Survey support system and survey support method

Abstract

To reduce a burden of confirmation of a progress schedule and a chart in a survey site.SOLUTION: A survey support system 100 comprises: a measuring instrument 2 which includes a communication unit and a three-dimensional coordinate measurement unit; an eyewear display device 4 which includes a display 41; and a control arithmetic unit 64 which matches a coordinate space of information about a position and a direction of the eyewear display device 4, a coordinate space of the measuring instrument and a coordinate space of an absolute coordinate system with each other, and can manage them in a space with a common reference point as an original point. The system allows a user to observe an image in a manner of being superimposed on a scenery of a site observed by wearing the eyewear display device 4 by displaying the image of the absolute coordinate system created by the control arithmetic unit 64 on the display 41. The control arithmetic unit 64 reads out survey process data including at least machine information of the used survey instrument, three-dimensional position information in the absolute coordinate system of an instrument installation point and a measurement order of the instrument installation point, creates a work support image on the basis of the survey process data, and allows the user to observe a work support image including the instrument installation point and the image of the used survey instrument in a state of being installed at the instrument installation point so as to be superimposed on the scenery of the site.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a surveying support system and a surveying support method, and more particularly to a surveying support system and a surveying support method that use an eyewear display device. [Background technology]

[0002] Conventionally, when carrying out surveying work, a schedule and drawings are prepared in advance that describe the locations of equipment installation points, the order of measurements, and the surveying equipment to be used, taking into consideration various factors such as visibility of structures, equipment installation points, and control points depicted on the surveying site drawings, as well as the type and model of surveying equipment owned, so that the desired surveying work can be carried out as efficiently as possible.Then, at the surveying site, the surveying work is carried out while checking the schedule and drawings. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-77127 Summary of the Invention [Problem to be solved by the invention]

[0004] However, it is cumbersome to carry out surveying work while checking the schedule and drawings at the surveying site. In particular, workers who are not familiar with the work must be careful to correctly select and install the surveying equipment to be used for surveying at the equipment installation point.

[0005] On the other hand, Patent Document 1 discloses an eyewear display system that uses an eyewear display device to manage 3D CAD (Three-Dimensional Computer Aided Design) design data of a site created in an absolute coordinate system and information regarding the position and direction of the eyewear display device in the same coordinate space, allowing the data created in the absolute coordinate system to be superimposed on the site scenery and observed.

[0006] The present invention has been made in consideration of the above circumstances, and aims to provide a surveying support system that uses an eyewear display system to reduce the burden of checking schedules and drawings at surveying sites. [Means for solving the problem]

[0007] In order to achieve the above object, a surveying support system according to a first aspect of the present invention comprises: a measuring instrument having a communication unit and a three-dimensional coordinate measurement unit; an eyewear display device having a display, a relative position sensor that detects its own position, and a relative direction sensor that detects its own direction; and a control and calculation unit having a synchronous measurement unit that matches the coordinate space of information about the position and direction of the eyewear display device with the coordinate space of the measuring instrument and the coordinate space of an absolute coordinate system, making it possible to manage them in a space with a common reference point as the origin, and by displaying an image of the absolute coordinate system created by the control and calculation unit on the display, the image can be superimposed on a scene of the site observed by wearing the eyewear display device. a control and calculation unit that includes a surveying process data reading unit that reads out surveying process data including at least instrument information of the surveying equipment to be used, three-dimensional position information of the equipment installation point in the absolute coordinate system, and the measurement order of the equipment installation point; a work support image creation unit that creates a work support image based on the surveying process data; and a work support image display unit that sends the work support image to the eyewear display device and displays it on the display, wherein the work support image includes an image of the equipment installation point and the surveying equipment to be used in a state where it is installed at the equipment installation point, and the eyewear display device makes it possible to observe the work support image by superimposing it on the scenery of the site.

[0008] A surveying support method according to a second aspect of the present invention is a surveying support method using an eyewear display device that includes a measuring instrument having a communication unit and a three-dimensional coordinate measurement unit, a display, a relative position sensor that detects its own position, and a relative direction sensor that detects its own direction, and the method matches a coordinate space of information about the position and direction of the eyewear display device with a coordinate space of an absolute coordinate system, making it possible to manage the information in a space with a common reference point as the origin; and displays an image of the absolute coordinate system created by the control and calculation unit on the display, thereby enabling the wind at the site observed by wearing the eyewear display device to be displayed. the image can be superimposed on the scenery at the site; reading out surveying process data including at least instrument information of the surveying equipment to be used, three-dimensional position information of the absolute coordinates of the equipment installation point, and the measurement order of the equipment installation point; creating a work support image based on the surveying process data; and transmitting the work support image to the eyewear display device to display it on the display, wherein the work support image includes an image of the equipment installation point and the surveying equipment to be used in a state where it is installed at the equipment installation point, and the eyewear display device makes it possible to superimpose the work support image on the scenery at the site and observe it. [Effects of the Invention]

