Patent Description:
There is demand for improvement of operation efficiency of site resources, such as construction machine, at construction sites. To achieve this, it is necessary to monitor operation situations at construction sites. For example, in Patent document <NUM>, a technique is disclosed in which construction machine is identified using images photographed by a flying UAV so as to track movements of construction machines.

Patent document <NUM> relates to a construction site status monitoring device including processing circuitry configured to receive sensor data associated with a construction site from a scout device and generate a site map based on the sensor data for deployment of the construction device.

Patent document <NUM>: United States Patent Application Publication <CIT>.

In monitoring operation situations of site resources, such as a construction machine, at a construction site, it is desirable that manpower be minimized as much as possible, and that it be automated. Under such circumstances, an object of the present invention is to provide a technique in which monitoring of operation situations of site resources at a construction site can be performed efficiently.

An aspect of the present invention is a measuring system as defined in claim <NUM>, including inter alia: a camera for continuously photographing site resources which perform operations at a construction site; a recognizing means for recognizing the site resources in photographed images obtained by the photographing; a tracking means for tracking the image of the site resources recognized in the multiple photographed images obtained by the continuous photographing; and a position-determining means for collimating to the site resources which are objects to be tracked, and determining the positions of the site resources by laser light; in which the determining of position is performed multiple times at intervals.

In the present invention, an embodiment is desirable in which the system further includes a map-preparing means for a map displaying movement transitions of the site resources. In the present invention, an embodiment is desirable in which recognition of the site resources is performed by comparison between an image photographed by the camera, and an image in which a preliminarily prepared three-dimensional model of the site resources which is an object to be recognized is viewed from multiple different viewpoints.

In the present invention, the site resource is a construction machine. The construction machine includes a base unit for running and a movable unit moving on the base unit, and the system further includes a moving center calculating means for calculating a point fixed on the base unit, not the measured point, as a moving center based on result of the determining of position.

In the present invention, an embodiment may be mentioned in which a relationship between external orientation elements of the camera and external orientation elements of the position-determining means is known, based on the relationship, a position of a reflection point of the laser light in the image of the construction machine photographed by the camera is calculated as a first relationship, by the comparison, a three-dimensional model corresponding to the image of the construction machine photographed by the camera is calculated as a second relationship, based on the first relationship and the second relationship, position of reflection point of the laser light in the three-dimensional model of the construction machine is calculated, and based on a position of a reflection point of the laser light in the three-dimensional model of the construction machine, the moving center is calculated.

In the present invention, an embodiment may be mentioned in which the site resources are multiple, the tracking is performed with respect to each of the multiple site resources, the continuous photographing is continued during the collimating, and the tracking is performed with respect to the site resources which are not objects of the collimating during the collimating.

The present invention may be understood as a measuring method as defined in claim <NUM>.

The present invention may be understood as a measuring program as defined in claim <NUM>.

According to the present invention, the monitoring of operation situations of site resources at a construction site can be performed efficiently.

<FIG> shows an example of a measuring system using the present invention. <FIG> shows a surveying apparatus <NUM>. The surveying apparatus <NUM> is a total station having functions of a camera, laser measuring, and automatic tracking for an object for surveying. The surveying apparatus <NUM> identifies an object for tracking among images photographed by the camera equipped by itself, tracks this identified object in the photographed image, and determines position of the object by laser light. Details in the surveying apparatus <NUM> will be explained later.

<FIG> shows construction machines <NUM> to <NUM>, and workers <NUM> to <NUM> for civil engineering work. In this example, the construction machines <NUM> to <NUM> and the workers <NUM> to <NUM> are the site resources. Operation situations of these site resources are measured by the surveying apparatus <NUM>. A target site resource is a machine or human relating to construction at the construction site, and other moving objects. As a machine which is handled as a site resource, kinds of construction machine, electric power, concrete mixer, compressor, and the like, which are movable, may be mentioned.

The surveying apparatus <NUM> photographs the operation site by its camera. Among the photographed images, the site resources (construction machines <NUM> to <NUM> and workers <NUM> to <NUM>), which are objects for tracking, are recognized, and each of the recognized site resources is identified.

Each of the identified site resources is tracked and the position of each is determined by the surveying apparatus <NUM>. Position information in which the position of each site resource determined by the surveying apparatus <NUM> is plotted on a map (for example, <FIG>). By monitoring changes in position of each construction machine with the passage of time, transitions of operation situations of site resources can be known.

