JP7207915B2 - Projection system, projection method and program - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act ▲ 1 ▼ Announced at a seminar hosted by Microsoft Japan Co., Ltd. on June 19, 2018 ▲ 2 ▼ Announced at Tokyo Big Sight from June 19 to 21, 2018 ▲ 3 ▼ July 4, 2018, announced at the Spatial Information Symposium (Tokyo Conference Center, Shinagawa) ▲ 4 ▼ August 10, 2018, announced at Informatics Inc.

The present invention relates to a projection system, a projection method, and a program, and more particularly to technology for projecting information onto a predetermined position in real space regardless of the installation position and orientation of the projection system.

Conventionally, at construction sites, processes such as marking, completion checks, and inspections have been carried out while comparing paper drawings with the situation of the site. In recent years, the use of 3D CAD has become common at design sites, but paper drawings output from 3D CAD are still often used at construction sites.

It is cumbersome to perform operations such as actual measurement and confirmation while referring to paper drawings and performing scale calculations, and requires an extremely large number of steps. Also, mistakes are likely to occur. Therefore, in recent years, attempts have been made to eliminate the disadvantages of paper drawings by displaying a model created by 3D CAD or a projection drawing created from the model on a display or projecting it with a projector.

For example, Patent Literature 1 describes a system in which an assembly drawing of wood is displayed on a glasses-type wearable terminal so that it can be referred to at a construction site. Non-Patent Document 1 discloses a system that draws design data created by three-dimensional CAD on the floor, walls, ceiling, etc. of a construction site by a laser projector.

JP 2016-177473 A

Ryuta Ieiri, "BIM for construction! Laser projector that projects full-scale drawings on site", [online], September 22, 2010, Nikkei xTECH, [searched July 12, 2018], Internet <URL: http://tech.nikkeibp.co.jp/kn/article/it/column/20100917/543378/＞

The system described in Patent Literature 1 simply displays a drawing on an eyeglass-type wearable device. Since the drawing is not mapped to the real space, the position and scale of the elements in the drawing must be interpreted by humans. Also, the need to wear the wearable terminal at the work site can raise safety concerns. Furthermore, there is a problem that only the person wearing the wearable terminal can see the image, and a plurality of people cannot see the image and work at the same time.

On the other hand, the system described in Non-Patent Document 1 draws a drawing in its original size on the floor, walls, ceiling, etc. of a construction site. In addition, multiple people can view drawings at the same time without the need for wearable terminals. However, such a system usually requires a process of calibrating image projection after the projector is fixedly installed at a specific position. That is, it takes time and effort to install. In addition, at a site with poor visibility where structures such as walls and obstacles are intricate, the projection surface that can be reached from a fixed projector may be extremely limited. Therefore, there is a problem that it is difficult to use at construction sites. Furthermore, when projecting onto a projection surface far from the projector, there is a problem that errors due to unevenness of the projection surface become large. In addition, since the laser projector employs a vector projection method, there is a limit to the amount of lines that can be projected, and there is the problem that it is not suitable for design drawings.

SUMMARY OF THE INVENTION The present invention has been made to solve such problems. and to provide programs.

