Surveying system, surveying equipment, surveying method, and surveying program

Abstract

To perform high-precision measurements of areas of an object that cannot be measured directly. [Solution] The processor 64 generates second point cloud data representing the object to be measured 100 based on multiple captured images taken of the object to be measured 100 from multiple viewpoints. From the multiple captured images, it uses image recognition to identify the positions in the second coordinate system of the first target 2 placed on the surface of the object to be measured 100 and the second target 3 placed in the unmeasurable area Ar2 of the total station 4 on the surface of the object to be measured 100. Based on the position coordinates of the second point cloud data corresponding to the identified position of the first target 2 and the position coordinates of the first target 2 measured by the total station 4, it converts the second point cloud data into first point cloud data, and calculates the position coordinates corresponding to the identified position of the second target 3 based on the first point cloud data.

Description

Technical Field

[0001] The present invention relates to a surveying system, a surveying device, a surveying method, and a surveying program.

Background Art

[0002] As a method for surveying a measurement object, a method using a total station, a laser scanner, a digital camera (photogrammetry), or the like is generally used. In these methods, depending on the size of the measurement object, there are portions (hereinafter also referred to as measurement impossible regions) that exceed the measurable range when measuring the measurement object by placing the above-mentioned devices on the ground. Therefore, surveying of those portions requires an operator to set up a scaffold or the like. Therefore, it involves a great deal of work and danger. For example, in the form accuracy survey and pre-assembly survey of foundation structures for offshore wind power generation exceeding 30 m in height, it is necessary to use an aerial work platform, a high-place scaffold, or a lifting device.

[0003] Conventionally, as a technique for surveying the above-described measurement impossible regions of a measurement object, a photogrammetry technique has been proposed in which a camera is mounted on an unmanned aircraft such as a drone, and surveying is performed based on a plurality of captured images obtained by the camera capturing the measurement object from a plurality of viewpoints (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the photogrammetry technique described in Patent Document 1 is a technique mainly used for topographic surveys and residential land surveys, and the measurement error of the target is on the order of centimeters, which is insufficient for high-precision surveys such as on the order of millimeters. Therefore, there is a need for technology that can accurately measure the unmeasurable regions of an object being measured.

[0006] The present invention has been made in view of the above, and aims to provide a surveying system, surveying device, surveying method, and surveying program that can perform high-precision surveying of unmeasurable areas of an object to be measured. [Means for solving the problem]

[0007] To solve the above-mentioned problems and achieve the objective, the surveying system according to the present invention comprises at least three first targets installed on the surface of an object to be measured, a total station that measures the position coordinates of the first coordinate system of the at least three first targets, a second target installed in an area on the surface of the object to be measured where the total station cannot measure, an aircraft equipped with an imaging unit, and a processor, wherein the processor includes a point cloud data generation unit that generates second point cloud data of a second coordinate system indicating the position coordinates of the surface of the object to be measured based on a plurality of captured images taken by the imaging unit from a plurality of viewpoints, and an image recognition unit that processes the plurality of captured images. The system includes: a position identification unit that identifies the positions of the at least three first targets and the second targets in the second coordinate system; a coordinate system transformation unit that converts the second point cloud data into first point cloud data in the first coordinate system based on the position coordinates of the second coordinate system corresponding to the positions of the at least three first targets identified by the position identification unit and the position coordinates of the at least three first targets in the first coordinate system measured by the total station; and a coordinate calculation unit that calculates the position coordinates of the first coordinate system corresponding to the positions of the second targets identified by the position identification unit based on the first point cloud data.

[0008] Furthermore, in the surveying system according to the present invention, the first target in the above invention is a composite target including a sighting target for measurement by the total station and a two-dimensional code for image recognition by the processor.

[0009] Furthermore, in the surveying system according to the present invention, the composite target comprises one two-dimensional code and two sighting targets whose centers are located on the same straight line, spaced at a predetermined distance from the center of the two-dimensional code.

[0010] Furthermore, in the surveying system according to the present invention, the composite target further comprises a base having a plane, and the two-dimensional code and the centers of the plurality of sighting targets are located on the same plane.

[0011] Furthermore, in the surveying system according to the present invention, the composite target further comprises a frustum-shaped base, the two-dimensional code is provided on the top surface of the frustum-shaped base, and the plurality of sighting targets are provided on the sides of the frustum-shaped base.

[0012] Furthermore, in the surveying system according to the present invention, the composite target is provided such that one of the two-dimensional codes and one of the sighting targets are centered on each other.

