# US 2021/0341908 A1 · Work management system and work management method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0341908 A1 - Document ID: US20210341908A1 - Status: Published application - Kind: A1 - Application number: 17/235,763 - Filed: 2021-04-20 - Published: 2021-11-04 - Earliest claimed: 2020-04-30 - Assignees: Topcon Corporation - Applicants: Topcon Corporation - Inventors: Satoshi YANOBE; Toshio YAMADA; Kazuki OSARAGI - Web page: https://patentgrep.com/patent/US20210341908A1 ## CPC - G05B 19/4187: {by tool management} - G06T 7/73: using feature-based methods - G05B 19/4183: {characterised by data acquisition, e.g. workpiece identification} - G06T 7/0004: {Industrial image inspection} - G06T 7/557: from light fields, e.g. from plenoptic cameras - G05B 2219/40613: Camera, laser scanner on end effector, hand eye manipulator, local - G06T 2207/10012: Stereo images - G06T 2207/30164: Workpiece; Machine component - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract Provided is a work management system enabling real-time inspection by simultaneously performing work and measurements. The work management system includes a tool including a communication unit and a trigger switch, a camera unit including a communication unit, a camera capable of identifying 3D camera coordinates from an image, a posture detecting device configured to acquire camera posture information, a control unit, and a prism, and a surveying instrument including a communication unit, a tracking unit, a distance-measuring unit, an angle-measuring unit, and a control unit, wherein upon detection that the trigger switch has been used, the camera unit collects camera posture information by the posture detecting device, a tool image by the camera, position coordinates of the prism measured by the surveying instrument, and orientation information of the camera unit viewed from the surveying instrument, and obtains and stores position coordinates of a tip end position of the tool. ## Claims ### Claim 1 A work management system comprising: a tool including a communication unit and a trigger switch; a camera unit including a communication unit, a camera capable of identifying 3D camera coordinates from an image, a posture detecting device configured to acquire camera posture information of the camera, a control unit configured to control the camera and the posture detecting device, and a prism; and a surveying instrument including a communication unit, a tracking unit configured to automatically track the prism by tracking light, a distance-measuring unit configured to measure a distance to the prism by distance-measuring light, an angle-measuring unit configured to measure an angle to the prism, and a control unit configured to control the tracking unit, the distance-measuring unit, and the angle-measuring unit, wherein upon detection that the trigger switch has been used by communication from the tool, the camera unit collects camera posture information by the posture detecting device, a tool image by the camera, position coordinates of the prism measured by the surveying instrument, and orientation information of the camera unit viewed from the surveying instrument, and obtains and stores position coordinates of a tip end position of the tool. ### Claim 2 A work management system comprising: a tool including a communication unit and a trigger switch; a camera unit including a communication unit, a camera capable of identifying 3D camera coordinates from an image, a posture detecting device configured to acquire camera posture information of the camera, a control unit configured to control the camera and the posture detecting device, and a prism; a surveying instrument including a communication unit, a tracking unit configured to automatically track the prism by tracking light, a distance-measuring unit configured to measure a distance to the prism by distance-measuring light, an angle-measuring unit configured to measure an angle to the prism, and a control unit configured to control the tracking unit, the distance-measuring unit, and the angle-measuring unit; a site controller including a communication unit, a display unit, a control unit, and a storage unit, and configured to be operated by a worker; and a management server including a communication unit, a control unit, and a storage unit including a work results database, wherein the site controller causes the surveying instrument to start automatic tracking by the tracking unit, causes the camera unit to start measurements by the camera and the posture detecting device, and acquires trigger information of the tool, and upon detection that the trigger switch has been used, requests position coordinates of a tip end position of the tool from the camera unit, and transmits and stores the position coordinates of the tip end position of the tool in the management server. ### Claim 3 (depends on 1) The work management system according to claim 1, wherein the camera unit obtains camera coordinates of a tip end position of the tool from the tool image, obtains position coordinates of a camera coordinate system center of the camera by shifting from position coordinates of the prism obtained by the surveying instrument by an offset distance between a center of the prism and the camera coordinate system center in a shifting direction obtained from the camera posture information and the orientation information of the camera unit, and obtains position coordinates of the tip end position of the tool by converting the camera coordinates of the tip end position of the tool into position coordinates based on the position coordinates of the camera coordinate system center. ### Claim 4 (depends on 2) The