JP2006234597A - Position measurement system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position measurement system capable of efficiently adjusting the horizontal level of a structure. <P>SOLUTION: The position measurement system is provided with a light source 2; a camera 1 having a hemispherical lens 11 forming a light ring by spherical aberration by the light from the light source 2, and a photodetector 13 detecting the light ring 14 thus formed; and a PC (processor) 4 arithmetically processing detection information on the light ring 14 by the photodetector 13. The position measurement system calculates the information on the vertical coordinate value of the light source 2 with respect to the optical axis of the hemispherical lens 11 by the PC 4, and outputs an indication for adjusting the height direction of at least one of the light source 2 and the camera 1 on the basis of the information. The indication can be performed by a display device or performed by sound or voice. The adjustment of the height direction may also be performed by a motor. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a position measurement system that measures a three-dimensional (including one-dimensional and two-dimensional) position of a light source using an optical lens.

  This type of position measurement system is described in Patent Document 1, for example. Conventionally, in order to measure the three-dimensional position of a light-emitting body (or an object with high brightness) with high accuracy and high resolution, two cameras with an autofocus mechanism are required, which is expensive and time is required for focusing. For this reason, there has been a problem that it is difficult to speed up the measurement, or safety is required to use a laser. The position measurement system described in Patent Document 1 solves such a problem, and performs position measurement simply and at low cost using light. Therefore, this position measurement system includes a light source, an optical lens system that transmits light from the light source and forms a light concentration region by spherical aberration, and a light receiving element that detects the light concentration region formed by the optical lens system. And an arithmetic unit that measures the position of the light source based on detection information of the light concentration area detected by the light receiving element.

On the other hand, a level is conventionally used in installation and assembly work of structures that require leveling. A common level is a so-called bubble level. In this, alcohol or ether is put in a slightly curved glass tube, leaving bubbles, so that when they are level, the bubbles come to the center. This level is used as follows. For example, in the construction of waterproof pans for unit baths, the level adjustment of the waterproof pan frame is an important process for normal drainage. In this step, as shown in FIG. 16, a plurality of bubble levels 172 are placed on the frame 171, and the height adjustment member (for example, nut) 173 is appropriately tightened and adjusted while observing the bubble position. It is. In this figure, there are six adjustment members 173, and the construction is carried out so that drainage is successful while adjusting them individually. However, in order to carry out this process by one person, the efficiency is poor because the operation of checking the level is confirmed by tightening the adjustment member for height adjustment. Two people can do it in a short time, but it is disadvantageous in terms of cost.
In this regard, for example, Patent Document 2 proposes a leveling jig for a floor installation frame that can easily level the floor installation frame in a short time without requiring any special skill. ing. The jig includes a rod-shaped main body, a pair of screw-type level adjusting legs screwed to both ends of the main body, and a pair of a pair provided at predetermined intervals on the main body for attaching a frame to the main body. And a hook bolt.
JP 2004-212328 A JP 2001-241190 A

  As described above, conventionally, leveling of a structure has been performed using a general bubble level or using a dedicated leveling jig. However, these methods are insufficient in work efficiency. Therefore, in order to further increase the work efficiency and reduce the cost, a technique that can further improve the work efficiency related to leveling of the structure is desired.

  Accordingly, an object of the present invention is to provide a position measurement system that can efficiently level a structure.

An object of the present invention is to provide at least one light source, an imaging unit having a lens that forms a light ring by spherical aberration with light from the light source, a light receiving element that detects the light ring formed by the lens, and light from the light receiving element. An arithmetic processing unit that performs arithmetic processing on detection information of the ring, the information processing unit calculates information related to a vertical coordinate value of the light source with respect to the optical axis of the lens, and the light source and the imaging unit based on the information This is achieved by a position measurement system that outputs an instruction to perform adjustment in at least one of the height directions.
Here, the instruction for adjusting the height direction can be performed by, for example, displaying a figure or a numerical value on a screen on a display device, and using a flashing light, a color change, or the like. Can be done. The adjustment in the height direction can be performed by a motor. In this case, an instruction for performing the adjustment in the height direction is a control signal to the motor. The instruction for adjusting the height direction can be output when the vertical coordinate value of the light source is not within a preset range. Furthermore, the light source can be a light-emitting diode or a light bulb with a transparent glass globe, and can also be composed of a reflective member that reflects illumination light.

  The position measurement system according to the present invention includes at least one light source, a lens that forms a light ring by spherical aberration with light from the light source, and an imaging unit that has a light receiving element that detects the light ring formed by the lens, An arithmetic processing unit that performs arithmetic processing on detection information of the light ring by the light receiving element, and at least one of the light source and the imaging unit is installed via an adjustment member capable of adjusting height, and the arithmetic processing unit Information on the vertical coordinate value of the light source with respect to the optical axis of the lens is calculated, and the height of the adjusting member is adjusted based on the information.

