JP2019211487A - Measuring system - Google Patents

Abstract

To provide a measuring system capable of improving operability to a measuring machine, and a user interface device.SOLUTION: A measuring system of the present invention comprises: a measuring machine which measures a measuring object; a measuring machine control unit which controls the measuring machine on the basis of an instruction by a user; a three-dimensional sensor unit which detects a three-dimensional coordinate of a prescribed object in a real three-dimensional space; a command setting unit which sets button setting regions in the real three-dimensional space and association between the button setting regions and commands; a dynamic body detecting unit which detects a dynamic body from the three-dimensional coordinate detected by the three-dimensional sensor unit; and a command execution unit which executes the command associated with the button setting region when the three-dimensional coordinate of the dynamic body detected by the dynamic body detecting unit is positioned in the button setting region.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a measurement system and a user interface device with improved operability for a measuring machine.

  In a measuring machine that measures the size and three-dimensional position of a measurement object (work), a user performs an operation of specifying a measurement location of the work using a measurement head. Depending on the shape of the workpiece, the user may have to handle the measuring head in an unnatural posture. A computer is connected to the measuring machine, and various information such as workpiece information, measurement procedures, and measurement results are displayed on the display. However, if the work and the computer are separated from each other, it is impossible to efficiently perform both measurement work and display reference.

  In the position measurement apparatus described in Patent Document 1, a design model read into CAD software running on a computer is displayed on a computer display. Data obtained by the measurement is displayed on the design model of the display.

  In addition, the coordinate measuring machine described in Patent Document 2 includes a device including an image projector, and projects visual guidance information and measurement results onto a component from the image projector. Patent Documents 3 to 6 disclose measurement systems and user interface devices that use a virtual reality space.

Special table 2011-519419 gazette Special table 2013-517500 gazette Japanese Patent Laid-Open No. 06-241754 Special table 2011-521318 gazette Japanese National Patent Publication No. 11-513157 Special table 2009-521985

  However, none of the techniques can be said to be a system that fully considers user convenience. For example, when a workpiece is measured, both hands of the user are often closed, and it is difficult to control the measuring machine while performing the measurement work. In addition, depending on the work, the user may move to a place suitable for measurement and perform work. When the user leaves the control device (computer) of the measuring machine, it becomes more difficult to control the measuring machine while performing the measurement work.

  The objective of this invention is providing the measurement system and user interface apparatus which can improve the operativity with respect to a measuring machine.

  In order to solve the above problems, a measurement system according to the present invention includes a measuring instrument that measures a measuring object, a measuring instrument controller that controls the measuring instrument based on an instruction from a user, and a predetermined object in a real three-dimensional space. A three-dimensional sensor unit that detects a three-dimensional coordinate, a button setting region in a real three-dimensional space, a command setting unit that sets a correspondence between the button setting region and a command, and a three-dimensional coordinate detected by the three-dimensional sensor unit And a command execution unit that executes a command associated with the button setting area when the three-dimensional coordinates of the moving object detected by the moving object detection unit are located in the button setting area. It is characterized by that.

  According to such a configuration, the command setting unit sets a desired position in the actual three-dimensional space as an area that functions as a button. Further, a moving object (moving object) such as a user is detected by detecting the moving object by the moving object detection unit. Accordingly, it is possible to detect that a button setting area in the actual three-dimensional space has been selected from the motion of the moving object, and to execute a command associated with the button setting area.

  In the measurement system of the present invention, the measuring instrument has a measurement head that acquires the three-dimensional coordinates of the measurement object, and a video output unit that is provided in the measurement head and projects an image. The video output unit is a command setting unit. An image of the button setting area set in step S1 may be output. With such a configuration, it is possible to project an image of the button setting area output by the video output unit.

  In the measurement system of the present invention, the moving object detection unit may detect the operation of the measurement head, and the command execution unit may execute a command according to the three-dimensional coordinates of the measurement head detected by the moving object detection unit. With such a configuration, it is possible to detect that the button setting area has been selected from the operation of the measuring head and to execute a command associated with the button setting area.

