Surveying systems and methods

Abstract

Provided is a novel technology for collecting shape data by surveying the three-dimensional shape of an object at a work site, such as a tunnel face, as safely, quickly, and accurately as possible.　A survey system 1 comprises: a first device 40 that is transported by being attached to a work machine 13 of a construction machine 10 in a tunnel T; and a second device 50 that is handled by a worker OP1 at a distance from the first device 40 and communicates wirelessly with the first device 40. The second device 50 has a display screen 55 that receives and displays an image captured by a camera 46, and an input device 54 (a wireless input device 56) that allows the worker OP1 to specify the positions of markers 20 in the displayed image. The second device 50 is configured to be able to remotely operate the first device 40. Using movement data regarding the movement of the first device 40, and the relationship between the coordinate values of the markers 20 in a fixed coordinate system and the coordinate values of the markers 20 in a device coordinate system, three-dimensional coordinate data of a point cloud in the device coordinate system is converted to three-dimensional coordinate data of the point cloud in the fixed coordinate system.

Description

[Technical Field]

[0001] The present invention relates to a surveying system and a surveying method for measuring the shape of an object at a work site, and relates to a technique suitable for measuring the three-dimensional shape of a face in, for example, tunnel excavation or mining. [Background technology]

[0002] At tunnel excavation sites, it is desirable to measure the three-dimensional shape of the tunnel face after blasting and collect and utilize accurate tunnel face shape data in order to perform blasting with precision and to accurately shape the blasting. However, the tunnel face after blasting is dangerous as there is a risk of it collapsing. Non-patent documents 1 and 2 disclose technologies that allow workers to grasp the shape of the tunnel face without entering the face.

[0003] According to the disclosure of Non-Patent Document 1, the position and direction of the construction machine can be visualized in real time by tracking and measuring the distance between two prisms attached to the construction machine using two laser rangefinders installed approximately 50 to 100 meters behind the work position.The position of the hydraulic breaker's chisel tip can be derived by also utilizing information from inclinometers installed in the main body, arm, and hydraulic breaker of the construction machine.

[0004] The data comparing the above information with the design cross section is displayed on a monitor attached to the control panel of the construction machine, and by checking this, the operator can confirm the contact with the rock where the chisel tip has touched and the status of over-excavation. The operator can operate the hydraulic breaker while looking at the monitor screen.

[0005] According to the disclosure in Non-Patent Document 2, a high-speed 3D scanner mounted on the roof of the upper rotating body of a construction machine equipped with a breaker measures the excavation shape of the face after blasting. The point cloud data of the excavation shape is compared with the design cross section, and any remaining marks on the interior side of the design cross section line are displayed as a heat map on a monitor inside the heavy equipment cabin, allowing the operator of the construction machine to easily confirm the marks. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] “Taisei Corporation and others develop a system to visualize marks, reducing labor by 50% in removal work,” [online], March 31, 2021, BUILT, [Retrieved August 22, 2022], Internet<URL:https: / / built.itmedia.co.jp / bt / articles / 2103 / 30 / news037.html> [Patent Document 2] “Field trial of 'face excavation shape monitoring system' reduces excavation overcut and overflow by 20%”, [online], September 15, 2020, BUILT, [Retrieved August 22, 2022], Internet<URL:https: / / built.itmedia.co.jp / bt / articles / 2009 / 15 / news015.html> Summary of the Invention [Problem to be solved by the invention]

[0007] According to the technology described in Non-Patent Document 1, only the part of the face that is touched by the tip of the breaker of the construction machine is measured. It may take a long time to grasp the 3D shape of the entire face.

[0008] According to the technology described in Non-Patent Document 2, a high-speed 3D scanner mounted on a rotating upper body measures the shape of the face. Because the high-speed 3D scanner is separated from the face by a distance equal to or greater than the length of the boom and arm of the construction machine, the accuracy of measuring the face shape may be low. In addition, because the boom and arm get in the way of measurements by the high-speed 3D scanner, it may be difficult to grasp the 3D shape of the entire face, or it may take a long time to do so.

[0009] One object of the present invention is to provide a new technology for surveying the three-dimensional shape of an object at a work site, such as a working face, as safely, quickly, and accurately as possible, and collecting shape data. [Means for solving the problem]

[0010] A surveying system according to one embodiment is a surveying system for surveying the three-dimensional shape of an object at a site, and comprises: at least one marker placed at at least one location near the object within the site; a first device attached to and transported by a mobile machine within the site; and a second device operated by a worker located remotely from the first device and communicating wirelessly with the first device, wherein the first device has a position angle sensor that measures physical quantities related to the position and rotation angle or orientation of the first device, a camera, and a three-dimensional position measurement device that measures the three-dimensional position of a point cloud around the first device, and the second device has a display device that receives and displays images captured by the camera, and an input device that allows the worker to specify the position of the marker within the displayed image, allowing the first device to be operated remotely. The surveying system comprises: means for acquiring coordinate values ​​of the marker in a fixed coordinate system in which the position of the marker is uniquely determined; means for acquiring coordinate values ​​of the marker in a device coordinate system whose origin is the position of the first device; means for acquiring movement data regarding the movement of the first device using the position angle sensor; means for acquiring three-dimensional coordinate data of the point cloud in the device coordinate system using the three-dimensional position measurement device; and means for converting the three-dimensional coordinate data of the point cloud in the device coordinate system into three-dimensional coordinate data of the point cloud in the fixed coordinate system using the movement data and the relationship between the coordinate values ​​of the marker in the fixed coordinate system and the coordinate values ​​of the marker in the device coordinate system.