Further, the position measurement system according to the present invention includes a lens that forms a light ring by spherical aberration with light from a light source, a light receiving element that detects a light ring formed by the lens, and light from the light receiving element. An arithmetic processing unit that performs arithmetic processing on detection information of the ring, the information processing unit calculates information related to a vertical coordinate value of the light source with respect to the optical axis of the lens, and the light source and the imaging unit based on the information An instruction for performing adjustment in at least one of the height directions is output.
Here, the imaging unit may be a panoramic camera including an optical system capable of capturing a 360-degree panoramic image. In this case, the optical system captures light from the entire circumference of the camera and the lens. It can have a mirror that reflects in the direction. Moreover, the base which hold | maintains the said imaging means can be provided so that the optical axis of the said lens may maintain a horizontal direction. The lens may be a hemispherical lens.

  Furthermore, the position measurement system according to the present invention forms a plurality of light sources installed on the frame via a plurality of height-adjustable adjustment members, and an optical ring by spherical aberration with light from each of the light sources. An imaging means having a lens and a light receiving element that detects each optical ring formed by the lens, an arithmetic processing unit that performs arithmetic processing on detection information of each optical ring by the light receiving element, and the calculation unit calculated by the arithmetic processing unit And a display device that displays information related to the vertical coordinate value of each light source with respect to the optical axis of the lens.

  In the position measurement system according to the present invention, a plurality of light sources installed on the frame via a plurality of height-adjustable adjustment members, and light rings from the respective light sources by spherical aberration are formed. An imaging means having a lens and a light receiving element that detects each optical ring formed by the lens, an arithmetic processing unit that performs arithmetic processing on detection information of each optical ring by the light receiving element, and the calculation unit calculated by the arithmetic processing unit A feedback amount calculation device for calculating a feedback amount to the adjustment member selected based on information relating to a vertical coordinate value of each light source with respect to the optical axis of the lens, and the adjustment member selected based on the feedback amount And a work instruction device for instructing the work.

  In the position measurement system according to the present invention, a plurality of light sources installed on the frame via a plurality of height-adjustable adjustment members, and light rings from the respective light sources by spherical aberration are formed. An imaging means having a lens and a light receiving element that detects each optical ring formed by the lens, an arithmetic processing unit that performs arithmetic processing on detection information of each optical ring by the light receiving element, and the calculation unit calculated by the arithmetic processing unit A feedback amount calculation device for calculating a feedback amount to the adjustment member selected based on information relating to a vertical coordinate value of each light source with respect to the optical axis of the lens, and the adjustment member selected based on the feedback amount And a motor control device that controls a motor that changes the height of the motor.

  Here, the light source power line for supplying power to each of the light sources can be disposed along the frame. The light source power line can be connected to the arithmetic processing unit via the imaging means, or can be connected to a power supply unit common to the light sources.

  According to the present invention, it is possible to obtain a position measurement system in which a leveling operation that is conventionally performed by trial and error by a plurality of persons can be performed accurately by a single person in a short time.

  In short, the position measurement system according to the present invention levels the structure by measuring the position coordinates of a plurality of light sources arranged on the structure. That is, although the details will be described later, for example, the position of the light source in the direction perpendicular to the lens optical axis is detected by an imaging unit that detects a light ring (light concentration region) generated by a hemispherical lens by light from a light source (point light source). I do. One or a plurality of light sources may be used. The imaging means is installed vertically. The imaging means is disposed at the end of the polygon formed by the points to be measured. Further, the imaging means can be arranged inside a polygon formed by the points to be measured, and in this case, an optical system capable of obtaining a panoramic image is mounted. The positional relationship between the point light source and the imaging means is determined from the position coordinates of the light source. The determined result is displayed by a display device or voice. Also, feedback information indicating which light source should be moved up and down is calculated from the determined result, and this is displayed by a display device or sound. The adjustment member for adjusting the height of the light source can be driven by a motor, and in this case, the measurement result of the coordinates of the light source is sent as feedback information to the motor control device. The power supply line for each light source is arranged or embedded along the frame constituting the structure, and is configured so that the power supply to each light source can be performed from one place, or the power supply is via the imaging means. It is configured to be performed from a personal computer. Hereinafter, this imaging means will be described as a camera.

Embodiments of the position measurement system according to the present invention will be described below.
FIG. 1 is a diagram showing an embodiment of a position measurement system according to the present invention. As shown in the figure, the present invention includes a camera 1 having a hemispherical lens 11 and a light receiving element 13 such as a CCD sensor, a light source 2 that can be preferably a point light source such as a light emitting diode (LED) or a miniature light bulb, and a light source 2. A personal computer (PC) 4 as an arithmetic processing unit that detects a later-described light ring formed on the light receiving element 13 by the hemispherical lens 11 by the emitted light and measures the position (coordinates) of the light source 2 based on the detection signal. With. The PC 4 is connected to the camera 1 by a connection line 8. A calculation processing method for position measurement will be described later.

  In FIG. 1, the frame 3 a (horizontal pedestal) on which the camera 1 is installed and the frame 3 b (horizontal pedestal) on which the holding member 5 for holding the light source 2 is installed are vertically elevated with respect to the horizontal floor 7. For example, the height is supported by adjustment members 6a and 6b whose height is changed manually or by motor drive by rotation of bolts and nuts, for example. Thereby, even when the height of the optical axis 10 of the hemispherical lens 11 from the frame 3a is initially different from the height of the optical axis of the light source 2 from the frame 3b, the optical ring is output by the PC 4 as described later, for example. As shown in FIG. 1, the height of the optical axis 10 of the hemispherical lens 11 from the frame 3a and the optical axis of the light source 2 are adjusted by adjusting at least one of the adjusting members 6a and 6b based on the image. Both heights from the frame 3b can be equal to h1.