  In the measurement system of the present invention, the moving object detection unit detects at least one of the user's hand and foot, and the command execution unit detects at least one of the user's hand and foot detected by the moving object detection unit. The command may be executed according to the coordinates. With such a configuration, it is possible to detect that a button setting area has been selected from the movement of the user's hand or foot, and to execute a command associated with the button setting area.

  In the measurement system of the present invention, the command execution unit executes the first command when the three-dimensional coordinates of the moving object detected by the moving object detection unit remain within the button setting area for a certain period of time, and the three-dimensional coordinates of the moving object May move along the button setting area, the second command may be executed. With such a configuration, commands can be switched according to the type of motion of the moving object.

  In the measurement system of the present invention, a 3D imaging unit that acquires a 3D image in a real 3D space, a display unit that displays the 3D image acquired by the 3D imaging unit, a 3D image in the real 3D space, A display control unit that synthesizes an image corresponding to the button setting area and displays the image on the display unit may be further provided. With such a configuration, it is possible to perform display in which the image of the button setting area is combined with the 3D video displayed in the actual 3D space.

  In the measurement system of the present invention, the command execution unit may select and execute one of a plurality of commands according to the shape of the user's hand detected by the moving object detection unit. With such a configuration, display / non-display of the button setting area can be switched according to the shape of the user's hand, and a command corresponding to the button setting area can be executed.

  The measurement system of the present invention detects a measurement object that measures a measurement object, a measurement instrument controller that controls the measurement instrument based on an instruction from a user, and three-dimensional coordinates of a predetermined object in a real three-dimensional space. Displayed on the three-dimensional sensor unit, the moving object detection unit that detects the user's movement from the three-dimensional coordinates detected by the three-dimensional sensor unit, the display unit that displays the image of the measuring instrument in the virtual three-dimensional space, and the display unit And a display control unit that moves the display position of the image of the measuring machine in the virtual three-dimensional space in accordance with the user's operation detected by the moving object detection unit.

  According to such a configuration, the image of the measuring device is displayed in the virtual three-dimensional space. In addition, the motion of the user can be detected by the motion detector, and the image of the measuring machine in the virtual three-dimensional space can be moved in accordance with the motion of the user.

  The measurement system of the present invention may further include a measurement operation storage unit that records the measurement operation along the display position of the image of the measuring machine moved by the user in the virtual three-dimensional space displayed on the display unit. . With such a configuration, the measurement operation can be recorded by moving the image of the measuring machine in the virtual three-dimensional space.

  In the measurement system of the present invention, the measurement instrument control unit may control the measurement instrument based on the measurement operation stored in the measurement operation storage unit. With such a configuration, it is possible to perform measurement with an actual measuring device based on the measurement operation recorded by moving the image of the measuring device within the virtual three-dimensional space.

  The measurement system of the present invention further includes an image storage unit that stores a CAD (Computer Aided Design) image of the measuring machine, and the display unit displays the CAD image stored in the image storage unit in a virtual three-dimensional space. It may be. With such a configuration, a CAD image of the measuring instrument can be displayed in the virtual three-dimensional space.

  The measurement system of the present invention further includes an imaging unit that acquires an image of the measuring machine in the real three-dimensional space, and the display control unit displays the video of the measuring machine acquired by the imaging unit in the virtual three-dimensional space of the display unit. You may make it make it. With such a configuration, an image of an actual measuring machine can be displayed in the virtual three-dimensional space.

  In the measurement system of the present invention, the display control unit may move the image of the measuring instrument displayed in the virtual three-dimensional space of the display unit in accordance with a preset measurement operation. With such a configuration, it is possible to confirm the measurement operation of the measuring device set in advance in the virtual three-dimensional space.

  In the measurement system of the present invention, the display control unit may synthesize the image of the measurement object and the measurement result and display them in the virtual three-dimensional space of the display unit. With such a configuration, the measurement result of the measurement object can be synthesized and referred to the image of the measurement object in the virtual three-dimensional space.

  The measurement system of the present invention further includes a remote control unit connected to the measurement device control unit via a network, and the remote control unit performs a measurement operation designated by the user in a virtual three-dimensional space displayed on the display unit. The command may be transmitted to the measuring instrument controller via the network. With such a configuration, it is possible to refer to the measurement operation designated by the user in the virtual three-dimensional space at a position (remote location) away from the measuring device. Further, a command can be transmitted from a remote place to the measuring instrument via the network.