[0011] The surveying system can generate three-dimensional coordinate data of the point cloud in the fixed coordinate system by sequentially performing the following steps (1) to (4) on the markers. (1) adjusting the position of the mobile machine and photographing the marker with the first device; (2) displaying the captured image of the marker on the second device, and the worker designating one position in the image as the position of the marker; (3) moving the mobile machine to move the first device along a path that allows the first device to photograph the object from the position of the marker, and then photographing the object with the first device to measure three-dimensional coordinate data of the point cloud in the device coordinate system; (4) Using the one position specified by the worker as the position of the marker, the coordinate value of the marker in the fixed coordinate system, and the three-dimensional coordinate data of the point cloud in the device coordinate system, the three-dimensional coordinate data of the point cloud in the fixed coordinate system is generated.

[0012] The apparatus may further include a surveying device that measures the coordinate values ​​of the markers in the fixed coordinate system.

[0013] The second device may include a display unit for displaying on the display device thereof a surveyed area and an unsurveyed area of ​​the object so as to be distinguishable from each other.

[0014] A plurality of the markers may be provided, and the second device may include means for displaying the survey range corresponding to each marker on the display device of the second device.

[0015] The second device may include a display device for displaying the travel path of the first device on the display device.

[0016] The apparatus may further include means for calculating coordinate values ​​of the marker in the device coordinate system by the worker specifying the position of the marker displayed on the second device.

[0017] The apparatus may include means for automatically recognizing the marker in the display image by image processing and specifying the coordinate values ​​of the marker in the device coordinate system.

[0018] The surveying device may be a total station, which may be configured to emit a laser beam, measure the coordinate value of the marker in the fixed coordinate system using the part of the laser beam that hits the wall surface of the site as an optical marker, photograph the optical marker using the first device and display it on the display device of the second device, have the worker specify the position of the optical marker, and measure the coordinate value of the optical marker in the device coordinate system using the three-dimensional position measurement device.

[0019] The site may be a tunnel excavation site and the object may be a tunnel face.

[0020] The mobile machine may be a work machine of a construction machine used at the site.

[0021] The device may further comprise means for estimating an optimal travel route for the first device and displaying the estimated travel route on the display device of the second device.

[0022] A surveying method according to one embodiment is a surveying method using a surveying system that surveys the three-dimensional shape of an object at a site, the surveying system comprising: at least one marker placed at at least one location near the object at the site; a first device attached to and transported by a mobile machine at the site; and a second device that communicates wirelessly with the first device and is handled by a worker located remotely from the first device, the first device having a position angle sensor that measures physical quantities related to the position and rotation angle or orientation of the first device, a camera, and a three-dimensional position measurement device that measures the three-dimensional position of a point cloud around the first device, and the second device having a display device that receives and displays images captured by the camera and an input device that allows the worker to specify the position of the marker within the displayed image, allowing the first device to be operated remotely. The surveying method acquires coordinate values ​​of the marker in a fixed coordinate system in which the position of the marker is uniquely determined, operates the first device from the second device to acquire coordinate values ​​of the marker in a device coordinate system whose origin is the position of the first device, acquires movement data related to the first device using the position angle sensor, acquires three-dimensional coordinate data of the point cloud in the device coordinate system using the three-dimensional position measurement device, and converts the three-dimensional coordinate data of the point cloud in the device coordinate system into three-dimensional coordinate data of the point cloud in the fixed coordinate system using the movement data and the relationship between the coordinate values ​​of the marker in the fixed coordinate system and the coordinate values ​​of the marker in the device coordinate system.

[0023] The surveying method can generate three-dimensional coordinate data of the point cloud in the fixed coordinate system by sequentially performing the following steps (1) to (4) on the markers. (1) adjusting the position of the mobile machine and photographing the marker with the first device; (2) displaying the captured image of the marker on the second device, and the worker designating one position in the image as the position of the marker; (3) moving the mobile machine to move the first device along a path that allows the first device to photograph the object from the position of the marker, and then photographing the object with the first device to measure three-dimensional coordinate data of the point cloud in the device coordinate system; (4) Using the one position specified by the worker as the position of the marker, the coordinate value of the marker in the fixed coordinate system, and the three-dimensional coordinate data of the point cloud in the device coordinate system, the three-dimensional coordinate data of the point cloud in the fixed coordinate system is generated. [Effects of the Invention]

