unit 46. On the other hand, even if the AR marker 32 is out of the field of view of the imaging unit 46, the AR image 51 may be created and displayed based on the last recognized position of the AR marker 32 and the gyro-acceleration sensor (IMU) of the second tilt sensor 34.

[0134] Furthermore, the AR marker 32 itself may be made to emit light by applying fluorescent paint to the AR marker 32 or by displaying the AR marker 32 on a monitor, so that the AR marker 32 can be recognized even when the construction site is dark.

[0135] In the above embodiment, the pole device 17 is supported by an operator and can be moved. Therefore, by moving the pole device 17 and changing the measurement range, it is possible to measure unevenness over a wide range.

[0136] The third embodiment will be described with reference to Figures 11 to 14. In Figure 11, the same components as those shown in Figure 1 are given the same reference numerals and their description will be omitted.

[0137] 11 shows an outline of a surveying system according to the third embodiment, and like the second embodiment, this surveying system 1 is mainly composed of a height measuring device 16, a pole device 55, and a portable terminal 18. Note that the portable terminal 18 is the same as in the second embodiment, so a description thereof will be omitted.

[0138] In the third embodiment, an optical distance measuring device with a tracking function, such as a total station 56, is used as the height measuring device 16. Examples of measuring devices with a tracking function include image tracking using an image sensor and shape tracking using a laser scanner.

[0139] The total station 56 is installed in a required position and leveled horizontally. The total station 56 is installed at a known height. That is, the total station 56 has a survey reference point, and is installed so that the three-dimensional coordinates of the survey reference point, at least the height coordinate (height position), are known. For example, referring to FIG. 14, assuming that the total station 56 is installed on a floor surface 52, and the floor surface 52 is the survey reference height, the height D from the floor surface 52 to the survey reference point is known.

[0140] The pole device 55 functions as a measuring device and has a prism 57 with retroreflective properties as a measurement target for measuring height. The optical center of the prism 57 and the measurement reference position of the distance measuring camera 41 have a known relationship. A reflective sheet may also be used as the measurement target.

[0141] The total station 56 has a telescope unit (not shown) that aims at the prism 57 as the measurement target, emits tracking light through the telescope unit to track the prism 57, and also emits distance measuring light through the telescope unit, receives reflected light from the prism 57, and performs optical distance measurement for the prism 57.

[0142] The general configuration of the total station 56 will be described with reference to FIG.

[0143] The total station 56 mainly has an arithmetic control unit 58, a TS communication unit 59, a memory unit 61, a distance measurement unit 62, a tracking unit 63, a horizontal angle detector 64, a vertical angle detector 65, a horizontal rotation drive unit 66, a vertical rotation drive unit 67, a display unit 68, and an operation unit 69.

[0144] The arithmetic and control unit 58 performs individual control as well as integrated control of the TS communication unit 59, distance measurement unit 62, tracking unit 63, horizontal rotation drive unit 66, vertical rotation drive unit 67, and display unit 68, including drive control and synchronization control.

[0145] The TS communication unit 59 communicates data with the pole device 55, and the tracking unit 63 emits tracking light and performs tracking by receiving reflected light from the prism 57. In parallel with tracking by the tracking unit 63, the distance measurement unit 62 emits distance measurement light and receives reflected light from the prism 57, and performs distance measurement with the prism 57 as the measurement target.

[0146] The horizontal angle detector 64 has a reference point and is designed to detect the horizontal angle of the optical axis of the telescope relative to this reference point. The vertical angle detector 65 is designed to detect the elevation angle relative to the horizontal.

[0147] The horizontal rotation drive unit 66 and the vertical rotation drive unit 67 rotate the telescope vertically and horizontally so as to track the prism 57. In addition, the horizontal angle detector 64 and the vertical angle detector 65 detect the horizontal angle and the vertical angle during distance measurement. Therefore, the total station 56 measures the distance to the prism 57 and also measures the three-dimensional coordinates of the prism 57.

[0148] The TS communication unit 59 transmits the measured three-dimensional coordinates to the pole device 55 in real time.

[0149] The operation unit 69 is used to input ON / OFF of the operation of the total station 56, settings of operating conditions, etc., and the display unit 68 displays the operating state of the total station 56, etc.

[0150] 13 shows an outline of a pole apparatus 55 of the third embodiment. The pole apparatus 55 of the third embodiment has a configuration substantially similar to that of the pole apparatus 17 of the second embodiment, and the pole apparatus 55 has the prism 57 instead of the optical receiver 31 (see FIG. 4), and is equipped with a communication unit 36 ​​for data communication with the total station 56.

[0151] The measurement of unevenness in the third embodiment will be described with reference to Fig. 14. In Fig. 14, the same reference numerals are used to designate the same parts as those shown in Fig. 6, and the description thereof will be omitted.

[0152] The total station 56 measures the prism 57 and transmits the three-dimensional coordinates of the prism 57 as measurement data from the TS communication unit 59 to the communication unit 36 ​​of the pole device 55. The communication unit 36 ​​inputs the received three-dimensional data into the calculation control unit 35.