  The measurement system of the present invention includes a measuring instrument that measures a measurement object, a measuring instrument controller that controls the measuring instrument based on an instruction from a user, an imaging unit that acquires an image of the measuring instrument in a real three-dimensional space, and a measurement An image storage unit for storing an image related to the machine, a display unit for displaying in a real three-dimensional space, a video of a measuring machine acquired by the imaging unit, and an image stored in the image storage unit in the real three-dimensional space And a display control unit that synthesizes and displays on the display unit. According to such a configuration, an image of an actual measuring instrument and an image such as a graphic can be combined and displayed in an actual three-dimensional space.

  In the measurement system of the present invention, the display control unit may synthesize an image representing a predetermined measurement procedure with the video of the measuring instrument acquired by the imaging unit. With such a configuration, an actual video of the measuring instrument and an image of the measuring instrument such as a graphic representing a predetermined measurement procedure can be synthesized and displayed in the three-dimensional space.

  In the measurement system of the present invention, the display control unit may synthesize an image corresponding to a predetermined abnormality with the video of the measuring machine acquired by the imaging unit. With such a configuration, an actual image of the measuring instrument and an image of the measuring instrument such as a graphic corresponding to a predetermined abnormality can be synthesized and displayed in the three-dimensional space.

  In the measurement system of the present invention, the display control unit may synthesize an image corresponding to the predetermined guidance with the video of the measuring machine acquired by the imaging unit. With such a configuration, it is possible to synthesize and display an actual image of the measuring instrument and an image of the measuring instrument such as a graphic corresponding to a predetermined guidance in the three-dimensional space.

  A measurement system according to the present invention is a measurement system including a user-side control device connected to a measuring instrument that measures a measurement object, and a supporter-side control device connected to the user-side control device via a network. is there.

  A user-side control device in this measurement system includes a measuring machine control unit that controls a measuring machine based on an instruction from a user, and a first three-dimensional sensor unit that detects the three-dimensional coordinates of a predetermined object in a real three-dimensional space. A first moving object detection unit that detects a moving object from the three-dimensional coordinates detected by the first three-dimensional sensor unit, a three-dimensional imaging unit that acquires a three-dimensional image in a real three-dimensional space, and a three-dimensional imaging unit A first display unit that displays the acquired three-dimensional video, and a first display control unit that combines the three-dimensional video and the image sent from the supporter-side control device and causes the first display unit to display the first display control unit.

  The supporter-side control device in this measurement system supports from the second three-dimensional sensor unit that detects the three-dimensional coordinates of the supporter in the actual three-dimensional space and the three-dimensional coordinates detected by the second three-dimensional sensor unit. A second moving object detection unit for detecting a person's movement, a second display unit for displaying an image based on the three-dimensional image acquired by the three-dimensional imaging unit in a virtual three-dimensional space, and three-dimensional coordinates of the virtual three-dimensional space A second display control unit that displays an image sent from the user-side control device on the second display unit, and an image related to the supporter's operation detected by the second moving body detection unit via the network. And an operation information transmission unit to be sent to.

  According to such a configuration, the user side where the measuring device is installed and the supporter side of the measuring device are connected to each other via a network. On the user side, it is possible to refer to the synthesis of the video of the measuring instrument displayed on the first display unit and the image sent from the supporter side. The supporter can refer to the synthesis of the image of the measuring instrument such as a graphic and the image sent from the user in the virtual three-dimensional space displayed on the second display unit.

  In the measurement system of the present invention, the first display control unit causes the first display unit to display a supporter side image corresponding to the supporter based on the image sent from the supporter side control device, and the second display control unit The user-side image corresponding to the user may be displayed on the second display unit based on the image sent from the user-side control device. With such a configuration, the user side can refer to the supporter side image sent from the supporter side on the first display unit, and the supporter side can refer to the user side image sent from the user side on the second display unit. can do.