[0009] According to the above aspect, it is possible to provide a survey support system and a survey support method that reduce the burden of checking schedules and drawings at the survey site. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic external view of a survey support system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram of the survey support system. [Figure 3] FIG. 2 is a block diagram of the surveying instrument (measuring instrument) that constitutes the survey support system. [Figure 4] FIG. 2 is a perspective view of the appearance of an eyewear display device that constitutes the survey support system. [Figure 5] FIG. 2 is a block diagram showing the configuration of the eyewear display device. [Figure 6] FIG. 2 is a configuration block diagram of a data management device that constitutes the survey support system. [Figure 7] FIG. 2 is a diagram showing an example of surveying process data used in the survey support system. [Figure 8] FIG. 2 is a diagram showing an example of work support data used in the survey support system. [Figure 9] 10 is a flowchart illustrating the process of a survey support method using the survey support system. [Figure 10] 10 is a diagram illustrating a detailed procedure for synchronizing position and direction information (conversion of a coordinate system) executed as an initial setting of the process. FIG. [Figure 11] 10A and 10B are diagrams showing examples of work support images in the survey support method. [Figure 12] FIG. 10 is a diagram showing an example of work support data used in one modified example of the survey support system. [Figure 13] 10A and 10B are diagrams showing examples of work support images in the surveying support method according to the modified example. [Figure 14] FIG. 10 is a diagram showing an example of work support data used in another modified example of the survey support system. [Figure 15] 10A and 10B are diagrams showing examples of work support images in the surveying support method according to the modified example. [Figure 16] FIG. 1 is a diagram showing an example of point cloud data that can be acquired by a general laser scanner. [Figure 17] FIG. 10 is a diagram for explaining a method for calculating an observation route in surveying process data used in a survey support system according to a second embodiment of the present invention. [Figure 18] FIG. 10 is a diagram showing an example of a calculated observation route. [Figure 19] FIG. 10 is a configuration block diagram of an eyewear device and a data processing device of a survey support system according to a second embodiment. [Figure 20] 10 is a flowchart illustrating the process of a survey support method using the survey support system. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited thereto. Also, the same components common to each embodiment and modification example are denoted by the same reference numerals, and duplicate descriptions will be omitted as appropriate. Also, the same hardware components are given the same names, and duplicate descriptions will be omitted as appropriate.

[0012] I First Embodiment 1 Configuration of Survey Support System 100 FIG. 1 is a schematic external view of a survey support system (hereinafter simply referred to as "system") 100 according to an embodiment of the present invention. The system 100 includes a surveying instrument 2, an eyewear display device (hereinafter referred to as "eyewear device") 4, and a data management device 6. FIG. 2 is a configuration block diagram of the system 100.

[0013] 2 Surveying Instrument 2 (Measuring Instrument) FIG. 3 is a configuration block diagram of the surveying instrument 2 according to this embodiment. The surveying instrument 2 includes a three-dimensional coordinate measuring unit 21, a display unit 22, an operation unit 23, a storage unit 24, an external storage device 25, a communication unit 26, and an arithmetic processing unit 27. In the illustrated example, the surveying instrument 2 is a motor-driven total station installed at a survey site via a tripod.

[0014] The three-dimensional coordinate measuring unit 21 includes a distance measuring unit 21a, an angle measuring unit 21b, and a rotation driving unit 21c. The distance measuring unit 21a emits distance measuring light, receives the reflected light thereof, and based on the received signals of the reflected distance measuring light and the internally referenced light obtained by splitting a part of the emitted distance measuring light, the distance to the measurement object is determined by the arithmetic processing unit 27, and it is an optical distance meter.

[0015] The distance measuring unit 21a is provided in a telescope rotated in two axial directions (V-V axis, H-H axis in FIG. 1) of vertical and horizontal by the rotation driving unit 21c, and the angle measuring unit 21b which is a rotary encoder detects the sighting direction of the telescope to measure the angle of the measurement object.

[0016] The display unit 22 is, for example, a liquid crystal display. The operation unit 23 has a power key, numeric keys, a decimal point key, plus / minus keys, an execution key, a scroll key, etc., and enables the operator to operate the surveying instrument 2 and input information to the surveying instrument 2.

[0017] The storage unit 24 is, for example, a hard disk drive (HDD, Hard Disc Drive), and stores a program for executing the functions of the arithmetic processing unit 27.

[0018] The external storage device 25 is, for example, a memory card, and stores various data acquired by the surveying instrument 2.

[0019] The communication unit 26 is a communication control device such as a network adapter, a network interface card, a LAN card, or a Bluetooth (registered trademark) adapter, and connects the surveying instrument 2 to the eyewear device 4 and the data management device 6 by wire or wirelessly. The calculation processing unit 27 can send and receive information to and from the eyewear device 4 and the data management device 6 via the communication unit 26.

[0020] The arithmetic processing unit 27 is a control and arithmetic unit including at least one processor (e.g., a CPU (Central Processing Unit)) and memory (e.g., SRAM (Static Random Access Memory), DRAM (Dynamic Random Access Memory), etc.). The processor reads the necessary data and programs from the storage unit 24 into the memory and executes processing to realize the functions of the surveying instrument 2. The arithmetic processing unit 27 controls the three-dimensional coordinate measurement unit 21 to measure the distance and angle of the object to be measured and calculate the three-dimensional position coordinates of the object to be measured.

