JPH0244280A - Surveying equipment utilizing television image - Google Patents

Abstract

PURPOSE:To automatically obtain a uniform measuring result by matching the bright point position of the target displayed on the screen of a monitor television with the intersecting point of the reticule displayed on the picture of the monitor television. CONSTITUTION:This surveying equipment is equipped with a panhead 4 having a monitor television 1, an operational processor 2 and a posture control device 3. The operation result of the operational processor 2 is directly outputted to a printer 14 and an image processor 12. Then, the panhead 4 is arranged at an arbitrary measuring point and, when a collimation position is unknown numerically, the intersecting point of the reticule 13 of the monitor television 1 is matched with the collimation position. The data when both of them coincide with each other is sent to the operational processor 2 from a magnet scale 10, resolvers 11-11a and an optical distance meter 8. In the operational processor 2, the azimuth angle or horizontal distance up to the collimation position is operated from an azimuth angle, an elevation, a collimation distance or the height of the panhead and the operated numerical value can be outputted to a printer 14 or the monitor television 1 through an appropriate interface to be displayed thereon.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention automatically calculates the measurement point position, area, horizontal distance, etc. from a fixed position at a distance by superimposing a background on the ITFJ measurement point in the survey area and visually checking it. This invention relates to a 1DIffi device that uses television images to perform surveying.

(Prior Art) Conventionally, surveying has generally been carried out by installing a surveying telescope at a survey point and appropriately combining a number of surveying instruments such as a plumber, tape measure, tape, level, or transit.

(Problem to be solved by the invention) Description: Conventional surveying equipment performs iT1 determination multiple times in order to solve calculation work and a+determined difference stochastically.
It was quite a tedious task.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to eliminate errors caused by individual differences between different surveyors, to obtain similar data, and to easily obtain survey results using television images. To provide surveying equipment using

(Means for Solving the Problem) In order to achieve the above object, the surveying device using television images of the present invention installs a target with a certain pattern at a measuring point and uses it as a standard. A light wave rangefinder and a television camera installed integrally in the camera, and the azimuth and height of the pedestal of the camera platform that supports the television camera and the light wave rangefinder,
an attitude control device that determines an angle of elevation; an image processing device that superimposes images from the television camera and a crosshair that determines a reference line of the television camera; a monitor television that displays a video signal of the image processing device; Driving the attitude control device in order to align the bright spot position of the target reflected on the screen of the monitor television with the intersection of the crosshairs reflected on the screen of the monitor television;
Calculation that calculates the horizontal distance, level, azimuth, etc. from the measurement point to the target based on data such as azimuth, height, elevation angle, etc. maintained by the pedestal of the camera head and data from the optical distance meter. It consists of a processing device and automatically knows the location of the measurement point.

(Function) The video signal from the TV camera is displayed on the monitor TV,
While watching the image on the monitor TV, remotely control the TV camera at the measurement point to capture the target at the measurement point, and align the camera reference line with the target.

When matching, adjust in advance so that the intersection of the objective lens of the television camera and the crosshairs reflected on the monitor television match. This crosshair can be generated by attaching a reticule to the television camera, and if the designed position of the measurement point is known in advance, it is also possible to correct the error in advance using an image processing device.

The attitude control device can be driven by automatic tracking or manual operation.
This aligns the television camera's reference line with the target.

The azimuth, elevation, and height of the attitude control device at that time, as well as data from the optical distance meter, are input to the arithmetic processing device to determine the target position from the measurement point.

(Embodiments) Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. Figure 1 shows a schematic configuration.

This UJjl device is a monitor TV 1. Arithmetic processing unit 2
．． A pan head 4 equipped with an attitude control device 3 is provided.

The pan head 4 has a rotating pedestal 6 on the top of a telescopic column 5,
A television camera 7 and a light wave distance meter 8 are installed on the rotating mount 6, with their optical axes parallel to each other, and are integrally movable in elevation and elevation.

The pillars 5, rotating frame 6, etc. are operated by servo motors.

The column 5 is equipped with a servo motor 9 that serves as the power source for the telescopic drive device.
It contains a Magnescale 10 that measures and outputs the amount of expansion and contraction. The rotating frame 6 has a servo motor 9a for powering a rotation mechanism that rotates horizontally, a resolver 11 that measures and outputs the rotation angle, and a servo motor 9b that adjusts the elevation angles of the television camera 7 and the optical distance meter 8. Similarly, resolver 11
A is a provision.

Optical distance meter 8 and each resolver 11. 'lla and the output of the Magnescale 10 are transferred to the arithmetic processing unit 2.

The analog video signal of the television camera 7 is sent to the image processing device 12
After converting it to a digital signal, storing it in the refresh memory and replacing the video signal in a state that is easy to modify, it is converted to the desired video signal and back to an analog signal, and the composite video signal is sent to the monitor TV 1. send to

Further, a retecule is attached to the television camera 7, and its crosshair 13 is reflected on the monitor television 1.