[0013] Furthermore, in the surveying system according to the present invention, the two-dimensional code is provided around the sighting target.

[0014] Furthermore, in the surveying system according to the present invention, the two-dimensional code is provided on the sighting target.

[0015] Furthermore, in the surveying system according to the present invention, the sighting target is composed of a retroreflective material.

[0016] Furthermore, in the surveying system according to the present invention, the at least three first targets are provided on the surface of the object to be measured, within the area where measurement by the total station is possible, and at the boundary with the area where measurement is not possible.

[0017] The surveying apparatus according to the present invention is a surveying apparatus equipped with a processor, the processor comprising: a point cloud data generation unit that generates second point cloud data of a second coordinate system indicating the position coordinates of the surface of the object to be measured based on a plurality of captured images taken by an imaging unit mounted on an aircraft from a plurality of viewpoints of the object to be measured; a position identification unit that identifies the positions in the second coordinate system of at least three first targets installed on the surface of the object to be measured and a second target installed in an area on the surface of the object to be measured that cannot be measured by a total station, by image recognition from the plurality of captured images; a coordinate system transformation unit that converts the second point cloud data into first point cloud data of the first coordinate system based on the position coordinates of the second coordinate system corresponding to the positions of the at least three first targets identified by the position identification unit and the position coordinates of the first coordinate system of the at least three first targets measured by the total station; and a coordinate calculation unit that calculates the position coordinates of the first coordinate system corresponding to the positions of the second targets identified by the position identification unit based on the first point cloud data.

[0018] The surveying method according to the present invention is a surveying method performed by a processor of a surveying device, and includes: a point cloud data generation step of generating second point cloud data of a second coordinate system indicating the position coordinates of the surface of an object to be measured based on a plurality of captured images taken by an imaging unit mounted on an aircraft from a plurality of viewpoints of the object to be measured; a position identification step of identifying the positions in the second coordinate system of at least three first targets installed on the surface of the object to be measured and a second target installed in an area on the surface of the object to be measured that cannot be measured by a total station, by image recognition from the plurality of captured images; a coordinate system transformation step of converting the second point cloud data into first point cloud data of the first coordinate system based on the position coordinates of the second coordinate system corresponding to the positions of the at least three first targets identified by the position identification step and the position coordinates of the first coordinate system of the at least three first targets measured by the total station; and a coordinate calculation step of calculating the position coordinates of the first coordinate system corresponding to the positions of the second targets identified by the position identification step, based on the first point cloud data.

[0019] The surveying program according to the present invention causes a computer to execute a point cloud data generation step of generating second point cloud data in a second coordinate system indicating the position coordinates of the surface of the measurement object based on a plurality of captured images obtained by capturing the measurement object from a plurality of viewpoints by an imaging unit mounted on an aircraft, a position specifying step of specifying, by image recognition from the plurality of captured images, the positions in the second coordinate system of at least three first targets respectively installed on the surface of the measurement object and a second target installed in an area where the total station cannot measure on the surface of the measurement object, a coordinate system conversion step of converting the second point cloud data into first point cloud data in a first coordinate system based on the position coordinates in the second coordinate system corresponding to the positions of the at least three first targets specified in the position specifying step and the position coordinates in the first coordinate system of the at least three first targets measured by the total station, and a coordinate calculation step of calculating the position coordinates in the first coordinate system corresponding to the position of the second target specified in the position specifying step based on the first point cloud data.

Advantages of the Invention

[0020] According to the surveying system, surveying apparatus, surveying method, and surveying program of the present invention, it is possible to highly accurately measure an area where the measurement of the measurement object is impossible.

Brief Description of the Drawings

[0021] [Figure 1] FIG. 1 is a diagram for explaining the configuration of a surveying system according to an embodiment. [Figure 2] FIG. 2 is a diagram showing the configuration of a first target. [Figure 3] FIG. 3 is a diagram showing an example of a two-dimensional code. [Figure 4] FIG. 4 is a flowchart showing a surveying method executed by a processor. [Figure 5]FIG. 5 is a diagram showing the configuration of the first target according to Modification Example 1 of the embodiment. [Figure 6] FIG. 6 is a diagram showing the configuration of the first target according to Modification Example 2 of the embodiment. [Figure 7] FIG. 7 is a diagram showing the configuration of the first target according to Modification Example 3 of the embodiment.