[0153] The three-dimensional data is further input to the calculation processing unit 42, which obtains the height of the prism 57, that is, the height of the irradiation position of the distance measurement light of the total station 56, from the three-dimensional data.

[0154] The height of the irradiation position of the obtained distance measurement light is the height of the prism 57 (the height of the optical center of the prism 57) with the floor surface 52 (see FIG. 6) as the reference.

[0155] Furthermore, the calculation processing unit 42 can obtain the height of the ranging camera 41 relative to the floor surface 52 from the known relationship between the optical center of the prism 57 and the measurement reference position of the ranging camera 41 and the height of the prism 57.

[0156] Thus, the pole device 55 can measure the unevenness of the construction surface 53b from the measurement results of the distance measuring camera 41.

[0157] In the third embodiment, the height of the prism 57 measured by the total station 56 serves as the reference for measuring unevenness, and the total station 56 and the prism 57 function as a reference level measuring device that measures the level that serves as the reference for measuring unevenness.

[0158] The creation of the unevenness map 54 and the display of the AR image 51 on the terminal display unit 47 of the mobile terminal 18 are the same as in the second embodiment, and therefore a description thereof will be omitted.

[0159] When a total station 56 is used as the height measuring device 16 and the pole device 55 is tracked and measured, the pole device 55 can be made handy rather than being installed on the construction floor surface 53.

[0160] The height of the pole device 55 (i.e., the height of the prism 57) is measured in real time by the total station 56, and furthermore, the tilt of the pole device 55 (tilt of the distance measuring sensor 33) is detected in real time by the second tilt sensor 34, so that the accurate height of the distance measuring sensor 33 can be obtained by correcting the measured height of the pole device 55 by the detected tilt. Therefore, the amount of unevenness can be accurately measured from the measurement value of the distance measuring sensor 33.

[0161] Furthermore, for the handheld type, any configuration that can support the distance measurement sensor 33 and the calculation control unit 35 as a single unit instead of the pole 19 of the pole device 55 is sufficient.For example, various configurations are possible, such as a pole with a short rod-shaped handle (see Figure 15), a unit where the distance measurement sensor 33 and the calculation control unit 35 are integrated and a handle is attached, a unit attached to a helmet, a backpack type unit, and even a unit where the pole 19 is replaced by a drone.

[0162] It goes without saying that the created unevenness map is corrected in real time and transmitted to the mobile terminal 18.

[0163] When the pole device 55 can be tracked by the total station 56, the pole device 55 can be mounted on a remotely controlled self-propelled carriage.

[0164] A fourth embodiment will be described with reference to FIG.

[0165] The fourth embodiment relates to a case where the measurement target surface is a vertical surface such as a wall surface, and measures unevenness (concavities and depressions) on the vertical surface.

[0166] Figure 15 is a schematic diagram of the fourth embodiment. In Figure 15, 71 denotes the surface to be measured, which is a wall surface perpendicular to the ground. In Figure 15, the same reference numerals are used for parts equivalent to those shown in Figure 2, and their explanation will be omitted. Note that the wall surface may be inclined relative to the vertical.

[0167] The surveying system 1 according to the fourth embodiment is mainly composed of a pole device 72 and a portable terminal 18. The pole device 72 functions as a measuring device and is portable. The pole device 72 may be configured to be installable on the floor, as in the second embodiment. The portable terminal 18 is the same as in the second embodiment, and therefore a description thereof will be omitted.

[0168] The pole device 72 in the fourth embodiment has a ranging sensor 33 (ranging camera 41) as a first measuring instrument for spatially grasping the measurement target surface 71, an infrared camera 73 as a second measuring instrument capable of acquiring information for creating an AR image 51, such as landform data, and an AR marker 32.

[0169] The infrared camera 73 and the distance measuring camera 41 are mounted so that their optical axes are perpendicular to the axis of the pole 19. The optical axes of the infrared camera 73 and the distance measuring camera 41 are parallel, and the distance between the optical axes is known.

[0170] In addition, the AR marker 32 is provided at a predetermined position on the pole 19, and the positional relationships between the center of gravity (reference position) of the AR marker 32, the optical center of the infrared camera 73, and the optical center of the ranging camera 41 are all known.

[0171] The infrared camera 73 is configured to be able to acquire an infrared image having temperature information for each pixel of the imaging element. That is, the infrared camera 73 is able to acquire the temperature distribution of the measurement target surface 71. Furthermore, based on the infrared image, defects such as peeling and cracks that have occurred on the measurement target surface 71 can be detected.

[0172] The distance measuring camera 41 is a TOF camera and is configured to be able to acquire a distance information image having distance information for each of the imaging pixels. That is, the distance measuring camera 41 is able to acquire the surface texture of the measurement target surface 71.

[0173] The pole device 72 can create an image having distance information and temperature information for each pixel based on the known positional relationship between the optical center of the infrared camera 73 and the optical center of the distance measuring camera 41. The created image is transmitted to the mobile terminal 18.

