JP2019016837A - Photographing support device and photographing method - Google Patents

Abstract

To provide a photographing support device capable of designating a range to be photographed in order to acquire an appropriate resolution image and to divide the entire inspection object into appropriate regions to acquire an image and a photographing method using the photographing support device.SOLUTION: A photographing support device 100 that is a device indicating a range to be photographed of a target includes positioning means, plane calculation means, photographing range calculation means, irradiation point setting means, and laser irradiation means. The photographing range calculating means calculates the photographing range on the basis of the number of pixels of image acquiring means used for photographing and the necessary resolution. The irradiation point setting means sets the irradiation points in the vicinity of the four corners within the photographing range. The laser irradiation means irradiates the four irradiation points with visible light lasers.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a technique for photographing a planar object, and more specifically, a photographing support apparatus capable of showing a photographing range by irradiating a visible light laser, and a photographing method using the same. It is about.

  It has been pointed out that the construction infrastructure (hereinafter referred to as “construction infrastructure”) that has been intensively developed during the period of high economic growth has already undergone considerable deterioration. In 2014, the “Proposal for Full-scale Implementation of Road Aging Measures (Social Capital Development Council)” was compiled, giving examples of the Choshi Tunnel in 2012, “In the near future, human life and society such as the collapse of bridges, etc.” It will lead to a fatal situation related to the equipment, "he urged and emphasized the importance of maintaining construction infrastructure.

  Against this backdrop, the government promulgated a ministerial ordinance to revise a part of the Road Law Enforcement Regulations, and showed a specific method for inspecting construction infrastructure, points of major deformations, pictures of judgment cases, etc. The inspection procedure is formulated. This periodic inspection procedure covers bridges with a length of 2.0 m or more, which is said to be about 700,000 bridges. The first inspection is performed within 2 years after the start of service, and then the periodic inspection is performed once every 5 years thereafter. I am going to do that.

  In the construction infrastructure inspection, damaged parts such as concrete cracks are detected, and the results are recorded for later confirmation. For example, when detecting cracks in a concrete floor slab of a bridge, it is necessary to record not only detailed information such as the degree of cracking (length, width, etc.) but also where the cracks are occurring. In the conventional inspection, cracks are visually detected, and the positions of the cracks are sometimes written on the structure drawings prepared in advance.

  However, it is not so easy to visually inspect the bridge deck (especially the lower surface). Normally, scaffolds are assembled to get close to the bridge, but if the girder height is extremely high, a considerable scale of scaffolding is required. In the case of an overpass or overpass, a scaffold is assembled on a road or track, and in some cases, it is not possible to actually build a scaffold. Also, it is not easy to write the crack position on the scaffold on the drawing. The work of comparing the position on the scaffold with the drawing at the site is more difficult than expected, and the drawing itself becomes large on long bridges, etc., so it is quite complicated to bring it into the site or to expand it and fill it in. It becomes work.

  Therefore, in recent years, inspection work using images has also been performed. Since the damaged part can be confirmed from the acquired image, the damage can be detected without being restricted in place and time, and the person other than the inspector can also judge the damage more objectively. Furthermore, if an image is acquired in an appropriate photographing range, a damage position such as a crack can be recorded, so that the trouble of preparing the drawing and the trouble of filling in the drawing at the site can be saved. For example, Patent Document 1 proposes a method of inspecting using a carriage moving on a bridge surface and an arm attached to the carriage. The tip of the arm is arranged on the lower surface of the bridge and connected to the tip of the arm. Proposed a technique in which a flying object photographs the underside of a bridge with a camera.

Japanese Patent Laid-Open No. 2006-79684

  In addition to the case where the image is taken close to the lower surface of the bridge as in Patent Document 1, it is not necessary to assemble the scaffold in the inspection work using the image including the case where the image is taken with the telephoto lens from below, and the damaged part is This is very suitable in that it saves the trouble of drawing on the site. However, in order to detect damage such as cracks from an image, an image having a considerable resolution must be acquired. However, it is not easy to check the resolution on the spot when the image is acquired, and if the resolution of the image confirmed at a later date is not sufficient, it will result in going to the site again and acquiring an image with an appropriate resolution. .