[0024] The present invention can provide a novel technique for surveying the three-dimensional shape of an object at a work site, such as a tunnel face, as safely, quickly, and accurately as possible, and collecting shape data. [Brief explanation of the drawings]

[0025] [Figure 1] 1 is a diagram showing the configuration of a surveying system at a tunnel excavation site according to an embodiment of the present invention; [Figure 2] FIG. 2 is a diagram showing the configuration of a main part of a first device. [Figure 3] FIG. 2 is a diagram showing the configuration of a main part of a second device. [Figure 4] 1 is a flowchart of work performed by a worker. [Figure 5] FIG. 10 is an explanatory diagram of a path along which a worker moves the first device. [Figure 6] FIG. 10 is a diagram showing an example of a measurement area of ​​a working face displayed on a display screen. [Figure 7] 10 shows a flowchart of a remote control program for the second device. [Figure 8] FIG. 10 is a diagram showing an example of remotely controlling a first device by a second device. [Figure 9] FIG. 10 is a diagram showing another example in which the first device is remotely controlled by the second device. [Figure 10] 10 is a flowchart of a surveying program of the first device. [Figure 11] 10 is a flowchart of control at the start of measurement in a survey program. [Figure 12] 10 is a flowchart of control during measurement in a survey program. [Figure 13]10 is a flowchart of control at the end of measurement in the survey program. [Figure 14] FIG. 10 is an explanatory diagram of a modified example of the marker. DETAILED DESCRIPTION OF THE INVENTION

[0026] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the embodiments described below do not limit the scope of the invention as claimed, and not all of the elements and combinations thereof described in the embodiments are necessarily essential to the solution of the invention.

[0027] FIG. 1 is a diagram showing the configuration of a surveying system at a tunnel excavation site according to one embodiment of the present invention.

[0028] At a tunnel excavation site, for example, the tunnel T is excavated by repeating the following steps. 1) Using blasting, excavate the face K to a depth of about 1 m along the direction of excavation. 2) After blasting, the face K is shaped by removing the imperfections (the part that protrudes inward of the tunnel (tunnel or tunnel) T from the tunnel's designed cross section) with construction machinery (for example, a backhoe with a rock-breaking breaker attached to the end of its arm), and filling in the over-excavation (the part that has been dug further than the tunnel's designed cross section) with concrete. 3) After shaping, insert support H (for example, arched H-shaped steel beams that support the tunnel walls) into the face.

[0029] The surveying system 1 of this embodiment is a system used to acquire three-dimensional shape data of the face K after blasting in order to enable accurate blasting in step 1) and accurate shaping in step 2). The surveying system 1 includes a construction machine 10, a plurality of markers 20, a surveying device 30, a first device 40, and a second device 50.

[0030] The construction machine 10 is, for example, a backhoe, and comprises a running body 11, a rotating body 12 rotatably mounted on the running body 11, and a work machine 13 attached to the rotating body 12. The work machine 13, which is a mobile machine, comprises a boom 14 rotatably mounted on the rotating body 12, an arm 15 rotatably mounted to the tip of the boom 14, and a head unit 16 attached to the tip of the arm 15. The head unit 16 is a so-called attachment, and the attachment is, for example, a breaker. A driver's cab 17 is provided on the rotating body 12, and a driver's cab 17 is mounted on the rotating body 12. The ...

[0031] The markers 20 are attached to predetermined positions on the support H. For example, five markers 20 are provided (see FIG. 5), which function as reflectors and are attached to the support H by magnets or the like.

[0032] The surveying device 30 is, for example, a total station. An operator OP2 operates the surveying device 30 to measure the position of each marker 20 and obtain its coordinates. The coordinate values ​​obtained by the surveying device 30 are coordinate values ​​(e.g., latitude, longitude, and altitude) in a fixed coordinate system (geodetic coordinate system) that uniquely determines the position of each marker 20. When the surveying device 30 measures the coordinate values ​​of each marker 20, the coordinates of each marker 20 are measured based on a plurality of reference coordinate points P1 and P2 within the tunnel T whose coordinate values ​​are known. The surveying device 30 has a communication device and transmits the measured coordinate values ​​of each marker 20 (e.g., marker No. 1 (X1, Y1, Z1)) to the first device 40 via a wireless communication channel C.

[0033] FIG. 2 is a diagram showing the configuration of the main part of the first device 40. As shown in FIG. The first device 40 is a mobile terminal device such as a smartphone, and has a CPU (Central Processing Unit) 41, a communication device 42, a position angle sensor 43, a 3D position measurement device 44, storage 45, a camera 46, and a display screen 47. The first device 40 is attached to the head 16 of the work machine 13 of the construction machine 10. This makes it possible to use the construction machine 10, which is an existing resource on-site, minimizing the introduction of additional machinery and facilitating entry into dangerous spaces such as directly below the working face K. Furthermore, the working machine 13 of the construction machine 10 has a wide variable range of movement and angle, making it suitable for surveying the entire working face K.