MODE FOR CARRYING OUT THE INVENTION

[0022] Hereinafter, embodiments for carrying out the present invention (hereinafter referred to as embodiments) will be described with reference to the drawings. Note that the present invention is not limited to the embodiments described below. Further, in the description of the drawings, the same parts are denoted by the same reference numerals.

[0023] 〔Schematic Configuration of Surveying System〕 FIG. 1 is a diagram for explaining the configuration of the surveying system 1 according to the embodiment. The surveying system 1 is a system for surveying a measurement object 100 including a part that cannot be measured by a total station 4 installed on the ground (hereinafter also referred to as an unmeasurable area).

[0024] In this embodiment, the object to be measured 100 is a foundation structure for offshore wind power generation, which is measured on land and ultimately installed offshore. However, the object to be measured 100 is not limited to a foundation structure for offshore wind power generation; any object to be measured that has an unmeasurable area may be used. As shown in Figure 1, the object to be measured 100 comprises a cylindrical support column 101 with a height of 30m or more, a temporary scaffolding 102 provided at the top of the support column 101 so as to extend from the outer surface of the support column 101, and a plurality of connecting members 103 that protrude from a position above the temporary scaffolding 102 on the outer surface of the support column 101 and connect to other members. Furthermore, in the object to be measured 100, the area below the lower surface 1021 of the temporary scaffolding 102 is a measurable region Ar1 that can be measured by a total station 4 installed on the ground, and the area above the lower surface 1021 of the temporary scaffolding 102 is an unmeasurable region Ar2 that cannot be measured by the total station 4. Here, the lower surface 1021 corresponds to the boundary portion according to the present invention.

[0025] As shown in Figure 1, the surveying system 1 comprises first and second targets 2 and 3, a total station 4, an aircraft 5, and a surveying device 6.

[0026] Figure 2 shows the configuration of the first target 2. The first target 2 is placed on the outer surface of the object to be measured 100, in the measurable area Ar1, as the surface of the object to be measured 100. In the example shown in Figure 1, six first targets 2 are placed on the outer surface of the support column 101, and three are placed on the lower surface 1021 of the temporary scaffolding 102.

[0027] In this embodiment, the first target 2 is a composite target that includes a sighting target 21 for measurement by the total station 4 and a two-dimensional code 22 for image recognition by the processor 64 constituting the surveying device 6, as shown in Figure 2.

[0028] Specifically, as shown in Figure 2, the first target 2 is formed on a base body 23 consisting of a rectangular flat plate in plan view, with a single two-dimensional code 22 at its center and sighting targets 21 positioned on both sides of the two-dimensional code 22 on the plate surface 231. Here, the plate surface 231 corresponds to the plane according to the present invention. That is, the two-dimensional code 22 and the centers P11 of the two sighting targets 21 are located on the same plane (plate surface 231). Furthermore, the first target 2 comprises a single two-dimensional code 22 and two sighting targets 21 whose centers P11 and P12 are positioned on the same straight line at a known distance from the center P12 of the two-dimensional code 22.

[0029] The sighting target 21 is a target that is sighted by the total station 4 and whose position coordinates of the center P11 are measured. In this embodiment, the sighting target 21 is a prism as a retroreflector, with a mark M consisting of a sighting circle and a cross on its surface. All (nine in this embodiment) sighting targets 21 included in the first target 2 have the same configuration. In addition, the sighting target 21 may be a spherical lens type retroreflector, as is the case in this embodiment.

[0030] Figure 3 shows an example of a two-dimensional code 22. The two-dimensional code 22 is a target for image recognition by the processor 64 to identify the position of the central P12. In this embodiment, the two-dimensional code 22 is composed of Apriltags. However, the two-dimensional code 22 is not limited to Apriltags; any two-dimensional code, such as a barcode or QR code (registered trademark), may be used. Furthermore, all (9 in this embodiment) two-dimensional codes 22 included in the first target 2 are composed of different Apriltags. For example, all (9 in this embodiment) two-dimensional codes 22 included in the first target 2 are composed of different Apriltags, such as the Apriltags shown in Figure 2 and the Apriltags shown in Figure 3.

[0031] The second target 3 is placed on the outer surface of the object to be measured 100 in the unmeasurable region Ar2. In the example shown in Figure 1, four second targets 3 are placed on the outer edge of the upper surface of the support column 101, and four are placed on the outer edge of the tip of the connecting member 103.

[0032] In this embodiment, the second target 3, although not specifically illustrated, is composed of an April tag similar to the two-dimensional code 22. Note that all two-dimensional codes 22 included in all first targets 2 and all second targets 3 are composed of different April tags.