A projection system according to an embodiment of the present invention is a projection system for projecting a construction drawing onto a structure surface in full size, comprising a space recognition device and a projection device, wherein the space recognition device and the projection device are relative to each other. The position and relative orientation are fixed, and the space recognition device includes a head-mounted display, a camera that captures an image around the visual field of the head-mounted display, or a depth sensor that measures the distance to an object around the visual field, and its own orientation. a position acquisition unit having an inertial sensor that acquires changes, and acquiring position information indicating the current position of the projection system in real space based on information acquired from the camera or the depth sensor; An orientation acquisition unit that acquires orientation information indicating the current orientation of the projection system in the physical space based on the acquired information, and a transmission unit that transmits the position information and the orientation information.
In the projection system according to one embodiment of the present invention, the projection device includes a model storage unit that stores model information of a three-dimensional model of the structure, and position and orientation information that receives the position information and the orientation information. a receiving unit, a control unit that acquires positional relationship information between the space recognition device and the projection device and mapping information between the model space and the real space, and sets a projection plane on the surface of the structure; and a viewpoint calculated from the positional relationship information, a line of sight calculated from the posture information and the positional relationship information, and the projection plane, to generate the construction drawing, which is a parallel projection image of the three-dimensional model. At this time, a projection image generating unit that performs coordinate conversion based on the mapping information between the viewpoint, the line of sight, the projection plane, and the three-dimensional model; and the construction drawing onto the projection plane. and a projection unit that performs full-scale projection.
In the projection system according to one embodiment of the present invention, the projection device is posture-controlled so as to project the drawing substantially perpendicular to the projection plane.
In the projection system according to one embodiment of the present invention, when the projection area of the construction drawing changes according to the movement of the projection system, the projection position and scale of the construction drawing on the surface of the structure are maintained.
In the projection system according to one embodiment of the present invention, when the distance between the projection system and the projection plane changes, the projection position and scale of the construction drawing on the surface of the structure are maintained, while the construction drawing Projectable range changes.
A projection method according to an embodiment of the present invention is a projection method for projecting a construction drawing onto a structure surface in actual size using a space recognition device and a projection device, wherein the space recognition device and the projection device The relative position and relative orientation are fixed, and the space recognition device includes a head-mounted display, a camera that captures an image around the visual field of the head-mounted display, or a depth sensor that measures the distance to an object around the visual field, a step of acquiring position information indicating current positions of the spatial recognition device and the projection device in the real space, based on information acquired from the camera or the depth sensor, the inertial sensor acquiring posture changes; a step of acquiring orientation information indicating current orientations of the space recognition device and the projection device in the physical space based on information acquired from the inertial sensor; and a positional relationship between the space recognition device and the projection device. a step of obtaining information; a step of obtaining mapping information between the model space and the real space; a step of setting a projection plane on the surface of the structure; and a viewpoint calculated from the position information and the positional relationship information. , the line of sight calculated from the posture information and the positional relationship information, and the projection plane, generating the construction drawing, which is a parallel projection image of the three-dimensional model, wherein the viewpoint, the line of sight, and the The method is characterized by comprising the step of performing coordinate conversion between the projection plane and the three-dimensional model based on the mapping information, and the step of projecting the construction drawing onto the projection plane in actual size.
A projection method according to an embodiment of the present invention further comprises controlling the attitude of the projection device so as to project the drawing substantially perpendicularly to the projection plane.
The projection method according to claim 5.
The projection method according to one embodiment of the present invention further includes the step of changing the projection area of the construction drawing by moving the space recognition device and the projection device, and at this time, The projected position and scale of the construction drawing are maintained.
A projection method according to an embodiment of the present invention further includes a step of changing a distance between the space recognition device and the projection device and the projection plane, wherein the construction drawing on the surface of the structure is changed. While maintaining the projection position and scale of the construction drawing, the projectable range of the construction drawing changes.
A program according to an embodiment of the present invention causes a computer to execute the above projection method.

According to the present invention, it is possible to provide a projection system, a projection method, and a program capable of projecting information onto a predetermined position in the physical space regardless of the installation position and orientation of the projection system.

2 is a block diagram showing an outline of the hardware configuration of the projection system 1; FIG. 2 is a block diagram showing an outline of the functional configuration of the projection system 1; FIG. 4A and 4B are diagrams showing modes of operation of the projection system 1; FIG.

First, the hardware aspect of the projection system 1 will be described using FIG. Next, functional aspects of the projection system 1 will be described with reference to FIG. The functions of the projection system 1 are typically logically realized by executing information processing by software in cooperation with hardware.

FIG. 1 is a block diagram showing an outline of the hardware configuration of a projection system 1 according to an embodiment of the invention. A projection system 1 includes a space recognition device 10 and a projection device 20 .

The space recognition device 10 is a device capable of recognizing the current position and orientation of its own device in the physical space. In this embodiment, the space recognition device 10 has a function of detecting, as the current position in the physical space, coordinates measured in a coordinate system unique to the space recognition device 10 having the same scale and dimensions as those of the physical space. In the present embodiment, the position coordinates detected in this manner are also referred to as position coordinates in the coordinate system of the physical space. The space recognition device 10 also has a function of detecting the orientation of the device itself in the unique coordinate system described above, that is, the angle with respect to each coordinate axis.

