Survey system and survey program

Abstract

To provide a survey system and a survey program capable of easily executing calibration at an arbitrary timing at an arbitrary place.SOLUTION: A survey system includes a surveying instrument that is installed in accordance with a coordinate system of augmented reality and acquires a position of a measurement target object, and a survey program executed by a computer of a display device that displays digital information in a superimposed manner on an image of a site acquired by a camera. The survey program causes the computer to execute a step S3 of receiving at least one of the position and the irradiating direction of the target of the display acquired by the survey instrument, a step S4 of calculating a reference direction of the imaging direction based on at least one of the position and the irradiating direction received from the survey instrument when the imaging direction of the camera faces the irradiating direction, and a step S5 of updating the imaging direction detected by the inertial sensor of the display with the reference direction when the imaging direction faces the irradiating direction.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a surveying system and a surveying program used when performing on-site inspection work using augmented reality. [Background technology]

[0002] Augmented reality is being used at civil engineering and construction sites to check the construction and inspection of, for example, pillars and floors. Specifically, for example, digital information such as design models (e.g., CG (Computer Graphics)) is superimposed on images of the site captured by a camera mounted on a mobile device (i.e., display device) such as a smartphone, tablet, or laptop computer, and the images are displayed on the mobile device to check civil engineering and construction sites.

[0003] A mobile device has an inertial sensor that detects the mobile device's attitude and the camera direction (i.e., the imaging direction). Examples of inertial sensors include a gyro sensor, an acceleration sensor, and a magnetic sensor. In such inertial sensors, cumulative errors occur over time, which may require calibration of the detection results of the inertial sensor.

[0004] In response to this, Patent Documents 1 and 2 disclose techniques for performing calibration by acquiring images of markers placed at a site and improving the positional accuracy around the placed markers. However, the techniques disclosed in Patent Documents 1 and 2 have a problem in that calibration cannot be easily performed at any location and at any time, for reasons such as the need to place multiple markers whose positions have already been measured at the site. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] U.S. Patent No. 11,512,956 [Patent Document 2] US Patent Application Publication No. 2019 / 0094021 Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention has been made in view of the above circumstances, and has as its object to provide a surveying system and a surveying program that enable calibration to be easily performed at any location and at any time. [Means for solving the problem]

[0007] According to the present invention, the above problem is solved by a surveying system used when performing on-site inspection work using augmented reality, comprising: a surveying instrument installed in accordance with the coordinate system of the augmented reality, which irradiates a measuring object with a distance measuring light to measure the distance to the measuring object and detects the irradiation direction of the distance measuring light to obtain the position of the measuring object; and a surveying program executed by a computer in a display device that displays digital information superimposed on an image of the site acquired by a camera, wherein the surveying program causes the computer to execute the following steps: receiving at least one of the position and the irradiation direction of a target on the display device acquired in the coordinate system by the surveying instrument; calculating a reference direction of the imaging direction based on at least one of the position and the irradiation direction received from the surveying instrument when the imaging direction of the camera is directly facing the irradiation direction; and updating the imaging direction detected by the inertial sensor of the display device with the reference direction when the imaging direction is directly facing the irradiation direction.

[0008] According to the surveying system of the present invention, a surveying program executed by a computer of a display device, which displays digital information superimposed on an image of a site acquired by a camera, calculates a reference direction of the camera's imaging direction based on at least one of the position of the target on the display device and the irradiation direction of the ranging light received from the surveying instrument, provided that the imaging direction of the camera is directly facing the irradiation direction of the ranging light of the surveying instrument. The computer of the display device then executes control to update the imaging direction of the camera detected by the inertial sensor of the display device with the calculated reference direction when the imaging direction of the camera is directly facing the irradiation direction of the ranging light. Therefore, in the surveying system of the present invention, a site worker or the like can perform calibration to update the imaging direction of the camera detected by the inertial sensor of the display device (i.e., the attitude of the display device) without placing a marker on the site by directly facing the display device to the surveying instrument (i.e., directly facing the imaging direction of the camera of the display device to the irradiation direction of the ranging light of the surveying instrument). As a result, the surveying system of the present invention allows a site worker or the like to easily perform calibration at any location and at any time.

[0009] In the surveying system according to the present invention, the surveying program is preferably characterized in that, in the updating step, both the horizontal angle and vertical angle of the imaging direction detected by the inertial sensor are updated using the reference direction.

[0010] According to the surveying system of the present invention, the surveying program updates both the horizontal and vertical angles of the imaging direction of the camera detected by the inertial sensor with the calculated reference direction, thereby updating the imaging direction of the camera detected by the inertial sensor of the display with higher accuracy.

[0011] In the surveying system according to the present invention, the surveying instrument preferably measures the distance by collimating a telescope unit and obtains the position of the target by detecting the irradiation direction.

[0012] According to the surveying system of the present invention, the surveying instrument acquires the position of the target by collimating the telescope unit without tracking the target, which allows on-site workers to perform calibration more easily.

[0013] In the surveying system according to the present invention, the surveying instrument is preferably characterized in that it automatically acquires the position of the target by tracking the target, measuring the distance to the target, and detecting the irradiation direction.

[0014] According to the surveying system of the present invention, the surveying instrument tracks the target and automatically acquires the target's position. As a result, even if the hand of a worker holding the display shakes, the surveying instrument can automatically track the target and acquire the target's position. This makes it easier for on-site workers to perform calibration.

[0015] According to the present invention, the above problem is solved by a surveying system used when performing on-site inspection work using augmented reality, comprising: a surveying instrument installed in accordance with the coordinate system of the augmented reality, which irradiates a measuring object with a distance measuring light to measure the distance to the measuring object and detects the irradiation direction of the distance measuring light to acquire the position of the measuring object; and a display which displays digital information superimposed on an image of the site, wherein the display has a camera which acquires the image, an inertial sensor which detects the imaging direction of the camera, a target attached as the measuring object, and a control unit which displays the digital information superimposed on the image acquired by the camera, wherein the control unit receives at least one of the position and the irradiation direction of the target acquired by the surveying instrument in the coordinate system, and when the imaging direction is directly facing the irradiation direction, calculates a reference direction of the imaging direction based on at least one of the position and the irradiation direction received from the surveying instrument, and performs control to update the imaging direction detected by the inertial sensor with the reference direction when the imaging direction is directly facing the irradiation direction.

[0016] According to the surveying system of the present invention, the control unit of the display device, which displays digital information superimposed on an image of the site acquired by a camera, calculates a reference direction of the camera's imaging direction based on at least one of the target position of the display device and the irradiation direction of the ranging light received from the surveying instrument, provided that the imaging direction of the camera is directly facing the irradiation direction of the ranging light of the surveying instrument. When the imaging direction of the camera is directly facing the irradiation direction of the ranging light, the control unit updates the imaging direction of the camera detected by the inertial sensor of the display device with the calculated reference direction. Therefore, in the surveying system of the present invention, a site worker or the like can perform calibration to update the imaging direction of the camera detected by the inertial sensor of the display device (i.e., the attitude of the display device) by directly facing the display device to the surveying instrument (i.e., directly facing the irradiation direction of the ranging light of the surveying instrument) without placing a marker on the site. As a result, the surveying system of the present invention allows a site worker or the like to easily perform calibration at any location and at any time.