[0021] The surveying instrument 2 corresponds to the measuring instrument in the claims attached to this specification. The measuring instrument is not limited to the exemplified total station, but may be any surveying instrument equipped with a communication unit 26 and a 3D coordinate measurement unit capable of acquiring the 3D position coordinates of a measurement object. For example, the 3D coordinate measurement unit 21 may be a laser scanner further equipped with a vertical rotation drive unit and a rotating mirror that scans distance measurement light 360° vertically, or a camera equipped with two cameras and capable of acquiring the 3D position coordinates of a measurement object by photogrammetry, as exemplified in Patent Document 1.

[0022] 3 Eyewear equipment4 Fig. 4 is an external perspective view of the eyewear device 4, and Fig. 5 is a configuration block diagram of the eyewear device 4. The eyewear device 4 is a wearable device that is worn on the head of the worker. The eyewear device 4 includes a display 41 and a control unit 43. The control unit 43 also includes a communication unit 44, a relative position detection sensor 45, a relative direction detection sensor 46, a memory unit 47, an operation switch 48, and an arithmetic processing unit 49.

[0023] The display 41 is a goggle-lens type transmission display that covers both eyes of the worker when worn by the worker. As an example, the display 41 is an optical see-through display using a half mirror, and is configured to display an image received by the control unit 43 superimposed on the site scenery. Alternatively, the display 41 may be a video see-through display that displays an image obtained by superimposing an image received by the control unit 43 on a front scenery image acquired in real time by a camera (not shown). The projection method may be a virtual image projection method or a retinal projection method. In this way, the worker can observe a work support image created from the surveying process data 91 and the work support data 92 superimposed on the site scenery. The surveying process data 91 and the work support data 92 will be described later.

[0024] When the display 41 is a video see-through display, the camera is equipped with an image sensor such as a CCD (Charge-Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) and captures images of the scene in front of the eyewear device 4 in real time. The image sensor has an orthogonal coordinate system with the center of the camera as the origin, and the local coordinates of each pixel are specified. The positional relationship between the center of the camera and the center of the eyewear device 4 is known, and the eyewear device 4 can convert the images captured by the camera into the coordinate space of the eyewear device 4 and manage them.

[0025] The communication unit 44 is a communication control device similar to the communication unit 26. It wirelessly connects the eyewear device 4 to a communication network such as the Internet or a mobile phone communication network. The calculation processing unit 49 can send and receive information to and from the surveying instrument 2 and the data management device 6 via the communication unit 44 and the communication network.

[0026] The relative position sensor 45 performs radio positioning using a GNSS (Global Navigation Satellite System) antenna, a Wi-Fi (registered trademark) access point, an ultrasonic oscillator, etc. installed at the observation site, and detects the position (self-position) of the eyewear device 4 within the observation site.

[0027] The relative direction sensor 46 is a combination of a triaxial acceleration sensor or gyro sensor and an inclination sensor. The relative direction sensor 46 detects the inclination (self-orientation) of the eyewear device 4, with the up-down direction defined as the Z-axis, the left-right direction defined as the Y-axis, and the front-back direction defined as the X-axis.

[0028] The storage unit 47 is, for example, a memory card, and stores a program for the arithmetic processing unit 49 to execute functions.

[0029] The operation switch 48 is, for example, a push button provided on the outer surface of the display 41, as shown in Fig. 4. The operation switch 48 includes, for example, a power button 48a for turning on / off the power of the eyewear device 4, and a function button 48b that cooperates with the display on the display 41 to enable selection of an operator, input of instructions, etc. In the present embodiment, as will be described later, pressing the function button 48b at a position corresponding to the display button displayed on the display 41 enables selection of an operator, confirmation, input of instructions, etc.

[0030] The arithmetic processing unit 49 is, for example, a control arithmetic unit in which at least one processor (CPU) and memory (SRAM, DRAM, etc.) are implemented in an integrated circuit. The arithmetic processing unit 49 outputs information on the position and direction of the eyewear device 4 detected by the relative position sensor 45 and the relative direction sensor 46 to the data management device 6. In addition, the coordinate system of the assistance display data received from the data management device 6 is displayed on the display 41 in synchronization with the eyewear device 4.

[0031] 4 Data management device 6 figure 6 is a configuration block diagram of a data management device 6 according to this embodiment. The data management device 6 is an information processing device, typically a personal computer, a server computer, etc., but may also be a tablet terminal, a smartphone, etc. In the illustrated example, it is shown as a laptop computer. The data management device 6 may be a single computer, or a computer system in which multiple computers perform distributed processing, or may logically utilize part of the processing resources of one or more computers. The data management device 6 may be configured as part of the eyewear device 4 or as part of the surveying instrument 2. Part of the processing of the data management device 6 may be configured to be performed by the eyewear device 4, and part of the processing may be configured to be performed by the surveying instrument 2.

[0032] The data management device 6 includes at least a communication unit 61 , a display unit 62 , an operation unit 63 , a control and calculation unit 64 , and a storage unit 65 .

[0033] The communication unit 61 is a communication control device such as a network adapter, a network interface card, a LAN card, or a Bluetooth (registered trademark) adapter, and enables the data management device 6 to communicate with the surveying instrument 2 and the eyewear device 4 via wired or wireless communication. The control and calculation unit 64 can send and receive information to and from the surveying instrument 2 and the eyewear device 4 via the communication unit 61. The data management device 6 may be installed in a local environment and communicate with the surveying instrument 2 and the eyewear device 4, or may be realized as a so-called cloud environment and communicate with the surveying instrument 2 and the eyewear device 4 via communication means such as the Internet.