In this embodiment, an example using Microsoft's HoloLens (registered trademark) as the space recognition device 10 will be mainly described. HoloLens is a wearable device in which various sensors, an information processing device, and an HMD (head mounted display) are integrated. However, in this embodiment, HoloLens is used not as a wearable device but as a device for acquiring, processing, and transmitting sensor information. HoloLens has a spatial recognition camera for capturing images of the surroundings and detecting movement, a spatial recognition camera for estimating the self-position with high accuracy, a depth sensor for measuring the distance (depth) to objects around the visual field, self- It has an inertial sensor that acquires the posture change of the body, and comprehensively uses these to recognize the surface (wall, floor, ceiling, furniture, etc.) that exists in the surrounding real space, that is, the shape of the surrounding space, and the recognized reality It can recognize its own position and posture in space. In this embodiment, a program for converting the recognized self position and orientation information into an appropriate format and transmitting the information is arranged in the HoloLens.

That is, the space recognition device 10 has hardware and software for detecting the current position and orientation of its own device. In other words, assuming that a person is standing at the position of the space recognition device 10, the space recognition device 10 can transmit parameters corresponding to the person's viewpoint (eye position) and line of sight direction.

As another example of the space recognition device 10, a device (drones, robots, etc.) that actively acquires its own position by having sensors and information processing functions similar to HoloLens may be used. Alternatively, the self position may be acquired passively by measuring with an external device. The total station tracks the target prism and measures the position coordinates in the coordinate system of the real space. A gyro sensor detects the attitude change of the target prism. The information processing device holds in advance the correspondence between the coordinate system of the real space and the coordinate system of the model space, and converts the positional coordinates of the target prism in the real space into the positional coordinates of the model space. Alternatively, a unit including a satellite positioning signal receiver, a gyro sensor, and an information processing device may be used as the space recognition device 10 . A satellite positioning signal receiving device receives and analyzes positioning signals transmitted from a plurality of satellites, thereby calculating the position coordinates of its own device in the coordinate system of the real space. Such satellite positioning systems (GNSS: Global Navigation Satellite System) include, for example, GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), Galileo, QZSS (Quasi-Zenith Satellite) systems, and the like. A gyro sensor detects a posture change of the receiving device. The information processing device holds in advance the correspondence between the coordinate system of the real space and the coordinate system of the model space, and converts the positional coordinates of the receiving device in the real space into the positional coordinates of the model space. In any of the above cases, instead of or in combination with the gyro sensor, self-position detection using peripheral camera images may be performed similarly to HoloLens. Also, attitude detection may be performed using a plurality of prisms or a plurality of receivers for satellite positioning signals.

The projection device 20 is a device that projects a parallel projection image of a model onto a predetermined projection plane in the physical space. Parallel projection images typically include plan and elevation views. Projection onto a projection plane typically involves projecting an image onto a flat surface such as a wall, floor, or ceiling. is also included. The projection device 20 includes an information processing device 21 that generates a projection image from a model, and a projector 22 that projects the generated projection image. The information processing device 21 is typically a personal computer. The projector 22 is a device capable of projecting a raster image onto an arbitrary projection plane, such as a liquid crystal projector.

In the present embodiment, the space recognition device 10 and the projection device 20 have relative positions (difference between the position of the space recognition device 10 and the position of the projection device 20) and orientations (line-of-sight direction of the space recognition device 10 and projection device 20). angle formed with the projection direction of the device 20) is fixed. For example, by fixing and storing the space recognition device 10 and the projection device 20 in the same housing or frame, the relative position and orientation (angle) of both devices can be fixed. A method in which the relative positions and orientations of the space recognition device 10 and the projection device 20 are variable can be realized by configuring the control unit 205 to sequentially acquire changes in these values. is.

Moreover, the projection system 1 may be configured to be fixed to a housing or a frame that includes moving means such as wheels, crawlers, multi-legs, propellers for flight, or the like. With these moving means, the projection system 1 can be moved to an arbitrary position by movement by remote control or self-running (following the operator, etc.) according to a predetermined algorithm. Alternatively, the projection system 1 may be configured to be movable on a track such as a rail. In the case of wall projection, it is desirable to keep a certain distance from the wall surface, so it is preferable to move using rails laid in advance at a predetermined distance from the wall surface.

Also, the projection system 1 preferably has a mechanism for changing the attitude by remote control or automatically by a predetermined algorithm. This makes it possible to freely select a projection plane and project a projection image. In addition, by providing an active or passive gimbal mechanism, for example, to maintain the projection direction, the projection image can be projected substantially perpendicular to the projection plane.

