Construction support systems, construction support methods, and construction support programs

Abstract

To provide a system, method and program for supporting construction allowed to acquire an image in a point of view a user desires.SOLUTION: A system for supporting construction includes a control device for controlling a movable imaging device allowed to three-dimensionally move in a construction site. The control device prepares a 3D map of a construction site, presents a user an option for a photographic mode by the movable imaging device, determines on the 3D map a position the movable imaging device should stay to perform imaging in a photographic mode selected by the user based on a position of a construction appliance on the 3D map, and allows the movable imaging device to move to a position determined.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a construction support system, a construction support method, and a construction support program.

Background Art

[0002] For example, Patent Document 1 discloses a system for performing construction support using an imaging drone that autonomously moves following construction equipment (e.g., an excavator).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The following analysis is made from the perspective of the present invention. It is assumed that each disclosure of the above prior art documents is incorporated herein by reference.

[0005] As will be described in detail later, in the system of Patent Document 1, there is a problem that an image from a desired viewpoint by the user cannot be obtained because the imaging drone autonomously moves following the construction equipment.

[0006] Therefore, an object of the present invention is to provide a construction support system, a construction support method, and a construction support program capable of obtaining an image from a desired viewpoint by the user.

Means for Solving the Problems

[0007] According to a first aspect of the present invention, it includes a mobile imaging device capable of three-dimensional movement at a construction site and a control device for controlling the mobile imaging device, wherein the control device, A 3D map creation unit that creates a 3D map of the aforementioned construction site, An imaging mode presentation unit that presents the user with a selection of imaging modes for the aforementioned mobile imaging device, A position determination unit determines the position on a 3D map based on the position of construction equipment on the 3D map, in order to perform imaging in the imaging mode selected by the user, A mobile imaging device control unit moves the mobile imaging device to a determined position, Equipped with, A construction support system will be provided.

[0008] According to a second aspect of the present invention, This is performed by a control device that controls a mobile imaging device that can move in 3D at a construction site. The steps include creating a 3D map of the aforementioned construction site, The steps include presenting the user with a selection of imaging modes using the aforementioned mobile imaging device, The steps include determining the position on a 3D map where the mobile imaging device should be located in order to perform imaging in the imaging mode selected by the user, based on the position of the construction equipment on the 3D map, The steps include moving the mobile imaging device to the determined position, Construction support methods including the following will be provided.

[0009] According to a third aspect of the present invention, A computer used as a control device for a mobile imaging device that can move in 3D at a construction site, The process of creating a 3D map of the aforementioned construction site, A process for presenting the user with a selection of imaging modes using the aforementioned mobile imaging device, A process to determine on a 3D map the position where the mobile imaging device should be located in order to perform imaging in the imaging mode selected by the user, based on the position of the construction equipment on the 3D map, A process of moving the mobile imaging device to the determined position, A construction support program to implement this. It will be provided. [Effect of the Invention]

[0010] According to each aspect of the present invention, a construction support system, a construction support method, and a construction support program capable of acquiring an image from a perspective desired by a user are provided. [Brief Description of the Drawings]

[0011] [Figure 1] It is a diagram for explaining an overview of the present invention. [Figure 2] It is a diagram for explaining an overview of the present invention. [Figure 3] It is a diagram for explaining an overview of the present invention. [Figure 4] It is a diagram for explaining an overview of the present invention. [Figure 5] It is a block diagram showing an example of the configuration of the mobile imaging device 100. [Figure 6] It is a block diagram showing an example of the configuration of the control device 200 in Embodiment 1. [Figure 7] It is a sequence diagram showing an example of the processing flow by the construction support system 10. [Figure 8] It is a sequence diagram showing an example of the processing flow by the construction support system 10. ] [Figure 9] It is a block diagram showing an example of the configuration of the control device 200 in Embodiment 2. [Figure 10] It is a diagram showing an example of the information displayed on the display device in Embodiment 2. [Figure 11] It is a diagram showing an example of a computer as the control device 200. <了 [Mode for Carrying Out the Invention]