  FIGS. 2A and 2B are diagrams showing the principle for detecting the position of the light source by a camera having a hemispherical lens and a light receiving element. In FIG. 2A, the light emitted from the point light source 12 is collected by the hemispherical lens 11 to form an optical ring 14 as shown in FIG. The principle is as described in Patent Document 1 described above.

  That is, in FIG. 2A, the light emitted from the point light source 12 is incident on the plane that is the first surface of the hemispherical lens 11 as indicated by the locus of the light beam. Here, light is refracted according to Snell's law. The light then reaches the second lens surface of the spherical shape and is refracted. Since the second surface is a spherical surface, the light is collected on the optical axis. However, since the spherical aberration of the lens is large, the light is not collected at one point, but is collected in a certain range on the optical axis. Lighted. When the light beam is traced, the light beam passing through the lens region close to the optical axis is collected on the optical axis far from the lens, but the light beam passing through the lens region far from the optical axis is collected on the optical axis close to the lens. I understand that. Therefore, when the light receiving surface of the light receiving element (CCD sensor) 13 is installed at a position on the optical axis as shown in FIG. 2A, the light on the light receiving surface is first as the light moves away from the vicinity of the optical axis of the lens. Similarly, the position moves away from the optical axis. However, if the light further moves away from the optical axis of the lens, the effect of refraction by the lens increases, and conversely, it approaches the optical axis. In other words, as the light passing through the lens moves away from the optical axis, the light first moves away from the optical axis on the light receiving surface, then turns back and approaches the optical axis, and further passes through the optical axis and spreads to the opposite side. It shows the behavior to go. Considering the two-dimensional plane of the light receiving surface, the turning point is a circle centered on the optical axis, and further, the turning point becomes a light concentration region with a high light density. Therefore, an optical ring as shown in FIG. 14 is formed.

  The light ring 14 has a perfect circle when the light source is on the optical axis, and the diameter decreases as the light source moves away from the lens, and the diameter increases as the light source approaches the lens. When the light source moves in the direction perpendicular to the optical axis, the entire light ring moves in the direction opposite to the moving direction of the light source. Therefore, by formulating the relationship between the light source position and the shape and coordinates of the optical ring, the coordinates of the light source can be measured from the signal of the optical ring shape and coordinates. The coordinates of the light source can be obtained, for example, as follows.

  Here, an example in which two light source positions are simultaneously measured using one hemispherical lens will be described with reference to FIG. As shown in FIG. 3, LED elements having a wavelength of 900 nm were used for the light sources 2a and 2b. Light emitted from the light sources 2 a and 2 b passes through the infrared transmission filter 31 and enters the hemispherical lens 11. The hemispherical lens 11 having a refractive index of 1.51 and a radius of curvature of 10 mm was used. The flat surface of the hemispherical lens 11 is the front surface. In addition, a Φ6 mm aperture 32 was installed in front of the lens for the purpose of removing excess light. The hemispherical lens 11 is supported by a lens holder 33.

  The focal position of the paraxial light beam with respect to the infinity light source of this hemispherical lens 11 is 19.5 mm behind the hemispherical lens exit surface. By installing this hemispherical lens 11 on the lens side, the effect of large spherical aberration is obtained. A ring image (light ring) having a high light intensity at the outer periphery can be formed. Here, a light receiving element (image sensor) 13 was installed 6 mm behind the hemispherical lens 11 to detect a light ring. The optical ring detection information obtained by the image sensor 13 is arithmetically processed by a PC (arithmetic processing device) 4 and the result is displayed on the display device 34.

  An example of the ring image formed in this case is shown in FIG. FIG. 4 shows the simulation result, and it has been confirmed that the actually captured image matches the present result. The light source 2a is arranged at the position coordinates (1000, 0, 0), and the light source 2b is arranged at the coordinates (1000, 200, 100). As shown in FIG. 4, the two optical rings are overlapped, but each is easily distinguishable because it is an optical ring having a strong light intensity at the outer periphery. From the outer diameter and center position of each light ring, the three-dimensional position of each light source 2a, 2b can be measured.

FIG. 5 is a schematic diagram showing the relationship between the three-dimensional coordinates of the light source and the optical ring for explaining the calculation of the position of the light source. When the three-dimensional coordinates of the light source (LED) are (x, y, z), x, y, z are approximately expressed as follows. Here, θ is the angle between the optical axis and the light source on the flat surface of the lens, and s is the angle between the vertical line and the center of the optical ring with respect to the optical axis point on the sensor surface.
x = L * cos (θ) (Formula 1)
y = L * sin (θ) * cos (s) (Formula 2)
z = L * sin (θ) * cos (s) (Formula 3)

The diameter D of the optical ring is approximately expressed as follows from the distance L from the optical axis point to the light source on the flat surface of the lens and the lens characteristic values a and b. The lens characteristic values a and b are values obtained from the curvature and refractive index of the lens.
D = a / L + b (Formula 4)

  By substituting the diameter obtained from the camera image into Equation 4 to obtain the distance L of the light source and substituting it into Equations 1 to 3 above, the three-dimensional coordinates of the light source can be obtained.

