Surveying Instrument and Method of Providing Survey Data of a Target Region Using a Surveying Instrument

• US 20090138233A1
• Filed: 09/11/2006
• Published: 05/28/2009
• Est. Priority Date: 09/12/2005
• Status: Active Grant

• Current Assignee: Trimble Jena GmbH (Trimble Inc.)
• Original Assignee: Trimble Jena GmbH (Trimble Inc.)
• Inventors: Schunemann, Axel, Kludas, Torsten, Vogel, Michael
• Granted Patent: US 8,024,144 B2
• Time in Patent Office: Days
• US Class Current: 702/158
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G06T 3/12 Panospheric to cylindrical image transformations
• CPC Class Codes: G06T 3/4038 Image mosaicing, e.g. composing plane images from plane sub-images
• CPC Class Codes: G06V 10/24 Aligning, centring, orientation detection or correction of the image

Abstract

A surveying instrument (11) comprises a telescope unit having imaging optics and an array of optical detector elements, orientation sensors detecting an orientation of the telescope unit, rotation drives for rotating the telescope unit about a horizontal and a vertical axis, a controllable distance-measuring unit, and a processing unit. The processing unit comprises a memory storing instructions and calibration data for relating the location of each optical detector element to a sighting direction and a processor for: obtaining target region data; obtaining projection surface data (133) representing a projection surface (135), acquiring a set of pixel data representing a two-dimensional image of a target region, transforming the set of pixel data to a set of projected image data representing a projection of the image to the projection surface using the calibration data, and storing the projected image data as surveying data.

Claims

1. A surveying instrument comprising:

a distance-measuring unit to produce distance data representing a distance between the distance-measuring unit and an object to be surveyed along a measuring direction of the distance measuring unit, the distance-measuring unit being mounted for rotation about a horizontal and a vertical axis;

orientation sensors to produce orientation data representing an orientation of the distance-measuring unit about the horizontal and vertical axes;

a telescope unit to generate image data pertaining to a two-dimensional image of the object, the telescope unit having a defined spatial relation with respect to the distance-measuring unit; and

a processing unit configured to;

control the telescope unit to produce image data;

control the distance-measuring unit to produce distance data for at least three different locations at the object, the distance data being received by the processing unit together with corresponding orientation data;

obtain surface data representing a surface defined by the distance data and orientation data associated with the at least three different locations at the object; and

transform the image data into projected image data representing a projection of the image to the surface based on the surface data.

2. The surveying instrument according to claim 1, wherein the instrument further comprises an interface for user selection of the different locations at the object in the two-dimensional image of the object.

3. The surveying instrument according to claim 1, wherein the processing unit is further configured to at least one of store and transmit to a receiving device at least the projected image data together with information regarding the distance of the surface as surveying data.

4. The surveying instrument according to claim 1, wherein the surface is one of a plane, a sphere and a cylinder.

13. The surveying instrument according to claim 1, wherein said processing unit is further configured to recognize a user-selected point in the projection of the image represented by the projected image data and to determine the position of the selected point at the object.

14. The surveying instrument according to claim 1, wherein

the telescope unit is mounted for rotation about a horizontal and a vertical axis;

the telescope comprises orientation sensors to produce orientation data representing an orientation of the telescope unit about the horizontal and vertical axes; and

the processing unit is further configured to;

determine directions in which image data are to be obtained, the directions identifying plural two-dimensional partial images of a target region so that the plural partial images cover the target region;

control the telescope unit to acquire partial image data in each direction, the partial image data being received by the processing unit together with corresponding orientation data;

obtain panoramic surface data representing a panoramic surface, wherein the panoramic surface has a shape that is selected from a group consisting of a cone, a cylinder and a sphere;

transform the partial image data for each direction to a set of projected partial image data, each representing a projection of the respective partial image data to the panoramic surface; and

generate panoramic image data representing a panoramic image of the target region projected to the panoramic surface based on the set of projected partial image data and the orientation data corresponding to the respective projected partial image data.