[0034] The display unit 62 is, for example, a liquid crystal display. The operation unit 63 is, for example, a keyboard, a mouse, etc., and enables the operator to input various commands, selections, decisions, etc.

[0035] The control and calculation unit 64 is a control and calculation unit including, for example, at least one processor (e.g., CPU) and memory (DRAM, SRAM, etc.). The processor reads data and programs stored in the storage unit 65 into the memory and executes them, thereby enabling the functions of the functional units to be executed. Furthermore, at least a part of the control and calculation unit 64 may be implemented by a dedicated circuit.

[0036] The control and calculation unit 64 includes, as functional units, a synchronous measurement unit 641, a surveying process data reading unit 642, a work support image creation unit 643, and a work support image display unit 644.

[0037] The synchronous measurement unit 641 receives information about the position and direction of the surveying instrument 2 and information about the position and direction of the eyewear device 4, converts the coordinate space of the surveying instrument 2 and the coordinate space of the three-dimensional position information created in the absolute coordinate system so that they coincide with the coordinate space of the eyewear device 4, which has a common reference point as its origin, and transmits the converted information to the eyewear device 4. This makes it possible to manage the information acquired by the surveying instrument 2 and the three-dimensional position information created in the absolute coordinate system in the same coordinate space as the coordinate space of the eyewear device 4.

[0038] In this specification, "synchronization" refers to matching the coordinate spaces of devices with different coordinate spaces, or the coordinate spaces of information related to position and direction in design data, as described above, and managing the relative positions and relative directions of each device in a common coordinate space with a common reference point as the origin.

[0039] The surveying process data reading unit 642 reads out the surveying process data 91 stored in the storage unit 65. Fig. 7(A) is an example of the surveying process data 91, and Fig. 7(B) is a diagram that schematically shows the surveying process data 91 of Fig. 7(A) as a plan view of the surveying site for ease of understanding.

[0040] The surveying process data 91 is data equivalent to the schedule and construction drawings for the surveying work. While construction drawings generally refer to drawings necessary for on-site construction work, here it refers to design drawings with the information necessary for carrying out the surveying work added. Furthermore, construction drawings are created based on design drawings of the surveying site created using 3D CAD data in an absolute coordinate system. Therefore, in the surveying process data 91 included in the construction drawings, the information related to location is absolute coordinate system location information.

[0041] The surveying process data 91 includes at least three-dimensional position information in absolute coordinates of the instrument installation point, model information of the surveying instrument used, and the measurement sequence of the instrument installation point. Furthermore, as shown in FIG. 7(A), the model information of the surveying instrument used may include a model code and model number. Here, the model number is a number assigned by the manufacturer according to the function and version. In addition to the surveying instrument, the data may also include model and model number information of accessories (such as a tripod) used with the surveying instrument. Furthermore, the surveying process data 91 may also include design drawings of the surveying site. Furthermore, the surveying process data may include information about the measurement points, which are the measurement targets, and information about the scanner's measurement range if the surveying instrument is a scanner. Information about the measurement points and information about the scanner's measurement range are location-related information.

[0042] What is included in the surveying process data 91 can be determined appropriately depending on what is desired to be displayed as the work support image 93 (hereinafter also simply referred to as "work support image"). In this specification, surveying equipment includes all kinds of surveying instruments used in surveying work, specifically including total stations, 3D scanners, electronic levels, theodolites, GNSS devices, etc.

[0043] In the surveying process data 91, information relating to the position of the equipment installation points P1, P2, ... (hereinafter referred to as equipment installation point P unless otherwise specified), measurement point Q1, and measurement areas A, B, C, ... includes three-dimensional position information in an absolute coordinate system. Although shown as a plan view in Figure 7(B), the surveying process data is created as three-dimensional data because this position-related information is included as three-dimensional position information in an absolute coordinate system. Such surveying process data 91 is created in advance according to the plan of the survey.

[0044] The work support image creation unit 643 uses the work support data 92 stored in the memory unit 65 to create a work support image that reflects the three-dimensional position information of the instrument point, etc. and the surveying equipment to be used for the work process at the instrument point in the surveying process data 91.

[0045] The work support data 92 is a database in which exterior images of various surveying instruments are linked to model information, as shown in Fig. 8. The exterior images of the surveying instruments are taken using at least two cameras and created as 3D data with actual dimensions using photogrammetry techniques.

[0046] The work support image creation unit 643 creates a work support image 93 as 3D data synchronized with the eyewear device 4, assuming that the exterior image of the surveying equipment obtained as 3D data is installed at the equipment installation point P.

[0047] The work support image 93 is an image that reflects the three-dimensional position information of the instrument installation point, etc., and the surveying instrument to be used. Specifically, for example, if the instrument to be used at the instrument installation point P2 is a scanner S07, the work support image 93 is an image that is displayed to show the state in which the scanner S07 is installed on the instrument installation point P2.

[0048] The work supporting image display unit 644 transmits the work supporting image created by the work supporting image creation unit 643 to the eyewear device 4 and displays it on the display 41.