  As described above, this position measurement system detects a light source, an optical lens such as a hemispherical lens that forms a light ring (light concentration region) by spherical aberration with light from the light source, and a light concentration region formed by the optical lens. A light receiving element and an arithmetic processing unit such as a PC for measuring the position (coordinates) of the light source based on the detection information of the light ring detected by the light receiving element are configured.

  The optical ring 14 is formed at the center of the light receiving element 13 when the point light source 12 is on the optical axis 10, but is formed at a corresponding position on the surface of the light receiving element 13 when shifted from the optical axis 10. By calculating the detection signal from 13, the coordinates on the plane perpendicular to the optical axis of the light source are obtained. Thereby, the positional relationship between the point light source 12 and the light receiving element 13 can be displayed on the display as an output image of the light receiving element 13. Further, as described above, since the diameter of the optical ring 14 changes depending on the distance between the point light source 12 and the hemispherical lens 11, the distance is obtained.

  6A and 6B are diagrams showing examples of output images of the light receiving element 13, respectively. In the figure, a line 20 passing through the optical axis 10 indicates a plane horizontal to the camera 1. That is, the line 20 is a horizontal reference line that passes through the optical axis on the light receiving element surface. FIG. 6A shows a state in which the center 14c (light source) of the optical ring is displaced only from the optical axis 10 in the horizontal direction. FIG. 6B shows a state in which the center 14c (light source) of the optical ring is displaced from the optical axis 10 in the horizontal and vertical directions. In FIG. 1, it is difficult to install the two frames in a horizontal positional relationship at the beginning of installation of the frames 3a and 3b, and the image of the camera 1 is, for example, as shown in FIG. The frame 3b on which the light source 1 is installed is higher than the frame 3a on which 1 is installed. While viewing this image, the height of at least one of the frames 3a and 3b can be adjusted, and an image as shown in FIG. 6A can be obtained by this adjustment. This completes the horizontal adjustment of the frame 3a and the frame 3b.

In the position measurement system according to the present invention, the position measurement by the camera using the hemispherical lens is performed in a direction perpendicular to the lens optical axis (relative to the camera) rather than accuracy in a direction parallel to the lens optical axis (distance direction from the camera). The coordinates on the surface to be performed) are more accurate. Therefore, when this system is used as, for example, a level, the function can be sufficiently exhibited. This will be described with reference to FIG. The resolution R in the vertical direction of the level is determined by the resolution Rt in the optical axis direction of the lens, that is, the distance direction, and the resolution Rh in the direction perpendicular to the optical axis. When the level position is adjusted in the vicinity of the optical axis, the distance does not need to be considered at all, and the position resolution is R = Rh (Equation 5)
It is represented by However, as shown in FIG. 7, when the position of the point light source 12 is away from the optical axis 10 by a height h, that is, when it is located at an angle θ from the optical axis 10, the position resolution R is R = Rh * cos θ + Rt. * Sinθ (Formula 6)
It is represented by

  Rt can be determined from a large number of pieces of pixel information constituting a ring image, and it has been confirmed from experiments that the resolution is extremely high. However, although the resolution in the distance direction is determined from the radius of the ring image, it has been confirmed that when the distance is 1 m or more, the radius of the ring image hardly changes and the position resolution rapidly decreases. For example, when the position of an LED light source 1 m away was measured with a camera equipped with a C-mount hemisphere lens, Rh was 0.1 mm or less, but Rt was about 1 mm. Thus, since the resolution of Rt is low, when a high possibility is required, θ needs to be set small as can be seen from Equation 6.

If Rt is about 10 larger than Rh as in the above experimental results, the resolution R does not decrease if the contribution of Rt to R is about 1/10 of Rh. Therefore,
sin θ <= 1/10 (Formula 7)
The following conditions are obtained. That is,
θ <= 6 degrees (Formula 8)
In this case, the position resolution R in the vertical direction hardly decreases. Even in the case of θ = 12 degrees, since sin θ = 0.2, R = Rh * 0.8 + Rt * 0.2 = 0.3 mm, and the function can be sufficiently exhibited when used as a level. Thus, the position of the point light source 12 in the level direction is preferably 12 degrees or less, and more preferably 6 degrees or less, where θ is the angle formed with the optical axis 10 of the lens.

  In the above description, an example of a hemispherical lens is given as an optical lens. However, it is not necessarily a hemispherical lens, and any lens or lens system having a large spherical aberration may be used. For example, since a spherical lens has an effect that spherical aberration is larger than that of a hemispherical lens, it is obvious that there is a condition that an optical ring can be formed even if this lens is used. Even when a hemispherical lens is used, it is not necessary to be a complete hemispherical lens. For example, by changing the plane side of the hemispherical lens from a perfect plane to a concave lens, the distance of the light source can be made apparently close, and the amount of change in the optical ring is large with respect to the movement of the light source in the optical axis direction. There is an effect of becoming.