[0033] Although not shown in detail in the illustration, the total station 4 comprises a telescope unit for sighting for distance and angle measurement, and a drive unit that rotates the device supporting the telescope unit in the horizontal plane and also swings the telescope unit in the elevation direction. The total station 4 measures the position coordinates of the center P11 of the sighting target 21 by sighting the sighting target 21.

[0034] The aircraft 5 is equipped with an imaging unit 51 and is capable of flying in the air. In this embodiment, the aircraft 5 is made up of a drone. However, the aircraft 5 is not limited to a drone; other aircraft such as a helicopter may be used. The imaging unit 51 is made up of a camera including an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor), and it captures images of the object to be measured 100 from multiple viewpoints and generates captured images from each viewpoint. The captured images generated by the imaging unit 51 may be still images or moving images. Furthermore, the imaging unit 51 may be made up of a monocular camera or a compound camera.

[0035] As shown in Figure 1, the surveying device 6 comprises an input unit 61, a storage unit 62, a display unit 63, and a processor 64.

[0036] The input unit 61 is configured using operating devices such as a mouse, keyboard, and touch panel, and accepts user input. The input unit 61 then outputs an operation signal corresponding to the user input to the processor 64.

[0037] The storage unit 62 stores various programs executed by the processor 64 (including the surveying program according to the present invention), as well as data necessary when the processor 64 performs processing.

[0038] The display unit 63 is composed of a display using liquid crystal or organic EL (Electro Luminescence), and displays a predetermined image under the control of the processor 64.

[0039] The processor 64 is implemented by controllers such as a CPU (Central Processing Unit), MPU (Micro Processing Unit), and GPU (Graphics Processing Unit) executing various programs stored in the memory unit 62, thereby controlling the operation of the entire surveying device 6. Note that the processor 64 is not limited to a CPU, MPU, or GPU; it may also be composed of integrated circuits such as an ASIC (Application Specific Integrated Circuit) or FPGA (Field-Programmable Gate Array).

[0040] This processor 64 has the functions of a point cloud data generation unit, a position identification unit, a coordinate system transformation unit, and a coordinate calculation unit according to the present invention. Details of the functions of the processor 64 as a point cloud data generation unit, position identification unit, coordinate system transformation unit, and coordinate calculation unit will be explained later in the section "About the Surveying Method".

[0041] The surveying device 6 described above is connected to the total station 4 in a communication manner. The surveying device 6 then acquires the position coordinates of the center P11 of the sighting target 21 measured by the total station 4. The surveying device 6 is also connected to the aircraft 5 (imaging unit 51) in a communication manner. The surveying device 6 then acquires the image captured by the imaging unit 51. The communication between the surveying device 6 and the total station 4 and the aircraft 5 (imaging unit 51) may be wireless or wired.

[0042] [Regarding surveying methods] Figure 4 is a flowchart showing the surveying method performed by processor 64. First, the processor 64 obtains the position coordinates (position coordinates of the center P11) of each of the first targets 2 (sight targets 21) measured by the total station 4 in the first coordinate system (absolute coordinate system) (step S1).

[0043] In step S1, the processor 64 may sequentially acquire the position coordinates of the first target 2 each time the total station 4 measures the position coordinates of the first target 2, or it may acquire all of the position coordinates of the first target 2 at once from the storage unit provided in the total station 4 after the total station 4 has measured the position coordinates of all of the first target 2 and stored them in the storage unit provided in the total station 4. Furthermore, the processor 64 may acquire the position coordinates of the first target 2 measured by the total station 4 in response to user operations on the input unit 61 by the user.

[0044] After step S1, the processor 64 acquires multiple images from multiple viewpoints of the object to be measured 100 while the aircraft 5 is flying through the air (step S2). In this case, one of the first and second targets 2 and 3 is captured as the subject in any of the multiple captured images, and when the multiple captured images as a whole are viewed, all of the first and second targets 2 and 3 are captured as the subject.

[0045] In step S2, the processor 64 may acquire the captured images sequentially each time the imaging unit 51 takes an image, or it may acquire all the captured images from the storage unit after the imaging unit 51 has taken all the images and all the captured images have been stored in the storage unit provided in the aircraft 5.

[0046] The order of steps S1 and S2 described above is not limited to the order stated above; step S2 may be executed first, followed by step S1.