[0017] In the surveying system according to the present invention, the control unit is preferably configured to update both the horizontal angle and the vertical angle of the imaging direction detected by the inertial sensor using the reference direction.

[0018] In the surveying system according to the present invention, the control unit of the display unit updates both the horizontal and vertical angles of the imaging direction of the camera detected by the inertial sensor with the calculated reference direction, thereby updating the imaging direction of the camera detected by the inertial sensor of the display unit with higher accuracy.

[0019] In the surveying system according to the present invention, the surveying instrument preferably measures the distance by collimating a telescope unit and obtains the position of the target by detecting the irradiation direction.

[0020] According to the surveying system of the present invention, the surveying instrument acquires the position of the target by collimating the telescope unit without tracking the target, which allows on-site workers to perform calibration more easily.

[0021] In the surveying system according to the present invention, the surveying instrument is preferably characterized in that it automatically acquires the position of the target by tracking the target, measuring the distance to the target, and detecting the irradiation direction.

[0022] According to the surveying system of the present invention, the surveying instrument tracks the target and automatically acquires the target's position. As a result, even if the hand of a worker holding the display shakes, the surveying instrument can automatically track the target and acquire the target's position. This makes it easier for on-site workers to perform calibration.

[0023] According to the present invention, the above problem is solved by a surveying program executed by a computer of a display device that displays an image of the site acquired by a camera with digital information superimposed thereon, the surveying program causing the computer to execute the following steps: receiving at least one of the position and irradiation direction of the target acquired by a surveying instrument installed in accordance with an augmented reality coordinate system, irradiating a target on the display device with a ranging light in the coordinate system to measure the distance to the target and detecting the irradiation direction of the ranging light; calculating a reference direction for the imaging direction based on at least one of the position and irradiation direction received from the surveying instrument when the imaging direction of the camera is directly facing the irradiation direction; and updating the imaging direction detected by the inertial sensor of the display device with the reference direction when the imaging direction is directly facing the irradiation direction.

[0024] According to the surveying program of the present invention, the surveying program, executed by the computer of the display device that displays digital information superimposed on an image of the site acquired by a camera, calculates a reference direction of the camera's imaging direction based on at least one of the position of the target on the display device and the irradiation direction of the ranging light received from the surveying instrument, provided that the imaging direction of the camera is directly facing the irradiation direction of the ranging light of the surveying instrument, and causes the computer of the display device to execute control to update the imaging direction of the camera detected by the inertial sensor of the display device with the calculated reference direction when the imaging direction of the camera is directly facing the irradiation direction of the ranging light. Therefore, with the surveying program of the present invention, a site worker or the like can perform calibration to update the imaging direction of the camera detected by the inertial sensor of the display device (i.e., the attitude of the display device) by directly facing the display device to the surveying instrument (i.e., directly facing the irradiation direction of the ranging light of the surveying instrument) without placing a marker on the site. As a result, the surveying program of the present invention allows a site worker or the like to easily perform calibration at any location and at any time.

[0025] The surveying program according to the present invention is preferably characterized in that, in the updating step, both the horizontal angle and the vertical angle of the imaging direction detected by the inertial sensor are updated by the reference direction.

[0026] According to the surveying program of the present invention, the surveying program updates both the horizontal and vertical angles of the imaging direction of the camera detected by the inertial sensor with the calculated reference direction, thereby updating the imaging direction of the camera detected by the inertial sensor of the display device with higher accuracy.

[0027] In the surveying program of the present invention, it is preferable that the position of the target received in the receiving step is the position of the target obtained by the surveying instrument measuring the distance by aiming the telescope unit and detecting the irradiation direction.

[0028] According to the surveying program of the present invention, the target position received in the receiving step is the target position obtained by collimation of the telescope unit without the surveying instrument tracking the target, which allows on-site workers to perform calibration more easily.

[0029] In the surveying program of the present invention, the position of the target received in the receiving step is preferably the position of the target that is automatically obtained by the surveying instrument tracking the target, measuring the distance to the target, and detecting the irradiation direction.

[0030] According to the surveying program of the present invention, the target position received in the receiving step is the target position that the surveying instrument automatically acquires by tracking the target. This allows the surveying instrument to automatically track the target and acquire the target position even if the hand of a worker holding the display shakes. This makes it easier for on-site workers to perform calibration. [Effects of the Invention]

[0031] According to the present invention, it is possible to provide a surveying system and a surveying program that can easily perform calibration at any location and at any time. [Brief explanation of the drawings]

[0032] [Figure 1] 1 is a schematic diagram illustrating a surveying system according to an embodiment of the present invention. [Figure 2] FIG. 1 is a block diagram mainly showing the structural system of a surveying instrument according to a first specific example of the present embodiment. [Figure 3] FIG. 2 is a block diagram mainly showing a control system of a surveying instrument according to a first specific example of the present embodiment. [Figure 4] FIG. 10 is a schematic front view showing a surveying instrument according to a second specific example of the present embodiment. [Figure 5]FIG. 10 is a block diagram showing the configuration of the main parts of a surveying instrument according to a second specific example of the present embodiment. [Figure 6] FIG. 2 is a block diagram illustrating a display device according to the present embodiment. [Figure 7] 10 is a flowchart illustrating a calibration executed by a surveying program according to the present embodiment. [Figure 8] 3 is a schematic diagram illustrating AR display executed by an AR display program according to the embodiment. [Figure 9] FIG. 4 is a schematic diagram illustrating a calibration executed by a surveying program according to the present embodiment. [Figure 10] FIG. 4 is a schematic diagram illustrating a calibration executed by a surveying program according to the present embodiment. [Figure 11] FIG. 4 is a schematic diagram illustrating a calibration executed by a surveying program according to the present embodiment. [Figure 12] FIG. 4 is a schematic diagram illustrating a calibration executed by a surveying program according to the present embodiment. [Figure 13] FIG. 4 is a schematic diagram illustrating a calibration executed by a surveying program according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0033] Preferred embodiments of the present invention will now be described in detail with reference to the drawings. The embodiments described below are preferred examples of the present invention, and therefore various technically preferable limitations are applied thereto, but the scope of the present invention is not limited to these aspects unless otherwise specified in the following description to the effect that the present invention is particularly limited. Furthermore, in each drawing, similar components are designated by the same reference numerals, and detailed descriptions thereof will be omitted as appropriate.

[0034] FIG. 1 is a schematic diagram illustrating a surveying system according to an embodiment of the present invention. The surveying system 2 according to this embodiment is used when performing on-site inspection work using augmented reality. For example, the surveying system 2 according to this embodiment is used when workers or the like perform inspection work related to the construction and inspection of pillars, floors, etc. at civil engineering or construction sites.