[0049] The storage unit 65 is, for example, an HDD or SSD (Solid State Drive). The storage unit 65 stores the above-mentioned surveying process data 91 and work support data 92. The storage unit 65 also stores programs for executing each function when each functional unit of the control and calculation unit 60 is realized as software.

[0050] 5. Surveying support method Fig. 9 is a flowchart showing an example of processing by the control and calculation unit in the survey support method using the survey support system 100. In the survey support method using the survey support system 100, first, steps S01 to S03 are executed as initial settings. Fig. 10 is a diagram showing an image of the work in steps S01 to S03.

[0051] First, in step S01, the worker sets a reference point and a reference direction at the observation site. Specifically, a known point and an arbitrary point within the site are selected, and the position of the eyewear device 4 where the worker is standing while wearing the eyewear device is set as the reference point. In addition, a characteristic point (e.g., a corner of a structure) other than the reference point is selected arbitrarily within the site, and the direction from the reference point to the characteristic point is set as the reference direction.

[0052] Proceed to step S02, workerperforms synchronization of the surveying instrument 2. Specifically, the worker installs the surveying instrument 2 at any point within the site, and determines the absolute coordinates of the surveying instrument 2 by using a known method such as resection including the reference point and the characteristic point, as well as the absolute coordinates of the reference point and characteristic point selected in step S101. The surveying instrument 2 transmits the obtained absolute coordinates of the surveying instrument 2, the reference point, and the characteristic point to the data management device 6.

[0053] Next, proceed to step S03, worker performs synchronization of the eyewear device 4. Specifically, worker is to install the eyewear device 4 at the reference point, align the center of the display 41 with the reference direction, set the (x, y, z) of the relative position sensor 45 to (0, 0, 0), and set the (roll, pitch, yaw) of the relative direction sensor 46 to (0, 0, 0). The synchronization measurement unit 641 of the data management device 6 then manages the relative position and relative direction of the eyewear device 4 in a space with the reference point as the origin, with respect to the information from the eyewear device 4. It is also preferable to synchronize the eyewear device 4 by providing the eyewear device 4 with a laser device for indicating the center and directional axis of the eyewear device 4, and aligning the reference point and reference direction using the laser as a guide.

[0054] By performing the above operations, the eyewear device 4 can manage image data having three-dimensional position information created in the same absolute coordinate system as the reference point in a space with the reference point as the origin, and display the image data superimposed on the site scenery in correspondence with the position and direction of the site scenery.

[0055] Next, in step S04, for example, when the operator presses function button 48b corresponding to the function button displayed on display 41 to start the execution of the surveying support, in step S05, the surveying process data reading unit 642 reads out the surveying process data 91 stored in the memory unit.

[0056] Next, in step S06, the work support image creation unit 643 creates a work support image using the work support image data.

[0057] Next, in step S07, the work support image display unit 644 sends the work support image created by the work support image creation unit 643 to the eyewear device 4 and displays it on the display 41. The display is updated as the direction and position of the eyewear device 4 changes.

[0058] Next, in step S08, when an instruction to end the process is inputted by the operation switch, the process ends.

[0059] FIG. 11 is a diagram showing an example of a work support image. In the figure, the portion indicated by the dashed line represents the work site scenery, and the portion indicated by the solid line represents the work support image 93 created by the work support image creation unit 643. As shown in FIG. 11(A), the eyewear device 4 displays, as the work support image 93, an image of an equipment installation point P, a surveying instrument installed at the equipment installation point P, and information about the surveying instrument, such as the model and type of the surveying instrument, superimposed on the work site scenery. Accessories for the surveying instrument may also be displayed in a similar manner. The image of the surveying instrument has actual dimensions in an absolute coordinate system, and is displayed on the display 41 at an enlarged or reduced scale depending on the distance from the eyewear device 4.

[0060] As described above, in this embodiment, the work support image 93 displays at least an image of the equipment installation point P and the surveying equipment to be used and installed at the equipment installation point P superimposed on the site scenery, so that the worker can easily recognize the location of the equipment installation point P and the surveying equipment to be installed at that equipment installation point P. In particular, since the surveying equipment is displayed using a photographic image, it can be identified by color, shape, etc., and the worker can select the equipment to be installed from the equipment he or she has brought with him or her without paying special attention. In addition, information such as the model and model number is also displayed, so that it can be checked as needed.

[0061] As shown in Figs. 11(A) to 11(C), the work support image 93 can be displayed in a display mode in which all of the work support image 93 is displayed (display mode 1: Fig. 11(A)), a partial display mode in which only the instrument points of the work support image 93 are displayed (display mode 2: Fig. 11(B)), and a non-display mode in which the work support image 93 is not displayed ( hidden Mode: The mode shown in FIG. 11(C) may be switchable.

[0062] In the illustrated example, by pressing the function button 48b corresponding to the mode switching button display 94, the modes can be switched sequentially.

[0063] Furthermore, instead of simultaneously displaying images of instruments for all equipment installation points in the work support image 93, images of the instruments at the equipment installation points P may be displayed one by one in sequence according to the process, and then, each time work at an equipment installation point is completed, the display may be updated to display the instrument at the next equipment installation point P by pressing function button 48b corresponding to "Next" button display 95 shown in Fig. 11(D) . At this time, a gauge 96 indicating the current progress status for the entire process may be displayed on display 41.