  In addition, in order to record the arrangement of cracks and the like, it is necessary to obtain an image (so-called panoramic view) of the entire inspection object (for example, bridge floor slab). Is also limited. Therefore, it is conceivable to obtain an entire image by dividing the entire inspection object into several regions, acquiring images, and connecting the images. However, in this case, it is not easy to determine which range should be shot. It is not realistic to mark the inspection target with spray etc., and it will be taken after determining the range by the photographer's calculation, but the image confirmed at a later date does not cover the entire inspection target (that is, missing) There is a result of going to the site again and acquiring images.

  The problem of the present invention is to solve the problems of the prior art, that is, to acquire an appropriate resolution image, and to acquire an image by dividing the entire inspection object into appropriate areas. An object of the present invention is to provide a photographing support apparatus capable of specifying a range and a photographing method using the same.

  The present invention is based on an unprecedented idea of obtaining a shooting range based on image conditions (the number of pixels of the image acquisition means, required resolution, etc.) and showing the shooting range by irradiating a visible light laser. It is an invention made based on this.

  The imaging support apparatus of the present invention is an apparatus that indicates a range to be imaged of a subject (a planar object), and includes a positioning unit, a plane calculation unit, an imaging range calculation unit, an irradiation point setting unit, and a laser irradiation unit. It is provided. Of these, the positioning means is means for measuring the coordinates of the points on the object, and the plane calculation means is for calculating the plane (surface equation) of the object based on the coordinates of three or more points measured by the positioning means. The imaging range calculation unit is a unit that calculates the imaging range based on the number of pixels of the image acquisition unit used for imaging and the required resolution. The irradiation point setting means is a means for placing an imaging range on the plane of the object and setting the irradiation points in the vicinity of the four corners within the imaging range. And a laser irradiation means is a means to irradiate a visible light laser with respect to four irradiation points.

  The photographing support apparatus according to the present invention may further include photographing range assigning means. This shooting range allocating means is a means for arranging shooting ranges at a plurality of locations so as to cover a plane range (range of an object), and based on the overlapping degree (preset) of adjacent images, adjacent shooting ranges are arranged. The shooting range is arranged so that the images partially overlap. In this case, the laser irradiation unit irradiates the visible light laser for each imaging range arranged by the imaging range allocating unit.

  The photographing support apparatus according to the present invention may further include plane range calculation means. The plane range calculation means obtains the boundary of the plane range based on the coordinates of the point on the object measured by the positioning means, the coordinates outside the object, and the plane of the object (surface equation). Is a means for calculating a plane range based on In this case, the shooting range allocating unit arranges the shooting range with respect to the plane range calculated by the plane range calculating unit.

  The photographing method of the present invention is a method of photographing after showing a range to be photographed in a subject (planar object), a positioning step, a plane calculating step, a photographing range calculating step, an irradiation point setting step, This method includes a laser irradiation process and an image acquisition process. Among these, in the positioning step, the coordinates of three or more points on the object are measured, and in the plane calculation step, the plane (surface equation) of the object is calculated based on the coordinates of the three or more points measured in the positioning step. In the shooting range calculation step, the shooting range is calculated based on the number of pixels of the image acquisition means used for shooting and the required resolution. In the irradiation point setting step, an imaging range is arranged on the plane of the object, and irradiation points are set in the vicinity of the four corners within the imaging range, and in the laser irradiation step, visible to the four irradiation points. In the image acquisition step, an image of the object is acquired by the image acquisition means so as to include the visible light laser irradiated to the object. In this case, it is possible to create an orthographic projection image by correcting the image of the object using the coordinates of the irradiation point set in the irradiation point setting step, or in addition to (or instead of) creating the orthographic projection image. It is also possible to create a combined image by combining adjacent images.

The photographing support apparatus and the photographing method of the present invention have the following effects.
(1) Since the range to be photographed is indicated by the visible light laser, an image can be acquired without hesitation.
(2) Since it is possible to reliably acquire an image with the required resolution, it is possible to avoid rework such as re-shooting at the site and to check for cracks in the target dimensions using the image. .
(3) Since a plane range (range of an object) can be grasped, and a photographing range (range of one image) can be appropriately allocated so as to cover the range, a relatively large object Even so, the entire image can be acquired without any hesitation.