[0035] As shown in FIG. 1, the surveying system 2 includes a surveying instrument 4 and a display 5. The surveying system 2 does not necessarily have to include the display 5. In other words, the surveying system 2 only needs to include the surveying instrument 4 and a surveying program 521 (see FIG. 6) stored in the memory unit 52 of the display 5, and does not necessarily have to include the display 5 as hardware. The surveying program 521 is not limited to being stored in the memory unit 52 of the display 5, but may be pre-stored and distributed in a storage medium readable by the control unit 51 (see FIG. 6) of the display 5, or may be downloaded to the display 5 via a network. In the following explanation, an example will be given in which the surveying system 2 includes the display 5.

[0036] The surveying instrument 4 has a computer 401, a storage unit 402 connected to the computer 401, and a communication unit 403 connected to the computer 401. The computer 401 has a control unit 46 (see FIG. 3) and executes various calculations and processes. In this specification, the term "computer" is not limited to a personal computer, but also includes an arithmetic processing unit, a microcomputer, etc. included in information processing equipment, and is a general term for equipment and devices that can realize the functions of the present invention by a program.

[0037] The display device 5 is a portable terminal device such as a smartphone, tablet computer, or mobile phone used by a worker on-site, and includes a computer 501, a storage unit 52 connected to the computer 501, a communication unit 53 connected to the computer 501, an inertial sensor 55 connected to the computer 501, and a camera 56 connected to the computer 501. The display device 5 is not limited to a tablet terminal held by a worker on-site, but may also be a head-mounted display attached to the worker on-site. The computer 501 includes a control unit 51 (see FIG. 6 ) and performs various calculations and processes. The display device 5 further includes a target 57.

[0038] 1, the surveying instrument 4 and the display device 5 are connected to each other so as to be able to communicate with each other wirelessly via the communication unit 403 of the surveying instrument 4 and the communication unit 53 of the display device 5. Specific examples of the surveying instrument 4 and the display device 5 will be described later.

[0039] Next, a specific example of the surveying instrument 4 of this embodiment will be described with reference to the drawings. FIG. 2 is a block diagram mainly showing the structural system of a surveying instrument according to a first specific example of this embodiment. FIG. 3 is a block diagram mainly showing a control system of a surveying instrument according to a first specific example of this embodiment. The surveying instrument 4 of this embodiment is not limited to the surveying instrument 4A according to the first specific example described with reference to FIGS.

[0040] The surveying instrument 4A according to this specific example is a collimation distance measuring unit, such as a so-called total station, which irradiates the measurement object 7 with distance measuring light 455 (see FIG. 3) by collimation of the telescope unit 45, measures the distance to the measurement object 7 based on reflected distance measuring light 456 (see FIG. 3) reflected by the measurement object 7 from the distance measuring light 455 (see FIG. 3) and an internal reference light (not shown), and detects the irradiation direction of the distance measuring light 455, i.e., the collimation direction of the telescope unit 45. In this way, the surveying instrument 4A measures the distance and angle of the measurement object 7 and acquires the position of the measurement object 7.

[0041] The measurement object 7 for which the surveying instrument 4A measures distance and angle includes a target 57 provided on the display 5. That is, the surveying instrument 4A measures distance and angle for the target 57, such as a prism, as the measurement object 7, and acquires the position of the target 57. The prism used as the target 57 is not particularly limited, and may be, for example, a full-circumference prism, a spherical prism, or a planar prism. Furthermore, the target 57 is not limited to a prism, and may be a reflective sheet, a marker, or the like.

[0042] The surveying instrument 4A has a leveling unit 41, a base unit 42, a horizontal rotation unit 43, a vertical rotation unit 44, a telescope unit 45, a control unit 46, an operation display unit 47, and a base unit 48. The surveying instrument 4A may have an automatic tracking function that automatically searches for a target 57 as the object 7 to be measured.

[0043] The control unit 46 has a calculation unit 461, a distance measurement unit 462, a horizontal rotation drive unit 463, a vertical rotation drive unit 464, and an image processing unit 469. The calculation unit 461 is, for example, a CPU (Central Processing Unit), and executes program startup, signal control processing, calculations, drive control of the display unit 471 of the operation display unit 47, etc., based on signals (commands) transmitted from the operation input unit 472 of the operation display unit 47. In other words, the calculation unit 461 controls the entire surveying instrument 4A, and causes the display unit 471 to display surveying conditions, measurement results (distance measurement results and angle measurement results), image processing results (image of the collimation range), etc.

[0044] Distance measurement unit 462, horizontal rotation drive unit 463, vertical rotation drive unit 464, and image processing unit 469 are realized by calculation unit 461 executing a program stored (memorized) in storage unit 402. Note that distance measurement unit 462, horizontal rotation drive unit 463, vertical rotation drive unit 464, and image processing unit 469 may be realized by hardware or a combination of hardware and software.

[0045] The storage unit 402 stores, for example, a sequence program for measurement, an image processing program for image processing, an arithmetic program, etc. The storage unit 402 may be, for example, a semiconductor memory built into the surveying instrument 4A. Alternatively, the storage unit 402 may be any of a variety of storage media connectable to the surveying instrument 4A, such as a CD (Compact Disc), a DVD (Digital Versatile Disc), a RAM (Random access memory), a ROM (Read only memory), a hard disk, or a memory card.

[0046] The leveling unit 41 is a part that is attached to a tripod (not shown) and has, for example, three adjustment screws 411. Leveling of the leveling unit 41 is performed by adjusting the adjustment screws 411 so that an inclination sensor (not shown) provided on the base unit 42 detects horizontality at the surveying position. In other words, the base unit 42 is maintained horizontal at the surveying position by leveling using the adjustment screws 411.

[0047] The horizontal rotation unit 43 has a horizontal rotation shaft 431, a bearing 432, a horizontal drive motor 433, and a horizontal angle detector (e.g., an encoder) 434. The horizontal rotation shaft 431 has a vertical axis 436 extending vertically, and is rotatably supported on the base unit 48 via the bearing 432. The base unit 42 is supported by the horizontal rotation shaft 431, and rotates horizontally around the vertical axis 436 integrally with the horizontal rotation shaft 431 by the driving force transmitted from the horizontal drive motor 433.

[0048] The rotation angle of the horizontal rotation shaft 431 relative to the base unit 48 (i.e., the rotation angle of the support unit 42) is detected by a horizontal angle detector 434. The detection result of the horizontal angle detector 434 is input to a calculation unit 461. The drive of the horizontal drive motor 433 is controlled by a horizontal rotation drive unit 463 based on the detection result of the horizontal angle detector 434.