[0064] With the above configuration, the worker can check the equipment required for the next task without having to check the schedule again. Furthermore, by simply following the instructions on the display, the worker can carry out the task as planned in the schedule. In particular, by displaying a gauge showing the progress of the process, the worker can easily grasp the progress of the entire process.

[0065] 6. Variation 1 FIG. 12 shows work support data 92A of a survey support system 100A according to the first modification. Although not shown, the hardware configuration of the system 100A is the same as that of the system 100 shown in FIG. 6. In the system 100A, the storage unit 65 stores work support data 92A instead of the work support data 92. In addition to the contents of the work support data 92, the work support data 92A includes information on precautions to be taken during measurement according to the model. Specifically, if the total station TS01 XYX1 is a device requiring high measurement accuracy, the information includes precautions such as "measurements should be taken in conditions with little haze (visibility of approximately 20 km), moderate sunlight, and no heat haze." Similarly, if the total station TS04 YYX3 is a wireless device, the information includes precautions according to the characteristics of the model, such as "measurements should be taken in conditions with no obstacles, no nearby radio interference, and no noise." The precaution information may also include various other measurement-related precautions.

[0066] When the surveying support method is executed, the work support image creation unit displays model information and model-specific measurement precautions 98 on the work support image 93A, as shown in Fig. 13. For example, as shown in Fig. 13, the model information "S07 XZ21" and the precaution information "measure under conditions with little haze (visibility approximately 40 km), cloudy conditions, and no heat haze" are displayed. The operator confirms that the current conditions meet the precautions, and if the conditions are not met, takes appropriate action such as waiting to start measurement until the conditions are met.

[0067] While veteran workers have learned these points of caution through experience, it is difficult for junior workers to remember all the different types of surveying equipment. With the above configuration, even junior workers can carry out surveying work while paying close attention to the correct points of caution.

[0068] 7. Variation 2 FIG. 14 shows work support data 92B of the survey support system 100B according to Variation 1 of Variation 2 of the survey support system 100B. The hardware configuration of the system 100B is the same as that of the system 100, but the work support data 92B includes images of surveying equipment that explain the work content of each detailed process at each equipment installation point. As with the work support data 92 in the system 100, the images of the surveying equipment that explain the work content are created as three-dimensional data. The images that explain the work content may be still images or videos.

[0069] The work support image creation unit 643B (not shown) creates three-dimensional data of an image of the surveying equipment explaining the work content when the surveying equipment is installed at a position offset by a predetermined distance from the equipment installation point P, rather than an image of the surveying equipment installed at the equipment installation point P.

[0070] 15 is an example of a work support image 93B created based on the work support data 92B. The work support image 93B displays an image explaining the work content (here, it explains the work of turning a level screw to adjust the level and aligning the bubble in a vial to the center) next to the actual surveying equipment in the same field of view.

[0071] With the above configuration, the worker can work while looking at the work support image 93B displayed next to the actual surveying equipment. Since the worker can check the image explaining the work content hands-free within the same field of view, even an inexperienced worker can perform the work without stress.

[0072] The work support data 92B and work support image creation unit 643B (not shown) and the work support data 92 and work support image creation unit 643 are not alternatives, and both may be provided.

[0073] II. Second Embodiment 1. Observation route calculation method Before describing the survey support system 200 according to the second embodiment, we will explain the positions of the equipment installation points and the measurement sequence included in the survey process data 91. In the first embodiment, the positions of the equipment installation points and the measurement sequence included in the survey process data 91 have been described as simply being planned in advance.

[0074] In the case of point cloud observation using a scanner, the positions of the equipment installation points and the measurement order must be set so that the measurement range from each equipment installation point overlaps to achieve the desired point cloud density. For convenience, the route connecting such equipment installation points in a single line according to the measurement order is called the observation route 97.

[0075] Such an observation route can be calculated by an information processing device such as a personal computer based on the scanner's instrument information (coordinates of the instrument center, pulse interval setting, and scan rotation speed setting) and 3D CAD design data of the survey site.

[0076] Fig. 16 is a three-dimensional representation of the area K where point cloud data can be acquired by a scanner. Fig. 17 is a plan view that schematically shows how equipment installation points are set for calculating an observation route. Fig. 18(A) shows an example of a calculated observation route 97, and Fig. 18(B) shows an example of the observation route 97 displayed on the display 41.

[0077] In this embodiment, the scanner is a 3D laser scanner that is further equipped with a rotating mirror in the vertical rotation drive unit of the 3D coordinate measurement unit 21 of the surveying instrument 2, which scans the ranging light in the vertical direction 360° vertically, and can acquire surrounding 3D point cloud data by scanning the ranging light in the vertical direction and horizontal direction.

[0078] Therefore, as shown in Fig. 16, the area K from which point cloud data can be acquired is a roughly hemispherical area A centered on the scanner's mechanical center C. For convenience of drawing, the mechanical center C is shown as being on the ground, but in reality it is located above the ground by the scanner's mechanical height.

[0079] Furthermore, the density of the point cloud acquired by the scanner increases as the pulse interval of the ranging light decreases, decreases as the rotation speed of the scanner increases, and decreases as the distance from the center of the scanner increases. Thus, the point cloud density depends on the pulse interval setting of the ranging light, the rotation speed setting of the scanner, and the distance from the center of the scanner.