The above process is automatically performed. Therefore, the monitoring of operation situations of the site resources at the construction site can be effectively performed.

<FIG> are oblique views of the surveying apparatus <NUM>. <FIG> is an oblique view seen from the front, and <FIG> is an oblique view seen from the back. The surveying apparatus <NUM> includes a base unit <NUM> fixed on a tripod <NUM>, a horizontal rotating unit <NUM> horizontally rotatable on the base unit <NUM>, and a vertical rotating unit <NUM> vertically rotatable (elevation angle control and depression angle control) held on the horizontal rotating unit <NUM>.

The horizontal rotation and the vertical rotation are performed by a motor. A horizontal angle (an indicating direction of an optical axis of a telescope <NUM> within a horizontal direction) of the horizontal rotating unit <NUM> and a vertical angle (elevation angle or depression angle of the optical axis of the telescope <NUM>) of the vertical rotating unit <NUM> are accurately measured by an encoder.

On a front surface of the vertical rotating unit <NUM>, the telescope <NUM> and a wide angle camera <NUM> are arranged, and on a back surface thereof, an eyepiece unit <NUM> of the telescope <NUM> and a touch panel display <NUM> are arranged. The telescope <NUM> doubles as an optical system of a narrow angle (telescopic) camera <NUM> shown in <FIG>. Furthermore, via an objective lens of the telescope <NUM>, a ranging laser light for ranging is irradiated to the outside, and a reflected light thereof is received.

The touch panel display <NUM> combines an operation panel and a display of the surveying apparatus <NUM>. The touch panel display <NUM> displays kinds of information regarding operation of the surveying apparatus <NUM> and information regarding surveying results.

<FIG> is a block diagram of the surveying apparatus <NUM>. The surveying apparatus <NUM> includes the narrow angle camera <NUM>, the wide angle camera <NUM>, a photographing range setting unit <NUM>, a camera controlling unit <NUM>, an image obtaining unit <NUM>, a tracking object recognizing unit <NUM>, a tracking unit <NUM>, a measured object selecting unit <NUM>, a position-determining unit <NUM>, a moving center calculating unit <NUM>, a mapping unit <NUM>, a driving controlling unit <NUM>, a data storing unit <NUM>, and a communicating unit <NUM>.

Each of functioning units, that is, the photographing range setting unit <NUM>, the camera controlling unit <NUM>, the image obtaining unit <NUM>, the tracking object recognizing unit <NUM>, the tracking unit <NUM>, the measured object selecting unit <NUM>, the moving center calculating unit <NUM>, the mapping unit <NUM>, and the data storing unit <NUM>, are realized by a computer equipped with the surveying apparatus <NUM>.

The computer includes a CPU, a storage device, and an interface. Action programs for executing functions of the functioning units are read and executed by the computer, so as to realize each of the above functioning units. An embodiment is also possible in which some or all of the functioning units are realized by dedicated hardware. Furthermore, an embodiment is also possible in which some or all of the functioning units are realized by an FGPA or the like.

The narrow angle camera <NUM> photographs in a relatively narrower range via the telescope <NUM>. In this photographing, a magnified image can be photographed by the telescope, and a finer image than the wide angle camera <NUM> can be photographed. The wide angle camera <NUM> photographs in a relatively wider range (wide angle).

Relationship of external orientation elements (position and orientation) among optical systems of the narrow angle camera <NUM>, the wide angle camera <NUM> and the below-mentioned position-determining unit <NUM> in the surveying apparatus <NUM> are known. In addition, optical axes of the optical systems of the narrow angle camera <NUM> and the position-determining unit <NUM> exist on the same axis line (on an optical axis of the telescope <NUM>). An optical axis of the wide angle camera <NUM> is in parallel relationship with the optical axes of the optical systems of the narrow angle camera <NUM> and the position-determining unit <NUM> (the optical axis of the telescope <NUM>).

The photographing range setting unit <NUM> relates to the process of step S101 explained below, and it sets a range of photographing by the wide angle camera <NUM>. The camera controlling unit <NUM> controls photographing action of the wide angle camera <NUM> and the narrow angle camera <NUM>. The image obtaining unit <NUM> obtains image data of an image photographed by the wide angle camera <NUM> and the narrow angle camera <NUM>.

