JP3206874B2 - Image system for remote construction support - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image system for remote construction support, and more particularly to remote construction support using a stereo support image pair obtained by superimposing a stereo operation image pair by an imager pair and a stereo design image pair by three-dimensional graphics. To an imaging system that performs

[0002]

2. Description of the Related Art For example, in a construction work in a no-go area or a danger area, such as a construction work for recovering from a volcanic disaster, remote construction is sometimes performed by remotely operating a work machine from a sufficiently distant operation room. As an example of remote construction, as shown in FIG. 2, the work machine 2 is remotely operated based on a video or an image (hereinafter, referred to as an image) output from the imaging device 5 attached to the work machine 2. Further, a pair of left and right binocular stereoscopic images (hereinafter, referred to as stereo images) by two image pickup devices 5 provided in the work machine 2 in a stereo system are used as images for remote construction.

[0003]

However, in an area where people are not allowed to enter, an index such as a rope indicating the design shape of the construction object used in the conventional general earthwork (hereinafter referred to as a tohwari) is installed. Because it is extremely difficult, it is often difficult to perform the construction while comparing with the design shape. Therefore, remote construction using images has a drawback that the working efficiency is reduced and the construction quality tends to be inferior to the conventional construction based on tenting.

In order to solve this problem, the present inventors have developed an image system for remote construction support using a superimposed image of a computer graphic design image and a remote operation image in place of a tent, and Japanese Patent Application No. 6-290957. Disclosed. FIG. 5 and FIG. 6
, The image system of Japanese Patent Application No. 6-290957 will be briefly described. Draw a perspective view I _p blueprints I _g of 3D computer graphics can output any optical axis from an arbitrary viewpoint with respect to construction area that contains the construction object 1 is stored in the storage unit 19 of the remote control chamber 3. On the other hand, a pair of left and right operation images I _wL are obtained by photographing the construction target 1 and a plurality of targets 8 whose three-dimensional coordinates in the construction area are known from different predetermined photographing directions by the pair of predetermined photographing positions in the construction area. , I _wR (see FIG. _6A ). In FIG. 5, a pair of image pickup devices 5 are attached to the work machine 2 and the operation images I _wL and I _wR are transmitted to the image transmitter 6 and the image receiver 10.
To the remote control room 3, and the image capturing position and the image capturing direction of the image pickup device 5 and the three-dimensional coordinates of the index 8 are transmitted to the remote control room 3 by the transmitting device 24 and the receiving device 26. Symbols in the figure
Reference numeral 22a denotes a position measuring device for measuring the photographing position of the image pickup device 5 and the three-dimensional coordinates of the index 8, and reference numeral 23a denotes an attitude measuring device for measuring the photographing direction of the image pickup device 5.

[0005] In the remote operation chamber 3, creating perspective from blueprint I _g of Draw each optotype 8, was constructed the target 8 by the three-dimensional computer graphics on blueprint I _g based on the three-dimensional coordinates of the indices 8 The means 19 outputs a pair of left and right perspective views I _pL and I _pR (see FIG. 6 (B)) using the imaging position of each imaging device 5 as a viewpoint and the imaging direction of the imaging device 5 as an optical axis. Its perspective I _pL, an image and an operation image I _wL of each optotype 8 on I _pR, each perspective view as overlap the image of the corresponding optotype 8 on I _wR I _pL, scaled or rotated I _pR Then, a pair of left and right perspective design images I _dL , I _dR (see FIG. 6 (C)) are created, and the perspective design images I _dL , I _dR and the operation images I _wL , I _wR are overlapped with each other to form a pair of left and right perspective designs. The binocular stereoscopic superimposed images I _sL and I _sR (see FIG. _6D ) are created, and the superimposed images I _sL and _{Is sR} are displayed on the operation display 14 via the image controller 15. _Reference numeral 20 in the figure denotes superimposed images I _sL and I _sR
Is shown. By remote operation of the work machine 3 based on the superimposed images I _sL and _{Is sR} , it is possible to expect the same level of construction efficiency as in the case of using the conventional _tenting .

However imaging system of Japanese Patent Application No. flat 6-290957 requires index 8 mounted on the working machine 3 for example, superimposed image I _sL, measurement of the coordinates of the indices 8 to create the I _sR, the target 8 drawing onto blueprint I _g, creation of perspective I _p containing the indicator image 8,
And there is a problem that must be performed at a high speed in response to a change in the photographing position or the photographing posture of the image pickup device 5 a mandatory to and those of the image processing complicated image processing of creating the perspective design image I _d.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an image system which can easily create a remote construction support image in which a siding is installed.