[0049] The vertical rotation unit 44 has a vertical rotation shaft 441, a bearing 442, a vertical drive motor 443, and a vertical angle detector (e.g., an encoder) 444. The vertical rotation shaft 441 has a horizontal axis 446 extending horizontally, and is rotatably supported on the base unit 42 via the bearing 442. One end of the vertical rotation shaft 441 protrudes into the gap 421 of the base unit 42. The telescope unit 45 is supported on one end of the vertical rotation shaft 441 protruding into the gap 421 of the base unit 42, and rotates integrally with the vertical rotation shaft 441 in the vertical direction around the horizontal axis 446 by the driving force transmitted from the vertical drive motor 443.

[0050] The vertical angle detector 444 is provided at the other end of the vertical rotation shaft 441. The rotation angle of the vertical rotation shaft 441 relative to the base unit 42 (i.e., the rotation angle of the telescope unit 45) is detected by the vertical angle detector 444. The detection result of the vertical angle detector 444 is input to the calculation unit 461. The drive of the vertical drive motor 443 is controlled by the vertical rotation drive unit 464 based on the detection result of the vertical angle detector 444.

[0051] As described above, the telescope unit 45 is supported by the vertical rotation shaft 441 and rotates vertically around the horizontal axis 446 by the driving force transmitted from the vertical drive motor 443. The telescope unit 45 has a collimating telescope 458 and irradiates a distance measurement light 455 collimated onto a measurement object 7 including a target 57. The distance measurement light 455 is emitted on the distance measurement optical axis of the telescope unit 45. The distance measurement optical axis of the telescope unit 45 intersects with the vertical axis 436 and is perpendicular to the horizontal axis 446. The intersection of the distance measurement optical axis of the telescope unit 45 and the vertical axis 436 may be set at the machine reference point of the surveying instrument 4A. In the explanation of this specific example, a case will be taken as an example in which the machine reference point of the surveying instrument 4A is the intersection of the distance measurement optical axis of the telescope unit 45 and the vertical axis 436.

[0052] The telescope unit 45 has a distance measuring light emitting unit 451 , a distance measuring light receiving unit 452 , and a collimation light receiving unit 453 . The distance measurement light-emitting unit 451 is driven and controlled by the distance measurement unit 462. The distance measurement light-emitting unit 451 is provided inside the telescope unit 45 and emits distance measurement light 455, such as a laser beam, in a direction perpendicular to the horizontal axis 446. The distance measurement light 455 emitted from the distance measurement light-emitting unit 451 is irradiated onto the measurement object 7. As described above, the measurement object for which the surveying instrument 4A measures distance and angle is not limited to the measurement object 7, such as a building, but may be a target 57, such as a prism. The reflected distance measurement light 456 reflected by the measurement object 7 is received by the distance measurement light-receiving unit 452 provided inside the telescope unit 45. The distance measurement light-receiving unit 452 converts the brightness (light-receiving result) of the received reflected distance measurement light 456 into an electronic signal (light-receiving signal) and transmits the light-receiving signal to the distance measurement unit 462. The distance measuring light receiving unit 452 also receives an internal reference light (not shown) guided from a reference light optical unit (not shown), converts it into an electrical signal, and transmits it to the distance measuring unit 462 .

[0053] The distance measurement unit 462 calculates the distance to the measurement object 7 based on the light receiving signal transmitted from the distance measurement light receiving unit 452. That is, the reflected distance measurement light 456 and the internal reference light are converted into a reflected distance measurement light electric signal and an internal reference light electric signal, respectively, and sent to the distance measurement unit 462. The distance to the measurement object 7 is measured based on the difference in time interval between the reflected distance measurement light electric signal and the internal reference light electric signal. The calculation result of the distance measurement unit 462 is input to the calculation unit (CPU) 461.

[0054] The calculation unit 461 calculates the coordinates of the measurement object 7 based on the measured distance to the measurement object 7, the vertical angle detected by the vertical angle detector 444, and the horizontal angle detected by the horizontal angle detector 434. That is, the calculation unit 461 measures the distance to the measurement object 7 and detects the irradiation direction of the distance measuring light 455, thereby obtaining three-dimensional coordinates (three-dimensional data) of a measurement point on the measurement object 7. Alternatively, the calculation unit 461 may calculate the coordinates of a machine reference point of the surveying instrument 4A relative to a predetermined position (for example, the surveying start position) based on the measured distance to the measurement object 7, the vertical angle detected by the vertical angle detector 444, and the horizontal angle detected by the horizontal angle detector 434.

[0055] The collimation light receiving unit 453 is an image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and receives reflected collimation light 457 having a wavelength range different from that of the reflected distance measuring light 456. The reflected collimation light 457 is light having a wavelength range different from that of the reflected distance measuring light 456 and is light reflected by the measurement object 7. In other words, the collimation light receiving unit 453 receives the reflected collimation light 457 reflected by the measurement object 7 and receives an image of the measurement object 7. Examples of the reflected collimation light 457 include natural light and infrared light. However, the reflected collimation light 457 is not limited to these. The reflected collimation light 457 is received by the collimation light receiving unit 453 provided inside the telescope unit 45. The collimation light receiving unit 453 converts the brightness (light receiving result) of the reflected collimation light 457 into an electronic signal (image signal), and transmits the image signal to the image processing unit 469 .

[0056] The image processing unit 469 performs image processing on the image signal transmitted from the collimation light receiving unit 453 and transmits the image data signal to the calculation unit 461. The calculation unit 461 performs calculations based on the image data signal transmitted from the image processing unit 469, and controls the display unit 471 of the operation display unit 47 to display an image of the collimation range of the telescope unit 45.

[0057] FIG. 4 is a schematic front view showing a surveying instrument according to a second specific example of this embodiment. FIG. 5 is a block diagram showing the configuration of the main parts of a surveying instrument according to a second specific example of this embodiment. In addition, in cases where the components of the surveying instrument 4B according to the second specific example are similar to the components of the surveying instrument 4A according to the first specific example described above with reference to Figures 2 and 3, duplicate explanations will be omitted as appropriate, and the following explanation will focus on the differences. Furthermore, the surveying instrument 4 of this embodiment is not limited to the surveying instrument 4B according to the second specific example described with reference to FIGS.

[0058] The surveying instrument 4B according to this example is called, for example, a layout navigator, and is a unit having a tracking function, a distance measurement function, an angle measurement function, and a laser pointer function.

[0059] The guide light irradiator 61 is a part that irradiates light to guide the operator to the position of the irradiation target of the measurement laser light. The guide light irradiator 61 of this embodiment has a first irradiator 611 and a second irradiator 612. The first irradiator 611 and the second irradiator 612 each have a light emitting diode and irradiate guide lights G and R of different colors. For example, the first irradiator 611 irradiates green guide light G to the left in a planar view. For example, the second irradiator 612 irradiates red guide light R to the right in a planar view. The boundary between the green guide light G and the red guide light R coincides with the optical axis of the laser light emitted toward the irradiation target position.