The longitudinal cross-sectional view which shows a road bridge. The top view which shows the floor slab of 1 diameter which looked from the lower part, and shows the floor slab lower surface equivalent to one panel. The partial top view which shows one panel. The flowchart which shows the main process of the imaging | photography assistance apparatus of this invention, and the imaging | photography method, and the flow of a process. The block diagram which shows the main structures of the imaging | photography assistance apparatus of this invention. (A) is a step diagram illustrating a situation in which the coordinates of a point on the floor slab surface are obtained by laser measurement, (b) a step diagram illustrating a situation in which the irradiation unit irradiates a visible light laser according to the control of the control unit, and (c). FIG. 4 is a step diagram illustrating a situation where an image is acquired so as to include four visible laser pointers, and FIG. 4D is a step diagram illustrating a situation where a visible light laser is irradiated to the next individual imaging range. (A) is a step diagram showing a situation where positioning is performed stepwise so as to cross the boundary substantially vertically, and (b) is a step diagram showing a situation where positioning is performed stepwise so as to cross the boundary obliquely. (A) is a model diagram showing an individual shooting range in which the target range is divided and assigned to four regions, and (b) is a model diagram showing an individual shooting range in which the target range is assigned by dividing nine regions. (A) is a model diagram showing four visible light laser pointers irradiated on the first individual imaging range, (b) is a model diagram showing four visible light laser pointers irradiated on the second individual imaging range, (C) is a model figure which shows four visible light laser pointers irradiated to the 3rd separate imaging | photography range, (d) is a model figure which shows four visible light laser pointers irradiated to the 41st separate imaging | photography range. The side view which shows the laser irradiation means to irradiate visible light. (A) is a side view which shows the situation where the laser irradiation body which irradiates visible light laser changes the irradiation direction, (b) is a top view which shows the situation where a laser irradiation body changes the irradiation direction. The model figure which shows the visible light laser pointer with which 1 individual imaging range was set with respect to the object range, and was irradiated with respect to this individual imaging range.

  An example of an embodiment of a photographing support device and a photographing method of the present invention will be described with reference to the drawings. The photographing support apparatus and the photographing method of the present invention can be any object (hereinafter referred to as “object”) as long as it is planar, but here, for convenience, the road shown in FIG. An example of a bridge inspection will be described in which the lower surface of the concrete floor slab of the bridge (hereinafter simply referred to as the “lower surface of the slab”) is the target, and the cracks that have occurred on the lower surface of the floor slab are grasped. The “plane” is a plane expressed by a plane equation in a three-dimensional space (XYZ space), and the “planar” here is expressed by a plane equation. It refers to a state that can be regarded as a flat surface as a whole, such as being partially uneven, not limited to a complete flat surface. Therefore, a “planar object” has a plane that can be regarded as a complete plane or a substantially plane, and these can take any posture, not limited to a horizontal plane or a vertical plane.

  When inspecting the cracks on the bottom of the floor slab, the entire floor slab is divided into multiple panels in advance. In other words, the panel is one unit of the inspection range, and is set by dividing the bridge axis direction by a horizontal beam or a diagonal structure, and dividing the direction perpendicular to the bridge axis by a main beam. For example, in FIG. 2, the panel PN is set by dividing the bridge axis direction by one diameter and dividing the direction perpendicular to the bridge axis by main digits.

  FIG. 3 is a partial plan view showing one panel PN. As shown in this figure, it is not unusual for the concrete floor slabs of road bridges that have been in service for a long time (especially RC slabs), and the cracks are gradually expanding. Not a few. If we can grasp the occurrence and extension of cracks and the position (distribution) of cracks, we can take appropriate measures at the right time, and as a result we can prevent unexpected accidents. Therefore, it is possible to extend the life of the bridge.