[0034] The CPU 41 is a central processing unit that performs overall control of the first device 40. The communication device 42 transmits a GUI (Graphical User Interface) to the second device 50 via a wireless communication channel C and receives input signals from the second device 50. The communication device 42 receives coordinates of each surveyed marker 20 from the surveying device 30. The position angle sensor 43 includes an IMU (Inertial Measurement Unit) and a geomagnetic sensor. The IMU includes, for example, a three-axis acceleration sensor and a three-axis gyro sensor. The IMU accurately measures the movement of the first device 40 in three dimensions, such as the travel distance (position) and attitude (rotation angle). The geomagnetic sensor detects the geomagnetism to measure the orientation of the first device 40.

[0035] The three-dimensional position measurement device 44 is, for example, a LiDAR (Light Detection and Ranging) device that generates point cloud data by irradiating the surroundings with laser light and receiving reflected light of the irradiated laser light. The "point cloud data" includes position data and time data of each measurement point on the surface of the object, which is returned when the laser light is irradiated onto the surface of the object. The time data indicates the time when the position data was generated (when the reflected light was received). The position data is three-dimensional coordinate data indicating the position (coordinates) of the measurement point, and is expressed as three-dimensional coordinates (x-coordinate, y-coordinate, z-coordinate) or polar coordinates (yaw angle, pitch angle, and depth). The coordinates of each measurement point are coordinates whose origin is the position of the first device 40 at the time of measurement. In other words, the coordinates of each measurement point obtained by the three-dimensional position measurement device 44 are coordinate values ​​in an apparatus coordinate system whose origin is the position of the first device 40 at the time of measurement. The point cloud data may also include reflection intensity data indicating the intensity of the received reflected light.

[0036] The storage 45 stores computer programs executed by the CPU 41, data processed by the CPU 41, etc. The storage 45 includes, for example, a flash memory, a RAM, and a ROM. The storage 45 stores a surveying program 45A, a marker coordinate list 45B, and three-dimensional point cloud coordinate data 45C. The surveying program 45A is a program for acquiring three-dimensional shape data of the working face K, which will be described later. The marker coordinate list 45B is a list of the coordinates of each marker 20 surveyed by the surveying device 30. The identification number of each marker 20 is stored in association with the coordinates. The three-dimensional point cloud coordinate data 45C includes coordinate values ​​in the device coordinate system of the marker 20 measured by the three-dimensional position measurement device 44, point cloud data (coordinate values ​​of the point cloud in the device coordinate system and the measurement time), movement data representing the amount of movement of the first device 40 between each measurement point from the start to the end of measurement obtained by the position angle sensor 43 (for example, the amount of displacement along the three orthogonal coordinate axes of the device coordinate system and the amount of rotation around the same three coordinate axes), and converted coordinate data obtained by converting the coordinate values ​​of the position data of the point cloud data (coordinate values ​​in the device coordinate system) into coordinate values ​​in the fixed coordinate system using the movement data and the coordinate values ​​in the fixed coordinate system of the marker 20 in the marker coordinate list 45B.

[0037] The display screen 47, which is a display device, displays the images captured by the camera 46 and also displays images based on processing by the surveying program 45A.

[0038] FIG. 3 is a diagram showing the configuration of the main part of the second device 50. As shown in FIG. The second device 50 is a mobile terminal device such as a smartphone, and includes a CPU (Central Processing Unit) 51, a communication device 52, a storage 53, an input device 54, and a display screen 55. The second device 50 is carried and operated by the worker OP1 of the construction machine 10.

[0039] The CPU 51 is a central processing unit that performs overall control of the second device 50. The communication device 52 receives a GUI from the first device 40 and transmits an operation signal to the first device 40. The storage 53 stores computer programs executed by the CPU 51, data processed by the CPU 51, and the like. The storage 53 includes, for example, a flash memory, a RAM, and a ROM. The storage 53 stores a remote operation program 53A for remotely operating the first device 40. The input device 54 is an input device for inputting instructions for remotely operating the first device 40. The display screen 55, which is a display device, displays an image displayed on the display screen 47 of the first device 40. Note that the second device 50 may not be provided with the input device 54, but may instead be provided with a wireless input device 56 separate from the main body, and an operation signal may be transmitted from the wireless input device 56 to the first device 40. In this case, the storage 53 does not need to store the remote operation program 53A; it is sufficient to store a monitoring program for displaying an image displayed on the display screen 47 of the first device 40.

[0040] Next, the workflow of the worker OP1 of the construction machine 10 will be described. FIG. 4 shows a flowchart of the work performed by the worker OP1 of the construction machine 10. The worker OP1 remotely controls the first device 40 from the second device 50 and starts the surveying program 45A of the first device 40 (S100). The worker OP1 selects the marker to be photographed first from the plurality of markers 20 (S102). The worker OP1 operates the construction machine 10 to place the first device 40 in a position where the selected marker 20 can be photographed (S104). The worker OP1 remotely controls the first device 40 and specifies the position and identification number of the selected marker 20 displayed on the display screen 47 (S106).