The tracking object recognizing unit <NUM> performs the process of step S104 explained below. The tracking unit <NUM> performs the process of step S105 explained below. The measured object selecting unit <NUM> performs the process of step S106 explained below.

The position-determining unit <NUM> performs the process of step S107 explained below. The position-determining unit <NUM> includes an emitting unit of ranging light (laser light for ranging), an irradiation optical system thereof, a receiving light optical system of the ranging light reflected from an object, a light receiving element, a calculating unit for ranging to the reflection point of the ranging light, and a calculating unit for position of the reflection point of the ranging light based on direction of the optical axis and the ranged value.

The distance to the reflection point is calculated by using a principle of light wave ranging. To calculate distance, a method using phase difference of received ranging light, and a method using propagation time, may be mentioned. In this example, ranging is performed by the method using phase difference.

In the method using phase difference, a control optical path is arranged in the surveying apparatus <NUM>, and a distance to an object is calculated based on difference (phase difference) between a light receiving timing of ranging light which is propagated in this control optical path and a light receiving timing of the ranging light which is reflected from the object. In the method using propagation time, a distance to an object is calculated based on a time from ranging light reaching the object to reflected light returning.

Based on a distance to reflection point of ranging light and its direction, position of the reflection point is calculated regarding the surveying apparatus <NUM> as an origin. If external orientation elements of the surveying apparatus <NUM> in an absolute coordinate system are known, the position of the reflection point in the absolute coordinate system can be calculated. The absolute coordinate system is a coordinate system used in GNSS or map. For example, the position in the absolute coordinate system is described by a latitude, longitude, and altitude.

The moving center calculating unit <NUM> performs the process of step S108 explained below. For example, a hydraulic shovel <NUM> shown in <FIG> is considered. The hydraulic shovel <NUM> includes a caterpillar track 601a and a moving base <NUM> for moving on the ground by the caterpillar track 601a. On the moving base <NUM>, a driver seat is arranged and a rotating unit <NUM> supporting the root of an arm <NUM> is arranged. Furthermore, a bucket <NUM> is connected to the top of the arm <NUM>.

In a case in which the hydraulic shovel <NUM> operates without moving, each of positions of the rotating unit <NUM>, the arm <NUM>, and the bucket <NUM> moves; however, position of the hydraulic shovel <NUM> as a vehicle does not move. In this case, if an object of which the position is to be determined is set at the arm <NUM> or the bucket <NUM>, a condition of moving of the hydraulic shovel <NUM> cannot be appropriately understood. In this case, by setting the object of which the position is to be determined at the moving base <NUM> of the hydraulic shovel <NUM>, movement of the hydraulic shovel <NUM> can be appropriately understood.

The mapping unit <NUM> describes position of a tracking object on a map and describes its transition. Position and time can be simultaneously described. By a function of the mapping unit <NUM>, for example, an operation map shown in <FIG> or <FIG> can be obtained.

The driving controlling unit <NUM> controls the direction of the optical axis of the surveying apparatus <NUM>. In practice, it drives and controls horizontal rotation of the horizontal rotating unit <NUM> and vertical rotation of the vertical rotating unit <NUM>. The data storing unit <NUM> stores data and an operation program required for operation of the surveying apparatus <NUM>, surveying data, and data obtained as a result of kinds of processes.

The communicating device <NUM> communicates with an external device. The communication is performed by using wireless LAN or a communication line of a mobile telephone. Using the communicating device <NUM>, data of the operation map exemplified in <FIG> and <FIG> is transmitted to an external device.

<FIG> shows one example of steps of operation performed in the surveying apparatus <NUM>. A program to execute the flowchart shown in <FIG> is stored in an appropriate storage medium or storage region, and it is executed by a computer equipped in the surveying apparatus <NUM>. An embodiment is also possible in which at least a part of the process shown in <FIG> is performed in an external controlling computer or processing server. It is also the same in a flowchart in <FIG> or <FIG>.

First, before the processing, external orientation elements of the surveying apparatus <NUM> in a coordinate system used in a operation map are calculated. For example, external orientation elements of the surveying apparatus <NUM> in the absolute coordinate system are calculated. In addition, a range (measuring range) in which site resources are tracked and measured is preliminarily determined.