[0060] As a result, for example, after aiming at the direction of a reference point to be surveyed (e.g., a stakeout point), when the guide lights G and R are emitted, the worker can determine that the red light indicates that the position is shifted to the right of the optical axis, and that the green light indicates that the position is shifted to the left of the optical axis. Therefore, the surveying instrument 4B can guide the worker to a position where the red and green colors appear approximately equal. After guiding the worker to a certain extent to the irradiation target position with the light from the guide light emitting unit 61, the surveying instrument 4B tracks a target 57 such as a prism with a laser light emitted from the main body of the surveying instrument 4B, and then determines the position of the measurement target and performs distance and angle measurement.

[0061] The base unit 48 is connected to the leveling unit 41 and supports the base unit 42 provided on the base unit 48. The base unit 48 rotates the base unit 42 and the laser emission unit 62 supported by the base unit 42 in the horizontal direction as a unit. The base unit 48 has a horizontal drive motor 433 and a horizontal drive gear 437 driven by the horizontal drive motor 433. The horizontal drive gear 437 and a horizontal rotation shaft 431 protruding from the base unit 42 mesh with each other. This allows the base unit 42 to rotate freely in the horizontal direction. In addition, a horizontal angle detector 434 (encoder, etc.) is provided inside the base unit 48 to detect the rotation angle of the horizontal rotation shaft 431. This detects the horizontal rotation angle of the main body of the surveying instrument 4B.

[0062] The base 42 has a U-shape as a whole and rotatably supports the laser emission unit 62 inside. The base 42 has a vertical drive gear 447 and a vertical drive motor 443 that drives the vertical drive gear 447. The vertical drive gear 447 is engaged with a vertical rotation shaft 441 that is connected to the laser emission unit 62 and can rotate in the vertical direction. This allows the laser emission unit 62 to rotate freely in the vertical direction. In addition, the base 42 is provided with a vertical angle detector 444 (encoder or the like) that detects the rotation angle of the vertical rotation shaft 441. This allows the vertical rotation angle of the laser emission unit 62 to be detected.

[0063] In this way, the vertical rotation shaft 441, the horizontal rotation shaft 431, the vertical drive gear 447, the horizontal drive gear 437, the vertical drive motor 443, and the horizontal drive motor 433 work together to orient the laser emission unit 62 in the desired horizontal and vertical directions. Furthermore, the vertical angle detector 444 and the horizontal angle detector 434 can detect the rotation angles of the laser emission unit 62 rotated in the horizontal and vertical directions.

[0064] The laser emission unit 62 is rotatable and emits laser light toward an irradiation target. In this embodiment, the laser emission unit 62 is connected to a vertical rotation shaft 441 provided on the base unit 42 and rotates vertically together with the vertical rotation shaft 441. The laser emission unit 62 has an overall cylindrical or box-like shape. The tip of the laser emission unit 62 is a glass cover body 63 through which the laser light passes, and is also called the lens barrel. The cover body 63 has an emission point SP. The emission point SP is the point where the laser light passes through and is emitted toward the transmission window 64.

[0065] The surveying instrument 4B having the above configuration performs a tracking function, a distance and angle measurement function, and a laser pointer function. These three functions will be explained below mainly with reference to the block diagram in FIG.

[0066] The tracking function is a function of tracking a target 57 (irradiation target) such as a retroreflective prism. A known configuration can be used to achieve the tracking function. Specifically, the laser emitting unit 62 includes a light emitting element 621 such as a laser diode, a light receiving element 622 that receives reflected light from the irradiated target 57, and a mirror (not shown) and lens 624 for aligning the optical axis of the emitted laser light with the optical axis of the reflected light from the target 57. The mirror (not shown) and lens 624 are examples of optical components that convert the laser light emitted from the light emitting element 621 into parallel light or a light beam having a desired divergence angle. When the target 57 reaches a predetermined position by the tracking function, the control unit 46 issues an instruction to turn off the guide light G and R from the guide light emitting unit 61, thereby stopping the irradiation of the guide light G and R. This allows the operator or the like to recognize that the target 57 has been locked.

[0067] The distance and angle measurement function measures distance and angle after the target 57 is locked. A known configuration can be used to perform the distance and angle measurement function. Specifically, the laser emission unit 62 includes a light-emitting element 625, such as a laser diode, that emits laser light of a wavelength different from that of the tracking function, a light-receiving element 626 that receives the light reflected from the illuminated target 57, and a mirror (not shown) and lens 627 for aligning the optical axis of the emitted laser light with the optical axis of the light reflected from the target 57. The mirror (not shown) and lens 627 are examples of optical components that convert the laser light emitted from the light-emitting element 625 into a parallel beam or a beam with a desired divergence angle. Based on the light-receiving element 626's light reception results and the detection results of the horizontal angle detector 434 and the vertical angle detector 444, the control unit 46 performs distance and angle measurement using known calculations to obtain the position of the target 57.

[0068] That is, the control unit 46 calculates the coordinates of the target 57 based on the measured distance to the target 57, the vertical angle detected by the vertical angle detector 444, and the horizontal angle detected by the horizontal angle detector 434. That is, the control unit 46 measures the distance to the target 57 and detects the irradiation direction of the laser light as the distance measuring light, thereby acquiring the three-dimensional coordinates (three-dimensional data) of the measurement point on the target 57.

[0069] The laser pointer function is a function for illuminating and tracing various reference points or index points of a structure with a laser pointer light. For example, a laser light is emitted vertically from a reference point on the ground measured using the tracking function and distance and angle measurement function to trace the reference point on each floor of the structure (hereinafter referred to as "vertical measurement"), or a laser light is emitted to the position of a pillar based on the reference point on each floor to trace a pre-stored design drawing on the structure. In this way, the surveying instrument 4B according to this example can be used not only for civil engineering surveying such as for determining pile driving points, but also for construction.

[0070] A known configuration can be used to achieve the laser pointer function. A light-emitting element 628 that emits laser light LB with a wavelength different from that of the tracking light-emitting element 621 and the distance and angle measurement light-emitting element 625 is provided inside the laser emission unit 62. The light-emitting element 628 has a laser diode or the like and emits visible light. The laser light LB emitted from the light-emitting element 628 is emitted to the outside via a known mirror (not shown), lens 629, or the like so that the optical axis of the laser light LB coincides with that of the laser light emitted from the distance and angle measurement light-emitting element 625. The mirror (not shown) and lens 629 are examples of optical components that convert the laser light emitted from the light-emitting element 628 into parallel light or a light beam having a desired divergence angle.

[0071] The tracking function, distance and angle measurement function, and laser pointer function are performed by the control unit 46 controlling each unit based on various programs stored in the memory unit 402. Design data such as reference points is also stored in the memory unit 402. Examples of programs include a program for controlling distance and angle measurement operations for the intended position of the target object, a program for calculating distance and angle through distance and angle measurement operations, a program for calculating angles based on horizontal angle data and vertical angle data, a program for performing vertical measurement, a program for controlling the laser pointer light based on design data, and a program for setting measurement conditions. Examples of the memory unit 402 include various storage devices such as a magnetic hard disk, an optical DVD, and a semiconductor memory device such as a RAM, ROM, or memory card.