[0008]

Referring to the embodiment shown in FIG. 1, an image system for supporting remote construction according to the present invention comprises a stereo operation image pair I _w (a pair of left and right operation images I _wL and I _w ). consisting _wR. the same applies hereinafter.) composed of a viewpoint V and the optical axis O and angle W and the imaging device: 5 (the pair of left and right imaging unit 5 _L and 5 _R giving according to. the same applies hereinafter.), the imaging device pairs 5 viewpoints V and
A position measuring device 22 and a posture measuring device 23 for measuring the optical axis O,
Position of a stereo design image pair _Ie (consisting of a pair of left and right design images _IeL and _IeR ; the same _applies hereinafter) of a point designed at a certain coordinate.
Viewpoint V and light measured by measuring device 22 and attitude measuring device 23
Three-dimensional graphic means created according to axis O and angle of view
30, superimposing means 36 for superimposing the stereo operation image pair _Iw and the stereo design image pair _Ie, and provided within the visual field of the imager pair 5
The three-dimensional coordinates P are provided with a plurality of targets 8 (see FIG. 3) whose known three-dimensional coordinates P are provided.

[0009] In use, taken with the initial stereo operation image pair I _w1 of the plurality of optotypes 8 with initial viewpoint V ₁ and the initial optical axis O ₁ by the imaging device pair 5 constant angle W _w, the known tertiary Original coordinates
Initial stereo design image pairs of the plurality of targets 8 based on P
Initial viewpoint V ₁ and the initial optical axis O of the I _e1 by the graphic means 30
Created in ₁ and any angle W _x, the initial stereo operation image pair I _w1 and the initial stereo design image pair I _e1 superimposed in the same direction in superimposing means 36, changing any angle W _x graphics unit 30 Then, the images of all the corresponding optotypes 8 of the superimposed initial stereo operation image pair I _w1 and the initial stereo design image pair I _e1 are matched, and the arbitrary angle of view W _x of the graphic means 30 at the time of the match is set to the image corresponding to the imaging device. and the corner W _e, stereo operation image pair of construction subject 1 I _w
Constant angle to a predetermined view point V _i with a predetermined optical axis O _i by the imaging unit pair 5
Taken with the W _w, a stereo design image pair I _e construction target 1 by the graphic means 30 prepared in the predetermined view point V _i with a predetermined optical axis O _i and the imaging unit corresponding angle W _e, construction by superposing means 36 Object 1
Stereo operation image pairs I _w stereo design image pairs I _e and superimposed stereo support image pair I _t (a pair of left and right support with image I _tL
And _ItR . same as below. ) To create.

Here, the viewpoint V of the imaging device pair 5 is the left imaging device 5 _L
Of (expressed as V _L.) Photographing position and the right imaging device 5 _R photographing position of (V _R
It expresses. ). The optical axis O of the imaging device 5 is the left imaging device
5 _L photographing direction and the rolling angle of the (collectively both expressed as O _L.), Consisting of an imaging capturing direction and the rolling angle of the right imaging device 5 _R (collectively both expressed as O _R.). Angle of view of the imaging device 5 is a common angle to the 5 _R left imaging unit 5 _L and the right imaging device.

The viewpoint of the three-dimensional graphic means 30 is as follows:
It _consists of left viewpoint coordinates for the left design image _IeL and right viewpoint coordinates for the right design image _IeR . The optical axis of the three-dimensional graphics unit 30 comprises an optical axis direction and the rolling angle for the left design image I _eL, the optical axis direction and the rolling angle for the right design image I _{e R.} The angle of view of the three-dimensional graphic means 30 is a common angle of view for the left design image I _eL and the right design image I _eR .

[0012]

In the embodiment shown in FIGS. 1 and 2, the image pickup device pair 5 is mounted on a work machine 2 which is, for example, a power shovel for remote operation to be carried out on the construction object 1, and a three-dimensional graphic means 30 is provided. And a superimposing means 36 is provided in the remote control room 3, and a transmission path between the viewpoint V and the optical axis O of the pair of image capture devices 5 and the stereo operation image pair I _w is provided between the pair of image capture devices 5 and the remote control room 3. I have. Hereinafter, an image system according to the present invention will be described with reference to the embodiment shown in FIGS. However, the application object of the present invention is not limited to the illustrated example.