[0047] After step S2, the processor 64 generates second point cloud data in a second coordinate system (local coordinate system) that indicates the position coordinates of the outer surface of the object to be measured 100, based on the multiple captured images acquired in step S2 (step S3: point cloud data generation step). In other words, the processor 64 functions as a point cloud data generation unit according to the present invention.

[0048] In step S3, the processor 64 uses, for example, the Structure from Motion (SfM) method. Specifically, the processor 64 identifies feature points for each acquired image and extracts corresponding combinations of feature points between the images. Then, using these combinations of feature points, the processor 64 calculates the position coordinates of the feature points in a second coordinate system and generates second point cloud data indicating these position coordinates. Note that the method for generating the second point cloud data is not limited to SfM; other methods such as Visual Simultaneous Localization And Mapping (vSLAM) may also be used.

[0049] After step S3, the processor 64 uses image recognition from the multiple captured images acquired in step S2 to determine the positions of all first targets 2 (two-dimensional codes 22) and all second targets 3 in the second coordinate system (step S4: position determination step). In other words, the processor 64 functions as a position determination unit according to the present invention.

[0050] Specifically, in step S4, the processor 64 uses the image feature quantities of all two-dimensional codes 22 and all two-dimensional codes corresponding to the second target 3, which are pre-stored in the memory unit 62, to extract feature point groups corresponding to the two-dimensional codes from multiple captured images. Then, the processor 64 identifies the central feature point of each extracted feature point group, and identifies these identified central feature points as the positions of the corresponding two-dimensional codes 22 and the corresponding second target 3, respectively.

[0051] The order of steps S3 and S4 described above is not limited to the order stated above; step S4 may be executed before step S3. Also, step S3 may be executed at any time between step S2 and step S5 (described later). Similarly, step S4 may be executed at any time between step S2 and step S5 (described later).

[0052] After step S4, the processor 64 converts the second point cloud data into first point cloud data in the first coordinate system based on the position coordinates of the second coordinate system, which are derived from the second point cloud data corresponding to the positions of at least three of the first targets 2 (two-dimensional codes 22) identified in step S4 (positions of the center P12 of the two-dimensional codes 22), and the position coordinates of the first coordinate system of those at least three first targets 2 (sight targets 21) acquired in step S1 (step S5: coordinate system conversion step). In other words, the processor 64 functions as a coordinate system conversion unit according to the present invention. It is preferable that the at least three first targets 2 include first targets 2 located near the lower surface 1021, which is the boundary between the measurable area Ar1 and the non-measurable area Ar2, for example, within 10 m of the boundary in the measurable area Ar1.

[0053] Specifically, in step S5, the processor 64 calculates the position coordinates of the center P12 of the two-dimensional code 22 located between two sighting targets 21 on at least three first targets 2, based on the position coordinates of the center P11 of the two sighting targets 21 on the first target 2 measured by the total station 4. Then, the processor 64 converts the second point cloud data (second coordinate system) to the first point cloud data (first coordinate system) by replacing the position coordinates of the second coordinate system based on the second point cloud data corresponding to the positions of the at least three first targets 2 (positions of the center P12 of the two-dimensional code 22) identified in step S4 with the position coordinates of the first coordinate system of the center P12 of the at least three two-dimensional codes 22 that it calculated.

[0054] After step S5, the processor 64 calculates the position coordinates of the first coordinate system corresponding to the position of the second target 3 identified in step S4, based on the first point cloud data generated in step S5 (step S6: coordinate calculation step). In other words, the processor 64 functions as a coordinate calculation unit according to the present invention.

[0055] According to the embodiment described above, the following effects are achieved. In the surveying system 1 according to this embodiment, the processor 64 generates second point cloud data in a second coordinate system (local coordinate system) that shows the position coordinates of the outer surface of the object to be measured 100, based on multiple images captured by the aircraft 5 (imaging unit 51) from multiple viewpoints, for example, using the SfM method. Here, in 3D measurement such as SfM, the position coordinates of the outer surface of the object to be measured 100 (second point cloud data) are generated in the local coordinate system, not the absolute coordinate system. For this reason, the position coordinates based on the second point cloud data corresponding to the position of the second target 3 cannot be used as the survey result. Therefore, the processor 64 converts the second point cloud data into first point cloud data in the absolute coordinate system based on the position coordinates in the local coordinate system based on the second point cloud data corresponding to the positions of at least three first targets 2, and the position coordinates in the absolute coordinate system of the at least three first targets 2 measured by the total station 4. Then, the processor 64 calculates the absolute coordinate system position corresponding to the position of the second target 3 based on the first point cloud data. Therefore, according to the surveying system 1 of this embodiment, the position of the second target 3, which is installed in the unmeasurable region Ar2 of the object to be measured 100, can be measured with high accuracy.