  FIG. 8 is a schematic diagram showing another embodiment of the position measurement system according to the present invention. The present embodiment has the same arrangement configuration as that of FIG. 1, but differs in that a plurality of light sources are provided. That is, in this embodiment, the frame 3a on which the camera 1 is installed, the frame 3b-1 on which the holding member 5-1 that holds the light source 2-1 is installed, and the holding member 5 that holds the light source 2-2. 2 is installed via an adjustment member (not shown) so that the height can be adjusted up and down with respect to a horizontal floor. Since the adjustment work becomes more difficult as the number of horizontal measurement points and adjustment points increases as in this example, the effect of the present invention is greater in this example than in the example shown in FIG.

  FIG. 9 is a diagram illustrating an example of an output image of the light receiving element by the camera when a plurality of light sources are installed. When a plurality of light sources are installed, the height of the other may change by adjusting the height of one, so the centers 14c-1 and 14c-2 of the two optical rings overlap the horizontal plane line 20 at the same time. The case is detected by image processing or coordinate processing, and a sound is emitted to notify the operator. When determining the level of the plurality of light sources, for example, if a ring image having a height difference / distance between the plurality of light sources (distance between the lens and the light source) <= 1/100 is obtained, it is determined to be horizontal. It is also possible to set a standard such as

  In the above example, the level of the optical axis 10 of the lens 1 of the camera 1 greatly affects the accuracy. Therefore, it is preferable to provide an apparatus in which the camera 1 is always installed vertically. For example, in the example shown in FIG. 10, the camera 1 is installed suspended from a casing 70 with a string 71. The housing 70 is held on the frame 3 a by a pedestal 72. In such an apparatus, since the camera 1 is always installed vertically by its own weight, the lens optical axis 10 of the camera 1 can be kept horizontal even if the upper surface of the frame 3a is inclined. The method of keeping the camera 1 vertical is not limited to this, and various methods can be used.

  FIG. 11 is a diagram showing an example of a panoramic camera that can be used in the position measurement system according to the present invention. As shown in the figure, the panoramic camera 80 uses an optical system in which a parabolic mirror 16 is formed outside the funnel. The parabolic mirror 16 is fixed to the hemispherical lens 11 or its support member by a support member 17. Light incident from the point light source 12 is bent by the parabolic mirror 16 and forms a light ring image on the light receiving element 13 by the hemispherical lens 11. A ring image can be formed by installing a light receiving element (CCD sensor) 13 closer to the parabolic mirror 16 than the focal position 21 of the paraxial ray of the hemispherical lens 11. The parabolic mirror 16 reflects a 360-degree panoramic image toward the hemispherical lens 11 to form a ring image regardless of the position of the point light source 12 around the camera. Here, the optical system that captures light from the entire circumference is a parabolic mirror, but a reflective optical system such as a conical mirror surface or a spherical mirror may be used.

  FIG. 12 is a schematic view showing another embodiment of the position measurement system according to the present invention. This embodiment has the same arrangement configuration as that of FIG. 1, but differs in that a plurality of light sources are installed and a panoramic camera 80 shown in FIG. 11 is used as a camera. That is, in this embodiment, the frame 3a on which the panoramic camera 80 is installed, the frame 3b-1 on which the holding member 5-1 that holds the light source 2-1 is installed, and the holding member 5 that holds the light source 2-2. -2 installed, a frame 3b-2 installed with a holding member 5-3 for holding the light source 2-3, and a holding member 5-4 installed with the light source 2-4. The frames 3b-4 are respectively supported by adjusting members (not shown) so that the height can be adjusted up and down with respect to the horizontal floor.

  FIG. 13 is a diagram illustrating an example of an output image of the light receiving element by the panoramic camera when a plurality of light sources are installed. When a panoramic camera is used, an image of the entire circumference of the camera is obtained. Therefore, in the light receiving element image, the plane horizontal to the camera is a circle like the line 20, and each light ring 14 has a distorted shape. When each light source is on a plane parallel to the camera, the center of each light ring 14 is positioned on a line 20 between the image lower end position 15-1 and the image upper end position 15-2, as shown in the figure. It will be.

  When the output image of the light receiving element in FIG. 13 is developed, an image in which the optical ring 14 becomes a circle as shown in FIG. 14 can be obtained. On this image, when the centers 14c-1 to 14c-4 of each light ring 14 are all on the line 20, it can be determined that each point light source is located on a predetermined horizontal plane, and any one of them is the line 20 If not, it can be determined that the point light source is not located on a predetermined horizontal plane. Also, as shown in FIG. 15, when the horizontal plane where each light source should be positioned is shifted from the line 20 which is the horizontal plane of the camera, it can be determined in the same manner as in FIG. 14. This is effective when there are a plurality of light sources and only the height of the camera cannot be arranged at the same level as the light source.

  FIGS. 17A and 17B are diagrams showing another embodiment of the position measurement system according to the present invention. This embodiment is an example in which the present system is applied as a level at the time of constructing a unit bus frame. As shown in FIG. 17 (a), it is composed of frames 181a to 181d that are one step higher where waterproof pans are installed and frames 182a to 182c that are lower where bathtubs are installed. The camera 1 is installed on a camera base 183 having a height corresponding to the level difference h2 between the frames 181a to 181d and 182a to 182c. The camera 1 has a horizontal angle of view of 90 degrees or more and five point light sources A to E once. You can now shoot. In such a state, the six adjustment members 184a to 184f are adjusted to perform leveling. FIG. 17B shows a camera image. Since the diameter of the light ring becomes larger as the light source is closer and becomes smaller as the light source is farther, the five light sources in FIG. 17A appear as in the camera image of FIG. 17B. In this state, the light sources A, C, and D are located at the same level as the camera 1 (threshold level range Th1), and the light source E is located at the level of -h2 from the camera 1 (threshold level range Th2). The light source B is outside the threshold level range Th1. In this case, by adjusting one or more of the adjusting members 184a to 184f while viewing the camera image, it is possible to make all the light sources fall within a predetermined threshold level range. This camera image may be displayed on a display mounted on the camera itself, or may be displayed on a display of the PC 4 connected to the camera.