[0041] The worker OP1 determines whether the selected marker 20 is the last marker 20 (S108). If the selected marker 20 is not the last marker 20 (S108: NO), the worker OP1 operates the construction machine 10 to thoroughly measure the area of ​​the face K around the selected marker 20, and moves the first device 40 to the vicinity of the next marker 20 (S110). For example, as shown in FIG. 5, if the lower left marker 20 is selected first, the first device 40 is moved along path L1. When the worker OP1 performs the process of step S110 in a later flow, the first device 40 is moved along paths L2, L3, and L4, for example.

[0042] The operator OP1 determines whether or not the measurement of the periphery of the selected marker 20 is complete (S112), and if it is determined that the measurement is not complete (S112: NO), the operator OP1 continues the measurement (S110). If it is determined that the measurement is complete (S112: YES), the operator OP1 selects the next marker 20 (S114) and repeats the processing from step S104. Then, if the selected marker 20 is the last marker 20 in step S108 (S108: YES), the operator OP1 remotely controls the first device 40 from the second device 50 and ends the survey program 45A of the first device 40 (S116).

[0043] FIG. 6 is a diagram showing an example of the display of the measurement area of ​​the working face K displayed on the display screen 47 (display screen 55). In FIG. 6, the entire area of ​​the working face K is divided into grids. When the operator OP1 selects the lower-left marker 20 in step S110 of FIG. 5, the surveying program 45A of the first device 40 surrounds the area to be measured (survey range) corresponding to the selected marker 20 with a dashed line DL, as shown in FIG. 6. The area measured by the first device 40 may be displayed by coloring (shading) each pixel. That is, the area of ​​the working face K that has been surveyed may be displayed so as to distinguish between the area that has been surveyed and the area that has not yet been surveyed. Furthermore, based on the construction machine 10 used, machine information of the head unit 16, the mounting position of the first device 40, and the installation position of the markers 20, an optimal movement path of the first device 40 (a path that can comprehensively and efficiently scan the entire area of ​​the working face K without omissions and in the shortest time) may be estimated (for example, this can be estimated by a prior simulation) and displayed on the display screen 47 (display screen 55) so that the entire area of ​​the working face K can be measured without missing anything and in the shortest time.

[0044] Next, the control flow of the remote control program of the second device 50 will be described. FIG. 7 is a flowchart of the remote control program of the second device 50. When the remote operation program is started, the CPU 51 of the second device 50 starts up the first device 40 (S200). The CPU 51 displays a GUI on the display screen 47 of the first device 40 (S202). The CPU 51 remotely operates the first device 40 in accordance with an input from the operator OP1 (S204). The CPU 51 determines whether an instruction to end the remote operation program has been given (S206). If an instruction to end the remote operation program has been given (S206: YES), the CPU 51 ends the remote operation program, and if an instruction to end the remote operation program has not been given (S206: NO), the CPU 51 returns to step S202.

[0045] FIG. 8 is a diagram showing an example in which the first device 40 is remotely controlled by the second device 50. In FIG. As shown in FIG. 8, the first device 40 transmits a GUI to the second device 50, and the worker OP1 operates the input device 54 of the second device 50 based on the GUI displayed on the display screen 55 of the second device 50, and sends an operation signal from the second device 50 to the first device 40 to remotely operate the first device 40.

[0046] FIG. 9 is a diagram showing another example in which the first device 40 is remotely controlled by the second device 50. In FIG. 9 , the first device 40 may transmit a GUI to the second device 50, and the worker OP1 may operate the wireless input device 56 of the second device 50 based on the GUI displayed on the display screen 55 of the second device 50, and send an operation signal from the wireless input device 56 to the first device 40 to remotely operate the first device 40. In this case, the main body of the second device 50 functions only as a monitor that displays the GUI of the first device 40.

[0047] Next, the control flow of the surveying program 45A of the first device 40 will be described. FIG. 10 is a flowchart of the surveying program 45A of the first device 40. When the surveying program 45A is started, the CPU 41 of the first device 40 starts photographing with the camera 46, creating point cloud data with the three-dimensional position measurement device 44, and measuring the position and the like with the position angle sensor 43 (S300). The CPU 41 determines whether or not the worker OP1 operates the construction machine 10 and the first marker 20 is designated by the first device 40 through the processing of step S106 in FIG. 4 (S302). If the first marker 20 is not designated (S302: NO), the CPU 41 repeats the processing of step S302. On the other hand, if the first marker 20 is designated (S302: YES), the CPU 41 executes control at the start of measurement (S310).