  The measurement system of the present invention includes a measuring device that measures a measurement object, a measurement result storage unit that stores a measurement result by the measurement device, an imaging unit that acquires an image of the measurement object, and an image acquired by the imaging unit. A feature point extracting unit that extracts feature points, a display unit that displays an image of a measurement object obtained from a video acquired by an imaging unit or a feature point extracted by a feature extracting unit, and a feature point extracted by a feature point extracting unit The measurement result reading unit that reads out the measurement result corresponding to the predetermined position of the measurement object based on the measurement result storage unit, and the measurement result read out by the measurement result reading unit is combined with the video or image of the measurement object and displayed. And a display control unit to be displayed on the unit.

  According to such a configuration, the feature point of the measurement object is extracted by projecting the image of the measurement object, and the measurement result corresponding to the predetermined position of the measurement object is obtained based on the feature point. Can be combined with the video or image.

  In the measurement system of the present invention, the display control unit may combine the measurement result with the video or the image corresponding to the imaging angle of the video of the measurement object acquired by the imaging unit. According to such a configuration, the measurement result of the measurement object can be displayed by photographing at a desired angle.

  The measurement system of the present invention includes a measuring instrument that measures a measurement object, a measurement result storage unit that stores a measurement result by the measuring instrument, an imaging unit that acquires a marker image, and a marker image acquired by the imaging unit. A marker recognition unit for recognizing a marker, a measurement result reading unit for reading a measurement result corresponding to the marker recognized by the marker recognition unit from a measurement result storage unit, and reading a measurement result while acquiring an image of the marker in the imaging unit And a display control unit for displaying the measurement result read by the unit on the display unit.

  According to such a configuration, by acquiring the marker image, the measurement result corresponding to the marker is read, and the measurement result can be displayed on the display unit while the marker image is captured. .

  In the measurement system of the present invention, the imaging unit acquires a background image with a marker, and the display control unit combines the measurement result corresponding to the marker with the background image and causes the display unit to display the combined result. Also good. With such a configuration, the measurement result can be combined with the background image and displayed on the display unit.

  A user interface device according to the present invention includes a three-dimensional sensor unit that detects three-dimensional coordinates of a predetermined object in a real three-dimensional space, a button setting region in the real three-dimensional space, and a correspondence between the button setting region and a command. A command setting unit for setting a moving object, a moving object detection unit for detecting a moving object from the three-dimensional coordinates detected by the three-dimensional sensor unit, and a button when the three-dimensional coordinates of the moving object detected by the moving object detection unit are located in the button setting area A command execution unit that executes a command associated with the setting area, a 3D image acquisition unit that acquires a 3D image in a real 3D space, a display unit that displays the 3D image acquired by the 3D image acquisition unit, A display control unit that synthesizes a 3D image and an image corresponding to the button setting area and displays the combined image on the display unit, and the command execution unit is shaped into the shape of the user's hand detected by the moving object detection unit. Flip and wherein the selecting and executing one of a plurality of commands.

  According to such a configuration, display / non-display of the button setting area can be switched according to the shape of the user's hand, and a command corresponding to the button setting area can be executed.

  The user interface device according to the present invention includes an imaging unit that acquires an image of a measurement target, a feature point extraction unit that extracts a feature point from the video acquired by the imaging unit, and an image or feature extraction unit acquired by the imaging unit. A display unit for displaying an image of the measurement object obtained from the feature points obtained, and a dimension acquisition unit for obtaining information of dimensions corresponding to a predetermined position of the measurement object based on the feature points extracted by the feature point extraction unit; And a display control unit that synthesizes the dimension information acquired by the dimension acquisition unit with an image or an image of the measurement object and displays it on the display unit.

  According to such a configuration, the feature point of the measurement object is extracted by projecting the image of the measurement object, and the measurement result corresponding to the predetermined position of the measurement object is obtained based on the feature point. Can be combined with the video or image.

  The user interface device according to the present invention corresponds to an imaging unit that acquires a background image with a marker, a marker recognition unit that recognizes a marker from a marker image acquired by the imaging unit, and a marker that is recognized by the marker recognition unit A measurement result acquisition unit for acquiring measurement results and a display control unit for synthesizing the measurement results acquired by the measurement result acquisition unit with the background video and displaying them on the display unit while the imaging unit acquires the marker video And.