  When installing point light sources in the frames 181a to 181d and 182a to 182c, it is necessary that positioning in the height direction is strictly performed at the stage of manufacturing the frames in advance. Further, when an LED or the like is used as a light source, the power supply source is necessary. The LED can be incorporated into the frame in the process of producing the frame at the factory, but in that case, it can also be incorporated together with the button battery as a power source of the LED. However, button batteries and the like are disposable and may not be suitable for the environment. Therefore, the light source power line 191 to the LED is arranged along the frame. Specifically, as shown in FIG. 18, it is built in a frame 192, which is drawn out to a portion where the camera 1 is installed, and a terminal or the like is provided. Wiring and terminals are also provided on the camera side so that power is supplied to the terminals via the camera when the camera power line 194 or the camera 1 connected to the PC 4 by USB or IEEE 1394 is placed on the camera connection unit 193. Keep it. In addition, as shown in FIG. 19, the light source power line 202 formed in the frame 201 can be connected to one power supply unit 203. A battery can be installed in the power supply unit 203. In this case, it is only necessary to insert a battery during construction. The panoramic camera 80 is connected to the PC 4 by a camera power line 204 or the like. Further, a terminal may be provided in the power supply unit 203 to supply power from a USB line for camera connection or the like. Instead of a point light source, a spherical or hemispherical total reflection object may be used, and strong light may be applied to the object to use the reflected light as a light source. Also in this case, it is necessary that the positioning be performed strictly at the stage of manufacturing the frame.

  20A to 20C are block diagrams showing another embodiment of the position measurement system according to the present invention. This embodiment is a configuration diagram of a level system using a camera using a hemispherical lens. As shown in FIG. 20A, the simplest configuration includes a camera 211, an arithmetic processing device 212 for calculating and determining the position coordinates of the light source, and a display device 213 for displaying the processing result of the arithmetic processing device 212. It consists of. The camera 211 is a CCD camera using a hemispherical lens, and has an interface such as USB, IEEE1394, or camera link. Specifically, the arithmetic processing unit 212 can be realized by a computer having a CPU such as a PC, obtains an image from a camera, performs coordinate calculation processing from a ring image on the image, and sets a coordinate value and a reference value or threshold value. A comparison determination process is performed. The display device 213 is connected to the arithmetic processing device 212, and shows the coordinate value of the light source and the determination result with numbers and figures.

  FIG. 20B is obtained by connecting a feedback amount calculation device 214 and a work instruction device 215 to the arithmetic processing device 212 of FIG. This makes it possible to instruct the worker on the amount of work. Specifically, the feedback amount calculation device 214 can be realized by the same computer as the arithmetic processing device 212. If the light source is moved up or down based on the calculated coordinate value and the determination result, the horizontal level of each light source is within the threshold value range. Is estimated. Based on the result, the work instruction device 215 displays an instruction by sound (signal) or sound (signal), or the instruction content on the display device 213 as an image. The instruction by the display device 213 can be performed by, for example, displaying the instruction content on the screen as a figure or a numerical value, and using blinking of light, color change, or the like.

  In FIG. 20C, a motor control device 216 and a motor 217 are connected instead of the work instruction device 215 in FIG. The motor 217 is connected to the adjusting members 6a and 6b whose height changes by, for example, motor driving as described in FIG. Thereby, the leveling operation of each light source can be automatically performed.

  FIG. 21 is a diagram showing an example of a processing flow for executing the embodiment of FIG. In order to adjust the plurality of light sources (the frames in which the light sources are installed) to a desired horizontal plane, a level determination process for each light source is started (step 220). First, camera-captured images of optical rings formed by light from each light source are acquired from the camera 1 (step 221). Next, position measurement calculation processing of each light source is performed. That is, edge detection processing is performed on the acquired image (step 222), and a circular portion of the optical ring is extracted. At this time, the image may be binarized and processed. For each extracted circle, find its radius and center coordinates. Specifically, since the maximum and minimum values of the X and Y coordinates of the edge coordinate group of each circle are the coordinates of the upper and lower ends and the left and right ends of the circle, they can be calculated from these. The distance to the light source, that is, the coordinates (x, y, z) can be calculated from the center coordinates (X, Y) and the radius expressed in pixel units of these camera images (step 223).