Each of the image pickup devices 5 _L and 5 _R of the image pickup device pair 5 is fixed to a pair of predetermined horizontal positions on the work machine 2 in different predetermined directions when the work machine 2 is horizontal, and the two optical conditions are the same. And outputs the stereo operation image pair I _w . The imager pair 5 can be, for example, two CCD cameras. The photographing position of each of the imaging devices _5L and _5R , that is, the viewpoint V of the imaging device pair 5 is measured by, for example, the position measurement device 22 on the work machine 2. The position measuring device 22 can be a GPS-based satellite measuring device or a three-dimensional surveying prism. The optical axis O of the photographing direction and the rolling angle or imager pair 5 of the imaging device 5 _L and 5 _R, for example, measured by the orientation measurement apparatus 23 mounted on the work machine 2. The attitude measuring device 23 can be an angle measuring device that measures rotation angles about three axes orthogonal to each other as an azimuth angle, a pitching angle, and a rolling angle. The angle of view of the imager pair 5 may be unique to the imager pair 5 or may be adjustable by remote control. In the illustrated example, the work machine 2 is provided with the image transmitter 6 and the transmission device 24 as a transmission path, the remote control room 3 is provided with the image receiver 10 and the reception device 26, and the stereo operation image pair I _{w is connected} to the image transmitter 6. Wireless transmission is performed with the image receiver 10, and the viewpoint V and the optical axis O of the imaging device pair 5 are wirelessly transmitted between the transmission device 24 and the reception device 26. However, the transmission path between the imaging device pair 5 and the remote operation room 3 can be a wired transmission path.

The three-dimensional graphic means 30 generates a stereo design image pair I _e based on the coordinates of the designed point, a pair of viewpoint coordinates or viewpoints, a pair of optical axis directions and a rolling angle or optical axis, and an angle of view. Is output. The designed point can be, for example, a group of points on the tenement of the construction object 1 or a group of points on the design drawing of the construction object 1 created by three-dimensional CAD or the like. If a stereo design image pair _Ie is created based on the coordinates of the spots, a stereo image pair _Ie as shown in FIG. 4 is obtained, and a stereo design image pair _Ie based on the design drawing is obtained.
Creates a stereo image pair of the design drawing. FIG.
Reference numeral 31 denotes a storage unit 31 for storing the coordinates of the designed point. In order to make the viewpoint and the optical axis of the stereo design image pair _Ie coincide with the viewpoint V and the optical axis O of the stereo operation image pair _Iw , the viewpoint V and the optical axis O transmitted from the work machine 2 via the transmission path.
Is input to the graphic means 30.

[0015] To create a stereo support image pair I _t by superposition of a stereo operation image pairs I _w stereo design image pair I _e, both stereo image pair I _w, the viewpoint V and the optical axis O of I _e In addition to matching, it is necessary to make the angle of view W correspond. To explain the procedure for determining the corresponding angle W _e of the corresponding three-dimensional graphics unit 30 constant angle W _w of the image pickup machine: 5 with reference to FIG. 3, for example on fixed visual target plate 8a in which the predetermined position A plurality of targets 8 are provided, coordinates P of each target 8 are determined by surveying,
Initial stereo operation image pair I _w1 of optotype 8 by imager pair 5
(I _w1L and I _w1R ) and the initial viewpoint V ₁ (V _1L and V _1R ) and the initial optical axis O ₁
(O _1L and O _1R) and photographed at a fixed angle W _w. The coordinates P of the target 8, the initial viewpoint V _1, and the initial optical axis O ₁ are input to the graphic unit 30, and the initial stereo design image pair I _e1 (I _e1L and I _e1R ) of the target 8 is input by the graphic unit 30. V ₁ (with V _1L
V _1R) to create the initial optical axis O ₁ and (O _1L and O _1R) any angle W _x. The initial stereo operation image pair I _w1 (I
_w1L and I _{w1 R} ) and the initial stereo design image pair I _e1 (I _e1L
I _E1R) and a superimposed at the same direction to create the initial stereo support image _{I t1} (I t1L and I _T1R), the initial stereo operation image pair while changing any angle W _x graphic means 30 I
_w1 (I _w1L and I _w1R ) and the initial stereo design image pair I _e1 (I _e1L
And match all of the image of the corresponding optotype 8 I _E1R), three-dimensional graphic and the corresponding constant angle W _w of the image pickup machine pair 5 by detecting any angle W _x matches the time graphics unit 30 determining the imaging device corresponding angle W _e means 30. Determining the work of the imaging apparatus corresponding angle W _e, for example sufficient that performed at least once before the remote installation starts.