[0012] Preferred embodiments of the present invention will be described in detail with reference to the drawings. The reference numerals in the drawings provided below are for illustrative purposes only and are not intended to limit the present invention to the illustrated embodiments. Furthermore, the connecting lines between blocks in each figure include both bidirectional and unidirectional lines. Unidirectional arrows schematically represent the flow of the main signal (data) and do not exclude bidirectional flow. In addition, although not explicitly shown, input and output ports exist at the input and output ends of each connecting line in the circuit diagrams, block diagrams, internal configuration diagrams, and connection diagrams disclosed herein. The same applies to input / output interfaces.

[0013] First, an overview of the present invention will be described. The construction support system 10 of the present invention includes a mobile imaging device 100 that can move in three dimensions at a construction site, as shown in Figure 1, and a control device 200 that controls the mobile imaging device 100. The control device 200 includes a 3D map creation unit 210, an imaging mode presentation unit 220, a position determination unit 230, and a mobile imaging device control unit 240. The 3D map creation unit 210 creates a 3D map of the construction site. The imaging mode presentation unit 220 presents the user with a selection of imaging modes for the mobile imaging device 100. The position determination unit 230 determines the position where the mobile imaging device 100 should be located on the 3D map based on the position of construction equipment on the 3D map in order to perform imaging in the imaging mode selected by the user. The mobile imaging device control unit 240 moves the mobile imaging device 100 to the determined position.

[0014] As a specific example, let's describe the case of supporting construction work using a remotely operated excavator. As shown in Figure 2, the construction support system 10 includes a mobile imaging device 100 and construction equipment deployed at the construction site, and a control device 200, display device, and construction equipment controller installed at a location away from the construction site. Here, the user performs construction work by viewing images captured by the mobile imaging device 100 on the display device and remotely operating the construction equipment with the construction equipment controller.

[0015] The mobile imaging device 100 is exemplified by an unmanned aerial vehicle (a so-called drone) equipped with imaging capabilities. In its initial setting (pilot's view mode), the mobile imaging device 100 autonomously flies above the excavator, following it, to provide the user with an image from the perspective of the excavator's cockpit. In other words, the mobile imaging device 100 stays above the excavator, imaging the area in front of the excavator and displaying it as live video on a display device.

[0016] Since construction work using an excavator involves excavation, the user needs to know the distance between the excavation site and the excavator, as well as the excavation depth. To determine the distance between the excavation site and the excavator, the user needs an image of the excavator viewed from the side. Furthermore, to determine the excavation depth, the user needs images of the hole excavated by the excavator taken from a position directly opposite the excavator, an image of the hole viewed from above, and an image taken from inside the hole.

[0017] Conventional systems using imaging drones that autonomously follow excavators only provide images from the perspective of the excavator's driver's seat, making it impossible to obtain images from the user's desired viewpoint. If the user has to manually control the imaging drone to a position where they can obtain images from their desired viewpoint, it requires the user to possess the necessary skills to operate the imaging drone. Furthermore, the advantage of the imaging drone's autonomous movement is lost. Using multiple imaging drones to capture images from multiple directions presents cost issues and complicates the control of the imaging drones. Additionally, the user must perform excavation work while considering which of the multiple images to view.

[0018] On the other hand, the construction support system 10 of the present invention offers the user, in addition to the pilot's viewpoint mode, other options for imaging modes, such as an overhead view mode, a side view mode, an aerial view mode, a head-on view mode, and an excavation position mode. For example, in the pilot's viewpoint mode, as shown in Figure 3, the options for imaging modes are displayed on the display device along with live video footage showing a part of the construction equipment.

[0019] For example, if the user selects the side view mode, the construction support system 10 of the present invention moves the mobile imaging device 100 while providing the user with live video. In side view mode, as shown in Figure 4, the imaging mode selection is displayed on the display device along with live video of the construction equipment captured from the side.