That is, the monitor television 1 shows the crosshair 13 overlapping the background in the direction that the television camera 7 is aiming at.

The calculation results of the calculation processing device 2 are directly output to the printer 14 and the image processing device 12.

The content of this output is numerical data regarding the reference position of the television camera 7, including azimuth, horizontal distance, reference distance, height relative to the reference point, height from the ground, etc.

The arithmetic processing device 2 is equipped with a position data input device 15, and the input device 15 inputs the benchmark, known measurement point position, etc. Alternatively, it may be input directly to the attitude control device 3 to form a closed loop.

When using the surveying device configured as described above, the attitude control device 3 is operated while checking an arbitrary reference direction on the monitor television 1. This operation is to select the reference direction of the television camera 7 by driving each servo motor 9.9a, 9b of the pan head 4.

When the pan head 4 is installed at an arbitrary measurement point and the reference position is numerically unknown, the above operation will move the crosshair 1 of the monitor TV 1.
If the intersection point of 3 and the reference position match, the data when this match is converted to Magnescale 10. Resolver 1l-11
a. Send from the light wave distance meter 8 to the arithmetic processing unit 2.

The arithmetic processing unit 2 calculates the azimuth angle, elevation angle, and standard distance.

The azimuth angle and horizontal distance to the reference position are calculated from the height of the pan head, etc., and the calculated values are displayed on the printer 14 or monitor television 1 via an appropriate interface. In this way, the reference position can finally be known.

On the other hand, when attempting to mark a design position from a known point n1, data that indicates the absolute position of the measurement point where the pan head 4 is installed is set in the position data input device 15, and a television camera is placed at the design position. Align the reference line of 7.

Next, by placing the target 16 at the designed position, the designed position can be confirmed. If the position of the target 16 is shifted from the intersection of the monitor television 7, move the target 16 toward the monitor television 7.
What is necessary is to check the output of the arithmetic processing device 2 and the design position data while measuring the distance to the target 16 with the light wave distance meter 8. Accurate design position can be determined.

Furthermore, if the position of the target 16 is known, the position of the pan head 4 can be known by using this as a reference.

If the pattern and brightness of the target 16 are specified, the image processing device 12 can display it as a bright spot on the monitor television 7, or if necessary, erase the scenery other than the crosshair 13 using conventional image processing technology. However, it is not essential image processing for the surveying device of this application.

If the survey point (target 16) is far away, TV camera 7
Using the zoom-up function, you can check the target and scenery on monitor TV 1 and set accurate standards.

Furthermore, the pattern of the target 16 is stored in the image processing device 12, and the memory address corresponding to the pixel position of the intersection of the crosshairs 13 in the screen is specified, and the pattern of the target 16 is stored.
The operation of the pan head 4 may be automatically stopped at the point where the position coincides with the intersection of the crosshairs 13.

In that case, for example, the position of the crosshair 13 in polar coordinates is determined from the target position using an RGB histogram for the target 16, and the attitude control device 3 is automatically adjusted so that the intersection position of the crosshair 13 and the position of the target 16 overlap. It is also possible to control.

(Effects of the invention) As described in detail above, according to the surveying device using television images according to the present invention, by standardizing the position of any member or terrain with a television camera, the pan head and the optical distance meter can be used. n1
It is possible to automatically obtain various survey results without errors caused by individual differences among surveyors, and it is also possible to survey reference positions unattended. This has the advantage that many people can know the confirmation at the same time, the measuring person does not need to be at the measuring point, and 7TPIffL can be carried out from a remote location.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the basic configuration of the present invention. 1... Monitor TV 2... Arithmetic processing unit 3... Attitude control device 4... Pan head 5... Support
Pillar 6...Rotating stand 7...TV camera 8...Light wave path M#f 9...
Servo motor 10... Magnescale 11... Resolver 12... Image processing device 13... Cross line 14...
Printer 5...Position data input device 6...Target

Claims (1)

[Claims] (1) A target with a certain pattern is installed at a measuring point, and a light wave distance meter and a television camera are installed integrally to set the target as a standard, and a platform that supports the television camera and the light wave distance meter. an attitude control device that determines the azimuth, height, and elevation angle of the pedestal; an image processing device that superimposes an image from the television camera and a crosshair that determines a reference line of the television camera; The attitude control device is driven to align the bright spot position of the target reflected on the screen of the monitor television with the intersection of the cross line reflected on the screen of the monitor television, and and an arithmetic processing device that calculates the horizontal distance, level, azimuth, etc. from the measurement point to the target based on the data such as azimuth, height, elevation angle, etc. maintained by the pedestal and the data from the light wave distance meter. A surveying device that uses television images and is characterized in that it automatically knows the position of a survey point.