FIG. 2 is a block diagram showing the functional configuration of the projection system 1. As shown in FIG. The space recognition device 10 of the projection system 1 has a position acquisition section 101 , an orientation acquisition section 102 and a transmission section 103 . The projection device 20 has a model storage unit 201 , a position and orientation information reception unit 202 , a projection image generation unit 203 , a projection unit 204 and a control unit 205 .

The position acquisition unit 101 acquires the current position of the projection system 1 , more strictly the current position of the space recognition device 10 . As described above, the current position can be obtained by using the output values of a depth sensor, a gyro sensor, or the like, or by using the output values of a total station or a receiver for satellite positioning signals.

The orientation acquisition unit 102 acquires the orientation of the projection system 1 , more strictly the orientation of the space recognition device 10 . For example, the attitude can be acquired by using the output value of the gyro sensor.

The transmission unit 103 transmits the position information indicating the current position acquired by the position acquisition unit 101 and the orientation information representing the orientation acquired by the orientation acquisition unit 102 to the position/orientation information reception unit 202 of the projection device 20 . Preferably, the transmitting unit 103 transmits the position information and the attitude information at sufficiently short fixed time intervals or whenever a fixed change occurs in the measured value.

In this embodiment, it is assumed that the current position is output as coordinate values of a coordinate system having the same scale and dimension as the physical space possessed by the space recognition device 10 . The coordinate system of the space recognition device 10, that is, the coordinate system of the real space is typically a three-axis orthogonal coordinate system of X, Y, and Z. As shown in FIG. In this case, the orientation can be represented by rotation angles around the X, Y, and Z axes. This condition is not meant to limit the present invention, but merely defined for convenience of explanation. For example, the transmission unit 103 may output the current position and orientation represented by the coordinate system of the model space, regardless of the present embodiment. In this case, for example, the transmission unit 103 is in charge of conversion from the coordinate system of the real space to the model coordinate system.

The model storage unit 201 stores models in advance in a predetermined storage area. Typically, the model is two-dimensional or three-dimensional data created by CAD or the like. For example, it is a building design document, and three-dimensional data including various objects and images related to design, structure, equipment, and construction is stored as a model. A model is usually created based on its own coordinate system (referred to as a model coordinate system or a model space coordinate system). A space defined by the model coordinate system is called a model space.

The position/orientation information reception unit 202 acquires the current position and orientation output by the transmission unit 103 of the space recognition device 10 at any time.

The control unit 205 sets positional relationship information between the space recognition device 10 and the projection device 20, mapping information between the model and the real space, and projection plane information.

The positional relationship information between the space recognition device 10 and the projection device 20 is information indicating the difference between the current position of the space recognition device 10 and the current position of the projection device 20 in the coordinate system of the real space. is given as a vector. The control unit 205 receives input of positional relationship information from the user, for example, when the space recognition device 10 and the projection device 20 are fixed to a housing, a frame, or the like.

The mapping information between the model space and the real space is information for associating the model space with the real space and interconverting the coordinate systems, and is typically given as a transformation matrix. The control unit 205 has, for example, a function to arbitrarily switch synchronization between the real space and the model space, and can perform mapping between the real space and the model space when synchronization is started, that is, can fix the correspondence relationship. Without synchronization, the projection system 1 operates like a normal projector, and the projection image moves as the projection system 1 moves. In this state, the position, attitude, etc. of the projection system 1 are adjusted so that the black line (reference line) in the real space and the corresponding line prepared in advance in the model match. When synchronization is started here, the projection system 1 performs mapping between the real space and the model space. That is, a conversion matrix is calculated for mutual conversion between the coordinate system of the real space recognized by the space recognition device 10 and the coordinate system of the model space.

The projection plane information is information indicating the projection plane of the projected image in the real space. The face that interferes first when extending the projection line in the direction is selected. Alternatively, the projection plane can be specified by including a plurality of laser rangefinders in the projection system 1 that measure the distance to the projection plane such as walls, floors, and ceilings. That is, instead of the depth sensor described above, a plurality of laser rangefinders are used to measure the depth in the direction of the line of sight (the distance to the obstacle). This makes it possible to identify the distance to the projection plane, the orientation and shape of the projection plane, and the like.

The projection image generation unit 203 converts the model stored in the model storage unit 201 into positional relationship information between the space recognition device 10 and the projection device 20 set by the control unit 205, mapping information between the model and the real space, and A parallel-projected projection image is generated based on the projection plane information. Parallel projection is a projection method using parallel projection lines, and can generate two-dimensional drawings such as plan views and elevation views from three-dimensional design data.