[0072] As shown in FIG. 4, the support unit 42, the laser emission unit 62, the guide light irradiation unit 61, the control unit 46, the storage unit 402, etc. are housed inside a housing 65, which is a cover.

[0073] Next, the display 5 of this embodiment will be described with reference to the drawings. FIG. 6 is a block diagram showing the display of this embodiment.

[0074] The display device 5 is a portable terminal device such as a smartphone, tablet computer, or mobile phone used by on-site workers, etc., and has a control unit 51, a memory unit 52, a communication unit 53, a display unit 54, an inertial sensor 55, a camera 56, and a target 57.

[0075] The control unit 51 is, for example, a CPU, and executes various calculations and processes by reading out a program (not shown) stored in the storage unit 52. For example, the control unit 51 executes a process of receiving an electronic signal (image signal) relating to an image of the site acquired by the camera 56 from the camera 56 and storing the signal in the storage unit 52.

[0076] The storage unit 52 stores a surveying program 521 and an AR display program 522. The storage unit 52 may be a semiconductor memory or a hard disk drive built into the display device 5. Alternatively, the storage unit 52 may be an external storage device connected to the computer 501 (see FIG. 1).

[0077] The surveying program 521 is a program that causes the computer 501 of the display device 5 to perform calibration. In other words, the control unit 51 reads out the surveying program 521 stored in the storage unit 52 and performs calibration. Details of the calibration that the control unit 51 reads out and executes the surveying program 521 will be described later.

[0078] As described above with respect to Figure 1, the surveying program 521 is not limited to being stored in the memory unit 52 of the display unit 5, but may be pre-stored and distributed on a storage medium readable by the control unit 51 of the display unit 5, or may be downloaded to the display unit 5 via a network.

[0079] The AR display program 522 is a program that causes the computer 501 of the display device 5 to execute a process for displaying augmented reality (AR). In other words, the control unit 51 reads out the AR display program 522 stored in the storage unit 52, and executes a process for superimposing digital information (e.g., CG (Computer Graphics)) such as a design model on an image of the site acquired by the camera 56 and displaying the superimposed digital information on the image of the site acquired by the camera 56 on the display unit 54, based on information regarding the position (three-dimensional coordinates) and direction of the viewpoint of the camera 56. In other words, the control unit 51 can execute a process for displaying augmented reality.

[0080] The display unit 54 is, for example, a display including a liquid crystal panel. Alternatively, the display unit 54 may be a display including a touch panel that can detect, for example, contact with a human finger. In this case, the worker or the like can input various information, such as necessary information, by operating the display unit 54.

[0081] The inertial sensor 55 is built into the display device 5 and detects the attitude of the display device 5 and the orientation of the camera 56 (i.e., the imaging direction of the camera 56). Examples of the inertial sensor 55 include a gyro sensor, an acceleration sensor, and a magnetic sensor.

[0082] The camera 56 has optical components such as a lens and an image sensor such as a CCD or CMOS, and captures an image of the site. The image captured by the camera 56 is transmitted as an electronic signal (image signal) to the control unit 51 and the storage unit 52. The control unit 51 then executes processing to display the image captured by the camera 56 on the display unit 54. As described above, the control unit 51 also executes AR display processing to superimpose digital information on the image of the site captured by the camera 56 and display it on the display unit 54.

[0083] The target 57 is attached to the housing of the display device 5 as the measurement object 7 (see FIG. 3) described above with reference to FIGS. 2 and 3 and the irradiation object described above with reference to FIGS. 4 and 5. That is, the target 57 is attached at a position where the distance measurement light 455 (see FIG. 3) can be irradiated by the collimation or tracking function of the telescope unit 45 of the surveying instrument 4A according to the first specific example. Alternatively, the target 57 is attached at a position where the laser light emitted from the light-emitting element 625 (see FIG. 5) can be irradiated by the tracking function of the surveying instrument 4B according to the second specific example. The attachment position of the target 57 and the optical axis of the camera 56 have a relationship in which there is a predetermined offset between them. That is, the attachment position of the target 57 with respect to the optical axis of the camera 56 is known. The position and direction of the viewpoint of the camera 56 can be determined from the measurement value related to the position of the target 57 and the attitude of the display device 5. Examples of the target 57 include a prism, a reflective sheet, and a target marker.

[0084] Next, the calibration that the control unit 51 of the display device 5 reads and executes the surveying program 521 will be described with reference to the drawings. FIG. 7 is a flowchart illustrating the calibration executed by the survey program according to this embodiment. FIG. 8 is a schematic diagram illustrating AR display executed by the AR display program according to this embodiment. 9 to 13 are schematic diagrams for explaining the calibration executed by the survey program according to this embodiment. Specifically, the calibration that the control unit 51 of the display device 5 reads out and executes the surveying program 521 relates to the processing of steps S3 to S5 shown in FIG.

[0085] First, when the surveying program 521 according to this embodiment is executed, it is assumed that the three-dimensional coordinate data of the digital information (CG of a design model, etc.) to be displayed superimposed on the image of the site acquired by the camera 56 is stored in the storage unit 52. It is also assumed that the surveying instrument 4 is installed so as to match the coordinate system of the digital information to be displayed superimposed on the image of the site acquired by the camera 56 (hereinafter, for convenience of explanation, referred to as the "augmented reality coordinate system").

[0086] As shown in Figure 8, when the control unit 51 reads the AR display program 522 and executes the AR display process, it executes a process of superimposing digital information 582 such as a design model on an image 581 of the site acquired by the camera 56 based on the imaging direction of the camera 56 detected by the inertial sensor 55 and displaying the image on the display unit 54.

[0087] Here, cumulative errors occur over time in the inertial sensor 55 of the display device 5. For this reason, calibration of the detection results of the inertial sensor 55 may be necessary.

[0088] In contrast to this, in the surveying system 2 according to this embodiment, first, in step S1 shown in Fig. 7, the surveying instrument 4 irradiates the target 57 on the display 5 with distance measurement light. At this time, the surveying instrument 4 may irradiate the target 57 on the display 5 with distance measurement light by collimating the telescope unit 45 (see Fig. 2), or may track the target 57 on the display 5 with a tracking function and irradiate the target 57 on the display 5 with distance measurement light.

[0089] Subsequently, in step S2 shown in FIG. 7, the surveying instrument 4 measures the distance and angle of the target 57 on the display 5, and acquires the position of the target 57 on the display 5 and the irradiation direction A1 of the distance measurement light (see FIG. 9). Next, in step S3 shown in Figure 7, the control unit 51 of the display unit 5 receives at least one of the position of the target 57 of the display unit 5 and the irradiation direction A1 of the ranging light acquired by the surveying instrument 4 from the surveying instrument 4 via the communication unit 403 of the surveying instrument 4 and the communication unit 53 of the display unit 5.

[0090] Next, in step S4 shown in Figure 7, when the imaging direction A2 (see Figure 9) of the camera 56 is directly facing the irradiation direction A1 of the ranging light, the control unit 51 of the display device 5 calculates the reference direction of the imaging direction A2 based on at least one of the position of the target 57 of the display device 5 received from the surveying instrument 4 and the irradiation direction A1 of the ranging light.