[0020] In the construction support system 10 of the present invention, the user can acquire images from the desired viewpoint simply by selecting the imaging mode. Furthermore, since imaging is performed by a single mobile imaging device 100, the user does not need to think about which image to view. Also, for example, when switching from the driver's viewpoint mode to the side view mode, the mobile imaging device 100 moves from above the excavator to the side of the excavator. As a result, a series of images (i.e., video) is provided as if the user were actually getting out of the driver's seat and moving to the side of the excavator.

[0021] As described above, the construction support system 10 of the present invention makes it possible to acquire images from a viewpoint desired by the user.

[0022] [Embodiment 1] Embodiment 1 will specifically describe the construction support system 10 described above. The construction support system 10 of Embodiment 1 includes construction equipment, a mobile imaging device 100, a control device 200, a display device, and a construction equipment controller, similar to the overview described above (see Figure 2).

[0023] The display device shows live video captured by the mobile imaging device 100 and the selection of imaging modes. The construction equipment is operated remotely via a construction equipment controller. The technology for the user to remotely operate the construction equipment while viewing live video captured by the imaging device is an application of, for example, remotely operated robots, so a detailed explanation is omitted.

[0024] As shown in Figure 5, the mobile imaging device 100 includes an RGB camera 110, a 3D sensor 120, a data transmission unit 130, a data reception unit 140, and a drive unit 150.

[0025] The RGB camera 110 captures images and transmits them to the display device as live video via the data transmission unit 130.

[0026] The 3D sensor 120, for example, irradiates infrared light onto objects (including the ground and construction equipment) placed at a construction site, receives the reflected infrared light, and measures the distance between the mobile imaging device 100 and the objects. The measurement data from the 3D sensor 120 is transmitted to the control device 200 via the data transmission unit 130 and used to create a 3D map and to avoid collisions between the mobile imaging device 100 and the objects.

[0027] The data transmission unit 130 and the data reception unit 140 transmit and receive data between the display device and the control device 200.

[0028] The drive unit 150 performs actions such as moving the mobile imaging device 100 in response to control signals received from the control device 200 via the data receiving unit 140.

[0029] Since the mobile imaging device 100 is no different from a typical drone except for the points mentioned above, a detailed explanation will be omitted.

[0030] As shown in Figure 6, the control device 200 includes a measurement data acquisition unit 201, a 3D map storage unit 202, a 3D map creation unit 210, an imaging mode presentation unit 220, a position determination unit 230, and a mobile imaging device control unit 240.

[0031] The measurement data acquisition unit 201 acquires measurement data transmitted from the mobile imaging device 100. The 3D map creation unit 210 creates a 3D map of the construction site based on the measurement data. The 3D map storage unit 202 stores the 3D map. Note that the creation of a 3D map based on the distance between the subject and the imaging device is an existing technology, so a detailed explanation is omitted.

[0032] The imaging mode display unit 220 outputs modes such as pilot view mode, overhead view mode, side view mode, aerial view mode, front view mode, and excavation position mode to the display device and presents them to the user. The display device also functions as a touch panel and accepts the user's selection (change) of the imaging mode.

[0033] The position determination unit 230 determines the position on the 3D map where the mobile imaging device 100 should be located in order to perform imaging in the imaging mode selected by the user, based on the position of the construction equipment on the 3D map. Specifically, the position determination unit 230 receives the imaging mode selected by the user from the display device.

[0034] If the received imaging mode is the pilot's viewpoint mode, the position determination unit 230 determines the position where the mobile imaging device 100 should be located is above the construction equipment (for example, 50 cm above the roof of the construction equipment). If the received imaging mode is the overhead viewpoint mode, the position determination unit 230 determines the position where the mobile imaging device 100 should be located is a position that provides an overhead view of the construction equipment (for example, 10 m laterally from the construction equipment and at a height of 10 m). If the received imaging mode is the side view mode, the position determination unit 230 determines the position where the mobile imaging device 100 should be located is a position that images the construction equipment from the side (for example, 10 m laterally from the construction equipment and at a height of 1 m). If the received imaging mode is the overhead view mode, the position determination unit 230 determines the position where the mobile imaging device 100 should be located, above the working part of the construction equipment (for example, 10 m above the shovel in the case of an excavator), and facing downwards. If the received imaging mode is the front view mode, the position determination unit 230 determines the position where the mobile imaging device 100 should be located, in front of the construction equipment and facing the direction of the construction equipment. If the received imaging mode is the excavation position mode, the position determination unit 230 determines the position where the mobile imaging device 100 should be located, around the working part of the construction equipment (for example, 50 cm away from the shovel).