15. The surveying instrument according to claim 14, wherein the processing unit is further configured to at least one of store and transmit to a receiving device the obtained panoramic image data as surveying data.

20. The surveying instrument according to claim 1, wherein

the instrument further comprises rotation drives for rotating at least one of the distance-measuring unit and the telescope unit about the horizontal and vertical axes;

and

the processing unit is adapted to control the rotation drives to rotate the distance-measuring unit and the telescope unit, respectively, into determined directions.

21. The processing unit according to claim 20, wherein

the instrument comprises at least one of an interface for a display unit and a pointing device and an interface for a touch-screen, for displaying at least one of the two-dimensional image and the projection of the image on the display unit and the touch-screen, respectively, and for selecting locations at the object in the two-dimensional image and the projection of the image, respectively;

and

the processing unit is further adapted to read the position of the pointing device, and a position defined by touching the touch-screen, respectively, to calculate an orientation of at least one of the distance-measuring unit and the telescope unit such that the measuring direction of the distance-measuring unit and the telescope unit, respectively, points to a location at the object corresponding to the read position, and to control the rotation drives to move the distance-measuring unit and the telescope unit, respectively, into the calculated orientation.

22. The surveying instrument according to claim 1, wherein the processing unit comprises a memory storing instructions and a processor.

23. The surveying instrument according to claim 1, wherein

the telescope unit has imaging optics and an array of optical detector elements, each detector element having a location in the array and being responsive to an image projected on the array by the imaging optics to generate data of a pixel representing a point of the image;

and

the processing unit stores calibration data for relating the location of each optical detector element to an optical path.

24. The surveying instrument according to claim 23, wherein the processing unit is adapted to transform the image data into projected image data by:

analytically detecting intersections between the optical path of each optical detector element and the surface represented by the surface data and the panoramic surface represented by the panoramic surface data, respectively, based on the calibration data; and

storing each pixel value of the two-dimensional image to the detected intersection at the surface and the panoramic surface, respectively.

25. The surveying instrument according to claim 1, wherein

the instrument comprises an interface for at least one of a display unit and a touch-screen for displaying digital images;

and

the processing unit is adapted to display at least one of the two-dimensional image and the projection of the image on the display unit and the touch-screen, respectively.

26. The surveying instrument according to claim 25, wherein

for selecting locations at the object in the two-dimensional image or the projection of the image, an interface for a pointing device is provided or the display interface is an interface for a touch-screen;

and

the processing unit is adapted for reading data defining at least one pixel representing a point in the displayed image defined by the position of the pointing device or touching of the touch-screen.

27. The surveying instrument according to claim 25, wherein the processing unit is adapted to acquire target region data representing the target region by reading user inputs defining directions limiting the target region and/or positions in the two-dimensional image or in the projection of the image and preferably an extent of the target region.

28. The surveying instrument according to claim 25, wherein the processing unit is adapted for reading two positions in the displayed projection of the image selected by the pointing device or by touching the touch-screen, determining a distance between two locations at the object corresponding to the selected locations in the projection of the image and displaying the determined distance or a value calculated from the determined distance.

29. The surveying instrument according to claim 25, wherein the processing unit is further adapted for reading three positions in the displayed projection of the image selected by the pointing device or by touching the touch-screen, determining an angle between two lines defined by corresponding locations at the object and displaying the determined angle or a value calculated from the determined angle.

30. The surveying instrument according to claim 25, wherein the processing unit is adapted for displaying additional information obtained by or stored in the processing unit on the display unit.

31. The surveying instrument according to claim 25, wherein the processing unit is adapted for storing survey data representing locations in the target region already surveyed, and displaying a mark on the display unit representing at least one of the surveyed locations.

32. The surveying instrument according to claim 25, wherein the processing unit is adapted for acquiring coordinate data representing locations to be surveyed, and displaying a mark on the display unit representing at least one point still to be surveyed.

