JP4403546B2 - Automatic survey system - Google Patents

Description

  The present invention belongs to the technical field of an automatic surveying system for measuring and managing an inner sky shape in tunnel construction or the like.

  In tunnel construction, etc., measuring and managing the interior sky shape is a very important daily management item in order to grasp the stability of surrounding ground. As a means for measuring the sky in the tunnel, a total station having a distance measuring and angle measuring function is used. As shown in FIG. 1, the target 1 is installed at a plurality of locations in the tunnel, and the three-dimensional position of the target 1 is measured by collimating the target 1 with the total station 2, and the air displacement in the tunnel that changes every moment is measured. It is to be measured. This device can be measured remotely, is suitable for use in large sections and large-scale spaces, and can be measured without interfering with other operations. However, since visual measurement is human measurement, there is a problem that individual differences are likely to occur, and that the alignment of collimation takes time.

In order to solve this problem, in Patent Document 1, a camera attached to a telescope eyepiece of a surveying instrument, a penlight provided to have an optical axis parallel to the optical axis of the telescope, and a target point And a target having a circular reflection sheet on a black system sheet that does not reflect light, and an image processing apparatus that displays the light of the penlight, the scale of the target captured by a camera, and a telescope on a liquid crystal screen And roughly collimating the surveying instrument with respect to the target so that the center point of the scale of the telescope is within the circle of the target in the liquid crystal screen, and the position of the center of gravity of the reflecting sheet of the target and the scale of the telescope By calculating the horizontal and vertical deviation from the center point position, and adding this deviation as the angular deviation to the horizontal and vertical angles obtained by the above-mentioned rough collimation, We propose an automatic surveying method characterized by determining the horizontal angle and vertical angle. According to this method, the target point surveying work can be done by simply operating the surveying instrument so that the concentric circle of the target point target is on the monitor screen. And it can be performed in a short time.
Japanese Patent Laid-Open No. 11-2518

  However, in the system shown in Patent Document 1, when the target to be measured is damaged during construction or dirt is attached to the surface, the reflection performance of the light is lowered, and the position of the center of gravity of the target is measured. Has the problem of becoming difficult. In addition, when looking at a circular target facing up, there is no problem because it looks like a circular shape, but when the target cannot be placed facing up and it is collimated from an angle, it looks like an ellipse. Therefore, there is a problem that an error occurs in the position of the center of gravity of the target.

  The present invention solves the above-mentioned problem. Even when the target is damaged during construction or the surface is contaminated with dirt, the reflection performance of the light is lowered. Even in such a case, an object of the present invention is to provide an automatic surveying system capable of eliminating errors and ensuring surveying accuracy.

  In order to achieve the above object, an automatic surveying system of the present invention comprises a camera attached to the telescope eyepiece of a total station, a penlight provided so as to have an optical axis parallel to the optical axis of the telescope, and a target point. And a liquid crystal screen for displaying the target picked up by the light of the penlight and the camera, and the center of the optical axis of the telescope in the liquid crystal screen is the target of the target. The total station is roughly collimated with respect to the target so that it falls within the circle, and in the input image projected on the liquid crystal screen, the bright area is estimated as the target area, the inclination of the inertial main axis of the ellipse in that area, the long axis and Measure the length of the short axis, create an elliptical pattern based on the measurement result, and compare the input image with the corresponding pattern position Searched, obtains the center of gravity of the target, the error between the optical axis center position of the center of gravity position and the telescope of the target is calculated, and obtains the center of gravity of the target.

  According to the present invention, the target point surveying operation is performed simply by operating the surveying instrument so that the target point target is placed on the monitor screen, and subsequent fine adjustment is not required, making collimation easy and short. Can be done in time. In addition, even if the target is damaged during construction or the surface is contaminated, the light reflection performance deteriorates, or even when the circular target is viewed from an angle, errors are eliminated and survey accuracy is ensured. can do.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 2 is a system configuration diagram showing an embodiment of the automatic surveying system of the present invention.
In FIG. 2, the total station 1 is a surveying instrument such as a light wave range finder or a transit having a distance measuring and angle measuring function. A CCD camera 5 is attached to the eyepiece of the telescope 3. The penlight 4 is provided. Further, the optical axis of the telescope 3 and the optical axis of the penlight 4 are provided in parallel, and light from the penlight 4 reflected by the target 2 described later returns in parallel to the telescope 3. For this reason, the target 2 is projected on the liquid crystal screen 6 as a sufficiently bright image by collimating the target 2 roughly.