[0035] Furthermore, if the position determined according to the imaging mode selected by the user overlaps with an object placed at the construction site, that is, if the mobile imaging device 100 is moved to the determined position, there may be cases where the mobile imaging device 100 collides with the object. In this case, the position determination unit 230 may determine that it is impossible to move the mobile imaging device 100 to the determined position and may notify the user of this fact via the display device.

[0036] The mobile imaging device control unit 240 moves the mobile imaging device 100 to the determined position. Note that the automatic control of the mobile imaging device 100 is based on existing technology, so a detailed explanation is omitted.

[0037] Next, we will explain an example of the processing flow by the construction support system 10.

[0038] <Pre-construction work preparations> The control device 200 creates a 3D map prior to construction work. For example, as shown in Figure 7, the control device 200 activates the mobile imaging device 100 (step S101) and makes it patrol the construction site to acquire measurement data (step S102). Then, the control device 200 creates a 3D map of the construction site based on the measurement data (step S103).

[0039] <Processing during construction work> The control device 200 assists construction work by presenting the user with a selection of imaging modes during construction work. For example, as shown in Figure 8, when the control device 200 receives a construction work start instruction from the user via the construction equipment controller (step S201), it moves the mobile imaging device 100 to the initial setting (operator's viewpoint mode) position (step S202). If the user remotely moves the construction equipment to the work position (excavation position), the control device 200 moves the mobile imaging device 100 in accordance with the movement of the construction equipment so as to continue providing the user with images in operator's viewpoint mode.

[0040] After the construction equipment has moved to the vicinity of the work position (excavation position), the user will make fine adjustments to the position of the construction equipment (for example, moving it forward to be just before the excavation position). At that time, the user selects the side view mode from the presented imaging mode options and inputs it into the display device (touch panel). In other words, the user gives an instruction to change from the control view mode to the side view mode. The control device 200 receives the instruction to change the imaging mode (step S203, Yes), determines the position where the mobile imaging device 100 should be on the 3D map (step S204), and moves the mobile imaging device 100 to the determined position (step S205). At that time, the user makes fine adjustments to the position of the construction equipment while viewing the live video in side view mode provided by the mobile imaging device 100.

[0041] Subsequently, the control device 200 moves the mobile imaging device 100 in accordance with the movement of the construction equipment so that it continues to provide the user with images in side view mode until it receives another instruction to change the imaging mode (step S203, No).

[0042] The same applies to switching back from side view mode to pilot view mode, or to changing to other imaging modes.

[0043] [Embodiment 2] In this invention, it is also possible to provide further construction support using 3D maps.

[0044] For example, the control device 200 acquires three-dimensional data of the construction site using the 3D sensor 120 of the mobile imaging device 100 during construction work. Then, the control device 200 calculates the required amount of work (the remaining distance to the specified depth during excavation work, the distance to the destination when construction equipment is moved) based on the three-dimensional data, and displays the calculated value on the display device. In this way, the user can be guided.

[0045] Specifically, as shown in Figure 9, the control device 200 further includes a construction equipment information acquisition unit 251, a work position acquisition unit 252, a work volume measurement unit 253, and a simulation unit 254.