At the time of remote construction, as shown in FIG. 4, the stereo operation image pair I _w (I _wL and I _w
wR) and a predetermined view point V _i (V _iL and V _iR) and a predetermined optical axis O _i (O _iL
O _iR ) and a fixed angle of view W _w
By 0, the stereo design image of construction object 1 vs. I _e (I _eL
I _eR ) and a predetermined viewpoint V _i (V _iL and V _iR ) and a predetermined optical axis O _i (O _iL and O
If prepared in _iR) and the imaging device corresponding angle W _e, stereo operation image pair I _w stereo design image pair I _e a superimposing the construction subject 1 stereo support image pairs I _t of (I _tL and I _tR) Can be created. In this case, the stereo operation image pair I _w and the stereo design image pair I _e have the same viewpoint V and optical axis O, and have an angle of view W
Are superimposed, the superimposing means 42 uses both stereo image pairs.
I _w, sufficient only to superimpose I _e, it is possible to create a stereo support image pair I _t fast enough in response to a change in the photographing position or the photographing posture of the image pickup device 5.

Thus, the object of the present invention, that is, the provision of the "image system capable of easily creating a remote construction support image in which a tenon is installed" can be achieved.

[0018]

EXAMPLE The three-dimensional graphics unit 30 of the embodiment of FIG. 1, left graphic image in accordance with the view point V _L and the optical axis O _L and predetermined angle W of the left imaging unit 5 _L of the imaging machine: 5 Left graphic creation device 32 that outputs signal I _kL and left synchronization signal S _kL
L and the viewpoint of the right imaging device 5 _R of the imaging device pair 5 V _R and the optical axis O _R
Right graphic generating device 32 _R that outputs a right graphic image signal I _kR and a right synchronizing signal S _kR in accordance with and a predetermined angle of view W
When right and left synchronizer 33 for outputting a stereo synchronization signal S _e to input left sync signal S _kL and right sync signal S _kR, predetermined frequency by entering a left graphic image signals I _kL and the stereo synchronization signal S _e Image converter 34 that outputs the left design image I _eL
L , right graphic image signal I _kR and stereo synchronization signal S _e
And a right image converter _R that outputs the right design image _IeR of a predetermined frequency. Each graphic creating apparatus 32 _L, 32 _R are the coordinates of points designed stored in the storage unit 31, the viewpoint V _L input from the receiving unit 26, V _R and the optical axis
Graphic image signals I _kL and I _kR are created according to O _L and O _R and a predetermined angle of view W from an appropriate input means. Each of the image converters 34 _L and 34 _R converts the frequency of the graphic image signals I _kL and I _kR in accordance with the frequency of the imager pair 5.

In the embodiment shown in FIG. 1, a pair of stereo operation images _Iw and a stereo shooting synchronization signal _Sw are generated by the imaging device pair 5, and a superposition synchronizing device 37 and an image synthesizing device 38 are provided in the superposition means 36. I have. The superimposition synchronizer 37 is used for stereo design image pairing.
Enter a I _e and the stereo synchronization signal S _e and the stereo imaging synchronizing signal S _w of imager pair 5, and outputs a stereo design image pair I _e in synchronization with the stereoscopic photography synchronizing signal S _w. The image synthesizing unit 38 is a pair of the stereo design image from the superimposition synchronizer 37.
And outputs a stereo support image pair I _t are superimposed and stereo operation image pairs I _w from I _e and the imaging device: 5.

[0020] In the illustrated example, a stereo assist type the image pair I _t in the stereoscopic image generating apparatus 42, for example at operating display 14 two while alternately switched at a high speed of about 1/120 seconds divided created by superposing means 36 displaying, by observing the stereoscopic assistant image pairs I _t on the left eye and the right eye operation display 14 through the liquid crystal shutter glasses 16 is closed alternately in synchronization with the image switching of the stereoscopic image generating apparatus 42 I have a three-dimensional view of the stereo support image pair I _t. The method of switching images at such a high speed that the human eye does not feel the switching belongs to a known technique, for example, as an interlacing method for television images. It is also possible to switch images at a high speed by using liquid crystal shutter glasses 16 that open and close at a very high speed of about 120 Hz. Reference numeral 40 in FIG. 1 shows a recording and reproducing means for recording a stereo support image pair I _t.

