Measuring instrument and surveying system

Patent metadata

Field	Value
Publication number	US-9897436-B2
Application number	US-201715602228-A
Country	US
Kind code	B2
Filing date	May 23, 2017
Priority date	Jun 1, 2016
Publication date	Feb 20, 2018
Grant date	Feb 20, 2018

Abstract

The invention provides a measuring instrument, which comprises an image pickup unit for acquiring an image of a range including an object to be measured, a distance measuring unit for two-dimensionally scanning a predetermined range in synchronization with an image acquisition and for measuring, an arithmetic control unit and an attitude detecting unit for detecting a tilt angle of the image pickup unit with respect to a horizontality, wherein the arithmetic control unit associates a measurement result and a detection result of the attitude detecting unit with each pixel on a scanning locus corresponding to an acquired image.

First claim

The invention claimed is:

1. A measuring instrument comprising: an image pickup unit for acquiring an image of a range including an object to be measured, a distance measuring unit for two-dimensionally scanning a predetermined range in synchronization with an image acquisition and for measuring, an arithmetic control unit and an attitude detecting unit for detecting a tilt angle of said image pickup unit with respect to a horizontality, wherein said arithmetic control unit associates a measurement result and a detection result of said attitude detecting unit with each pixel on a scanning locus corresponding to an acquired image.

2. The measuring instrument according to claim 1 , wherein said two-dimensional scan is a closed loop.

3. A surveying system comprising: a measuring instrument according to claim 2 provided on a moving body, a display device having a display unit, wherein a reference optical axis of said measuring instrument is provided tilting with respect to a horizontal plane at a predetermined angle and directed in a predetermined direction with respect to an advancing direction of said moving body, said attitude detecting unit detects a tilt angle of said reference optical axis, wherein said arithmetic control unit is configured to synthesize a measurement result provided by said distance measuring unit with an image acquired by said image pick up unit and to display on said display unit.

4. The surveying system according to claim 3 , wherein said image pickup unit is configured to acquire continuous images, said distance measuring unit is configured to two-dimensionally scan a predetermined range in synchronization with a frame image constituting said continuous images, and said arithmetic control unit is configured to combine said frame images in time series.

5. The surveying system according to claim 4 , wherein said arithmetic control unit is configured to calculate a moving distance and a change in height according to a movement of said moving body based on a scan information of a pixel at a point where said scanning loci cross each other in a combined image acquired by combining said frame images.

6. The surveying system according to claim 3 , wherein said attitude detecting unit comprises a tilt sensor and an acceleration sensor as tilt sensors, and an output from said attitude detecting unit is a detection result from said acceleration sensor corrected based on comparison data of said tilt sensor and said acceleration sensor.

7. The surveying system according to claim 3 , wherein an auxiliary representation, which facilitates a recognition of a condition of a ground surface, is superimposed on an image and displayed.

8. The measuring instrument according to claim 1 , wherein a pixel coordinate is converted into a vertical reference coordinate based on a tilt angle information detected by said attitude detecting unit, and a horizontal distance and a height information are calculated based on a scan information of pixel corresponding to said scanning locus and are added to said pixel.

9. The measuring instrument according to claim 8 , wherein an image acquired is converted into an ortho-image of a horizontal plane based on said tilt angle information included in said scan information.

10. A surveying system comprising: a measuring instrument according to claim 9 provided on a moving body, a display device having a display unit, wherein a reference optical axis of said measuring instrument is provided tilting with respect to a horizontal plane at a predetermined angle and directed in a predetermined direction with respect to an advancing direction of said moving body, said attitude detecting unit detects a tilt angle of said reference optical axis, wherein said arithmetic control unit is configured to synthesize a measurement result provided by said distance measuring unit with an image acquired by said image pick up unit and to display on said display unit.

11. The surveying system according to claim 10 , wherein said image pickup unit is configured to acquire continuous images, said distance measuring unit is configured to two-dimensionally scan a predetermined range in synchronization with a frame image constituting said continuous images, and said arithmetic control unit is configured to combine said frame images in time series.

12. The surveying system according to claim 11 , wherein said arithmetic control unit is configured to calculate a moving distance and a change in height according to a movement of said moving body based on a scan information of a pixel at a point where said scanning loci cross each other in a combined image acquired by combining said frame images.

13. The surveying system according to claim 10 , wherein said attitude detecting unit comprises a tilt sensor and an acceleration sensor as tilt sensors, and an output from said attitude detecting unit is a detection result from said acceleration sensor corrected based on comparison data of said tilt sensor and said acceleration sensor.

14. The surveying system according to claim 10 , wherein an auxiliary representation, which facilitates a recognition of a condition of a ground surface, is superimposed on an image and displayed.

15. A surveying system comprising: a measuring instrument according to claim 8 provided on a moving body, a display device having a display unit, wherein a reference optical axis of said measuring instrument is provided tilting with respect to a horizontal plane at a predetermined angle and directed in a predetermined direction with respect to an advancing direction of said moving body, said attitude detecting unit detects a tilt angle of said reference optical axis, wherein said arithmetic control unit is configured to synthesize a measurement result provided by said distance measuring unit with an image acquired by said image pick up unit and to display on said display unit.

16. The surveying system according to claim 15 , wherein said image pickup unit is configured to acquire continuous images, said distance measuring unit is configured to two-dimensionally scan a predetermined range in synchronization with a frame image constituting said continuous images, and said arithmetic control unit is configured to combine said frame images in time series.

17. The surveying system according to claim 16 , wherein said arithmetic control unit is configured to calculate a moving distance and a change in height according to a movement of said moving body based on a scan information of a pixel at a point where said scanning loci cross each other in a combined image acquired by combining said frame images.

18. The surveying system according to claim 15 , wherein said attitude detecting unit comprises a tilt sensor and an acceleration sensor as tilt sensors, and an output from said attitude detecting unit is a detection result from said acceleration sensor corrected based on comparison data of said tilt sensor and said acceleration sensor.

19. The surveying system according to claim 15 , wherein an auxiliary representation, which facilitates a recognition of a condition of a ground surface, is superimposed on an image and displayed.

20. The measuring instrument according to claim 1 , wherein said attitude detecting unit comprises a tilt sensor and an acceleration sensor as tilt sensors, and an output from said attitude detecting unit is a detection result from said acceleration sensor corrected based on comparison data of said tilt sensor and said acceleration sensor.

21. A surveying system comprising: a measuring i

Assignees

• Topcon Corp

Inventors

• Ohtomo Fumio
• Kumagai Kaoru
• Anai Tetsuji

Classifications

• G01B11/24 Primary

  for measuring contours or curvatures · CPC title

• G06T11/60

  Creating or editing images; Combining images with text · CPC title

• G01C3/00

  Measuring distances in line of sight; Optical rangefinders (tapes, chains or wheels for measuring length G01B3/00; active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves, G01S17/48) · CPC title

• H04N7/183 Primary

  for receiving images from a single remote source · CPC title

• G06T7/20

  Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) · CPC title