  According to such a configuration, by acquiring the marker image, the measurement result corresponding to the marker is read, and the measurement result can be displayed on the display unit while the marker image is captured. .

(A) And (b) is a lineblock diagram illustrating the measurement system concerning a 1st embodiment. It is a schematic diagram which shows an operation example. (A) And (b) is a schematic diagram illustrated about a button setting area | region. It is a schematic diagram which illustrates about another button setting area | region. It is a schematic diagram which illustrates about another button setting area | region. It is a block diagram which illustrates the measurement system which concerns on 2nd Embodiment. It is a perspective view which illustrates a head mount display. It is a schematic diagram which shows an operation example. It is a schematic diagram which shows an operation example. It is a schematic diagram which shows an operation example. It is a schematic diagram which shows an operation example. (A) And (b) is a block diagram which illustrates the measurement system which concerns on 3rd Embodiment. It is a schematic diagram which shows an operation example. It is a schematic diagram which shows an operation example. It is a schematic diagram which shows an operation example. It is a schematic diagram which shows an operation example. It is a schematic diagram which shows an operation example. It is a block diagram which illustrates the measurement system which concerns on 4th Embodiment. It is a schematic diagram which shows an operation example. It is a schematic diagram which shows an operation example. It is a schematic diagram which shows an operation example. It is a schematic diagram which shows an operation example. It is a schematic diagram which shows an operation example. It is a flowchart which illustrates operation | movement of a helper display. It is a schematic diagram which shows the example of a display of a helper. It is a schematic diagram which shows the example of a display of a helper. It is a schematic diagram which shows the example of a display of a helper. It is a schematic diagram which shows the example of a display of a helper. It is a block diagram which illustrates the measurement system which concerns on 5th Embodiment. It is a schematic diagram which shows an operation example. It is a block diagram which illustrates the measurement system which concerns on 6th Embodiment. It is a flowchart which shows an example of a process of a measurement result synthetic | combination display. It is a schematic diagram which shows the example of a synthetic display of a measurement result. (A)-(e) is a schematic diagram which shows the other example of a composite display. It is a block diagram which illustrates the measurement system which concerns on 6th Embodiment. It is a flowchart which illustrates marker registration and setting operation. It is a flowchart which illustrates marker recognition and a composite display. It is a schematic diagram which shows the example of a display of the measurement result by marker recognition. It is a schematic diagram which shows the example of a display of the measurement result by marker recognition. It is a schematic diagram which shows the example of a display of the measurement result by marker recognition.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same members are denoted by the same reference numerals, and the description of the members once described is omitted as appropriate.

(First embodiment)
1A and 1B are configuration diagrams illustrating a measurement system according to the first embodiment.
A measurement system 1A according to this embodiment includes a computer 100, a measuring machine M controlled by the computer 100, and a 3D sensor (three-dimensional sensor) SR. The computer 100 includes a CPU (Central Processing Unit) 10, a storage unit 20, a calculation unit 30, a measuring machine control unit 40, a display control unit 50, a 3D sensor input unit 70, and a position / distance / attitude recognition unit 75. Further, a projector PR may be connected to the computer 100. In this case, the computer 100 includes a projection figure generation unit 80 and a projector output unit 85.

  The measuring machine M is a device that measures the three-dimensional coordinates of a measurement object, the length of a predetermined position, and the like. Examples of the measuring machine M include a three-dimensional position measuring machine and an image measuring machine. The CPU 10 controls each part and performs a predetermined calculation by executing a predetermined program. The storage unit 20 includes a main storage unit and a sub storage unit. The calculation unit 30 includes a calculation circuit that performs a predetermined calculation.

  The measuring instrument control unit 40 controls the measuring instrument M based on an instruction from the user. The display control unit 50 performs control to display predetermined information on the display D. The input / output control unit 60 controls input devices such as a keyboard K and a mouse MS, and controls a touch panel (not shown).

  The 3D sensor input unit 70 is an interface part that captures information acquired by the 3D sensor SR into the computer 100. Here, the 3D sensor SR is a sensor that detects three-dimensional coordinates of a predetermined object in an actual three-dimensional space. The position / distance / attitude recognition unit 75 performs processing for recognizing the position of the object (three-dimensional coordinates), the distance from the 3D sensor SR to the object, and the attitude of the object based on the information acquired by the 3D sensor SR. Do.