[0174] By capturing an image that includes the AR marker 32, the mobile terminal 18 can recognize the AR marker 32 and the pattern 38 formed on the AR marker 32, and can determine the relative position and attitude of the pole device 72 with respect to the mobile terminal 18 based on the shape, size, rotation angle (direction of line of sight), etc. of the pattern 38.

[0175] Furthermore, the mobile terminal 18 can create the AR image 51 based on the received image and the position and attitude of the pole device 72. In the fourth embodiment, the AR image 51 is, for example, an image in which a temperature distribution is superimposed on the surface of the measurement target surface 71, and can be displayed on the terminal display unit 47 in a state where it is viewed from the direction in which the image is captured by the mobile terminal 18 (the direction of the line of sight).

[0176] Based on the AR image 51 displayed on the terminal display unit 47, the worker can identify areas of the measurement target surface 71 where defects such as peeling or falling have occurred, and perform work such as repairs.

[0177] In the fourth embodiment, the distance measuring camera 41 capable of acquiring distance information of the imaging range is used as the first measuring instrument (the distance measuring sensor 33) for spatially grasping the measurement target surface 71, and the infrared camera 73 is used as the second measuring instrument for acquiring information for creating the AR image 51, but the types of each measuring instrument are not limited to these.

[0178] For example, in order to spatially grasp the measurement target surface 71, it is sufficient to measure at least three points on the measurement target surface 71, so various measuring devices such as LiDAR (Light Detection And Ranging), structured light, and stereo cameras can be used.

[0179] Furthermore, as the second measuring instrument for creating the AR image 51, for example, a spectrometer may be used, and the salinity concentration of the measurement target surface 71 may be used.

[0180] Furthermore, as the second measuring instrument, a reference level measuring instrument that combines a height measuring instrument and a distance measuring sensor, as shown in the second and third embodiments (a reference level measuring instrument that measures the distance to the measurement target surface 71 in the fourth embodiment) may be used. In this case, the distance measuring sensor serves as both the first measuring instrument and the second measuring instrument. By using a height measuring system, it is also possible to measure the unevenness of the measurement target surface 71, which is a wall surface.

[0181] In the fourth embodiment, the case where the measurement target surface 71 is a wall surface has been described, but it goes without saying that the case where the measurement target surface is a ceiling surface can also be implemented in the same way.

[0182] Furthermore, in the first to fourth embodiments, the AR marker 32 is provided on the support 8 (see FIG. 1) or the pole 19. On the other hand, the AR marker 32 may be provided directly on other members constituting the measuring instrument or measuring device (pole device 17, 72). [Explanation of symbols]

[0183] 1. Surveying System 2. Measuring equipment 3. Mobile devices 7 AR Marker 11 Camera 16 Height measuring device 17 Pole Device 18 Mobile devices 22 Control Unit 31 Receiver 32 AR marker 33 Distance measurement sensor 41 Ranging camera 46 Imaging unit 47 Terminal display 51 AR images 54 Uneven Map

Claims

1. a control unit configured to convert measurement data acquired by the measuring instrument into measurement data based on the AR marker; and a communication unit configured to transmit the converted measurement data to the portable terminal. The portable terminal has a camera configured to acquire an image of the measurement object to include the AR marker, a terminal communication unit configured to receive the converted measurement data, a terminal control unit, and a display unit. The terminal control unit is configured to recognize the AR marker from the image, create an AR image based on the AR marker recognition result and the converted measurement data, and display the AR image on the display unit.

2. The surveying system of claim 1, wherein a predetermined pattern is formed on the AR marker, and the terminal control unit is configured to calculate the line of sight direction of the measurement object from the portable terminal and the relative position and attitude of the measurement device with respect to the portable terminal based on shape recognition of the pattern, and to correct the display position of the AR image based on the calculation results.

3. 2. The surveying system according to claim 1, wherein the measuring device further comprises a tilt sensor, and the control unit is configured to correct the converted measurement data based on a detection result of the tilt sensor.

4. 2. The surveying system according to claim 1, further comprising a reference level measuring device for setting a reference level for the measurement object, and the converted measurement data is unevenness data relative to the reference level.

5. The surveying system according to claim 4, wherein the control unit creates a colored unevenness map based on the unevenness data.

6. 5. The surveying system according to claim 4, wherein said reference level measuring device comprises a light receiver provided in said measuring device and a laser level planar that forms a reference plane at a predetermined distance from said measurement object.

7. 5. The surveying system according to claim 4, wherein said reference level measuring device comprises a prism provided in said measuring device and a total station provided at a known height.

8. The surveying system of claim 1, further comprising a second measuring instrument capable of acquiring information about the object to be measured, and the terminal control unit is configured to create the AR image based on the converted measurement data and the information acquired by the second measuring instrument.

9. A surveying method in a surveying system comprising a measuring device including an AR marker and a portable terminal having a display unit, comprising the steps of: measuring an object to be measured using the measuring device and acquiring measurement data; converting the measurement data based on the AR marker; transmitting the converted measurement data to the portable terminal; acquiring an image of the object to be measured using the portable terminal so as to include the AR marker; recognizing the AR marker from the image, creating an AR image based on the AR marker recognition result and the received converted measurement data; and displaying the AR image on the display unit.

Images