A parallel projection image can be generated by defining a viewpoint, a line of sight (projection line), and a projection plane in the model space (details are omitted since this is a known technique). The projection image generation unit 203 generates a viewpoint in the real space based on the current position of the space recognition device 10 output by the transmission unit 103 and the positional relationship information between the space recognition device 10 and the projection device 20 set by the control unit 205. Calculate In addition, the projection image generation unit 203 generates an image in the real space based on the orientation of the space recognition device 10 output by the transmission unit 103 and the positional relationship information between the space recognition device 10 and the projection device 20 set by the control unit 205. The line of sight of the projection device 20, ie the direction of projection, is calculated. The projection plane in the physical space is projection plane information set by the control unit 205 . The projection image generation unit 203 converts the viewpoint, line of sight, and projection plane in the real space into the viewpoint, line of sight, and projection plane in the model space based on the mapping information between the model and the real space. Parallel projection images are obtained by applying known techniques after these processes. By projecting this parallel projection image onto the real space, an experience as if the model were in the real space is provided.

The projection image generation unit 203 regenerates the projection image each time new position information and orientation information are acquired from the transmission unit 103 . That is, when the current position or orientation of the projection system 1 observed by the space recognition device 10 changes, the projection image generation unit 203 updates the projection image according to the change in the current position or orientation. When the current position or orientation changes, the region where the projected image is displayed on the projection plane (projection region) naturally changes. Therefore, the positional relationship between the object displayed in the projection area and the real space does not change. In other words, in real space, it seems that the same object is always projected at the same position. Description will be made with reference to FIG. FIG. 3 is a diagram showing the operation of the projection system 1 when the current position or orientation of the projection system 1 is changed. The lower diagram in FIG. 3 shows a three-dimensional object that the projection image generation unit 203 is about to project. In the upper diagram of FIG. 3, the dashed rectangle indicates the display area of the projection image at time t, that is, the projection area. A dashed line segment is a parallel projection image of the three-dimensional object at time t. After that, it is assumed that the current position of the space recognition device 10 has changed until time t+1. A solid-line rectangle indicates the projection area at time t+1. A solid line segment is a parallel projection image of the three-dimensional object at time t+1. Here, it can be seen that the projection image does not change in the projection area overlapping at time t and time t+1. With such features, the projection image generation unit 203 can project an object at a predetermined position in the physical space regardless of the current position and orientation of the space recognition device 10 . For example, regardless of the current position and orientation of the space recognition device 10, it is possible to mark a predetermined position on the construction site.

In addition, after performing a certain range of work while projecting the model in the real space, when the work reaches near the next reference line, stop synchronization, adjust, and start synchronization again as necessary. This makes it possible to perform marking work within a certain margin of error over a wide range.

The projection unit 204 projects the projection image generated by the projection image generation unit 203 onto a projection surface (wall, floor, ceiling, etc.) in the physical space. From the viewpoint of the amount of information that can be projected, the projection unit 204 is preferably capable of projecting a projection image as a raster image. Moreover, it is preferable that the projection unit 204 can appropriately adjust the projection magnification of the projected image, the aspect ratio of the projected image, and the like as necessary. This is because the aspect ratio of the resolution and the like may differ between the information processing device 21 and the projector 22 . Note that this adjustment function may be provided in the projection image generation unit 203 .

According to the present embodiment, the projection system 1 projects a projection image onto the physical space using a projector or the like. For example, it is possible to proceed with the work while simultaneously viewing the drawing information projected on the construction site. This eliminates workplace safety concerns and difficulties in sharing information and collaborating with wearable devices.

According to this embodiment, the projection system 1 automatically detects the current position and orientation of the system, and generates and projects projection images according to the current position and orientation as needed. As a result, even if the system moves and its posture changes, it is possible to continuously project projection images onto the physical space. At this time, although the projection area may change, the projection position of each object in the real space does not change. Therefore, for example, while freely moving the projection system 1 at a work site, a drawing or the like can be projected onto an arbitrary projection plane (wall, floor, ceiling, etc.). Even in a site where structures and obstacles are intricate, if there is a space into which the projection system 1 can enter, a projection image can be projected into the space by employing a short-focus projector or the like. Further, by appropriately changing the height of the projector, the distance from the projection plane, and the like, it is possible to enlarge or reduce the projection area and adjust the amount of information (content) included in the projection image.