  The projection figure generation unit 80 performs processing for generating a figure to be projected by the projector PR. The projector output unit 85 is an interface part that sends the graphic generated by the projected graphic generation unit 80 to the projector PR.

  The measurement system 1A further includes a command setting unit 101, a moving object detection unit 102, and a command execution unit 103 as programs executed by the CPU 10. The command setting unit 101 performs processing for setting a button setting area in the actual three-dimensional space and an association between the button setting area and the command. The button setting area is an area that designates an arbitrary position in the actual three-dimensional space. For example, it may be a predetermined rectangular area in a real three-dimensional space, a predetermined three-dimensional area, or a predetermined object area.

  The command setting unit 101 performs processing for setting three-dimensional coordinate information for representing such a button setting area. The command setting unit 101 also associates a button setting area with a command. The command is associated with the three-dimensional coordinate information of the button setting area, and is stored in the storage unit 20 as table data, for example.

  The moving object detection unit 102 performs processing for detecting a moving object from the three-dimensional coordinates of the object detected by the 3D sensor SR. Specifically, the position of the object recognized by the position / distance / posture recognition unit 75 is tracked to detect a moving object (moving object). Accordingly, it is possible to detect the moving object in the real three-dimensional space detectable by the 3D sensor SR and track the position of the moving object.

  The command execution unit 103 performs a process of executing a command associated with the button setting area when the three-dimensional coordinates of the moving object detected by the moving object detection unit 102 are located in the button setting area. The moving object detection unit 102 can track the position of the moving object (three-dimensional coordinates of the moving object) in the actual three-dimensional space. The command execution unit 103 acquires information on the three-dimensional coordinates of the moving object from the moving object detection unit 102.

  Then, when the three-dimensional coordinates of the moving object are located in the button setting area, the command execution unit 103 performs processing for executing a command associated with the button setting area. Accordingly, it is possible to detect that a button setting area in the actual three-dimensional space has been selected from the motion of the moving object, and to execute a command associated with the button setting area.

FIG. 2 is a schematic diagram illustrating an operation example.
The 3D sensor SR detects the position of the object in the real three-dimensional space. In the example illustrated in FIG. 2, for example, the measuring device M, the user 800 of the measuring device M, the screen SL that displays the image projected from the projector PR, the whiteboard WB, and the like are arranged in the actual three-dimensional space. The 3D sensor SR detects these positions.

  In the example shown in FIG. 2, button setting areas B1 to B4 are provided on the whiteboard WB. The positions (three-dimensional coordinates) of the button setting areas B1 to B4 on the whiteboard WB are set in advance by the command setting unit 101. A command is associated with each of the button setting areas B1 to B4. For example, a “start” command is associated with the button setting area B1, an “end” command is associated with the button setting area B2, a “save” command is associated with the button setting area B3, and a “print” command is associated with the button setting area B4.

  The user 800 of the measuring device M measures the measurement object using, for example, the measuring head 501 of the measuring device M. When the measurement head 501 is provided with a projector PR, an image based on various types of information such as a design drawing of the measurement object can be displayed on the screen SL from the projector PR.

  The movement of the user 800 is detected by the moving object detection unit 102 based on the information acquired by the 3D sensor SR. The position / distance / posture recognition unit 75 recognizes the movement of the hand 801 of the user 800, for example. Then, when the hand 801 of the user 800 is positioned in any of the button setting areas B1 to B4, the command execution unit 103 executes a command associated with the button setting areas B1 to B4 at the position of the hand 801.

  For example, when the hand 801 of the user 800 touches the button setting area B1 on the whiteboard WB, the “activation” command associated with the button setting area B1 is executed. Similarly, when the hand 8001 of the user 800 touches the button setting area B2, an “end” command associated with the button setting area B2 is executed. In this way, the user 800 can execute a desired command depending on the position of his / her hand 801.

3A and 3B are schematic views illustrating the button setting area.
FIG. 3A shows button setting areas B1 to B4 set in the whiteboard WB. The button setting areas B1 to B4 are appropriately written on the surface of the whiteboard WB. Here, four rectangles are written on the surface of the whiteboard WB.