work management system according to claim 2, wherein the camera unit obtains camera coordinates of a tip end position of the tool from the tool image, obtains position coordinates of a camera coordinate system center of the camera by shifting from position coordinates of the prism obtained by the surveying instrument by an offset distance between a center of the prism and the camera coordinate system center in a shifting direction obtained from the camera posture information and the orientation information of the camera unit, and obtains position coordinates of the tip end position of the tool by converting the camera coordinates of the tip end position of the tool into position coordinates based on the position coordinates of the camera coordinate system center. ### Claim 5 (depends on 1) The work management system according to claim 1, wherein the camera unit acquires the orientation information of the camera unit by acquiring a light image of the distance-measuring light or the tracking light by the camera and performing image analysis of a luminous point in the light image. ### Claim 6 (depends on 2) The work management system according to claim 2, wherein the camera unit acquires the orientation information of the camera unit by acquiring a light image of the distance-measuring light or the tracking light by the camera and performing image analysis of a luminous point in the light image. ### Claim 7 (depends on 1) The work management system according to claim 1, wherein the camera unit acquires the camera posture information by an inertial measurement unit or by extracting a vertical line in an image of the camera and obtaining a vertical direction in the image. ### Claim 8 (depends on 2) The work management system according to claim 2, wherein the camera unit acquires the camera posture information by an inertial measurement unit or by extracting a vertical line in an image of the camera and obtaining a vertical direction in the image. ### Claim 9 (depends on 1) The work management system according to claim 1, wherein the camera unit acquires the camera posture information and the orientation information of the camera unit by capturing motions of reflection markers attached to the surveying instrument by the camera. ### Claim 10 (depends on 2) The work management system according to claim 2, wherein the camera unit acquires the camera posture information and the orientation information of the camera unit by capturing motions of reflection markers attached to the surveying instrument by the camera. ### Claim 11 (depends on 3) The work management system according to claim 3, wherein the camera unit obtains camera coordinates of the tip end position of the tool by stereo matching by the camera or by capturing motions of reflection markers attached to the tool by the camera. ### Claim 12 (depends on 4) The work management system according to claim 4, wherein the camera unit obtains camera coordinates of the tip end position of the tool by stereo matching by the camera or by capturing motions of reflection markers attached to the tool by the camera. ### Claim 13 (depends on 2) The work management system according to claim 2, wherein the management server further includes a design database, and position coordinates of the tip end position of the tool are stored as tool tip end position information in the work results database together with information showing that a work has been performed, and the tool tip end position information is managed by being linked to the design database. ### Claim 14 (depends on 1) The work management system according to claim 1, wherein position coordinates of the tip end position of the tool are stored in association with attributes information including at least worker identification information and tool information concerning the tool. ### Claim 15 (depends on 2) The work management system according to claim 2, wherein position coordinates of the tip end position of the tool are stored in association with attributes information including at least worker identification information and tool information concerning the tool. ### Claim 16 (depends on 1) The work management system according to claim 1, wherein the tool is provided with an identification feature capable of being imaged and identified by the camera of the camera unit, a plurality of the tools are simultaneously managed. ### Claim 17 (depends on 2) The work management system according to claim 2, wherein the tool is provided with an identification feature capable of being imaged and identified by the camera of the camera unit, a plurality of the tools are simultaneously managed. ### Claim 18 (depends on 1) A work management method comprising: a step of causing the surveying instrument to start automatic tracking by the tracking unit; a step of causing the camera unit to start measurements by the camera and the posture detecting device; a step of acquiring trigger information of the tool; a step of calculating position coordinates of the tip end position of the tool; and a step of storing the position coordinates of the tip end position of the tool, by using the work management system according to claim 1. ### Claim 19 (depends on 2) A work management method comprising: a step of causing the surveying instrument to start automatic tracking by the tracking unit; a step of causing the camera unit to start measurements by the camera and the posture detecting device; a step of acquiring trigger information of the tool; a step of calculating position coordinates of the tip end position of the tool; and a step of storing the position coordinates of the tip end position of the tool, by using the work management system according to claim 2.