44. The method of claim 33, wherein the surveying instrument is an instrument as defined in claim 1.

5. A surveying instrument comprising:

a distance-measuring unit to produce distance data representing a distance between the distance-measuring unit and an object to be surveyed along a measuring direction of the distance measuring unit;

a telescope unit to generate image data pertaining to a two-dimensional image of the object, the telescope unit having a defined spatial relation with respect to the distance-measuring unit; and

a processing unit configured to;

control the telescope unit to produce image data;

control the distance-measuring unit to produce distance data;

obtain surface data representing a plane, wherein a location of the plane is selected based on the distance data and the plane has an orientation selected by image processing by identifying and analyzing at least one oval and lozenge element at the object in the two-dimensional image of the object; and

transform the image data into projected image data representing a projection of the image to the plane based on the surface data.

6. The surveying instrument according to claim 5, wherein the instrument further comprises an interface for user selection of at least one oval and lozenge element at the object in the two-dimensional image, the processing unit being configured to use the selected element for selection of an orientation of the plane.

7. The surveying instrument according to claim 5, wherein the processing unit is further configured to at least one of store and transmit to a receiving device at least the projected image data together with information regarding the distance of the plane as surveying data.

8. The surveying instrument according to claim 5, wherein

the distance-measuring unit is mounted for rotation about a horizontal and a vertical axis;

the instrument further comprises orientation sensors to produce orientation data representing an orientation of the distance-measuring unit about the horizontal and vertical axes; and

the processing unit is further configured to control the distance-measuring unit to produce distance data for different locations at the object, the distance data being received by the processing unit together with corresponding orientation data.

9. A surveying instrument comprising:

a distance-measuring unit to produce distance data representing a distance between the distance-measuring unit and an object to be surveyed along a measuring direction of the distance measuring unit;

a telescope unit to generate image data pertaining to a two-dimensional image of the object, the telescope unit having a defined spatial relation with respect to the distance-measuring unit;

an interface for receiving three-dimensional-data of the object; and

a processing unit configured to;

control the telescope unit to produce image data;

control the distance-measuring unit to produce distance data;

obtain surface data representing a surface, wherein a location of the surface is selected based on the distance data and the surface has a shape as defined in the three-dimensional-data; and

transform the image data into projected image data representing a projection of the image to the surface based on the surface data.

10. The surveying instrument according to claim 9, wherein the processing unit is further configured to select an orientation of the surface by image processing by identifying and analyzing at least one same characteristic element contained in both the three-dimensional-data and the image data.

11. The surveying instrument according to claim 9, wherein

the distance-measuring unit is mounted for rotation about a horizontal and a vertical axis;

the instrument further comprises orientation sensors to produce orientation data representing an orientation of the distance-measuring unit about the horizontal and vertical axes;

the processing unit is further configured to control the distance-measuring unit to produce distance data for at least three different locations at the object, the distance data being received by the processing unit together with corresponding orientation data; and

the processing unit is further configured to determine an orientation of the surface by using the distance data and orientation data associated with the at least three different locations at the object.

12. The surveying instrument according to claim 9, wherein the processing unit is further configured to at least one of store and transmit to a receiving device at least the projected image data together with information regarding the distance of the surface as surveying data.

16. A surveying instrument comprising

a telescope unit to generate image data pertaining to a two-dimensional image of an object to be surveyed, the telescope unit being mounted for rotation about a horizontal and a vertical axis;

orientation sensors to produce orientation data representing an orientation of the telescope unit about the horizontal and vertical axes; and

a processing unit configured to;

determine directions in which image data are to be obtained, the directions identifying plural two-dimensional partial images of a target region so that the plural two-dimensional partial images cover the target region;

control the telescope unit to acquire partial image data in each direction, the partial image data being received by the processing unit together with corresponding orientation data;

obtain panoramic surface data representing a panoramic surface, wherein the panoramic surface has a shape that is selected from a group consisting of a cone, a cylinder and a sphere;

transform the partial image data for each direction to a set of projected partial image data, each representing a projection of the respective partial image data to the panoramic surface; and

generate panoramic image data representing a panoramic image of the target region projected to the panoramic surface based on the set of projected partial image data and the orientation data corresponding to the respective projected partial image data.