  As described above, it is possible to detect damage more objectively because it is possible to detect damage without limiting the place and time, and it is possible to make a judgment other than the checker by using the inspection work based on the image. However, the range of images that can be acquired by one shooting (hereinafter referred to as “shooting range”) is limited in view of its resolution. For example, to obtain an image of one panel PN, the panel PN range is divided. In some cases, it is necessary to shoot multiple times. Further, since it is difficult to grasp the state of the entire panel PN with individual images obtained by photographing the divided areas, usually one image obtained by combining the individual images (hereinafter referred to as “combined image”). ) Is created, but it is difficult to combine these images if two adjacent (adjacent) images do not overlap (wrap) to a large extent. However, it is not easy to determine how to divide the lower surface of the floor slab, which is the object, and what range to shoot by the photographer's calculation, and it is extremely difficult to shoot with moderate overlap. Have difficulty. Therefore, the present invention is characterized by irradiating a visible light laser to guide which range should be imaged.

  Hereinafter, the photographing support apparatus and the photographing method of the present invention will be described in detail with reference to FIGS. 4 and 5. FIG. 4 is a flowchart showing the main processing and process flow of the photographing support apparatus and photographing method of the present invention, showing the processing and steps to be performed in the center column, and the left column showing the processing and steps. Necessary input information is shown in the right column, and output information generated from the processing or process is shown in the right column. FIG. 5 is a block diagram showing the main configuration of the photographing support apparatus of the present invention.

(Calculation of the plane of the object)
First, a three-dimensional coordinate is acquired about the arbitrary measurement points located in the floor slab lower surface which is a target object (that is, on the floor slab lower surface) (Step 10). At this time, as described later, in order to obtain a plane (surface equation) of the floor slab lower surface, coordinates are acquired for three or more measurement points. In acquiring the coordinates of the measurement point, a conventionally used laser measurement technique can be used. Laser measurement is performed by receiving a reflection signal of a laser irradiated to a measurement point, and if the coordinates (X, Y, Z) of the irradiation start point and the irradiation posture (ω, φ, κ) are known. The three-dimensional coordinates of the measurement point can be obtained from the time difference between the irradiation time and the reception time. FIG. 6 is a step diagram for explaining the photographing method of the present invention. Among them, (a) shows a situation in which the coordinates of measurement points (four points in this figure) on the floor slab surface are acquired by laser measurement. Yes. The laser measuring means (positioning means 101) used here can also be used as a laser irradiating means to be described later as irradiating a visible light laser as shown in FIG. 6, or is prepared separately from the laser irradiating means. You can also. The coordinates acquired by the positioning means 101 are stored in the coordinate storage means 102 as shown in FIG.

When the coordinates of three or more measurement points can be acquired, an equation of the surface of the floor slab lower surface (object) is calculated (Step 20). The equation of this surface can be obtained by the following equation using coefficients a, b, and c.
a.X + b.Y + c.Z + 1 = 0
The equation of the surface calculated by the plane calculation unit 103 is stored in the plane storage unit 104 as shown in FIG. Hereinafter, the shape represented by the equation of the surface is simply referred to as “plane” for convenience.

(Calculation of target range)
The plane obtained in Step 20 is an area that extends infinitely in a three-dimensional space, but the actual shooting range is the range of the floor slab lower surface (object), that is, a finite plane range. Therefore, the range of the floor slab lower surface of the plane calculated in Step 20, in other words, the range to be photographed is calculated as the “target range”. In the case of bridge inspection, the range of the combined image to be acquired (that is, the panel PN) can be set as the target range, or the entire lower surface of the floor slab can be set as the target range.

  In order to calculate the target range, the coordinates around the outer edge (boundary) of the floor slab lower surface are acquired (Step 30), and the boundary formula (straight line expressed in the three-dimensional space) is obtained based on the boundary peripheral coordinates obtained thereby. (Hereinafter referred to as “boundary line”). Hereinafter, a procedure for calculating the boundary line and the target range will be described in detail.