[0046] The construction equipment information acquisition unit 251 acquires the location information of construction equipment and reflects it on the 3D map. The work position acquisition unit 252 acquires the work position on the 3D map. For example, in the case of excavation work by an excavator, the work position acquisition unit 252 detects the subsided area around the excavator from the 3D map. Alternatively, the work position may be specified by the user on the 3D map. The work volume measurement unit 253 measures the difference from the predetermined work volume registered in advance by the user, based on the 3D data of the 3D map and the information acquired by the construction equipment information acquisition unit 251. Then, for example, the work volume measurement unit 253 measures the distance between the position of the construction equipment on the 3D map and the work position. Then, as shown in Figure 10, the control device 200 outputs the distance to the excavation position to the display device when, for example, the user makes fine adjustments to the position of the construction equipment (for example, moving forward to the immediate vicinity of the excavation position). Furthermore, the work volume measurement unit 253 can measure the travel route, travel distance, actual working time, and waiting time of construction equipment by comparing the position of the mobile imaging device 100 and / or construction equipment on the 3D map with the past and present.

[0047] Furthermore, the simulation unit 254 is used to perform simulations on the 3D map, for example, by adding virtual objects to the 3D map, or by processing or deleting parts of existing 3D data.

[0048] [Variant form] The following describes various variations of the present invention.

[0049] When there are multiple mobile imaging devices 100, multiple images are displayed individually on the display device, making it difficult to intuitively visualize the overall scene. Therefore, it is desirable to have only one mobile imaging device 100. However, the number of mobile imaging devices 100 is not limited to one. For example, the pilot's viewpoint mode, overhead view mode, and excavation position mode produce clearly different images, so the user can intuitively determine which image to view. In other words, imaging in pilot's viewpoint mode, side view mode, overhead view mode, and front view mode may be performed with one mobile imaging device 100, while imaging in overhead view mode and excavation position mode may be performed with separate mobile imaging devices 100.

[0050] Remote operation of construction equipment by users can be achieved through physical controllers via a construction equipment controller. Other methods include control via software controllers displayed on a display device, or control linked to the operation of virtual construction equipment displayed on a 3D map.

[0051] The display device may be a device such as VR (virtual reality) goggles. In that case, the control device 200 can receive instructions to change the imaging mode via the construction equipment controller.

[0052] The imaging mode can reflect user requests and other feedback. For example, the user can be asked to manually operate the mobile imaging device 100 in advance, and the best angle can be reflected in the imaging mode. Alternatively, imaging modes can be added based on the operation history when the mobile imaging device 100 is manually operated.

[0053] Instead of the RGB camera 110, an infrared camera or a hyperspectral camera may be used, or they may be displayed in combination.

[0054] The position of the mobile imaging device 100 may be specified using GPS, or it may be specified based on the relative distance from the construction equipment on a 3D map.

[0055] The position of the mobile imaging device 100 may be controlled in conjunction with the facial movements of the user wearing the VR goggles.

[0056] The 3D data acquisition and RGB data acquisition by the mobile imaging device 100 may be integrated or separated.

[0057] The display device may be a PC (personal computer), tablet, smartphone, or other device.

[0058] The construction support system 10 may be applied not only to users who remotely operate construction equipment, but also to workers who operate actual equipment at the work site. Furthermore, it may be applied to machines such as autonomous vehicles or robotic arms instead of construction equipment.

[0059] The mobile imaging device 100 may be a camera fixedly installed at the construction site. For example, multiple cameras may be fixedly installed at the construction site. Information on the installation position and field of view of each camera is known, and the images from each camera are combined based on this information. The combined image can be superimposed on a 3D map, for example (even if superimposition is not necessary, it is sufficient if the positional relationship between the 3D map and the combined image is known). When a user requests an angle, the viewpoint location is identified on the 3D map, and the image corresponding to that viewpoint is extracted from the combined image and displayed.

[0060] Furthermore, the present invention can also be realized as a construction support method executed by the control device 200, or as a construction support program executed by a computer acting as the control device 200. That is, as shown in Figure 11, the computer's CPU (Central Processing Unit) reads a program from memory to realize modules corresponding to the 3D map creation unit 210, the imaging mode presentation unit 220, the position determination unit 230, and the mobile imaging device control unit 240. The interface communicates with the mobile imaging device 100.

