Geodetic survey system having a camera integrated in a remote control unit

• US 9,341,473 B2
• Filed: 08/17/2011
• Issued: 05/17/2016
• Est. Priority Date: 09/16/2010
• Status: Active Grant

• Current Assignee: Leica Geosystems AG (Hexagon AB)
• Original Assignee: Leica Geosystems AG (Hexagon AB)
• Inventors: Zogg, Hans-Martin, Lienhart, Werner, Nindl, Daniel, Kotzur, Norbert
• Primary Examiner(s): LIU, HARRY K
• Application Number:
  US13/820,117
• Publication Number:
  US 20130162469A1
• Time in Patent Office: 1,735 Days
• Field of Search: 342/357.25, 342/357.34, 342/357.52
• US Class Current: 1/1
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/42 Determining position

Abstract

A survey system including a target unit that has a survey stick having a high-precision localizable target and a hand-held remote control unit. The remote control unit has an electronic graphical display and can be mounted on a holder on the survey stick such that the remote control unit is in a fixed position relative to the target fitted to the survey stick. The remote control comprises a camera for taking a camera image in a defined shooting direction. In addition, an image processing and evaluation unit with a data link to the position-finding unit and to the camera is provided which, from knowledge of the fixed relative position and of a defined shooting direction and also on the basis of the determined target position, can spatially relate image data from the camera to the targets in the coordinate system.

Claims

1. A survey system comprising:

a position determination unit for determining a target position in a defined coordinate system, and

a mobile target unit for staking out and/or position determination of target points in the coordinate system, wherein the mobile target unit includes;

a surveying pole, the lower end of which is configured to be brought into target point contact,

a target which is configured to be fitted on the surveying pole and the target position of which is determinable with high precision;

a handholdable remote control unit for the survey system, wherein the remote control unit includes an electronic graphical display and is attachable to a holder on the surveying pole and is—

in the attached state—

furthermore in a fixed position relationship with respect to the target fitted on the surveying pole;

the remote control unit comprises a camera for recording a camera image in a defined imaging direction; and

an image processing and evaluation unit having a data link to the position determination unit and the camera is provided, by which, with the aid of knowledge of the fixed position relationship and the defined imaging direction, and as a function of the target position determined, image data of the camera are brought into spatial relation with the target points in the coordinate system.

2. The survey system as claimed in claim 1, wherein the position determination unit is a total station or a GNSS module.

3. The survey system as claimed in claim 1, wherein the target is formed as a survey reflector which is configured to be surveyed with the aid of a total station or as a GNSS antenna having a data link to the GNSS module of the position determination unit.

4. The survey system as claimed in claim 1, wherein the camera, the display, the position determination unit and the image processing and evaluation unit interact and are configured—

as a function of the currently determined target position for one or more target points to be staked out or surveyed, which lie in the field of view of the camera and the spatial coordinates of which are known,—

to derive a target point position in the camera image and to display a marking for the one or more target points on the display in accordance with the target point position in the camera image, overlaid thereon.

5. The survey system as claimed in claim 1, wherein in order to derive the target point positions in the camera image, a digital terrain model is used and jointly taken into account.

6. The survey system as claimed in claim 1, wherein in order to derive the target point positions in the camera image, a digital terrain model is used and jointly taken into account, wherein a sensor for recording a digital terrain model of the terrain lying in the field of view of the camera is provided.

7. The survey system as claimed in claim 6, wherein the sensor for recording a digital terrain model includes an RIM sensor or a stereophotogrammetry module.

8. The survey system as claimed in claim 1, wherein the camera, the display, the position determination unit and the image processing and evaluation unit interact and are configured:

to display a film sequence acquired by the camera is displayed live on the display, and

to mark—

overlaid on the displayed film sequence and as a function of the currently determined target position—

one or more target points, which are to be staked out or surveyed and the spatial coordinates of which are known, in the camera image and to display them on the display.

9. The survey system as claimed in claim 1, wherein the camera and the display are arranged and oriented on the remote control unit to allow an operator to view a terrain surface by means of the camera, wherein either:

the surface normal of the display is oriented parallel to the imaging direction of the camera;

or

the surface normal of the display is inclined by an angle of between 10 and 45 degrees.