[0056] Furthermore, in the surveying system 1 according to this embodiment, the first target 2 is a composite target including a sighting target 21 for measurement by a total station 4 and a two-dimensional code 22 for image recognition by a processor 64. The composite target comprises one two-dimensional code 22 and a plurality of sighting targets 21 arranged at equal intervals from the center P12 of the two-dimensional code 22. The composite target is provided on the plate surface 231 of the base body 23, with the two-dimensional code 22 and the plurality of sighting targets 21. In other words, by using a composite target in which the positional relationship between the sighting target 21 and the two-dimensional code 22 is predetermined, the absolute coordinate system position of the two-dimensional code 22 can be easily and accurately calculated for each first target 2 from the position of the sighting target 21 measured by the total station 4.

[0057] Furthermore, in the surveying system 1 according to this embodiment, the sighting target 21 is a sighting target prism composed of a retroreflective material. Therefore, the surveying accuracy of the sighting target 21 by the total station 4 can be improved.

[0058] Furthermore, in the surveying system 1 according to this embodiment, at least three first targets 2 used in step S5 are provided on the outer surface of the object to be measured 100 at the boundary (lower surface 1021) between the measurable area Ar1 and the non-measurable area Ar2 of the total station 4. In other words, by using the position coordinates of the first target 2 (position coordinates measured by the total station 4), which is installed close to the second target 3 to be surveyed, in step S5, even if there is a measurement error by the total station 4, the influence on the calculation result of the absolute coordinate system position coordinates of the second target 3 to be surveyed can be suppressed.

[0059] (Other embodiments) While embodiments for carrying out the present invention have been described so far, the present invention should not be limited to the embodiments described above. In the above-described embodiment, the first target 2 is not limited to the configuration described in the above-described embodiment, but may also be configured in the following modified examples 1 to 3.

[0060] In the embodiments described above and in the modified examples 1 to 3 described later, the outer surface of the object to be measured is measured as the surface of the object to be measured. However, if the object to be measured is cylindrical, the same method can be applied to measuring the inner surface of the object. For example, a total station can be placed on the ground to measure the inner surface of the object to be measured, and the object can be laid on its side to measure the inner surface, while simultaneously photographing the inner surface with a drone and taking measurements.

[0061] (Variation 1) Figure 5 shows the first target 2 according to modified example 1 of the embodiment. In the first target 2 according to this modified example 1, as shown in Figure 5, the shape of the base 23 is different from that of the first target 2 described in the above-described embodiment.

[0062] Specifically, the base body 23 in this modified example 1 has a frustum-shaped hexagon, as shown in Figure 5. The base body 23 is not limited to a frustum-shaped hexagon; it may be composed of other frustum shapes, such as a frustum-shaped square pyramid. The two-dimensional code 22 is located on the top surface 232 of the base body 23. Furthermore, six sighting targets 21 are provided in this modified example 1, each positioned on one of the six sides 233 of the base body 23. In other words, the first target 2 in this modified example 1 comprises one two-dimensional code 22 and six sighting targets 21 positioned at equal intervals from the center P12 of the two-dimensional code 22.

[0063] In step S5, the processor 64 calculates the position coordinates of the center P12 of the two-dimensional code 22 placed on the top surface 232 for at least three first targets 2, based on the position coordinates of the center P11 of at least two of the six sighting targets 21 on the first target 2 measured by the total station 4. Then, the processor 64 converts the second point cloud data (second coordinate system) to the first point cloud data (first coordinate system) by replacing the position coordinates of the second coordinate system based on the second point cloud data corresponding to the positions of the at least three first targets 2 (positions of the center P12 of the two-dimensional code 22) identified in step S4 with the position coordinates of the first coordinate system of the center P12 of the at least three two-dimensional codes 22 that it calculated.

[0064] According to the modified example 1 described above, in addition to the same effects as the embodiment described above, the following effects are achieved. In the first target 2 according to this modified example 1, a two-dimensional code 22 is provided on the top surface 232 of the frustum-shaped base 23, and sighting targets 21 are provided on each side surface 233 of the base 23. Therefore, since the sighting target 21 can be sighted from various directions, the flexibility of the total station 4's placement can be improved.