  FIG. 7 is a step diagram showing the situation of positioning around the boundary of the floor slab lower surface in order to calculate the boundary line, (a) shows the situation of positioning stepwise so as to cross the boundary substantially vertically, (B) shows a situation where positioning is performed step by step so as to cross the boundary obliquely. As shown in this figure, the laser irradiation point (hereinafter referred to as “laser pointer”) irradiated to the lower surface of the floor slab by the laser measuring means (positioning means 101) is gradually moved in the boundary direction. Get the coordinates of the laser pointer. The movement of the laser pointer in the boundary direction may be substantially perpendicular (including vertical) to the boundary as shown in FIG. 7 (a), or may be oblique to the boundary as shown in FIG. 7 (b). Also good. Note that it is preferable that the laser measuring means irradiates and measures a visible light laser because the movement of the laser pointer in the boundary direction can be confirmed with the naked eye. The coordinates of the laser pointer acquired by the positioning unit 101 are stored in the coordinate storage unit 102.

  While the laser pointer moves on the floor slab lower surface, the acquired coordinates are on the floor slab lower surface (surface equation), or the distance from the floor slab lower surface is sufficiently small (for example, in advance It will be below the set threshold). On the other hand, when the laser pointer is removed from the bottom surface of the floor slab, the coordinates are acquired at a position far away from the plane of the bottom surface of the floor slab or displayed as an error. In other words, depending on the positioning result, it is a laser point on the lower surface of the slab (hereinafter referred to as “in-plane laser point”), or a laser point that has deviated from the lower surface of the floor slab (hereinafter referred to as “out-of-plane laser point”). .)) Or any one of them. Furthermore, the last in-plane laser point obtained in one side line is the in-plane laser point closest to the boundary (hereinafter referred to as “in-plane laser point”), and the first out-of-plane laser point obtained is the most boundary. It can be seen that this is a near out-of-plane laser point (hereinafter referred to as “out-of-boundary laser point”).

  Also, if the amount of movement of the laser pointer on the plane of the floor slab is known, the coordinates on the plane assuming that the out-of-boundary laser point is on the plane (hereinafter referred to as “coordinate of the out-of-boundary laser point”) )), And the coordinates on the boundary line are calculated based on the coordinates of the laser point outside the boundary surface and the coordinates of the laser point inside the boundary surface (hereinafter collectively referred to as “coordinates around the boundary”). be able to.

  Then, while changing various movement paths (side lines) of the laser pointer, the boundary peripheral coordinates are acquired and the coordinates on the boundary lines are calculated. If coordinates on a plurality of boundary lines are obtained, the boundary line (straight line equation) can be calculated, and if a boundary line around the floor slab lower surface is obtained, the target range can be calculated (Step 50). It is. As shown in FIG. 5, the boundary line is calculated by the boundary line calculation unit 105, the target range is calculated by the target range calculation unit 106, and the target range calculated here is stored in the target range storage unit 107. If the target range is known in advance, it is needless to say that the measurement around the boundary (Step 30) to the calculation of the target range (Step 50) described so far can be omitted. Therefore, the boundary line calculation unit 105 and the target range are omitted. The calculation means 106 and the target range storage means 107 can also be omitted.

(Calculation of shooting range)
As described above, the present invention is characterized by irradiating a visible light laser in order to guide a range to be photographed. Therefore, the size of the subject to be actually photographed (hereinafter referred to as “imaging range”) is calculated based on the cameras and video cameras to be used (hereinafter collectively referred to as “image acquisition means 108”). (Step 60). This photographing range is determined by the number of pixels of the image acquisition means 108 to be used and the required resolution. Hereinafter, a method for calculating the imaging range will be described in detail.

  “Resolution”, which is one of the given conditions for calculating the photographing range (hereinafter referred to as “image conditions”), can be said to be the minimum dimension to be read from the acquired image. For example, in the case of a bridge inspection, it may be specified in advance to what extent the crack width should be confirmed when grasping the crack generated on the bottom surface of the floor slab. The minimum crack width specified here is the resolution. Another image condition “number of pixels” is determined by the image acquisition means 108 to be used, and is usually represented by “the number of vertical pixels × the number of horizontal pixels”.