It should be noted that the present invention is not limited to the above embodiments, and can be modified as appropriate without departing from the scope of the invention.

Further, each processing unit that constitutes the present invention may be configured by hardware, or may be implemented by causing a CPU to execute a computer program to perform arbitrary processing. Computer programs may also be stored and provided to computers using various types of transitory or non-transitory computer-readable media. Transitory computer-readable media include, for example, electromagnetic signals supplied to a computer by wire or wirelessly.

1 projection system 10 space recognition device 20 projection device 21 information processing device 22 projector 101 position acquisition unit 102 orientation acquisition unit 103 transmission unit 201 model storage unit 202 position and orientation information reception unit 203 projection image generation unit 204 projection unit 205 control unit

Claims (9)

A projection system for projecting a construction drawing onto a structure surface in actual size,
including a space recognition device and a projection device,
relative positions and orientations of the spatial recognition device and the projection device are fixed;
The space recognition device has a head-mounted display, a camera that captures an image around the visual field of the head-mounted display, or a depth sensor that measures the distance to an object around the visual field , and an inertial sensor that acquires changes in its own posture. ,
a position acquisition unit that acquires position information indicating the current position of the projection system in real space based on information acquired from the camera or the depth sensor ;
an orientation acquisition unit that acquires orientation information indicating a current orientation of the projection system in the physical space based on information acquired from the inertial sensor ;
a transmitting unit that transmits the position information and the posture information;
The projection device
a model storage unit that stores model information of a three-dimensional model of the structure;
a position and orientation information receiving unit that receives the position information and the orientation information;
a control unit that acquires positional relationship information between the space recognition device and the projection device and mapping information between the model space and the real space, and sets a projection plane on the surface of the structure;
The construction that is a parallel projection image of the three-dimensional model based on a viewpoint calculated from the position information and the positional relationship information, a line of sight calculated from the posture information and the positional relationship information, and the projection plane. generate a drawing,
At this time, a projection image generation unit that performs coordinate conversion based on the mapping information between the viewpoint, the line of sight, the projection plane, and the three-dimensional model;
and a projection unit that projects the construction drawing onto the projection plane in full size. 2. The projection system according to claim 1, wherein the projection device is posture-controlled to project the drawing substantially perpendicular to the projection plane. When the projection area of the construction drawing changes according to the movement of the projection system, the projection position and scale of the construction drawing on the surface of the structure are maintained.
2. A projection system according to claim 1. 2. The projection system according to claim 1, wherein when the distance between the projection system and the projection plane changes, the projectable range of the construction drawing changes while maintaining the projection position and scale of the construction drawing on the surface of the structure. . A projection method for projecting a construction drawing onto a structure surface in actual size using a space recognition device and a projection device,
relative positions and orientations of the spatial recognition device and the projection device are fixed;
The space recognition device has a head-mounted display, a camera that captures an image around the visual field of the head-mounted display, or a depth sensor that measures the distance to an object around the visual field, and an inertial sensor that acquires changes in its own posture. ,
obtaining position information indicating current positions of the spatial recognition device and the projection device in the real space based on information obtained from the camera or the depth sensor;
a step of obtaining orientation information indicating current orientations of the spatial recognition device and the projection device in the physical space based on the information obtained from the inertial sensor;
obtaining positional relationship information between the spatial recognition device and the projection device;
obtaining mapping information between the model space and the real space;
setting a projection plane on the structure surface;
The construction drawing, which is a parallel projection image of a three-dimensional model based on a viewpoint calculated from the position information and the positional relationship information, a line of sight calculated from the posture information and the positional relationship information, and the projection plane. to generate
At this time, a step of performing coordinate transformation based on the mapping information between the viewpoint, the line of sight, the projection plane, and the three-dimensional model;
and projecting the construction drawing onto the projection plane at full size.
projection method. further comprising controlling the orientation of the projection device to project the drawing substantially perpendicular to the projection plane;
The projection method according to claim 5. further comprising changing a projection area of the construction drawing by moving the spatial recognition device and the projection device;
At this time, the projected position and scale of the construction drawing on the surface of the structure are maintained.
The projection method according to claim 5. further comprising the step of changing the distance between the spatial recognition device and the projection device and the projection plane;
At this time, the projectable range of the construction drawing changes while maintaining the projection position and scale of the construction drawing on the surface of the structure.
The projection method according to claim 5. A program for causing a computer to execute the method according to claim 5.

Images