  Next, a calculation coordinate level determination process is performed. It is determined whether the y-coordinate value of the center coordinate of each circle determined above is within a preset range (threshold range) (steps 224 and 225). For example, if the camera 1 and all the light sources (LEDs) should be installed horizontally in the same plane, the setting value is 0, and it is acceptable if it is within the range of 0 ± 0.01. If each light source has a set value, for example, it can be determined where the light source is located from the value of accuracy of about centimeters of (x, y, z) coordinates. A set value of a certain light source is input in advance, and can be compared with the value. If all the light sources are within the set range, a message to that effect is displayed (step 226), and the level determination process is terminated (step 227). On the other hand, if there is a light source outside the set range, the drive shaft (adjustment member) to be moved up and down is selected so that the light source is within the range, and the drive amount is determined by calculating back from the set value and the measured value. (Step 228). Then, for the convenience of the operator, the location of the adjusting member and its driving amount (such as the number of rotations of the nut) are instructed by voice or the like (step 229).

  FIG. 22 is a diagram showing an example of a processing flow for executing the embodiment of FIG. In order to adjust a plurality of light sources (frames on which the light sources are installed) to a desired horizontal plane, a level determination process for each light source is started (step 230). First, camera-captured images of optical rings formed by light from each light source are acquired from the camera 1 (step 231). Next, position measurement calculation processing of each light source is performed. That is, edge detection processing is performed on the acquired image (step 232), and a circular portion of the optical ring is extracted. At this time, the image may be binarized and processed. For each extracted circle, find its radius and center coordinates. Specifically, since the maximum and minimum values of the X and Y coordinates of the edge coordinate group of each circle are the coordinates of the upper and lower ends and the left and right ends of the circle, they can be calculated from these. The distance to the light source, that is, the coordinates (x, y, z) can be calculated from the center coordinates (X, Y) and the radius expressed in pixel units of these camera images (step 233).

  Next, a calculation coordinate level determination process is performed. It is determined whether the y-coordinate value of the center coordinate of each circle determined above is within a preset range (threshold range) (steps 234 and 235). For example, if the camera 1 and all the light sources (LEDs) should be installed horizontally in the same plane, the setting value is 0, and it is acceptable if it is within the range of 0 ± 0.01. If each light source has a set value, for example, it can be determined where the light source is located from the value of accuracy of about centimeters of (x, y, z) coordinates. A set value of a certain light source is input in advance, and can be compared with the value. If all the light sources are within the set range, a message to that effect is displayed (step 236), and the level determination process is terminated (step 237). On the other hand, if there is a light source outside the set range, select the motor that drives the drive shaft (adjustment member) to be moved up and down so that the light source is within the range, and calculate the drive amount from the set value and the measured value. (Step 238). Then, a control command including the location of the adjusting member and its driving amount is sent to the motor control device so that the height is automatically adjusted by the motor (step 239).

  Further, as shown in FIG. 17A, with the intersection of the lens surface of the camera and the optical axis as the origin, a light source is attached to the frame so that the installation coordinates are drawn in the figure, and the coordinates are set to a PC (computing device) ). In this way, it can be used for the level determination described in FIG. 21 and FIG. The determination from the light source A to the light source E can be performed by the value of the x coordinate. Since the light source A to the light source D should be in a horizontal position with respect to the camera, it is determined whether z = 0 is within the threshold range. Further, since the light source E should be in the minus direction by h2 from the camera, it is determined whether y = −h2 is within the threshold range. In FIG. 17B, since the light source B is out of the range in the plus direction, the height of the light source B is lowered by adjusting the adjustment member. Accordingly, when the coordinates of the other light source are out of the range, the adjustment member related to the other light source is adjusted as necessary to lower the height of the corresponding light source. Thereby, it is possible to make all light sources fall within a predetermined threshold level range.

  The present invention relates to a position measurement system for measuring a three-dimensional (including one-dimensional and two-dimensional) position of a light source by using an optical lens, and has industrial applicability.

It is a figure which shows one Example of the position measurement system which concerns on this invention. (A), (b) is a figure which shows the principle for detecting the position of a light source with the camera which has a hemispherical lens and a light receiving element. It is a figure for demonstrating the example which measures two light source positions simultaneously using one hemispherical lens. It is a figure which shows an example of the ring image formed in the case of FIG. It is the schematic which shows the relationship between the three-dimensional coordinate of a light source, and an optical ring for demonstrating the position calculation of a light source. (A), (b) is a figure which shows the example of the output image of the light receiving element 13, respectively. It is a figure for demonstrating the resolution of the position measurement system which concerns on this invention. It is a schematic diagram which shows the other Example of the position measuring system which concerns on this invention. It is a figure which shows an example of the output image of the light receiving element by a camera when a plurality of light sources are installed. It is a figure which shows an example of an apparatus with which a camera is always installed vertically. It is a figure which shows an example of the panoramic camera which can be used for the position measurement system which concerns on this invention. It is a schematic diagram which shows the other Example of the position measuring system which concerns on this invention. It is a figure which shows an example of the output image of the light receiving element by a panoramic camera when a plurality of light sources are installed. It is a figure which shows an example of the image at the time of expand | deploying the output image shown in FIG. It is a figure which shows the other example of the image at the time of expand | deploying the output image shown in FIG. It is a figure for demonstrating leveling of the flame | frame using the general bubble level. (A), (b) is a figure which shows the other Example of the position measuring system which concerns on this invention. It is a figure for demonstrating an example of the connection of the power supply line for light sources. It is a figure for demonstrating the other example of the connection of the power wire for light sources. (A)-(c) is a block diagram which shows the other Example of the position measuring system which concerns on this invention. It is a figure which shows an example of the processing flow for performing the Example of FIG.20 (b). It is a figure which shows an example of the processing flow for performing the Example of FIG.20 (c).