[0061] Some or all of the above embodiments may also be described as follows, but are not limited to the following:

[0062] (Note 1) The system includes a mobile imaging device that can move in three dimensions at a construction site, and a control device that controls the mobile imaging device. The control device, A 3D map creation unit that creates a 3D map of the aforementioned construction site, An imaging mode presentation unit that presents the user with a selection of imaging modes for the aforementioned mobile imaging device, A position determination unit determines the position on a 3D map based on the position of construction equipment on the 3D map, in order to perform imaging in the imaging mode selected by the user, A mobile imaging device control unit moves the mobile imaging device to a determined position, Equipped with, Construction support system.

[0063] (Note 2) The construction support system as described in Appendix 1, wherein the control device moves the mobile imaging device to a determined position while providing the user with live images captured by the mobile imaging device.

[0064] (Note 3) The aforementioned mobile imaging device is equipped with a 3D sensor for measuring the distance between itself and an object, The construction support system according to Appendix 1 or 2, wherein the 3D map creation unit creates a 3D map based on measurement data from a 3D sensor.

[0065] (Note 4) The control device, A work position acquisition unit that acquires the work position on the 3D map, A measuring unit that measures the distance between the location of construction equipment on a 3D map and the work position, and presents the measured distance to the user, A construction support system described in any one of the appendices 1 to 3, further comprising the above.

[0066] (Note 5) The construction support system as described in Appendix 4, wherein the measurement unit measures the travel route, travel distance, actual working time, and waiting time of the construction equipment by comparing the position of the mobile imaging device and / or construction equipment on a 3D map with the past and present, and presents the measured information to the user.

[0067] (Note 6) The control device, Simulation unit that performs simulations on a 3D map, A construction support system further comprising any one of the appendices 1 to 5.

[0068] (Note 7) This is performed by a control device that controls a mobile imaging device that can move in 3D at a construction site. The steps include creating a 3D map of the aforementioned construction site, The steps include presenting the user with a selection of imaging modes using the aforementioned mobile imaging device, The steps include determining the position on a 3D map where the mobile imaging device should be located in order to perform imaging in the imaging mode selected by the user, based on the position of the construction equipment on the 3D map, The steps include moving the mobile imaging device to the determined position, Construction support methods including

[0069] (Note 8) A computer used as a control device for a mobile imaging device that can move in 3D at a construction site, The process of creating a 3D map of the aforementioned construction site, A process for presenting the user with a selection of imaging modes using the aforementioned mobile imaging device, A process to determine on a 3D map the position where the mobile imaging device should be located in order to perform imaging in the imaging mode selected by the user, based on the position of the construction equipment on the 3D map, A process of moving the mobile imaging device to the determined position, A construction support program to implement this.

[0070] Furthermore, each disclosure of the above-mentioned patent documents cited is incorporated into this document by reference and may be used as the basis or part of the present invention as necessary. Within the framework of the full disclosure of the present invention (including the claims), further modifications and adjustments to the embodiments or examples are possible based on the basic technical concept. Also, within the framework of the full disclosure of the present invention, various combinations or selections (including partial deletions) of various disclosure elements (including each element of each claim, each element of each embodiment or example, each element of each drawing, etc.) are possible. In other words, the present invention naturally includes the full disclosure, including the claims, and various modifications and alterations that a person skilled in the art could make in accordance with the technical concept. In particular, with respect to the numerical ranges described in this document, any numerical value or sub-range included within that range should be interpreted as being specifically described, even if not otherwise stated. Furthermore, each disclosure of the above-mentioned cited documents may, as necessary, be used in part or in whole as part of the disclosure of the present invention, in accordance with the spirit of the present invention, and this is also considered to be included in the disclosure of this application. [Explanation of symbols]