In addition, a photographing range with respect to the above measuring range is determined. For example, it is assumed that measuring is to be performed in a horizontal direction, an angle range of the measuring range is to be <NUM> degrees, photographing is to be performed by a wide angle camera <NUM>, and photographing range of the wide angle camera <NUM> is to be <NUM> degrees. In this case, the range of <NUM> degrees is divided into four so as to set the photographing range. In this case, a first photographing range, a second photographing range, a third photographing range, and a fourth photographing range, each center direction shifting <NUM> degrees/<NUM>, are set. Of course, parts of photographing ranges can overlap. Furthermore, order of photographing the photographing ranges is determined. It should be noted that an embodiment is also possible in which a narrow angle camera <NUM> is used in photographing.

In the following process, it is assumed that site resources are construction machines <NUM> to <NUM> and workers (people) <NUM> to <NUM> shown in <FIG>.

After starting the process, an optical axis of the surveying apparatus <NUM> is made indicating the first photographing range among the preliminarily set of photographing ranges mentioned above (step S101). Next, continuous photographing is started using a wide range camera <NUM> (step S102). This photographing is performed repeatedly at a specific interval. For example, photographing is performed at a <NUM> second interval or at a <NUM> second interval. An embodiment is also possible in which a moving image is recorded and frame images forming the moving image are used as the repeatedly photographed images.

After starting the continuous photographing, one image among them is acquired as a reference image (step S103). Next, image recognition of the site resource is performed on the reference image obtained in the step S103. For example, if the construction machine <NUM>, and the workers <NUM>, <NUM> and <NUM>, of <FIG> are photographed in the reference image acquired in the step S103, in this case, images of the construction machine <NUM>, and the workers <NUM>, <NUM> and <NUM>, are recognized by using an image analysis technique.

Hereinafter, details in the process of step S104 are explained. <FIG> is a flowchart showing details in the process in step S104. The process of <FIG> is performed with respect to the reference image acquired in the step S103.

First, using an image processing algorithm in which a person is recognized in a photographed image, a person is recognized in the objective image (step S201). As the image processing technique in which a person is recognized in a photographed image, techniques developed in the field of security or in the field of automatic vehicle driving technology is used.

Next, in the reference image acquired in the step S103, an image of a construction machine is recognized (step S202). Hereinafter recognition of the image of the construction machine is explained. Here, a method is explained in which an image of construction machine is recognized in a photographed image using a three-dimensional model. In this example, objective construction machines are listed preliminarily as candidates, and a three-dimensional model of each of the construction machines is obtained preliminarily. As a method to obtain the three-dimensional model of a construction machine, a method obtaining from design data, a method obtained from a three-dimensional photograph measurement, and a method obtaining by laser scanning may be mentioned.

The recognition of an image of a construction machine is performed step by step as follows. First, an element having characteristics of construction machine, that is, such as "having a caterpillar track", "having a wheel", "having an arm of crane", or "having an arm with a bucket", is recognized, and the image of a candidate construction machine is recognized as a first candidate group image. Next, the first candidate group image and the preliminarily prepared three-dimensional model are compared.

This comparison is performed as follows. First, (<NUM>) one of the three-dimensional models of construction machine preliminarily prepared is selected. Next, (<NUM>) an image in which the selected three-dimensional model is viewed from a specific viewpoint is obtained as a comparison image.

For example, the comparison image obtained from the three-dimensional model is a diagram in which the three-dimensional model if viewed from a specific viewpoint as shown in <FIG>.

Next, (<NUM>) the comparison image obtained and the above first candidate group are compared. Here, with changing position of the viewpoint of (<NUM>), the process from (<NUM>) to (<NUM>) is repeated, and one which is the same as, or is similar to, the comparison image is searched for in the first candidate group. In addition, this searching is repeated with changing scale size.

In a case in which a comparison image the same as, or similar to, is found among the first candidate group as a result of performing process from (<NUM>) to (<NUM>) with respect to the three-dimensional model selected in (<NUM>), the construction machine of the three-dimensional model which is a basis for the comparison image is determined as a recognized object. On the other hand, in a case in which a comparison image that is the same as, or is similar to, is not found among the first candidate group, next, another three-dimensional model is selected so as to repeat a similar process.