[0091] 11, when the orientation of the camera 56 (i.e., the imaging direction A2) is directed toward the surveying instrument 4, if the aim 583 of the image 581 of the site acquired by the camera 56 (i.e., the image 581 displayed on the display unit 54) is not aligned with the surveying instrument 4, the imaging direction A2 of the camera 56 does not face the irradiation direction A1 of the ranging light. In this case, as shown in FIG. 12, for example, the worker or the like adjusts the imaging direction A2 of the camera 56 so that the aim 583 of the image 581 of the site acquired by the camera 56 is aligned with the surveying instrument 4.

[0092] 12, the control unit 51 of the display device 5 may calculate the direction of the surveying instrument 4 based on an image 581 of the site acquired by the camera 56, correct a deviation between the direction of the surveying instrument 4 and a sight 583, and execute control to align the sight 583 of the image 581 with the surveying instrument 4. In this case, the control unit 51 of the display device 5 may calculate the direction of the surveying instrument 4 by using a distance measuring light or a guide light (for example, the guide lights G and R described above with reference to FIGS. 4 and 5) emitted from the surveying instrument 4.

[0093] Alternatively, the control unit 51 of the display device 5 may display on the display unit 54 guidance to automatically calculate the direction of the surveying instrument 4 based on the image 581 of the site when the distance between the surveying instrument 4 and the target 57 is less than a certain value based on the position of the target 57 of the display device 5 received from the surveying instrument 4. On the other hand, the control unit 51 of the display device 5 may display on the display unit 54 guidance that the imaging direction A2 of the camera 56 needs to be manually adjusted so that the aim 583 of the image 581 of the site is aligned with the surveying instrument 4 when the distance between the surveying instrument 4 and the target 57 is equal to or greater than a certain value based on the position of the target 57 of the display device 5 received from the surveying instrument 4.

[0094] 13, when the display device 5 is tilted relative to the horizontal plane, the control unit 51 of the display device 5 may perform correction using a tilt sensor built into the display device 5. However, even when the display device 5 is tilted relative to the horizontal plane, the control unit 51 of the display device 5 does not necessarily have to perform correction.

[0095] 12 and 13 , when the sight 583 of the image 581 of the site acquired by the camera 56 is aligned with the surveying instrument 4, the imaging direction A2 of the camera 56 faces directly toward the irradiation direction A1 of the ranging light. At this time, for example, a worker or the like operates the execute button 584 displayed on the display unit 54 by touching it with a finger or the like. Then, the control unit 51 of the display unit 5 calculates the reference direction of the imaging direction A2 based on at least one of the position of the target 57 of the display unit 5 received from the surveying instrument 4 and the irradiation direction A1 of the ranging light.

[0096] For example, the control unit 51 of the display device 5 calculates the irradiation direction A1 of the distance measurement light based on the position of the surveying instrument 4 (e.g., three-dimensional coordinates of the machine reference point) in the augmented reality coordinate system 8 (see FIG. 10) and the position (three-dimensional coordinates) of the target 57 of the display device 5 in the augmented reality coordinate system 8, and calculates the reference direction of the imaging direction A2. Alternatively, the control unit 51 of the display device 5 directly uses the irradiation direction A1 of the distance measurement light received from the surveying instrument 4 to calculate the reference direction of the imaging direction A2. Note that the positional deviation between the camera 56 and the target 57 and the positional deviation between the guide light of the surveying instrument 4 (e.g., the first irradiator 611 and the second irradiator 612 described above with reference to FIGS. 4 and 5) and the machine reference point are appropriately corrected.

[0097] 10, when the angle between the X axis of the augmented reality coordinate system 8 and the irradiation direction A1 of the distance measurement light is "θ," the control unit 51 of the display device 5 calculates "θ-180°" as the reference direction of the imaging direction A2. For example, when the angle θ between the X axis of the augmented reality coordinate system 8 and the irradiation direction A1 of the distance measurement light is 200°, the control unit 51 of the display device 5 calculates 20° (=200°-180°) as the reference direction of the imaging direction A2.

[0098] 10 shows the arrangement of the surveying instrument 4 and the display device 5 when viewed in the vertical direction (i.e., the Z-axis direction of the augmented reality coordinate system 8). Therefore, the control unit 51 of the display device 5 calculates "θ-180°" as the reference direction of the horizontal angle of the imaging direction A2. The control unit 51 of the display device 5 may calculate the reference direction of the imaging direction A2 based on the vertical angle of the imaging direction A2. In this case, when the angle between the horizontal plane (i.e., the XY plane) of the augmented reality coordinate system 8 and the irradiation direction A1 of the ranging light is "θ", the control unit 51 of the display device 5 calculates "-θ" as the reference direction of the imaging direction A2 for the vertical angle of the imaging direction A2. For example, when the angle between the horizontal plane (i.e., the XY plane) of the augmented reality coordinate system 8 and the irradiation direction A1 of the ranging light is 30°, the control unit 51 of the display device 5 calculates -30° as the reference direction of the imaging direction A2 for the vertical angle of the imaging direction A2.

[0099] Next, in step S5 shown in Figure 7, the control unit 51 of the display unit 5 updates the imaging direction A2 of the camera 56 detected by the inertial sensor 55 of the display unit 5 when the imaging direction A2 of the camera 56 is directly facing the irradiation direction A1 of the ranging light, using the reference direction calculated by the control unit 51 of the display unit 5 (in the example described above, a horizontal angle of 20° and a vertical angle of -30°).

[0100] According to the surveying system 2 and surveying program 521 of this embodiment, the control unit 51 of the display device 5, which displays digital information 582 superimposed on an image 581 of the site acquired by the camera 56, calculates a reference direction for the imaging direction A2 of the camera 56 based on at least one of the position of the target 57 of the display device 5 received from the surveying instrument 4 and the irradiation direction A1 of the ranging light, provided that the imaging direction A2 of the camera 56 is directly facing the irradiation direction A1 of the ranging light of the surveying instrument 4, and performs control to update the imaging direction A2 of the camera 56 detected by the inertial sensor 55 of the display device 5 with the calculated reference direction when the imaging direction A2 of the camera 56 is directly facing the irradiation direction A1 of the ranging light.

[0101] Therefore, a worker on-site can perform calibration to update the imaging direction A2 of the camera 56 (i.e., the attitude of the display device 5) detected by the inertial sensor 55 of the display device 5 by facing the display device 5 directly to the surveying instrument 4 (i.e., facing the imaging direction A2 of the camera 56 of the display device 5 directly to the irradiation direction A1 of the distance measurement light of the surveying instrument 4) without placing a marker on-site. This allows a worker on-site to easily perform calibration at any location and at any time.