17. The surveying instrument according to claim 16, wherein

the instrument further comprises a distance-measuring unit to produce distance data representing a distance between the instrument and an object to be surveyed along a measuring direction of the distance measuring unit, the distance-measuring unit having a defined spatial relation with respect to the telescope unit;

and

wherein the processing unit configured to control the distance-measuring unit to produce distance data for at least one location at the object to obtain a location of the surface based on the distance data.

18. The surveying instrument according to claim 16, wherein the processing unit is adapted to at least one of store and transmit to a receiving device the generated panoramic image data as surveying data.

19. The surveying instrument according to claim 16, wherein the processing unit is further adapted to determine the directions such that the two-dimensional partial images overlap, and to adjust the pixel data in at least one of the partial image data and the projected partial image data of at least one of the two-dimensional partial images in the overlap region by using the pixel data of the partial image data or the projected partial image data of the projected partial images in the overlap region, respectively.

47. The surveying instrument according to claim 16 wherein

the instrument further comprises rotation drives for rotating at least one of the distance-measuring unit and the telescope unit about the horizontal and vertical axes;

and

the processing unit is adapted to control the rotation drives to rotate the distance-measuring unit and the telescope unit, respectively, into determined directions;

wherein

the instrument comprises at least one of an interface for a display unit and a pointing device and an interface for a touch-screen, for displaying at least one of the two-dimensional image and the projection of the image on the display unit and the touch-screen, respectively, and for selecting locations at the object in the two-dimensional image and the protection of the image, respectively; and

the processing unit is further adapted to read the position of the pointing device, and a position defined by touching the touch-screen, respectively, to calculate an orientation of at least one of the distance-measuring unit and the telescope unit such that the measuring direction of the distance-measuring unit and the telescope unit, respectively, points to a location at the object corresponding to the read position, and to control the rotation drives to move the distance-measuring unit and the telescope unit, respectively, into the calculated orientation.

48. The surveying instrument according to claim 16, wherein

the telescope unit has imaging optics and an array of optical detector elements, each detector element having a location in the array and being responsive to an image projected on the array by the imaging optics to generate data of a pixel representing a point of the image;

and

the processing unit stores calibration data for relating the location of each optical detector element to an optical path;

wherein the processing unit is adapted to transform the image data into projected image data by;

analytically detecting intersections between the optical path of each optical detector element and the surface represented by the surface data and the panoramic surface represented by the panoramic surface data, respectively, based on the calibration data; and

storing each pixel value of the two-dimensional image to the detected intersection at the surface and the panoramic surface, respectively.

33. A method of providing survey data using a surveying instrument comprising the steps of:

generating image data pertaining to a two-dimensional image of an object to be surveyed;

producing distance data representing a distance between the surveying instrument and the object along a measuring direction of the surveying instrument for at least three different locations at the object together with corresponding orientation data representing an orientation of the surveying instrument about horizontal and vertical axes;

obtaining surface data representing a surface defined by the distance data and orientation data associated with the at least three different locations at the object; and

transforming the image data into projected image data representing a projection of the image to the surface based on the surface data.

38. The method of claim 33 further comprising the steps of:

recognizing a user-selected point in the projection of the image represented by the projected image data; and

determining the position of the selected point at the object.

41. The method of claim 33, wherein

the telescope unit has imaging optics and an array of optical detector elements, each detector element having a location in the array and being responsive to an image projected on the array by the imaging optics to generate data of a pixel representing a point of the image, the allocation of each optical detector element to an optical path being stored in calibration data;

and

the step of transforming the image data into projected image data is performed by;

analytically detecting intersections between an optical path of each optical detector element and the surface represented by the surface data and the panoramic surface represented by the panoramic surface data, respectively, based on the calibration data; and

storing each pixel value of the two-dimensional image to the detected intersection at the surface and the panoramic surface, respectively.