  A circular target 2 is installed at the target point to be surveyed. The target 2 is different from the conventional one in which concentric circles (or crosshairs) are engraved, and is a black sheet that does not reflect light or a circular reflection sheet provided on a thin plate.

  The image on the liquid crystal screen 6 is subjected to pattern matching processing in the image processing means 7, and in the arithmetic processing means 8 the position of the target 2 based on the distance information from the total station 1 and the target centroid position information from the image processing means 7. Is calculated and stored in the storage means 9.

ここで、（Ｘｃ，Ｙｃ）は液晶画面上でのトータルステーション１の光軸中心、（Ｘｔ，Ｙｔ）はターゲット２の中心、Ｌはトータルステーション１からターゲット２までの距離、ｋは倍率変換係数を示す。Ｌはトータルステーションの測距機能により事前に求めることができる。 FIG. 3 is a diagram for explaining the measurement principle, showing a state in which the total station is directed to the target 2, and a circular image of the target 2 that is roughly collimated is displayed. The deviation between the total station optical axis center T and the target center C is a measurement error, which corresponds to a so-called collimation error. This error can be calculated based on the collimated image. When the horizontal error is dx and the vertical error is dy, the position of the target 2 is determined by image processing, and is calculated by the following equations (1) and (2).

Here, (Xc, Yc) is the optical axis center of the total station 1 on the liquid crystal screen, (Xt, Yt) is the center of the target 2, L is the distance from the total station 1 to the target 2, and k is a magnification conversion coefficient. . L can be obtained in advance by the distance measuring function of the total station.

  By the way, as shown in FIG. 3, if the target projected on the liquid crystal screen is circular, the target center extraction detects the center of gravity of the area, and even if a sufficient luminance image cannot be obtained due to dirt, damage, etc. The center can be obtained by pattern matching based on the normalized correlation. In this pattern matching, a pattern of a circular image is created, the position of the corresponding pattern is searched by comparison with the input image, and the center position of the target is obtained.

  However, when the target cannot be placed facing the target and the target is collimated from an oblique direction, it looks like an ellipse as shown in FIG. In this case, when image matching is performed by the circular pattern matching described above, as shown in FIG. 5A, the extracted circle (white circle) shifts with respect to the target position by shifting in the minor axis direction of the ellipse.

  Therefore, as shown in FIG. 6, in the input image projected on the liquid crystal screen by collimating the telescope, the bright area is estimated as the target area, and the inclination, the major axis, and the minor axis of the inertial main axis of the ellipse of the area are estimated. Measure the length of Next, as shown in FIG. 7, an elliptical pattern is created based on the measured result. At the time of creation, since the distance to the target is known, the major axis can be calculated based on the distance, so the theoretical value is compared with the actually measured major axis to confirm the validity of the creation pattern. Subsequently, as shown in FIG. 8, the position of the corresponding pattern is searched by comparing with the input image, and the center of gravity position of the target is obtained. As a result, as shown in FIG. 5B, the position of the extraction circle (white circle) matches the target, and the target can be accurately captured.

It is a figure for demonstrating the sky displacement measurement in a tunnel which concerns on this invention. It is a system configuration figure showing one embodiment of the automatic surveying system of the present invention. It is a figure for demonstrating the measurement principle of this invention. It is a figure for demonstrating the measuring method of this invention. It is a figure for demonstrating the measuring method of this invention. It is a figure for demonstrating the measuring method of this invention. It is a figure for demonstrating the measuring method of this invention. It is a figure for demonstrating the measuring method of this invention.

Claims (1)

A camera attached to the telescope eyepiece of the total station, a penlight provided so as to have an optical axis parallel to the optical axis of the telescope, a target provided with a circular reflecting sheet disposed at a target point, and A liquid crystal screen for displaying the light picked up by the penlight and the target imaged by the camera, and the total station is roughly collimated with respect to the target so that the optical axis center of the telescope is within the circle of the target in the liquid crystal screen. In the input image projected on the LCD screen, the bright area is estimated as the target area, the inclination of the inertial main axis of the ellipse, the length of the major axis and the minor axis of that area are measured, and the measured results are used as the basis. , Create an elliptical pattern, search the position of the corresponding pattern by comparison with the input image, find the center of gravity position of the target, Automatic surveying system the error between the optical axis center position of the center of gravity position and the telescope is calculated, and obtains the center of gravity of the target.

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