  When the required resolution is determined and the number of pixels of the image acquisition means 108 to be used can be grasped, the imaging range is calculated by the following procedure. That is, the actual size corresponding to one pixel (one pixel) is obtained based on the given resolution, and the vertical size (for vertical pixels) and the horizontal size (for horizontal pixels) of the image are obtained from the actual size. This is the shooting range. For example, when it is desired to detect a crack width of 0.2 mm (resolution) from an image using the image acquisition means 108 having the number of pixels of 5688 × 5792 (number of pixels), the actual size corresponding to one pixel is 0.2 mm × 0.2 mm or less. Thus, the vertical dimension of the shooting range is 0.2 mm × 5688 = 1137.6 mm or less, and the horizontal dimension of the shooting range is 0.2 mm × 5792 = 1158.4 mm or less, that is, the shooting range is 1137.6 mm × 1158.4 mm or less. Become. In this case, the shooting range may be set to 1137.6 mm × 1158.4 mm as it is, or the shooting range may be obtained by multiplying the vertical and horizontal dimensions by a coefficient less than 1. As shown in FIG. 5, the image condition is input by the image condition input unit 109, the shooting range is calculated by the shooting range calculation unit 110, and the calculated shooting range is stored in the shooting range storage unit 111.

(Arrangement of shooting range)
When the target range and the shooting range are obtained, the shooting range is assigned to an appropriate arrangement with respect to the target range (Step 70). Depending on the required resolution, the shooting range may be smaller than the target range. Therefore, in order to acquire an image of the entire target range, the target range may be divided and multiple shots may be required. Therefore, the shooting range is assigned to an appropriate arrangement with respect to the target range. As described above, when a combined image is created from a plurality of images, it is necessary to overlap (wrap) two adjacent images to a considerable extent. Therefore, in order to assign a shooting range, it is necessary to give an overlapping degree of adjacent images (hereinafter simply referred to as “lapping rate”) as an image condition.

  By the way, the position of the target range can be specified by coordinates, but the size (vertical dimension × horizontal dimension) of the photographing range is simply specified, and the position is not specified by the coordinates. On the other hand, assigning a shooting range means that a plurality of shooting ranges are arranged so as to cover the target range, and the positions of the arranged shooting ranges are specified. Here, in order to distinguish each, the shooting range in which only the size is specified (that is, as a ruler) is called “reference shooting range”, and the shooting range after the position is specified is “individual shooting” Scope.

  As shown in FIG. 5, the shooting range allocating unit 112 includes a target range read from the target range storage unit 107, a reference shooting range read from the shooting range storage unit 111, and a lap rate (image) input by the image condition input unit 109. Based on one of the conditions, the target range is divided into a plurality of areas, and an individual photographing range is set for each of the divided areas. FIG. 8 is a model diagram showing a plurality of individual photographing ranges (ranges indicated by broken lines) assigned to the target range. (A) is a case where the target range is divided into four areas, and (b) is a nine target range. The case divided | segmented into the area | region is shown. As shown in this figure, the individual photographing ranges are arranged so as to cover the entire target range while ensuring the adjacent individual photographing ranges and the lap ratio (image condition). The individual shooting range set by the shooting range assigning unit 112 is stored in the shooting range arrangement storage unit 113 (FIG. 5). Note that if the reference shooting range is greater than or equal to the target range, the shooting range assignment unit 112 arranges only one individual shooting range so as to cover the target range.

(Setting of irradiation point and irradiation)
When the individual photographing ranges are arranged, an irradiation point is set for each individual photographing range (Step 80), and a visible light laser is irradiated toward the irradiation point (Step 90). Here, the “irradiation point” is a target point aimed at the visible light laser, and is therefore referred to as a “target irradiation point” for convenience. Furthermore, the visible light laser irradiated to the target irradiation point (or the vicinity thereof) is referred to as a “visible light laser pointer” here.

  The visible light laser pointer is for indicating an individual photographing range, and the photographer determines the photographing range by using the visible light laser pointer. In order to specify the individual photographing range, it is preferable to display the visible light laser pointer at a position within the individual photographing range and as close as possible to the four corners. Therefore, the target irradiation point is on the condition that it is on the plane of the floor slab lower surface (object), within the individual photographing range, and within a predetermined distance (circle of a predetermined radius) from the four corners. It is good to calculate. At this time, it is desirable to set the target irradiation points at four locations with reference to the four corners, but the target irradiation points may be set at three locations depending on the situation such as an obstacle. As shown in FIG. 5, the target irradiation point is set by the irradiation point setting unit 114, and the target irradiation point set here is stored in the irradiation point coordinate storage unit 115.