10. The survey system as claimed in claim 1, wherein the camera and the display are arranged and oriented on the remote control unit to allow an operator to view a terrain surface by means of the camera, wherein either:

the surface normal of the display is oriented parallel to the imaging direction of the camera, wherein the optical axes of the display and of the camera are oriented coaxially but the viewing directions mutually opposite;

or

the surface normal of the display is inclined by an angle of 30°

with respect to the imaging direction of the camera,

and wherein the camera is oriented—

when the remote control unit is attached to the surveying pole—

to have the lower end of the surveying pole lying in the field of view of the camera.

11. The survey system as claimed in claim 1, wherein when the remote control unit is attached to the surveying pole the structure of the surveying pole the fixed position relationship of the remote control unit relative to the fitted target is ensured, and wherein the fixed position relationship is made available to the image processing and evaluation unit with the aid of at least one of the following means:

storage means, in which the fixed position relationship is stored;

position relationship determination means, which make a current distance from the remote control unit to the target and/or a current orientation including the azimuthal and/or elevational orientation of the remote control unit determinable, wherein the position relationship determination means comprise a distance sensor and/or a compass integrated in the remote control unit and/or an inclination sensor integrated in the remote control unit;

input means, configured to allow a user to enter data relating to the fixed position relationship; and

a data set stored electronically or graphically on the holder, which comprises information relating to the fixed position relationship ensured by the surveying pole, and a readout means provided in the remote control unit and configured to read out the data set.

12. A mobile target unit, comprising:

a surveying pole, the lower end of which is configured to be brought into target point contact;

a target which is configured to be fitted on the surveying pole and the target position of which is determinable with high precision, wherein the target is formed as a survey reflector which is configured to be surveyed with the aid of a total station or as a GNSS antenna having a data link to the GNSS module of the position determination unit;

a handholdable remote control unit for the survey system, wherein the remote control unit comprises an electronic graphical display and is attachable to a holder on the surveying pole and—

when in the attached state—

to be in a fixed position relationship with respect to the target fitted on the surveying pole;

the remote control unit comprises a camera for recording a camera image in a defined imaging direction; and

an image processing and evaluation unit having a data link to the position determination unit and the camera is provided, by which, with the aid of knowledge of the fixed position relationship and the defined imaging direction, and as a function of the target position determined, image data of the camera are brought into spatial relation with the target points in the coordinate system.

13. The mobile target unit as claimed in claim 12, wherein the camera and the display are arranged and oriented on the remote control unit to allow an operator to view a terrain surface by means of the camera, wherein the surface normal of the display is oriented parallel to the imaging direction of the camera, wherein the optical axes of the display and of the camera are oriented coaxially but the viewing directions mutually opposite.

14. The mobile target unit as claimed in claim 12, wherein the camera is oriented—

when the remote control unit is attached to the surveying pole—

to have the lower end of the surveying pole lying in the field of view of the camera.

15. The mobile target unit as claimed in claim 12, wherein when the remote control unit is attached to the surveying pole owing to the structure of the surveying pole the fixed position relationship of the remote control unit relative to the fitted target is ensured.

16. The mobile target unit as claimed in claim 15, wherein the fixed position relationship is made available to the image processing and evaluation unit with the aid of at least one of the following means:

storage means, in which the fixed position relationship is stored;

position relationship determination means, which make a current distance from the remote control unit to the target and/or the azimuthal and/or elevational orientation, of the remote control unit determinable;

input means, configured to allow a user to enter data relating to the fixed position relationship,

a data set stored electronically or graphically on the surveying pole which comprises information relating to the fixed position relationship ensured by the surveying pole, and a readout means provided in the remote control unit and configured to read out the data set.

17. The mobile target unit as claimed in claim 15, wherein the fixed position relationship is made available to the image processing and evaluation unit with the aid of at least one of the following means:

storage means, in which the fixed position relationship is stored,

position relationship determination means, which make a current distance from the remote control unit to the target and/or azimuthal and/or elevational orientation, of the remote control unit determinable, wherein the position relationship determination means comprise a distance sensor and/or a compass integrated in the remote control unit and/or an inclination sensor integrated in the remote control unit;

input means, configured to allow a user to enter data relating to the fixed position relationship; and

a data set stored electronically or graphically on the holder which comprises information relating to the fixed position relationship ensured by the surveying pole, and a readout means provided in the remote control unit and configured to read out the data set.