42. The method of claim 33, further comprising the steps of:

reading two positions selected by a user in the displayed projection of the image;

determining a distance between two locations at the object corresponding to the selected locations in the projection of the image; and

displaying the determined distance or a value calculated from the determined distance.

43. The method of claim 33, further comprising the steps of:

reading three positions in the displayed projection of the image selected by a user;

determining an angle between two lines defined by corresponding locations at the object; and

displaying the determined angle or a value calculated from the determined angle.

45. A computer program for a processing unit of a surveying instrument, wherein the computer program is adapted to allow the surveying instrument to perform the method of claim 33.

46. A computer readable storage medium storing a computer program according to claim 45.

34. A method of providing survey data using a surveying instrument comprising the steps of:

generating image data pertaining to a two-dimensional image of an object to be surveyed;

producing distance data representing a distance between the surveying instrument and the object along a measuring direction of the surveying instrument;

obtaining surface data representing a plane, by selecting a location of the plane based on the distance data and by selecting an orientation of the plane by image processing by identifying and analyzing at least one oval and lozenge element at the object in the two-dimensional image of the object; and

transforming the image data into projected image data representing a projection of the image to the plane based on the surface data.

35. A method of providing survey data using a surveying instrument comprising the steps of:

generating image data pertaining to a two-dimensional image of an object to be surveyed;

producing distance data representing a distance between the surveying instrument and the object along a measuring direction of the surveying instrument;

receiving three-dimensional-data of the object;

obtaining surface data representing a surface, by selecting a location of the surface based on the distance data and selecting a shape of the surface as defined in the three-dimensional-data; and

transforming the image data into projected image data representing a projection of the image to the surface based on the surface data.

36. The method of claim 35 further comprising the step of determining an orientation of the surface by image processing by identifying and analyzing at least one same characteristic element contained in both the three-dimensional-data and the image data.

37. The method of claim 35 further comprising the steps of:

producing distance data for at least three different locations at the object together with corresponding orientation data representing an orientation of the surveying instrument about horizontal and vertical axes; and

determining an orientation of the surface by using the distance data and orientation data associated with the at least three different locations at the object.

39. A method of providing survey data using a surveying instrument comprising the steps of:

determining directions in which partial image data each pertaining to a two-dimensional partial image of an object to be surveyed are to be obtained, the directions identifying plural two-dimensional partial images of a target region at the object so that the plural two-dimensional partial images cover the target region;

generating partial image data in each direction together with corresponding orientation data representing an orientation of the surveying instrument about horizontal and vertical axes;

obtaining panoramic surface data representing a panoramic surface, by selecting a shape of the panoramic surface from a group consisting of a cone, a cylinder and a sphere;

transforming the partial image data for each direction to a set of projected partial image data, each representing a projection of the respective partial image data to the panoramic surface; and

generating panoramic image data representing a panoramic image of the target region projected to the panoramic surface based on the set of projected partial image data and the orientation data corresponding to the respective projected partial image data.

40. The method of claim 39 further comprising the steps of:

determining the directions such that the two-dimensional partial images overlap in an overlap region; and

adjusting the pixel data in at least one of the partial image data and the projected partial image data of at least one of the two-dimensional partial images in the overlap region by using the pixel data of the partial image data or the projected partial image data of the projected partial images in the overlap region, respectively.

49. The method of claim 39, wherein

the telescope unit has imaging optics and an array of optical detector elements, each detector element having a location in the array and being responsive to an image projected on the array by the imaging optics to generate data of a pixel representing a point of the image, the allocation of each optical detector element to an optical path being stored in calibration data;

and

the step of transforming the image data into projected image data is performed by;

analytically detecting intersections between an optical path of each optical detector element and the surface represented by the surface data and the panoramic surface represented by the panoramic surface data, respectively, based on the calibration data; and

storing each pixel value of the two-dimensional image to the detected intersection at the surface and the panoramic surface, respectively.

50. A computer program for a processing unit of a surveying instrument, wherein the computer program is adapted to allow the surveying instrument to perform the method of claim 39.

51. A computer readable storage medium storing a computer program according to claim 50.