[0080] In point cloud data observation, the required point cloud density is set according to the purpose of the observation and the requests of the client. The observation range of the scanner contains an area K1 where the required point cloud density can be met with a single measurement, and an area K2 where the required point cloud density cannot be met with a single measurement but can be met by overlapping with measurements from another point. Therefore, when designing an observation route 97, it is necessary to set an equipment installation point P so that the entire observation site meets the required point cloud density, as shown in Figure 17(A), for example.

[0081] However, because point cloud data observation is a survey to obtain three-dimensional data of a three-dimensional structure at the observation site, three-dimensional structures (e.g., three-dimensional structures S1, S2, and S3 in Figure 17) exist at the observation site. If a three-dimensional structure exists, for example, as shown in Figure 17(B), when the distance measurement light from the scanner installed at the equipment installation point P is irradiated (reflected) on the three-dimensional structure S1, the distance measurement light does not reach part B on the opposite side of the scanner from the three-dimensional structure, and point cloud data cannot be obtained. The same thing happens in three dimensions.

[0082] Therefore, using 3D CAD design data for the survey site, a computer simulation is performed taking into account the pulse interval setting of the scanner's ranging light, the scanner's rotational speed setting, the distance from the scanner's center of the instrument, and the positional relationship with the three-dimensional structure in three dimensions, to calculate the position of the minimum equipment installation point P that can cover the entire observation range at the required point cloud density, as shown in Figure 17(C).In other words, by excluding part B on the opposite side of the scanner from the three-dimensional structure from the scanner's point cloud data acquisition area K, the point cloud data acquisition area is calculated and overlapped to calculate the position of equipment installation point P that will cover the entire observation site with the minimum number of equipment installation points while achieving the required point cloud density.

[0083] Furthermore, a route is calculated that connects the calculated equipment installation points P in a single stroke using the shortest route, as shown in Figure 18(A). This calculates an observation route 97 that connects the equipment installation points that have been placed so as to cover the entire observation site with the required point cloud density.

[0084] 2. Survey Support System 200 The survey support system 200 includes an eyewear device 204 and a data management device 206 instead of the eyewear device 4 and the data management device 6 of the system 100. Fig. 19 is a block diagram showing the configuration of the eyewear device 204 and the data management device 206 that make up the system 200.

[0085] 3. Eyewear device 204 The eyewear device 204 includes a camera 42 in addition to the eyewear device 4 . The camera 42 is equipped with an image sensor such as a CCD or CMOS, and captures images of the scene in front of the eyewear device 4 in real time. The image sensor has an orthogonal coordinate system with the center of the camera as the origin, and the local coordinates of each pixel are specified. The positional relationship between the center of the camera and the center of the eyewear device 4 is known, and the eyewear device 4 can convert and manage images captured by the camera 42 into the coordinate space of the eyewear device 4. Note that if the display 41 is a video see-through type and the eyewear device 4 is equipped with a camera, they may be provided as a common camera.

[0086] 4. Data management device 206 In addition to the components of the data management device 6, the data management device 206 includes a control calculation unit 264 that includes an image acquisition unit 645, a three-dimensional conversion unit 646, a difference calculation unit 647, and an observation route recalculation unit 648, and a work support image creation unit 643A instead of the work support image creation unit 643.

[0087] The image acquisition unit 645 acquires a plurality of landscape images of the site captured by the camera 42. The landscape images are acquired so that at least the entire survey site is captured from two or more different points within the survey site.

[0088] The 3D conversion unit 646 converts the multiple landscape images acquired by the image acquisition unit 645 into 3D data in an absolute coordinate system using photogrammetry techniques. The 3D data of the surveying site obtained from the acquired images is called on-site 3D data.

[0089] The difference calculation unit 647 calculates the difference between the on-site three-dimensional data and the CAD design data included in the surveying process data 91.

[0090] The observation route recalculation unit 648 recalculates the observation route 97 when the on-site three-dimensional data and the CAD design data differ (when the difference exceeds a predetermined threshold).

[0091] The recalculated route reflecting unit 649 reflects the recalculated observation route 97 (instrument installation points and measurement sequence) in the work support data 92 to produce work support data 692.

[0092] The work support image creation unit 643A creates a work support image based on the work support data 692 that reflects the recalculation.

[0093] FIG. 20 is a flowchart of the processing of the control and calculation unit 60 in the survey support method using the survey support system 200.

[0094] In steps S101 to S103, the surveying instrument 2 and the eyewear device 204 are synchronized in the same manner as in steps S01 to S03.

[0095] When the surveying support starts in step S104, the surveying process data reading unit 642 reads the surveying process data 91 in step S105.

[0096] In step S106, the operator takes photographs of the entire scenery of the survey site from at least two points using the camera 42. The image acquisition unit 645 acquires a plurality of scenery images.

[0097] Next, in step S107, the three-dimensional conversion unit 646 converts the multiple landscape images acquired by the image acquisition unit 645 into three-dimensional on-site data in an absolute coordinate system using a photogrammetry technique.

[0098] Next, in step S108, the difference calculation unit 647 calculates the difference between the on-site three-dimensional data and the CAD design data included in the surveying process data 91.