[0065] (Modification 2) Figure 6 shows the first target 2 according to a modified example 2 of the embodiment. In this modified example 2, the first target 2, as shown in Figure 6, is provided with one two-dimensional code 22 and one sighting target 21, with their centers P11 and P12 aligned. The two-dimensional code 22 is provided around the sighting target 21.

[0066] As described above, in the first target 2, the centers P11 and P12 of one two-dimensional code 22 and one sighting target 21 coincide. Therefore, in step S5, for at least three first targets 2, the position coordinates of the center P11 of one sighting target 21 in the first target 2, as measured by the total station 4, are used as the position coordinates of the center P12 of the two-dimensional code 22. The processor 64 then converts the second point cloud data (second coordinate system) to the first point cloud data (first coordinate system) by replacing the position coordinates of the second coordinate system based on the second point cloud data corresponding to the positions of at least three first targets 2 (positions of the center P12 of the two-dimensional code 22) identified in step S4 with the position coordinates of the first coordinate system of the center P11 of at least three sighting targets 21 (position coordinates of the first coordinate system of the center P12 of the two-dimensional code 22), as measured by the total station 4.

[0067] According to the modified example 2 described above, in addition to the same effects as the embodiment described above, the following effects are achieved. In the first target 2 according to this modified example 2, one two-dimensional code 22 is provided around one sighting target 21, and the two-dimensional code 22 and the sighting target 21 are aligned with their respective centers P11 and P12. Therefore, the first target 2 can be miniaturized, and the degree of freedom in installing it on the outer surface of the object to be measured 100 can be improved.

[0068] (Variation 3) Figure 7 shows the first target 2 according to modified example 3 of the embodiment. As shown in Figure 7, the first target 2 in this modified example 3 is provided with one two-dimensional code 22 and one sighting target 21 aligned at their respective centers P11 and P12, similar to the first target 2 described in the modified example 2 above. The two-dimensional code 22 is the same size as the sighting target 21 and is provided on the sighting target 21.

[0069] As described above, in the first target 2, the centers P11 and P12 of one two-dimensional code 22 and one sighting target 21 coincide. Therefore, in step S5, for at least three first targets 2, the position coordinates of the center P11 of one sighting target 21 in the first target 2, as measured by the total station 4, are used as the position coordinates of the center P12 of the two-dimensional code 22. The processor 64 then converts the second point cloud data (second coordinate system) to the first point cloud data (first coordinate system) by replacing the position coordinates of the second coordinate system based on the second point cloud data corresponding to the positions of at least three first targets 2 (positions of the center P12 of the two-dimensional code 22) identified in step S4 with the position coordinates of the first coordinate system of the center P11 of at least three sighting targets 21 (position coordinates of the first coordinate system of the center P12 of the two-dimensional code 22), as measured by the total station 4.

[0070] Even when configured as in the modified example 3 described above, the same effects as those of the embodiment and modified example 2 described above are achieved. [Explanation of Symbols]

[0071] 1. Surveying System 2. First Target 3. Second Target 4 Total Station 5 flying objects 6 Surveying equipment 21 Sighting Target 22 QR Codes 23 Base 51 Imaging Unit 61 Input section 62 Storage section 63 Display section 64 processors 100 objects to be measured 101 Post 102 Temporary scaffolding 103 Connecting Member 1021 Bottom surface 231 Board surface 232 Top surface 233 Side View Ar1 measurement potential areas Ar2 measurement impossible area M マーク P11, P12 Center

Claims

1. At least three first targets are placed on the surface of the object to be measured, A total station that measures the position coordinates of the first coordinate system of at least three first targets, A second target is placed in the area of ​​the total station that cannot be measured on the surface of the object to be measured, An aircraft equipped with an imaging unit, Equipped with a processor, The aforementioned processor, A point cloud data generation unit generates a second point cloud data in a second coordinate system that indicates the position coordinates of the surface of the object to be measured, based on a plurality of captured images obtained by the imaging unit from a plurality of viewpoints of the object to be measured, A position identification unit that identifies the positions of the at least three first targets and the second target in the second coordinate system by image recognition from the plurality of captured images, A coordinate system transformation unit converts the second point cloud data into first point cloud data in the first coordinate system based on the position coordinates of the second coordinate system corresponding to the positions of the at least three first targets identified by the position identification unit and the position coordinates of the first coordinate system of the at least three first targets measured by the total station. A surveying system comprising: a coordinate calculation unit that calculates the position coordinates of the first coordinate system corresponding to the position of the second target identified by the position identification unit, based on the first point cloud data.