As shown in FIG. 4, for example, as shown in FIG.
Zhang Zhang is displayed on the law ass stereo support image pair I _t (I _tL and I
_{Since tR} ) can be stereoscopically observed and the shaping work can be performed so as to tie the tents, it is possible to obtain a work target and to improve the work efficiency. The stereo support image pairs I _t, work machine 2 positions working range and character display warning characters, such as when approaching a critical work machine 2 of remaining fuel and engine operating conditions such as the status, the work machine It is also conceivable that the display is performed in combination with the movement direction display of the second method.

[0022]

As described above, the image system for remote construction support according to the present invention is designed so that a stereo operation image pair to be photographed is provided at a certain coordinate with respect to an image pickup device pair which gives a stereo operation image pair according to a viewpoint, an optical axis and an angle of view. Three-dimensional graphic means for creating a stereo design image pair of the selected point according to the viewpoint, the optical axis, and the angle of view, and superimposing means for superimposing the stereo operation image pair and the stereo design image pair. Determines the angle of view corresponding to the imaging device of the graphic means corresponding to the angle of view, a stereo operation image pair of the construction target photographed at a predetermined viewpoint, a predetermined optical axis, and a fixed angle of view, a predetermined viewpoint, a predetermined optical axis, and an image corresponding to the imaging device. Since the stereo support image pair created by superimposing the construction target stereo design image pair created by the corners by the superimposing means, the following remarkable effects are obtained.

(A) Once the angle of view of the graphic means corresponding to the fixed angle of view of the imager pair is determined, the stereo operation image pair and the stereo design image pair can be easily superimposed. (B) Since the design image can be superimposed and displayed on the operation image of the remote construction as a work index, it is expected that the construction efficiency in the remote construction can be increased to the same level as the case of using a conventional tenter. (C) In addition, since the state of the construction target can always be compared with the state after completion, improvement in construction quality in remote construction can be expected.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of one embodiment of the present invention.

FIG. 2 is an explanatory diagram of a working machine to which the present invention is applied.

FIG. 3 is an explanatory diagram of a method for determining an angle of view corresponding to an imaging device according to the present invention.

FIG. 4 is an explanatory diagram of a method of creating a superimposed image according to the present invention.

FIG. 5 is an explanatory diagram of a conventional image system.

FIG. 6 is an explanatory diagram of a conventional method for creating a superimposed image.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Construction target 2 ... Work machine 3 ... Operation room 5 ... Imaging machine 6 ... Image transmitter 8 ... Target 8a ... Target plate 10 ... Image receiver 14 ... Operation display 15 ... Image controller 16 ... LCD shutter glasses 18 ... storage means 19 ... perspective view output means 20 ... image synthesizing means 22, 22a ... position surveying equipment 23, 23a ... attitude measuring apparatus 24 ... transmitting apparatus 26 ... receiving apparatus 30 ... three-dimensional graphic means 31 ... storage means 32 ... graphic creation Means 33 ... Left and right synchronization means 34 ... Image converter 36 ... Superimposition means 37 ... Superimposition synchronization means 38 ... Image synthesis means 40 ... Recording / playback means 42 ... Stereo image generator _Ig ... 3D computer graphic design _Iw ... Operation Image I _p ... perspective view I _d ... perspective design image I _s ... superimposed image. I _e … Design image I _k … Graphic image I _t … Stereo support image V… Viewpoint O… Optical axis P… Target coordinates W… Field angle W _w … Constant field angle We _e … Viewer compatible field angle W _x … Arbitrary angle of view S _k … Synchronization signal S _e … Stereo synchronization signal _Sw … Stereo shooting synchronization signal.

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-6-317090 (JP, A) JP-A-6-272282 (JP, A) JP-A-6-28451 (JP, A) JP-A-7- 311857 (JP, A) JP-A-5-324800 (JP, A) JP-A-6-323094 (JP, A) JP-A 8-144328 (JP, A) JP-A-6-111003 (JP, A) JP-A-5-181952 (JP, A) Takeo Oka et al., "Research on Virtual Reality (III)-Telerobotics-", Gifu University Research Report, Gifu University, June 1, 1994, No. . 44, p. 75-84 Oishi, M. et al., "A Method for Calibrating Visual Parameters in See-Through HMD", Journal of the Robotics Society of Japan, The Robotics Society of Japan, September 15, 1994, Vol. 12, No. 6, p. 133-140 (58) Field surveyed (Int. Cl. ⁷ , DB name) G06T 17/40 G06T 15/00 H04N 7/18 JICST file (JOIS)