In this way, an image corresponding to the preliminarily prepared three-dimensional model is searched for among the photographed images obtained in the step S103. Then, if an image corresponding to the preliminarily prepared three-dimensional model is found, it is recognized as an image of a construction machine. A process of <FIG> is performed in the step S104, and the images of workers and construction machine are recognized among the reference images acquired in the step S103.

Returning to <FIG>, after the step S104, step S105 is executed. In the step S105, tracking of each (there is a case of only one, but a case of multiple items is assumed here) of the tracking objects (site resources) in which their images are recognized in the step S104 is started.

Hereinafter, the step S105 is explained in detail. First, among the reference images acquired in the step S103, a photographed image (next photographed image) which was photographed next to the above reference image (or photographed at a time as close as possible after that) is acquired, and the already recognized site resource is recognized in the image.

For example, it is assumed that the image of the construction machine in <FIG> is already recognized in the reference image. In this case, even if the construction machine is in operation, the external appearance of the construction machine on the display does not differ greatly in a photographed image next to the reference image. Therefore, in the next photographed image, an image of the construction machine in <FIG> can be specified easily.

Because the photographing is performed continuously, there may be cases in which position and external appearance of the construction machine vary gradually in a photographed display. However, in a case in which an nth photographed image and an n+1th photographed image are compared, it is easy for an image of the construction machine already recognized in the nth photographed image be recognized in the n+1th photographed image, for the reason mentioned above. By this principle, an image of the construction machine recognized in the step S104 is continuously recognized in images continuously photographed.

Furthermore, by a similar principle, tracking of the worker recognized in the reference image is performed. In this way, tracking of the tracking objects (construction machine and a worker in this case) in images continuously photographed is performed. That is, in multiple images which are separately distributed along a time axis and are obtained by continuous photographing, the same tracking object is sequentially recognized along the time axis.

<FIG> show an example of a model diagram of three photographed images which are continuously photographed in a condition in which an optical axis is fixed. Here, a case is shown in which (A) is photographed first, (B) is photographed next, and (C) is photographed later after that. That is, a case is shown in which photographing is performed in the order of (A), (B), and (C) along the time axis. Here, the construction machine <NUM> moves from right to left in the photographed display. Therefore, as passing (A), (B), and (C), the construction machine <NUM> gradually moves to the left.

Here, one which is image-recognized as the construction machine <NUM> in <FIG> is image-recognized as the same construction machine <NUM> at a display position slightly moved to the left in <FIG>, and furthermore, is image-recognized as the same construction machine <NUM> at a display position further slightly moved to the left in <FIG>. This is tracking of a tracking object in images continuously photographed as mentioned above.

In addition, in determining the position in step S107 explained below, an optical axis of the surveying apparatus <NUM> is made indicating each of the objects for which a position is to be determined. During this, direction of an optical axis of the wide angle camera <NUM> varies, and position of a tracking object in a photographed display varies. However, as mentioned above, in a case in which an nth photographed image and an n+1th photographed image are compared, an image of a recognized object in the nth photographed image and an n+1th image of a recognized object in the photographed image of are similar.

Using this fact, a tracking object is tracked in varying directions of the optical axis of the wide angle camera <NUM>. That is, in a situation in which direction of optical axis of the wide angle camera <NUM> varies, a corresponding relationship between a tracking object in the nth photographed image of a tracking object in the n+1th photographed image are specified, and thus, the tracking object which is focused on is tracked. The above process is started in the step S105.

The tracking with respect to a tracking object in continuous images mentioned above is applied to each of multiple site resources. In addition, during determining of the position mentioned below, collimation in which an optical axis of the surveying apparatus <NUM> is made indicating a measured point (action of targeting a point for determining position by the surveying apparatus <NUM>) is performed. During this, tracking with respect to another tracking object, which is not an object for collimation, is continually performed. That is, while collimating and determining the position with respect to a tracking object in succession, tracking other multiple tracking objects which are recognized, is performed uninterrupted.

Next, a tracking object which is not yet measured at the time is selected (step S106). For example, in the reference image which is focused on at this time, it is assumed that the workers <NUM> to <NUM> and the construction machine <NUM> in <FIG> will be recognized as a tracking object and they will be tracked in the continuous photographing performed thereafter. In addition, it is assumed that the workers <NUM> and <NUM> will be measured.