18. A handholdable remote control unit for a mobile target unit as claimed in claim 15, wherein the remote control unit comprises an electronic graphical display and is attachable to a holder on the surveying pole of the mobile target unit and—

when in the attached state—

to be in a fixed position relationship with respect to the target fitted on the surveying pole, wherein;

the remote control unit comprises a camera for recording a camera image in a defined imaging direction, and

an image processing and evaluation unit having a data link to the position determination unit and the camera is provided, by which with the aid of knowledge of the fixed position relationship and the defined imaging direction, and as a function of the target position determined image data of the camera are brought into spatial relation with the target points in the coordinate system.

19. The handholdable remote control unit as claimed in claim 18, wherein the camera and the display are arranged and oriented on the remote control unit to allow an operator to view a terrain surface by means of the camera, wherein the surface normal of the display is oriented parallel to the imaging direction of the camera, in particular wherein the optical axes of the display and of the camera are oriented coaxially but the viewing directions mutually opposite.

20. The handholdable remote control unit as claimed in claim 18, wherein the camera is oriented in such a way that when the remote control unit is attached to the surveying pole the lower end of the surveying pole lies in the field of view of the camera.

21. A method for defining and/or determining a position of a target point using a survey system as claimed in 1, having the following steps:

attaching a handholdable remote control unit, having a camera fitted thereon, to a surveying pole, the lower end of which is configured to be brought into target point contact, wherein the remote control unit is attached in a fixed position relationship with respect to a target fitted on the surveying pole;

establishing or ensuring a data interchange link between the mobile target unit;

arranging the camera in the direction of a terrain surface, in which target points are to be staked out or surveyed, and recording images and displaying them on a display of the remote control unit continuously or at defined time intervals,

inserting a direction indicator into the image of the camera in the display;

guiding the target unit until a match of the image with the marking for the intended position of the target point is achieved;

defining or determining the position of the target point.

22. A method for defining and/or determining a position of a target point using a survey system as claimed in 1, having the following steps:

attaching a handholdable remote control unit, having a camera fitted thereon, to a surveying pole, the lower end of which is configured to be brought into target point contact, wherein the remote control unit is attached in a fixed position relationship with respect to a target fitted on the surveying pole;

establishing or ensuring a data interchange link between the mobile target unit, in particular the remote control unit, and the position determination unit;

arranging the camera in the direction of a terrain surface, in which target points are to be staked out or surveyed, and recording images and displaying them on a display of the remote control unit continuously or at defined time intervals;

inserting a direction indicator by means of an arrow, and/or indicators of distance to an intended target point and/or a marking for the intended position of a target point, into the image of the camera in the display;

guiding the target unit until a match of the image with the marking for the intended position of the target point is achieved;

defining or determining the position of the target point; and

recording in real time and storing an image of the defined or position-determined target point by means of the camera.

23. A survey system comprising:

a mobile target unit integrated in a compact handholdable apparatus for staking out and/or position determination of target points in a defined coordinate system, wherein the target unit includes;

a GNSS module formed as a position determination unit, having an integrated GNSS antenna formed as a target, for determining the target position in the coordinate system;

an electronic graphical display;

a camera for recording a camera image in a defined imaging direction directed approximately vertically downward in the working position of the handholdable apparatus;

a biaxial inclinometer for determining a pitch angle and a roll angle of the apparatus;

an orientation determination unit for determining an azimuthal orientation of the apparatus, wherein the azimuthal orientation corresponds in particular to a yaw angle of the apparatus; and

an image processing and evaluation unit, which is formed in such a way that;

with the aid of knowledge of both a fixed position relationship of the camera relative to the target and of the defined imaging direction of the camera; and

as a function of the currently determined target position, the currently determined pitch and roll angles and the currently determined azimuthal orientation, for one or more target points to be staked out or surveyed, which lie in the field of view of the camera and the spatial coordinates of which are known, a position in the camera image is derived and a marking for the one or more target points is displayed on the display in accordance with the position in the camera image, overlaid thereon.