[0102] In addition, when the control unit 51 of the display device 5 updates both the horizontal angle and vertical angle of the imaging direction A2 of the camera 56 detected by the inertial sensor 55 using the calculated reference direction, the imaging direction A2 of the camera 56 detected by the inertial sensor 55 of the display device 5 is updated with higher accuracy.

[0103] Furthermore, when the surveying instrument 4 acquires the position of the target 57 on the display 5 by collimating the telescope unit 45, the position of the target 57 can be acquired by collimating the telescope unit 45 without tracking the target 57. This allows on-site workers to perform calibration more easily.

[0104] Furthermore, when the surveying instrument 4 tracks the target 57 on the display 5 and automatically acquires the position of the target 57, even if the hand of a worker holding the display 5 shakes, the surveying instrument 4 can automatically track the target 57 and acquire the position of the target 57. This allows on-site workers to perform calibration more easily.

[0105] The above describes the embodiments of the present invention. However, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the scope of the claims. The configurations of the above embodiments can be partially omitted or arbitrarily combined in a different manner from the above. [Explanation of symbols]

[0106] 2: Surveying system, 4: Surveying instrument, 4A: Surveying instrument, 4B: Surveying instrument, 5: Display, 7: Measurement object, 8: Augmented reality coordinate system, 41: Leveling unit, 42: Support unit, 43: Horizontal rotation unit, 44: Vertical rotation unit, 45: Telescope unit, 46: Control unit, 47: Operation display unit, 48: Base unit, 51: Control unit, 52: Memory unit, 53: Communication unit, 54: Display unit, 55: Inertial sensor, 56: Camera, 57: Target, 61: Guide light irradiation unit, 62: Laser emission unit, 63: Cover body, 64: Transparent window, 65: Housing, 401: Computer, 402: Memory unit, 403: Communication unit, 411: Adjusting screw, 421: Gap unit, 431: horizontal rotation shaft, 432: bearing, 433: horizontal drive motor, 434: horizontal angle detector, 436: vertical axis, 437: horizontal drive gear, 441: vertical rotation shaft, 442: bearing, 443: vertical drive motor, 444: vertical angle detector, 446: horizontal axis, 447: vertical drive gear, 451: distance measuring light emitting unit, 452: distance measuring light receiving unit, 453: collimation light receiving unit, 455: distance measuring light, 456: reflected distance measuring light, 457: reflected collimation light, 458: collimation telescope, 461: calculation unit, 462: distance measurement unit, 463: horizontal rotation drive unit, 464: vertical rotation drive unit, 469: image processing unit, 471: display unit, 472: operation input unit, 501: Computer, 521: Survey program, 522: AR display program, 581: Image, 582: Digital information, 583: Aiming, 584: Execution button, 611: First irradiation unit, 612: Second irradiation unit, 621: Light-emitting element, 622: Light-receiving element, 624: Lens, 625: Light-emitting element, 626: Light-receiving element, 627: Lens, 628: Light-emitting element, 629: Lens, A1: Irradiation direction, A2: Imaging direction, G: Guide light, LB: Laser light, R: Guide light, SP: Emission point

Claims

1. A surveying system used when conducting on-site inspection work using augmented reality, a surveying instrument that is installed in accordance with the coordinate system of the augmented reality, that irradiates a measuring object with a distance measuring light to measure the distance to the measuring object, and that acquires the position of the measuring object by detecting the irradiation direction of the distance measuring light; a surveying program executed by a computer of a display device that displays digital information superimposed on the image of the site acquired by the camera; Equipped with The surveying program is installed in the computer. receiving at least one of the position and the illumination direction of the target of the display device acquired in the coordinate system by the surveying instrument; calculating a reference direction of the imaging direction based on at least one of the position and the illumination direction received from the surveying instrument when the imaging direction of the camera faces the illumination direction; updating the imaging direction detected by an inertial sensor of the display device when the imaging direction is directly facing the illumination direction with the reference direction; A surveying system characterized by executing the above.

2. 2. The surveying system according to claim 1, wherein said surveying program updates both the horizontal angle and the vertical angle of said imaging direction detected by said inertial sensor with said reference direction in said updating step.

3. 2. The surveying system according to claim 1, wherein the surveying instrument measures the distance by collimating a telescope unit and obtains the position of the target by detecting the irradiation direction.

4. 2. The surveying system according to claim 1, wherein the surveying instrument automatically acquires the position of the target by tracking the target, measuring the distance to the target, and detecting the direction of irradiation.

5. A surveying system used when conducting on-site inspection work using augmented reality, a surveying instrument that is installed in accordance with the coordinate system of the augmented reality, that irradiates a measuring object with a distance measuring light to measure the distance to the measuring object, and that acquires the position of the measuring object by detecting the irradiation direction of the distance measuring light; a display that displays digital information superimposed on the image of the site; Equipped with The display includes: a camera for acquiring the image; an inertial sensor that detects the imaging direction of the camera; a target attached as the measurement object; a control unit that displays the digital information superimposed on the image acquired by the camera; and The control unit receives at least one of the position and the illumination direction of the target acquired in the coordinate system by the surveying instrument, calculates a reference direction of the imaging direction based on at least one of the position and the illumination direction received from the surveying instrument when the imaging direction is directly facing the illumination direction, and performs control to update the imaging direction detected by the inertial sensor using the reference direction when the imaging direction is directly facing the illumination direction.

6. The surveying system according to claim 5, wherein the control unit updates both the horizontal angle and the vertical angle of the imaging direction detected by the inertial sensor based on the reference direction.

7. 6. The surveying system according to claim 5, wherein the surveying instrument measures the distance by collimating a telescope unit and obtains the position of the target by detecting the irradiation direction.

8. 6. The surveying system according to claim 5, wherein the surveying instrument automatically acquires the position of the target by tracking the target, measuring the distance to the target, and detecting the irradiation direction.

9. A surveying program executed by a computer of a display that displays digital information superimposed on an image of a site acquired by a camera, The computer, a step of receiving at least one of the position of the target and the irradiation direction of the target acquired by a surveying instrument installed in accordance with the coordinate system of augmented reality by irradiating a distance measurement light onto a target on the display device in the coordinate system and measuring the distance to the target and detecting the irradiation direction of the distance measurement light; calculating a reference direction of the imaging direction based on at least one of the position and the illumination direction received from the surveying instrument when the imaging direction of the camera faces the illumination direction; updating the imaging direction detected by an inertial sensor of the display device when the imaging direction is directly facing the illumination direction with the reference direction; A surveying program characterized by executing the above.

10. 10. The surveying program according to claim 9, wherein in the updating step, both the horizontal angle and the vertical angle of the imaging direction detected by the inertial sensor are updated based on the reference direction.

11. 10. The surveying program according to claim 9, wherein the position of the target received in the receiving step is the position of the target obtained by the surveying instrument measuring the distance by aiming a telescope unit and detecting the irradiation direction.

12. The surveying program according to claim 9, wherein the position of the target received in the receiving step is the position of the target that is automatically acquired by the surveying instrument tracking the target, measuring the distance to the target, and detecting the irradiation direction.

Images