[0048] FIG. 11 is a flowchart of control at the start of measurement in the surveying program 45A of the first equipment 40. In control at the start of measurement, the CPU 41 designates the marker 20 most recently designated in step 106 of FIG. 4 as the first marker m1 (S311). The CPU 41 calculates the coordinate value of the first marker m1 in the device coordinate system based on the position of the marker 20 designated by the operator OP1 in step S106 and the position data from the three-dimensional position measurement device 44 (step S312). The CPU 41 determines whether or not the identification number corresponding to the identification number designated by the operator OP1 in step S106 is in the marker coordinate list 45B (S313). That is, it determines whether or not the identification number corresponding to the identification number of the marker 20 designated as the first marker m1 is in the marker coordinate list 45B.

[0049] If the identification number corresponding to the identification number of the specified marker 20 is not in the marker coordinate list 45B (S313: NO), the CPU 41 requests the operator OP1 to provide the coordinate values ​​in the fixed coordinate system of the marker 20 specified as the first marker m1 (S314). For example, the CPU 41 displays a message on the display screen 47 of the first device 40 requesting the coordinate values. The requested operator OP1 then requests the operator OP2 of the surveying device 30 to measure the coordinate values ​​in the fixed coordinate system of the marker 20 specified as the first marker m1 and transmit them to the first device 40.

[0050] The CPU 41 determines whether or not the requested coordinate values ​​and identification number have been received (S315). If the coordinate values, etc. have not been received (S315: NO), the CPU 41 returns to step S314. If the coordinate values, etc. have been received (S315: YES), the CPU 41 registers the received coordinate values, etc. in the marker coordinate list 45B (S316). This allows an unregistered marker 20 to be registered without interrupting measurement, even if measurement is in progress.

[0051] On the other hand, if the identification number corresponding to the identification number of the specified marker 20 is in the marker coordinate list 45B (S313: YES), the CPU 41 ends the control at the start of measurement and starts the control during measurement (S317).

[0052] FIG. 12 is a flowchart of control during measurement in the surveying program 45A of the first equipment 40. In control during measurement, the CPU 41 determines whether a measurement time tk, which occurs periodically, has arrived (S321). The measurement time tk preferably arrives at a short interval so that measurement can be considered to be performed substantially continuously, and is preferably synchronized with each frame captured by the camera 46. For example, if the frame rate of the camera 46 is 30 fps, it can be determined that the measurement time tk has arrived when the time to capture one frame (1 / 30 seconds) has arrived. If the time to capture one frame has not arrived (S321: YES), the CPU 41 creates point cloud data using the three-dimensional position measurement device 44 and measures the position, etc. using the position angle sensor 43, calculates coordinate values ​​(three-dimensional coordinate values) in the device coordinate system of each measurement point of the position data of the point cloud data, and stores the calculated coordinate values ​​in the three-dimensional point cloud coordinate data 45C (S322). The measured area is displayed on the GUI (S323), and the area of ​​the camera image (face K image) that was measured is displayed.

[0053] The CPU 41 determines whether the next marker 20 selected in step S114 of Fig. 4 has been designated by the operator OP1 in step S106 (S324). If it is determined that the next marker 20 has not been designated (S324: NO), the CPU 41 returns to step S321 and repeats the processes of steps S321 to S323. On the other hand, if it is determined that the next marker 20 has been designated (S324: YES), the CPU 41 starts control at the end of measurement (S325).

[0054] FIG. 13 is a flowchart of control at the end of measurement in the surveying program 45A of the first equipment 40. In control at the end of measurement, the CPU 41 designates the marker 20 designated in step 106 of FIG. 4 after the first marker m1 as the second marker m2 (S331). The CPU 41 calculates the coordinate value of the second marker m2 in the device coordinate system based on the position of the marker 20 designated by the operator OP1 in step S106 and the position data from the three-dimensional position measurement device 44 (step S332). The CPU 41 determines whether or not the identification number corresponding to the identification number designated by the operator OP1 in step S106 is in the marker coordinate list 45B (S333). That is, it determines whether or not the identification number corresponding to the identification number of the marker 20 designated as the second marker m2 is in the marker coordinate list 45B.

[0055] If the identification number corresponding to the identification number of the specified marker 20 is not in the marker coordinate list 45B (S333: NO), the CPU 41 requests the operator OP1 to provide the coordinate values ​​in the fixed coordinate system of the marker 20 specified as the second marker m2 (S334). For example, the CPU 41 displays a message on the display screen 47 of the first device 40 requesting the coordinate values. The requested operator OP1 requests the operator OP2 of the surveying device 30 to measure the coordinate values ​​in the fixed coordinate system of the marker 20 specified as the second marker m2 and transmit them to the first device 40.

[0056] The CPU 41 determines whether or not the requested coordinate values ​​and identification number have been received (S335). If the coordinate values, etc. have not been received (S335: NO), the CPU 41 returns to step S314. If the coordinate values, etc. have been received (S335: YES), the CPU 41 registers the received coordinate values, etc. in the marker coordinate list 45B (S336) and proceeds to step S337. This allows an unregistered marker 20 to be registered without interrupting measurement, even if measurement is in progress.