In this case, the worker <NUM> and the construction machine <NUM> are an object not yet measured. Then, in this case, the worker <NUM> or the construction machine <NUM> is selected in the step S106.

Next, determining of position is performed with respect to the tracking object, which is selected in the step S106, and for which the position has not yet been determined (step S107). Determining of position is performed using a function of laser measuring equipped in the surveying apparatus <NUM>.

A measured point in a tracking object is determined as follows. In a case in which a tracking object is a person, a part around the waist is selected as a measured point. In a case in which a tracking object is a construction machine, a position of a center gravity of an image or a part of a main body part having the largest area is selected as a measured point.

Next, the position of a moving center of the tracking object measured at the step S107 is calculated (step S108). Determining the position of a tracking object is performed with respect to a part of its surface; however, it does not always reflect movement of the tracking object. Therefore, in order to understand moving (running) of the construction machine <NUM> on the ground, it is desirable to obtain a parameter in which movement of the construction machine <NUM> can be appropriately evaluated. As this parameter, a moving center is employed.

In a case in which a tracking object is a person, referring to a skeleton model which is preliminarily prepared, the moving center is calculated. For example, a position of a center gravity of the skeleton mode is calculated as the moving center. In a case in which a tracking object is a construction machine, the moving center is calculated by the following method.

<FIG> is a flowchart diagram showing details of a process for calculating a moving center of a construction machine. In the process in <FIG>, first, the three-dimensional model of the construction machine which is used in recognition of the tracking object and is tracked here is obtained (step S301). Next, position relationship between the position data obtained in the step S107 and the above three-dimensional model is obtained (step S302).

Here, during performing laser measuring in the step S107, photographing is performed by the narrow angle camera <NUM>. Since an optical axis of the measuring unit <NUM> and an optical axis of the narrow angle camera exist on the same axis line, a center of a photographed image by the above narrow angle camera <NUM> is the measured point. Therefore, the position of a measured point on the tracking object is obvious.

Here, relationships of external orientation elements between the narrow angle camera <NUM> and the wide angle camera <NUM> are known. Therefore, a correspondence relationship between an image photographed by the narrow angle camera <NUM> and an image photographed by the wide angle camera <NUM> can be calculated. Furthermore, the relationship between the image of the tracking object photographed by the wide angle camera <NUM> and the three-dimensional model thereof is already obvious in the step S104. Therefore, a relationship between the point measured in the step S107 and the three-dimensional model can be obvious. That is, the point measured in the step S107 can be known as to what part of the three-dimensional model it corresponds. This position relationship between the measured point and the three-dimensional model is obtained in the step S302.

That is, the relationship between the external orientation elements of the narrow angle camera <NUM> and the wide angle camera <NUM> and external orientation elements of an optical system of the measuring unit <NUM> is known, and therefore, a position (element <NUM>) of a reflection point of position-determining light in the image (element <NUM>) of the construction machine photographed by the wide angle camera <NUM> can be calculated as a first relationship. On the other hand, from the relationship of the external orientation elements above, three-dimensional model (element <NUM>) corresponding to the image (element <NUM>) of the construction machine photographed by the wide angle camera <NUM> can be calculated as a second relationship.

That is, the relationship of the element <NUM> and the element <NUM> is obvious, and then, the relationship of the element <NUM> and the element <NUM> becomes obvious. In this way, a relationship of the element <NUM> and the element <NUM> becomes obvious. That is, the relationship between the position (element <NUM>) of reflection point of position-determining light in the focused construction machine and the three-dimensional model (element <NUM>) can be obtained. That is, the point (element <NUM>) measured in the step S107 can be known as to what part of the three-dimensional model (element <NUM>) it corresponds.

Next, based on the position relationship between the measured point obtained in the step S302 and the three-dimensional model, a position of a moving center of the three-dimensional model of the tracking object, which is focused on here, is calculated (step S303).

As is obvious from <FIG>, in the three-dimensional model, a part corresponding to a moving base of the construction machine can be understood. In the case of <FIG>, a part including a caterpillar track is a moving base <NUM>. The moving center can be set wherever it is a point fixed to the moving base of a construction machine, for example, a position of a center of gravity of the moving base is calculated as the moving center.