Claims (8)

(57) [Claims] An imaging device pair for providing a stereo operation image pair to be captured according to a viewpoint, an optical axis, and an angle of view, and a view of the imaging device pair.
Position measuring device and attitude measuring device for measuring points and optical axes,
It said position stereo design image pairs of points designed one coordinate
Three-dimensional graphic means created according to the viewpoint and optical axis and angle of view measured by the measuring device and the attitude measuring device, superimposing means for superimposing the stereo operation image pair and the stereo design image pair, and the imaging device pair Tertiary within the field of view
Original coordinates are provided with a plurality of optotypes that are known, and an initial stereo operation image pair of the plurality of optotypes is photographed by the imager pair at an initial viewpoint, an initial optical axis, and a fixed angle of view, and the known three-dimensional coordinates are obtained.
Initial stereo design image pair of said plurality of optotypes created between the initial optical axis and any angle between the initial viewpoint by the graphical means based, the initial stereo operation image pair and the initial stereo design image pair by said superimposing means Are superimposed in the same direction, and the arbitrary angle of view of the graphic means is changed to match the images of all the corresponding optotypes of the superimposed initial stereo operation image pair and the initial stereo design image pair, and the graphic means at the time of the coincidence The arbitrary angle of view is taken as the angle of view corresponding to the imaging device, and the stereo operation image pair of the construction target is photographed at a predetermined viewpoint, a predetermined optical axis, and the fixed angle of view by the imaging device pair, and the stereo design image pair of the construction target is It is created by the predetermined viewpoint, the predetermined optical axis, and the angle of view corresponding to the image pickup device by graphic means, and a stereo operation image pair and a stereo design image to be constructed by the superimposing means. Imaging system for remote installation support which superimposes formed by creating a stereo support image pair and. 2. The image system according to claim 1, wherein the three-dimensional graphic means includes a left graphic image signal and a left synchronizing signal according to a viewpoint and an optical axis of a left image pickup device of the image pickup device pair and a predetermined angle of view. A right graphic creation device that outputs a right graphic image signal and a right synchronization signal according to the viewpoint and optical axis of the right image capture device and the predetermined angle of view of the image capture device pair, A left-right synchronizing device that inputs a left synchronizing signal and a right synchronizing signal and outputs a stereo synchronizing signal, and a left image converter that inputs the left graphic image signal and the stereo synchronizing signal and outputs a left design image having a predetermined frequency And a right image converter for inputting the right graphic image signal and the stereo synchronization signal and outputting a right design image of the predetermined frequency. Image system. 3. The image system according to claim 2, wherein the stereo operation image pair and the stereo shooting synchronization signal are generated by the imaging device pair, and the stereo design image pair, the stereo synchronization signal, and the A superimposition synchronizer that inputs a stereo imaging synchronization signal of the imaging device pair and outputs a stereo design image pair synchronized with the stereo imaging synchronization signal, and a stereo design image pair from the superimposition synchronization device and the imaging device pair. An image system for remote construction support, comprising: an image synthesizing device that superimposes a stereo operation image pair and outputs a stereo support image pair. 4. The liquid crystal shutter glasses according to claim 1, 2 or 3, wherein the two images of the stereo assisted image pair are alternately switched at a predetermined high speed, displayed on an operation display, and associated with the switching. An image system for remote construction support that enables stereoscopic viewing by observing a pair of stereo support images on the operation display via a computer. 5. An image system according to claim 1, wherein said pair of image pickup devices is mounted on a remote control machine to be constructed on said construction subject, and said three-dimensional graphic means and superimposing means are provided in a remote control room. An image system for remote construction support, wherein a transmission path between a viewpoint and an optical axis of the pair of imaging devices and a pair of stereo operation images is provided between the pair of imaging devices and the remote operation room. 6. The image system according to claim 1, wherein said plurality of optotypes are provided on an optotype plate fixed at a predetermined position, and coordinates of each of said optotypes on said optotype plate are measured by surveying. An established image system for remote construction support. 7. The image system according to claim 1, wherein a point designed at the certain coordinate in the three-dimensional graphic means is a point on the tenement of the construction object, and the stereo design image pair is a signature. An image system for remote construction support as a stereo image pair of Zhang. 8. An image system according to claim 1, wherein a point designed at said certain coordinates in said three-dimensional graphic means is a group of points on a design drawing of said construction target, and said stereo design image pair Is an image system for remote construction support, which is a stereo image pair of the design drawing to be constructed.