  A target irradiation point is set for each individual photographing range. When the target range is divided into four, target irradiation points are set for four individual shooting ranges, and when the target range is divided into nine, target irradiation points are set for nine individual shooting ranges. FIG. 9 shows a visible light laser pointer irradiated with a target irradiation point set in each individual shooting range in the case where the four individual shooting ranges shown in FIG. 8A are arranged. Is shown.

  When the target irradiation point is set for each individual photographing range, the laser irradiation means 117 irradiates the visible light laser under the control of the control means 116 (FIG. 5). As described above, it is desirable to set four target irradiation points for one individual imaging range. In this case, four visible light lasers are irradiated within one individual imaging range, and the photographer In order to show, it is necessary to irradiate four visible light lasers simultaneously. Therefore, the laser irradiation means 117 is provided with four laser irradiation bodies 117a as shown in FIG. 10, and has a function of changing the irradiation direction of each laser irradiation body 101 in order to aim at the target irradiation point. Is desirable.

  FIG. 11 is a model diagram showing a situation in which the laser irradiation body 117a changes the irradiation direction, (a) is a side view thereof, and (b) is a plan view thereof. For example, as shown in this figure, the laser irradiation body 117a can be tilted at an arbitrary angle (θ in the figure) from the basic axis (for example, the vertical axis), and the laser irradiation body 117a rotates around the basic axis in this state. If possible, the visible light laser can be irradiated in various directions while changing the direction of the laser irradiation body 117a.

  The control means 116 reads the target irradiation point for each individual imaging range from the irradiation point coordinate storage means 115, obtains the irradiation direction based on the irradiation starting point coordinates and the target irradiation point of each laser irradiation body 117a, and further each laser irradiation means 117a. Gives a command to the laser irradiation means 117 to irradiate in the respective irradiation directions. This control means 116 may be executed by a computer. In addition to the control unit 116, the plane calculation unit 103, the boundary line calculation unit 105, the target range calculation unit 106, the image condition input unit 109, the shooting range calculation unit 110, the shooting range assignment unit 112, and the irradiation point setting described so far. The means 114 may also be executed by a computer.

  FIG. 6B is a step diagram illustrating a situation where the irradiation unit 117 irradiates the visible light laser according to the control of the control unit 116. Further, as shown in FIG. 9, when the control unit 116 irradiates the first individual imaging range with the visible light laser, the control unit 116 next instructs the second individual imaging range to irradiate the visible light laser. A command is sequentially given to irradiate the visible light laser to the third to fourth individual photographing ranges. Note that the timing of switching the irradiation of the visible light laser to the individual imaging range can be triggered by a user operation, can be triggered by image acquisition by the image acquisition means 108, or automatically when a predetermined time elapses. It can also be a specification to switch to.

(Image acquisition)
When the visible light laser is irradiated to the individual photographing range and the visible light laser pointer is indicated at a predetermined position, an image is acquired so as to include all of these visible light laser pointers (basic four positions) (Step 100). FIG. 6C is a step diagram illustrating a situation where an image is acquired so as to include four visible light laser pointers. At this time, it is preferable to shoot so that each visible light laser pointer is positioned at the four corners of the image, in other words, the narrowest area including the visible light laser pointer is set as the shooting range. Therefore, a pointer area may be displayed on the display screen of the image acquisition unit 108. This pointer area is an area where the visible laser pointer should be located, and is a small area displayed near each corner of the display screen of the image acquisition means 108.

  If the image can be acquired so as to include the visible light laser pointer, the image acquisition means 108 can be held by hand, or can be installed on a tripod or a pan head. Further, as a method of adjusting to include the visible light laser pointer, the focal length is adjusted (in the case of a single focus lens, the lens is exchanged, and in the case of a zoom lens, the zoom operation is performed), or the image acquisition means 108 The position (distance to the object) and posture (angle) may be adjusted.