[0057] On the other hand, if the identification number corresponding to the identification number of the specified marker 20 is found in the marker coordinate list 45B (S333: YES), the CPU 41 converts the coordinate values ​​(position data, three-dimensional coordinate data) of the point cloud in the device coordinate system at each measurement time into coordinate values ​​(position data, three-dimensional coordinate data) of the point cloud in the fixed coordinate system at each measurement time, using the movement data of the position angle sensor 43 obtained at each measurement time tk from the start to the end of the measurement and the relationship between the coordinate values ​​in the device coordinate system and the coordinate values ​​in the fixed coordinate system of the first and second markers m1 and m2, and stores the converted data (S337). The reason for using the coordinate values ​​of two markers 20 is to prevent a decrease in measurement accuracy due to errors in the position angle sensor 43. Therefore, if the accuracy of the position angle sensor 43 is sufficiently high, this coordinate conversion may be performed using the coordinate values ​​of only one marker 20.

[0058] After the control at the end of measurement is completed, the CPU 41 asks the operator OP1 whether or not to terminate the survey program 45A (S304), as shown in Fig. 10. If there is no instruction to terminate (S304: NO), the CPU 41 returns to step S310. On the other hand, if there is an instruction to terminate (S304), the CPU 41 terminates the survey program 45A.

[0059] The surveying system 1 of the above embodiment includes a first device 40 attached to the work machine 13 of the construction machine 10 inside the tunnel T and transported therein, and a second device 50 operated by an operator OP1 located remotely from the first device 40 and wirelessly communicating with the first device 40. The second device 50 has a display screen 55 that receives and displays images captured by a camera 46, and an input device 54 (wireless input device 56) that allows the operator OP1 to specify the position of a marker 20 within the displayed image. The second device 50 is configured to remotely operate the first device 40. Using movement data related to the movement of the first device 40 and the relationship between the coordinate values ​​of the marker 20 in a fixed coordinate system and the coordinate values ​​of the marker 20 in an equipment coordinate system, the three-dimensional coordinate data of the point cloud in the equipment coordinate system is converted into three-dimensional coordinate data (three-dimensional shape data) of the point cloud in the fixed coordinate system. This allows the three-dimensional shape of an object at a work site, such as a working face K, to be surveyed as safely, quickly, and accurately as possible.

[0060] It should be noted that the present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to an embodiment having all of the described configurations.

[0061] In the above embodiment, an object marker was used as the marker 20. However, as shown in FIG. 14 , the portion of the laser beam LB emitted from the total station, which is the surveying device 30, that strikes the wall surface of the tunnel T may be used as the optical marker 21. The first device 40 may then photograph the optical marker 21, and the worker OP1 may specify the position of the optical marker 21. The three-dimensional position measurement device 44 may then measure the coordinate value of the optical marker 21 in the device coordinate system. This eliminates the need to pre-install the marker 20 on the support H, and even if the object marker is destroyed by blasting or the like, surveying can be performed using the optical marker. In the above embodiment, the surveying device 30 was a total station, but it may also be a GNSS surveying instrument. The target object at the site was the face K of the tunnel T, but it may also be used for targets at other sites, such as mining sites. The mobile machine was the work machine 13 of the construction machine 10, but it may also be other types of machines, such as machines that move by remote control or automatic piloting. When specifying the marker 20, the first device 40 is remotely operated to locate the position of the marker 20, but the marker 20 can also be automatically recognized in the displayed image by image processing to identify the coordinate values ​​of the marker 20 in the device coordinate system. [Explanation of symbols]

[0062] 1: Surveying system, 10: Construction machine, 13: Work machine, 20: Marker, 30: Surveying device, 40: First device, 43: Position angle sensor, 44: Three-dimensional position measuring device, 46: Camera, 50: Second device, 54: Input device, 55: Display screen device, 56: Wireless input device, T: Tunnel, K: Face, C: Wireless communication channel

Claims

1. In a surveying system that measures the three-dimensional shape of an object on-site, at least one marker positioned at least at one location within the scene proximate the object; a first device attached to and transported by a mobile machine within the site; a second device that is operated by a worker located at a location remote from the first device and that wirelessly communicates with the first device; the first device has a position angle sensor that measures a physical quantity related to a position and a rotation angle or an orientation of the first device, a camera, and a three-dimensional position measurement device that measures a three-dimensional position of a point cloud around the first device; the second device has a display device that receives and displays the image captured by the camera, and an input device that allows the worker to specify the position of the marker within the displayed image, and can remotely operate the first device; The surveying system includes: a means for acquiring coordinate values ​​of the marker in a fixed coordinate system in which the position of the marker is uniquely determined; means for acquiring coordinate values ​​of the marker in a device coordinate system having the position of the first device as its origin; means for acquiring movement data relating to movement of the first device using the position angle sensor; means for acquiring three-dimensional coordinate data of the point cloud in the device coordinate system using the three-dimensional position measurement device; a means for converting three-dimensional coordinate data of the point cloud in the device coordinate system into three-dimensional coordinate data of the point cloud in the fixed coordinate system using the movement data and the relationship between the coordinate values ​​of the marker in the fixed coordinate system and the coordinate values ​​of the marker in the device coordinate system.