[0071] 10: Construction support system 100: Mobile imaging device 110: RGB Camera 120: 3D sensor 130: Data transmission unit 140: Data receiving unit 150: Drive unit 200: Control device 201: Measurement data acquisition unit 202: 3D Map Memory Unit 210: 3D Map Creation Department 220: Imaging mode display unit 230:Positioning section 240: Mobile imaging device control unit 251:Construction equipment information acquisition department 252: Working position acquisition section 253: Workload Measurement Unit 254: Simulation Department

Claims

1. The system includes a mobile imaging device that can move in three dimensions at a construction site, and a control device that controls the mobile imaging device. The control device, A 3D map creation unit that creates a 3D map of the aforementioned construction site, An imaging mode presentation unit that presents the user with a selection of imaging modes for the aforementioned mobile imaging device, A position determination unit determines the position on a 3D map based on the position of construction equipment on the 3D map, in order to perform imaging in the imaging mode selected by the user, A mobile imaging device control unit moves the mobile imaging device to a determined position, Equipped with, The aforementioned imaging modes include pilot view mode, overhead view mode, side view mode, aerial view mode, head-on view mode, and drilling position mode. When the control device switches from the first mode to the second mode, it provides the user with a live image captured by the moving imaging device, and moves the moving imaging device from a position determined based on the first mode to a position determined based on the second mode. The first mode is one of the following imaging modes: pilot view mode, overhead view mode, side view mode, aerial view mode, head-on view mode, and drilling position mode. The second mode is an imaging mode other than the pilot view mode, overhead view mode, side view mode, aerial view mode, head-on view mode, and drilling position mode. Construction support system.

2. The aforementioned mobile imaging device is equipped with a 3D sensor for measuring the distance between itself and an object. The construction support system according to claim 1, wherein the 3D map creation unit creates a 3D map based on measurement data from a 3D sensor.

3. The control device, A work position acquisition unit that acquires the work position on the 3D map, A measuring unit that measures the distance between the location of construction equipment on a 3D map and the work position, and presents the measured distance to the user, The construction support system according to claim 1 or 2, further comprising the above.

4. This is performed by a control device that controls a mobile imaging device that can move in three dimensions at a construction site. The steps include creating a 3D map of the aforementioned construction site, The steps include presenting the user with a selection of imaging modes using the aforementioned mobile imaging device, The steps include determining the position on a 3D map where the mobile imaging device should be located in order to perform imaging in the imaging mode selected by the user, based on the position of the construction equipment on the 3D map, The steps include moving the mobile imaging device to the determined position, Includes, The aforementioned imaging modes include pilot view mode, overhead view mode, side view mode, aerial view mode, head-on view mode, and drilling position mode. When switching from the first mode to the second mode, the mobile imaging device is moved from a position determined based on the first mode to a position determined based on the second mode, while providing the user with a live image captured by the mobile imaging device. The first mode is one of the following imaging modes: pilot view mode, overhead view mode, side view mode, aerial view mode, head-on view mode, and drilling position mode. The second mode is an imaging mode other than the pilot view mode, overhead view mode, side view mode, aerial view mode, head-on view mode, and drilling position mode. Construction support method.

5. A computer used as a control device for a mobile imaging device that can move in three dimensions at a construction site, The process of creating a 3D map of the aforementioned construction site, A process for presenting the user with a selection of imaging modes using the aforementioned mobile imaging device, A process to determine the position where the mobile imaging device should be located on a 3D map based on the position of construction equipment on the 3D map in order to perform imaging in the imaging mode selected by the user, A process of moving the mobile imaging device to the determined position, A construction support program that enables the implementation of The aforementioned imaging modes include pilot view mode, overhead view mode, side view mode, aerial view mode, head-on view mode, and drilling position mode. When switching from the first mode to the second mode, the mobile imaging device is moved from a position determined based on the first mode to a position determined based on the second mode, while providing the user with a live image captured by the mobile imaging device. The first mode is one of the following imaging modes: pilot view mode, overhead view mode, side view mode, aerial view mode, head-on view mode, and drilling position mode. The second mode is an imaging mode other than the pilot view mode, overhead view mode, side view mode, aerial view mode, head-on view mode, and drilling position mode. Construction support program.

Images