  When the image of the first individual photographing range can be acquired, as shown in FIG. 6D, the visible light laser is irradiated to the second individual photographing range, and the image of the second individual photographing range is obtained. This is repeated for the set individual photographing range (for example, four times in FIG. 9), and the series of processes is terminated. Of course, if the reference shooting range is larger than or equal to the target range, the shooting range allocating unit 112 arranges only one individual shooting range so as to cover the target range as shown in FIG. The visible light laser may be irradiated to one individual photographing range, an image of the individual photographing range may be acquired, and the process may be terminated. The image acquired by the image acquisition unit 108 is stored in the image storage unit 118 (FIG. 5). Note that four visible light laser pointers are stored in the acquired image, and these visible light laser pointers substantially coincide with (including coincidence with) the target irradiation point, that is, four points are included in the image. Of known three-dimensional coordinates. Therefore, by using these known coordinates, an orthographic projection image can be created by correcting the image, or a combined image can be created by combining adjacent images while ensuring a predetermined degree of overlap. .

  The photographing support apparatus and the photographing method of the present invention can be used for bridges for various purposes such as road bridges, railway bridges, pipeline bridges, and can be used for various construction infrastructures besides bridges. According to the invention of the present application, it is possible to grasp the deterioration status of the construction infrastructure in service, and repair and reinforcement measures according to the deterioration status are possible. It can be said that the invention can be expected to make a great contribution not only to society.

DESCRIPTION OF SYMBOLS 100 Shooting assistance apparatus of this invention 101 Positioning means 102 Coordinate storage means 103 Plane calculation means 104 Plane storage means 105 Boundary line calculation means 106 Target range calculation means 107 Target range storage means 108 Image acquisition means 109 Image condition input means 110 Imaging range calculation 110 Means 111 Imaging range storage means 112 Imaging range assignment means 113 Imaging range arrangement storage means 114 Irradiation point setting means 115 Irradiation point coordinate storage means 116 Control means 117 Laser irradiation means 117a Laser irradiation body 118 Image storage means PN panel

Claims (5)

Among the planar objects that are subjects, in the shooting support device showing the shooting range,
Positioning means for measuring the coordinates of a point on the object;
Plane calculation means for calculating the plane of the object based on the coordinates of three or more points measured by the positioning means;
A shooting range calculation unit that calculates a shooting range based on the number of pixels of the image acquisition unit used for shooting and the required resolution;
An irradiation point setting means for arranging the imaging range on the plane of the object, and setting irradiation points in the vicinity of the four corners within the imaging range;
Laser irradiation means for irradiating a visible light laser to the four irradiation points;
An imaging support apparatus comprising: An imaging range allocating unit that arranges the imaging ranges at a plurality of locations so as to cover the target range with respect to the target range that is the range of the target object,
The shooting range allocating unit arranges the shooting ranges so that adjacent shooting ranges partially overlap based on a preset degree of overlap of adjacent images,
The laser irradiation means irradiates a visible light laser for each of the shooting ranges arranged by the shooting range allocating means,
The imaging support apparatus according to claim 1, wherein: Based on the coordinates of the point on the object measured by the positioning means, the coordinates outside the object measured by the positioning means, and the plane of the object calculated by the plane calculating means. A target range calculating means for obtaining a boundary of the target range and calculating the target range based on the boundary;
The shooting range allocating unit arranges the shooting range with respect to the target range calculated by the target range calculating unit.
The imaging support apparatus according to claim 2, wherein: In a shooting method for shooting a specified range of a planar object that is a subject,
A positioning step of measuring coordinates of three or more points on the object;
A plane calculating step for calculating the plane of the object based on the coordinates of three or more points measured in the positioning step;
A shooting range calculation step of calculating a shooting range based on the number of pixels of the image acquisition means used for shooting and the required resolution;
An irradiation point setting step of arranging the imaging range on the plane of the object and setting irradiation points in the vicinity of the four corners within the imaging range;
A laser irradiation step of irradiating a visible light laser to the four irradiation points;
An image acquisition step of acquiring an image of the object by an image acquisition means so as to include the visible light laser irradiated to the object;
A photographing method characterized by comprising: Using the irradiation point set in the irradiation point setting step, correcting the image of the object to create an orthographic projection image, and / or combining adjacent images to create a combined image,
The imaging method according to claim 4, wherein:

Images