2. 2. The surveying system according to claim 1, wherein the surveying system generates three-dimensional coordinate data of the point cloud in the fixed coordinate system by sequentially performing the following steps (1) to (4) on the markers: (1) adjusting the position of the mobile machine and photographing the marker with the first device; (2) displaying the captured image of the marker on the second device, and the worker designating one position in the image as the position of the marker; (3) By moving the mobile machine, the first device is moved along a path that allows the object to be photographed from the position of the marker, and the first device photographs the object to measure three-dimensional coordinate data of the point cloud in the device coordinate system; (4) Using the one position specified by the worker as the position of the marker, the coordinate value of the marker in the fixed coordinate system, and the three-dimensional coordinate data of the point cloud in the device coordinate system, the three-dimensional coordinate data of the point cloud in the fixed coordinate system is generated.

3. 3. The surveying system according to claim 1, further comprising a surveying device that measures coordinate values ​​of the markers in the fixed coordinate system.

4. 3. A surveying system according to claim 1, further comprising a display unit for displaying on the display device of the second device a surveyed area and an unsurveyed area of ​​the object so as to be distinguishable from each other.

5. 5. The surveying system according to claim 4, wherein a plurality of the markers are provided, and the second device comprises means for displaying the survey range corresponding to each marker on the display device of the second device.

6. 3. The surveying system according to claim 1, further comprising means for displaying a moving path of said first device on said display device of said second device.

7. 3. The surveying system according to claim 1, further comprising means for calculating coordinate values ​​of the marker in the device coordinate system when the operator specifies the position of the marker displayed on the second device.

8. 3. The surveying system according to claim 1, further comprising means for automatically recognizing the marker in the displayed image by image processing and specifying the coordinate values ​​of the marker in the device coordinate system.

9. the surveying device is a total station, The total station emits a laser beam, and measures the coordinate values ​​of the marker in the fixed coordinate system by using the part of the laser beam that hits the wall surface of the site as an optical marker; 4. The surveying system according to claim 3, wherein the first device photographs the optical marker and displays it on the display device of the second device, the worker specifies the position of the optical marker, and the three-dimensional position measurement device measures the coordinate value of the optical marker in the device coordinate system.

10. 3. The surveying system according to claim 1, wherein the site is a tunnel excavation site and the target object is a tunnel face.

11. 3. The surveying system according to claim 1, wherein the mobile machine is a work machine of a construction machine used at the site.

12. 3. The surveying system according to claim 1, further comprising means for estimating an optimum movement route of said first device and displaying said estimated movement route on said display device of said second device.

13. A surveying method using a surveying system for measuring the three-dimensional shape of an object on site, comprising: The surveying system includes: at least one marker positioned at least at one location within the scene proximate the object; a first device attached to and transported by a mobile machine within the site; a second device that is operated by a worker located at a location remote from the first device and that wirelessly communicates with the first device; the first device has a position angle sensor that measures a physical quantity related to a position and a rotation angle or an orientation of the first device, a camera, and a three-dimensional position measurement device that measures a three-dimensional position of a point cloud around the first device; the second device has a display device that receives and displays the image captured by the camera, and an input device that allows the worker to specify the position of the marker within the displayed image, and can remotely operate the first device; The surveying method includes: acquiring coordinate values ​​of the marker in a fixed coordinate system in which the position of the marker is uniquely determined; operating the first device from the second device to acquire coordinate values ​​of the marker in a device coordinate system having a position of the first device as an origin; Using the position angle sensor, acquiring movement data relating to movement of the first device; Using the three-dimensional position measurement device, three-dimensional coordinate data of the point cloud in the device coordinate system is acquired; A surveying method for converting three-dimensional coordinate data of the point cloud in the device coordinate system into three-dimensional coordinate data of the point cloud in the fixed coordinate system using the movement data and the relationship between the coordinate values ​​of the marker in the fixed coordinate system and the coordinate values ​​of the marker in the device coordinate system.

14. The surveying method according to claim 13, wherein the three-dimensional coordinate data of the point cloud in the fixed coordinate system is generated by sequentially performing the following steps (1) to (4) on the markers: (1) adjusting the position of the mobile machine and photographing the marker with the first device; (2) displaying the captured image of the marker on the second device, and the worker designating one position in the image as the position of the marker; (3) By moving the mobile machine, the first device is moved along a path that allows the object to be photographed from the position of the marker, and the first device photographs the object to measure three-dimensional coordinate data of the point cloud in the device coordinate system; (4) Using the one position specified by the worker as the position of the marker, the coordinate value of the marker in the fixed coordinate system, and the three-dimensional coordinate data of the point cloud in the device coordinate system, the three-dimensional coordinate data of the point cloud in the fixed coordinate system is generated.

Images