According to the step S108, position information of a part of a base moving by the caterpillar track (for example, the moving base <NUM> of the construction machine <NUM>) is obtained, and it is possible to evaluate information of moving (running) of the construction machine accurately. This position of the moving center is handled as the position data of the tracking object.

After calculating the position of the moving center of the tracking object, the time at which the position is calculated is obtained (step S109). Here, the time is obtained at which the determining of position process of the step S107 was performed.

Next, in the reference image acquired in the step S103, it is determined whether or not there is a tracking object for which the position has not yet been determined (step S110). In a case in which there is a tracking object for which the position has not yet been determined, the newest photographed image at that time is obtained (step S111), and the step S106 and the subsequent processes thereof are repeated.

In the step S110, in a case in which there is no tracking object for which the position has not yet been determined, the surveying apparatus <NUM> is indicated to a next photographing range, a reference image is acquired in the next photographing range (step S103), and the subsequent processes after the step S103 are repeated.

For example, it is assumed that a first photographing range, a second photographing range, and a third photographing range are set as photographing ranges. In this case, the processes of the step S103 and the subsequent steps in <FIG> is repeatedly performed in an order of the first photographing range, the second photographing range, the third photographing range, the first photographing range, the second photographing range, and the third photographing range.

As a result, with respect to each tracking object in the first to third photographing ranges, like a position of the moving center at the first time, a position of the moving center at the second time, a position of the moving center at the third time. , position information along the time axis can be obtained at discrete times.

<FIG> shows a diagram in which position of each of the tracking objects obtained by processes in a first lap (first round) is plotted on a map, <FIG> shows a diagram in which position of each of the tracking objects obtained by processes in a second lap is plotted on a map, and <FIG> shows a diagram in which position of each of the tracking objects obtained by processes in a third lap is plotted on a map.

In <FIG>, positions of a construction machine (square), a construction machine (triangle), a construction machine (circle), a construction machine (opposite triangle), and a construction machine (rhomboid) are plotted on the map. A shift that occurred on the plotted point in <FIG> indicates that the construction machine moved.

In <FIG>, a time obtaining position of the construction machine (square) and a time obtaining position of the construction machine (triangle) are different. This is because determining of position is performed and the moving center is calculated in a sequential manner with respect to the tracking objects. This is also similar in a relationship between one construction machine and another construction machine.

<FIG> is made overlapping <FIG>. In the map of <FIG>, arrows clearly indicate movements of each of the construction machines in time series. From <FIG>, movement of each of the construction machines can be known. That is, moving transition of each of the tracking objects, that is, the operation situation, is shown in <FIG>.

Identification of the site resources can be performed by using a code display. For example, the workers operate while wearing helmets and reflective vests (vests on which reflective material is attached) in order to maintain safety. An identification display is attached to a helmet or reflective vest so as to image-recognize and identify the worker. As the identification display, a character, barcode, diagram, and color can be mentioned.

In a case of a construction machine, the identification display is displayed on a part of the construction machine which can be easily viewed. Embodiment of the identification display is the same as in the case of a reflective vest. An embodiment is possible in which a pole or the like having the identification display is arranged on an upper part of the construction machine so as to enable identification from any direction.

In measuring in a second round and a subsequent round, the tracking object can be identified by using the image obtained in the first round.

A site of civil engineering work is shown in <FIG> as an example of a construction site; however, the present invention can be applied to monitor the operation situations of site resources at a construction site such as a building, factory or any other kind of establishment.

Claim 1:
A measuring system comprising:
a camera (<NUM>) for continuously photographing site resources which perform operations at a construction site,
a recognizing means (<NUM>) for recognizing the site resources in photographed images obtained by the photographing,
a tracking means (<NUM>) for tracking the image of the site resources recognized in the multiple photographed images obtained by the continuous photographing, and
a position-determining means (<NUM>) for collimating to the site resources which are objects to be tracked, and determining the positions of the site resources by laser light,
wherein the determining of position is performed multiple times at intervals,
characterized in that the site resource is a construction machine (<NUM>),
the construction machine (<NUM>) includes a base unit (<NUM>) for running and a movable unit (<NUM>, <NUM>, <NUM>) moving on the base unit (<NUM>), and
the system further comprises a moving center calculating means (<NUM>) for calculating a point fixed on the base unit(<NUM>), not the measured point, as a moving center based on result of the determining of position.