2. The first target is, The surveying system according to claim 1, comprising a composite target including a sighting target for measurement by the total station and a two-dimensional code for image recognition by the processor.

3. The aforementioned composite target is One of the aforementioned two-dimensional codes, The surveying system according to claim 2, further comprising two sighting targets whose centers are located on the same straight line, separated by a predetermined distance from the center of the two-dimensional code.

4. The aforementioned composite target is The substrate further comprises a base having a plane, The two-dimensional code and the centers of the two sighting targets are, The surveying system according to claim 3, provided on the same plane.

5. The aforementioned composite target is It further comprises a frustum-shaped base, The aforementioned two-dimensional code is, Provided on the top surface of the frustum-shaped base, The aforementioned sighting target is, The surveying system according to claim 2, wherein each side surface of the frustum-shaped base is provided.

6. The aforementioned composite target is The surveying system according to claim 2, wherein one of the two-dimensional codes and one of the sighting targets are provided so that their centers coincide with each other.

7. The aforementioned two-dimensional code is, The surveying system according to claim 6, provided around the sighting target.

8. The aforementioned two-dimensional code is, The surveying system according to claim 6, provided on the sighting target.

9. The aforementioned sighting target is, The surveying system according to claim 2, comprising a retroreflective material.

10. The aforementioned at least three first targets are The surveying system according to claim 1, provided on the surface of the object to be measured, within an area where measurement by the total station is possible, and at the boundary with the area where measurement is not possible.

11. A surveying device equipped with a processor, The aforementioned processor, A point cloud data generation unit generates a second point cloud data in a second coordinate system that indicates the position coordinates of the surface of the object to be measured, based on multiple images captured by an imaging unit mounted on the aircraft from multiple viewpoints, A position identification unit that, using image recognition from the plurality of captured images, identifies the positions in the second coordinate system of at least three first targets placed on the surface of the object to be measured, and a second target placed in the area of ​​the total station that cannot be measured on the surface of the object to be measured. A coordinate system transformation unit converts the second point cloud data into first point cloud data of the first coordinate system based on the position coordinates of the second coordinate system corresponding to the positions of the at least three first targets identified by the position identification unit and the position coordinates of the first coordinate system of the at least three first targets measured by the total station. A surveying apparatus comprising: a coordinate calculation unit that calculates the position coordinates of the first coordinate system corresponding to the position of the second target identified by the position identification unit, based on the first point cloud data.

12. A surveying method performed by the processor of a surveying device, A point cloud data generation step in which an imaging unit mounted on the aircraft generates a second point cloud data of a second coordinate system indicating the position coordinates of the surface of the object to be measured, based on multiple images captured by the imaging unit from multiple viewpoints of the object to be measured, A position identification step in which, from the plurality of captured images, image recognition is used to identify the positions in the second coordinate system of at least three first targets placed on the surface of the object to be measured, and a second target placed in the area of ​​the total station that cannot be measured on the surface of the object to be measured. A coordinate system transformation step that transforms the second point cloud data into first point cloud data of the first coordinate system based on the position coordinates of the second coordinate system based on the second point cloud data corresponding to the positions of the at least three first targets identified by the position identification step, and the position coordinates of the first coordinate system of the at least three first targets measured by the total station, A surveying method comprising: a coordinate calculation step of calculating the position coordinates of the first coordinate system corresponding to the position of the second target identified by the position identification step, based on the first point cloud data.

13. A point cloud data generation step in which an imaging unit mounted on the aircraft generates a second point cloud data of a second coordinate system indicating the position coordinates of the surface of the object to be measured, based on multiple images captured by the imaging unit from multiple viewpoints of the object to be measured, A position identification step in which, from the plurality of captured images, image recognition is used to identify the positions in the second coordinate system of at least three first targets placed on the surface of the object to be measured, and a second target placed in the area of ​​the total station that cannot be measured on the surface of the object to be measured. A coordinate system transformation step that transforms the second point cloud data into first point cloud data of the first coordinate system based on the position coordinates of the second coordinate system based on the second point cloud data corresponding to the positions of the at least three first targets identified by the position identification step, and the position coordinates of the first coordinate system of the at least three first targets measured by the total station, A surveying program for causing a computer to perform the following steps: a coordinate calculation step, which calculates the position coordinates of the first coordinate system corresponding to the position of the second target identified by the position identification step, based on the first point cloud data.

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