[0099] Next, in step S109, the observation route recalculation unit 648 recalculates the observation route 97 if the on-site three-dimensional data and the CAD design data differ (if the difference exceeds a predetermined threshold).

[0100] Next, in step S110, the recalculated route reflecting unit 649 reflects the recalculated observation route 97 (instrument installation points and measurement order) in the work support data 92, resulting in work support data 692.

[0101] Then, in step S111, the work support image creation unit 643A creates a work support image based on the work support data 692 that reflects the recalculation. The subsequent processing is the same as in steps S07 and S08.

[0102] According to the above configuration, even if there are differences between the CAD design drawings or construction drawings based on CAD design data and the actual site, the differences can be reflected in the surveying process data 91 and then the surveying support method can be executed, making it possible to quickly reflect plan changes on site.

[0103] The above describes preferred embodiments of the present invention, but the above embodiments are merely examples of the present invention, and these can be combined based on the knowledge of those skilled in the art, and such forms are also included in the scope of the present invention. [Explanation of symbols]

[0104] 2:Surveying instrument 4,204: Eyewear display device 21: 3D coordinate measurement unit 26: Communications Department 41: Display 42: Camera 44: Communications Department 45: Relative position detection sensor 46: Relative direction detection sensor 61: Communications Department 64,264: Control and calculation section 91: Survey process data 93, 93A, 93B: Work support images 96: Gauge 100, 100A, 100B, 200: Survey support system 641: Synchronous measurement unit 642: Survey process data reading unit 643, 643A, 643B: Work support image creation unit 644: Work support image display unit

Claims

1. a measuring instrument including a communication unit and a three-dimensional coordinate measurement unit; An eyewear display device including a display, a relative position sensor that detects its own position, and a relative direction sensor that detects its own direction; and a control and calculation unit including a synchronous measurement unit that matches a coordinate space of information relating to the position and direction of the eyewear display device, a coordinate space of the measuring device, and a coordinate space of an absolute coordinate system, and enables management in a space with a common reference point as the origin; a surveying support system that displays an image of the absolute coordinate system created by the control and calculation unit on the display, thereby enabling the image to be superimposed on a scene of a site observed by wearing the eyewear display device, the control and calculation unit comprises a surveying process data reading unit that reads out surveying process data including at least instrument information of the surveying instrument to be used, three-dimensional position information of the instrument installation point in the absolute coordinate system, and a measurement sequence of the instrument installation point; a work support image creating unit that creates a work support image based on the surveying process data; and a work support image display unit that transmits the work support image to the eyewear display device and displays it on the display; A surveying support system characterized in that the work support image includes an image of the equipment installation point and the surveying equipment to be used installed at the equipment installation point, and the eyewear display device makes it possible to observe the work support image superimposed on the scenery of the site.

2. 2. The surveying support system according to claim 1, wherein the work support image is updated so that images of the surveying equipment installed at the equipment installation point are displayed in sequence in accordance with the measurement order.

3. 3. The survey support system according to claim 1, wherein the work support image displays a gauge indicating the progress of a surveying process.

4. 4. A survey support system according to claim 1, wherein the instrument information of the surveying instrument to be used includes information on accessories to be used together with the surveying instrument to be used.

5. The work support image includes an image explaining the work content of the surveying process, The surveying support system according to any one of claims 1 to 4, characterized in that the work support image creation unit displays, at the equipment installation point, an image explaining the work content of the surveying process next to the actual surveying equipment installed at the equipment installation point.

6. the eyewear display device further comprises a camera; the control and calculation unit further comprises an image acquisition unit that acquires a plurality of landscape images of the entire surveying site taken from at least two or more positions using the camera; a three-dimensional conversion unit that converts the plurality of landscape images into site three-dimensional data that is three-dimensional data of the surveying site; a difference calculation unit that calculates a difference between the site three-dimensional data and design data; an observation route recalculation unit that recalculates the equipment installation points and the measurement sequence when there is a difference between the site three-dimensional data and the design data; and a recalculated route reflection unit that reflects the recalculated equipment installation points and the measurement sequence in the work support data; 6. The surveying support system according to claim 1, wherein the work support image creation unit creates the work support image based on the work support data to which the recalculation has been reflected.

7. A surveying support method using a measuring instrument including a communication unit and a three-dimensional coordinate measurement unit, and an eyewear display device including a display, a relative position sensor that detects a self-position, and a relative direction sensor that detects a self-direction, the method comprising: The coordinate space of the information relating to the position and direction of the eyewear display device is made to coincide with the coordinate space of the absolute coordinate system, so that it can be managed in a space with a common reference point as the origin; By displaying the image of the absolute coordinate system on the display, the image can be superimposed on the scene scenery observed by wearing the eyewear display device; Reading out surveying process data including at least instrument information of the surveying instrument to be used, three-dimensional position information of the instrument installation point in the absolute coordinate system, and a measurement sequence of the instrument installation point; Creating a work support image based on the surveying process data; transmitting the work support image to the eyewear display device and displaying it on the display; A surveying support method characterized in that the work support image includes an image of the equipment installation point and the surveying equipment to be used installed at the equipment installation point, and the eyewear display device makes it possible to observe the work support image superimposed on the scenery of the site.

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