Explanation of symbols

1 Camera 2 Light source 3a, 3b Frame (horizontal stock base)
4 PC
5 Holding members 6a and 6b Adjustment member 7 Floor 8 Connection line 10 Lens optical axis 11 Hemispherical lens 12 Point light source 13 Light receiving element (image sensor)
14 Optical ring 14c Center point 20 of optical ring Horizontal reference line passing through optical axis on light receiving element surface

Claims (21)

  Imaging information having at least one light source, a lens that forms a light ring by spherical aberration with light from the light source, a light receiving element that detects the light ring formed by the lens, and detection information of the light ring by the light receiving element An arithmetic processing unit that calculates the information about the vertical coordinate value of the light source with respect to the optical axis of the lens by the arithmetic processing unit, and based on the information, at least one of the light source and the imaging unit A position measurement system that outputs an instruction for adjusting in a height direction.   The position measurement system according to claim 1, wherein an instruction for adjusting the height direction is given by a display device.   The position measurement system according to claim 1, wherein an instruction for adjusting the height direction is given by sound or voice.   The position measurement system according to claim 1, wherein the adjustment in the height direction is performed by a motor.   The position measurement system according to claim 4, wherein the instruction for adjusting the height direction is a control signal to the motor.   The instruction for adjusting the height direction is output when a vertical coordinate value of the light source is not within a preset range. Position measurement system.   The position measurement system according to claim 1, wherein the light source is a light emitting diode.   The position measurement system according to claim 1, wherein the light source is a light bulb with a transparent glass globe.   The position measuring system according to claim 1, wherein the light source is configured by a reflecting member that reflects illumination light.   Imaging information having at least one light source, a lens that forms a light ring by spherical aberration with light from the light source, a light receiving element that detects the light ring formed by the lens, and detection information of the light ring by the light receiving element An at least one of the light source and the imaging means is installed via an adjustment member capable of adjusting the height, and the arithmetic processing unit makes the light source perpendicular to the optical axis of the lens. A position measurement system characterized in that information related to a direction coordinate value is calculated and the height of the adjustment member is adjusted based on the information.   An imaging unit having a lens that forms an optical ring by spherical aberration with light from a light source, a light receiving element that detects the optical ring formed by the lens, and an arithmetic processing unit that performs arithmetic processing on detection information of the optical ring by the light receiving element And calculating information related to the vertical coordinate value of the light source with respect to the optical axis of the lens, and adjusting the height direction of at least one of the light source and the imaging means based on the information A position measurement system characterized by outputting instructions for   The position measurement system according to claim 11, wherein the imaging unit is a panoramic camera including an optical system capable of capturing a 360-degree panoramic image.   13. The position measurement system according to claim 12, wherein the optical system includes a mirror that takes in light from the entire circumference of the camera and reflects it in the lens direction.   The position measurement system according to claim 11, further comprising a pedestal that holds the imaging unit so that an optical axis of the lens maintains a horizontal direction.   The position measuring system according to claim 11, wherein the lens is a hemispherical lens.   A plurality of light sources installed on the frame via a plurality of height-adjustable adjusting members, a lens for forming an optical ring by spherical aberration with light from each light source, and each optical ring formed by the lens Imaging means having a light receiving element for detecting light, an arithmetic processing device for arithmetically processing detection information of each light ring by the light receiving element, and a vertical direction of each light source with respect to the optical axis of the lens calculated by the arithmetic processing device A position measurement system comprising: a display device that displays information related to coordinate values.   A plurality of light sources installed on the frame via a plurality of height-adjustable adjusting members, a lens for forming an optical ring by spherical aberration with light from each light source, and each optical ring formed by the lens Imaging means having a light receiving element for detecting light, an arithmetic processing device for arithmetically processing detection information of each light ring by the light receiving element, and a vertical direction of each light source with respect to the optical axis of the lens calculated by the arithmetic processing device A feedback amount calculation device for calculating a feedback amount to the adjustment member selected based on information relating to coordinate values; and a work instruction device for instructing the selected adjustment member to perform work based on the feedback amount; A position measurement system characterized by comprising:   A plurality of light sources installed on the frame via a plurality of height-adjustable adjusting members, a lens for forming an optical ring by spherical aberration with light from each light source, and each optical ring formed by the lens Imaging means having a light receiving element for detecting light, an arithmetic processing device for arithmetically processing detection information of each light ring by the light receiving element, and a vertical direction of each light source with respect to the optical axis of the lens calculated by the arithmetic processing device A feedback amount calculation device that calculates a feedback amount to the adjustment member selected based on information relating to a coordinate value, and a motor control that controls a motor that changes the height of the selected adjustment member based on the feedback amount A position measurement system comprising a device.   The position measurement system according to any one of claims 16 to 18, wherein a light source power line for supplying power to each light source is disposed along the frame.   The position measurement system according to claim 19, wherein the light source power line is connected to the arithmetic processing unit via the imaging unit.   The position measurement system according to claim 19, wherein the light source power line is connected to a power supply unit common to the light sources.

Images