  The command setting unit 101 sets the positions of the button setting areas B1 to B4 by registering the three-dimensional coordinates of the even part of each rectangle. For example, the button setting area B1 is set by three-dimensional coordinates of four even parts P1 to P4. The three-dimensional coordinates of the even parts P1 to P4 can be captured by the 3D sensor SR. Further, the three-dimensional coordinates of the even parts P1 to P4 may be captured using the measuring head 501.

  FIG. 3B shows a three-dimensional button setting area B5. The button setting area B5 is a cubic area, for example. The region of the three-dimensional object is determined by four points P17, P18, P19, and P20 in the real three-dimensional space. The command setting unit 101 sets the position of the button setting area B5 by registering the three-dimensional coordinates of the four points P17, P18, P19, and P20.

  The command setting unit 101 associates a command with each of the button setting areas B1 to B5. The button setting areas B1 to B5 can be set at any location in the actual three-dimensional space. For example, the command setting unit 101 sets the button setting area B1 to B4 at a position where some object is present, such as the whiteboard WB, or sets the button setting area B5 to an area where there is no object in the actual three-dimensional space. May be.

4 and 5 are schematic views illustrating other button setting areas.
In the example shown in FIG. 4, the image projected by the projector PR is set as the button setting area B6. For example, when the measurement head 501 is provided with the projector PR, the measurement head 501 is directed in a direction different from the screen SL. Thereby, the image of the button setting area B6 is output from the projector PR. In the example shown in FIG. 4, the image of the button setting area B6 output from the projector PR is displayed on the floor FL.

  When the image of the button setting area B6 is projected by the projector PR, the projection position of the button setting area B6 is detected by the 3D sensor SR and recognized by the position / distance / attitude recognition unit 75. The position / distance / posture recognition unit 75 can recognize the position of the button setting area B6 from the information detected by the 3D sensor SR by registering the feature of the button setting area B6 in advance. Further, even if the projection position of the button setting area B6 moves, the moving object detection unit 102 can track.

  When the button setting area B6 is projected on the floor FL, the user 800 can select the button setting area B6 with his / her foot 802, for example. The position of the foot 802 of the user 800 is detected by the 3D sensor SR, and the movement of the foot 802 is tracked by the moving object detection unit 102. Thereby, it is possible to detect that the foot 802 of the user 800 is in the position of the button setting area B6, and the command execution unit 103 can execute the command associated with the button setting area B6.

  It may be difficult for the user 800 who performs the measurement work with the measurement head 501 by hand to instruct the command by hand. Since the button setting area B6 displayed on the floor FL can be selected with the foot 802, the user 800 can specify and execute a desired command with the foot 802 while holding the measuring head 501 by hand.

  In the example shown in FIG. 5, the image of the button setting area B7 is projected on the screen SL. The projector PR displays, for example, design information of the measurement object on the screen SL and an image of the button setting area B7. Similar to the example illustrated in FIG. 4, the position of the button setting area B <b> 7 is detected by the 3D sensor SR and is tracked by the moving object detection unit 102.

  The user 800 can select the button setting area B7 projected on the screen SL by his / her hand 801, for example. When detecting that the hand 801 of the user 800 is in the position of the button setting area B7, the command execution unit 103 executes a command associated with the button setting area B7.

  Further, the command execution unit 103 may switch commands according to the operation of the hand 801 or the foot 802 of the user 800. For example, when the user's 800 hand 801 stays in the button setting area B1 for a certain time (touch operation), the first command is executed, and the hand 801 moves along the button setting area B1 (slide). In the operation), the second command is executed. That is, the command may be switched depending on whether the button setting area B1 is touched or slid with the hand 801.

  According to the measurement system 1A according to the first embodiment, the button setting areas B1 to B7 can be set at desired positions in the actual three-dimensional space. In addition, the user 800 can execute a desired command by selecting the button setting areas B1 to B7 with his / her hand 801 or foot 802. Therefore, the user 800 can easily execute a desired command while performing the measurement work by the measuring machine M. For example, even when the computer 100 is located away from the measuring instrument M, the user 800 can send a desired command to the computer 100 without leaving the position of the measuring instrument M.

  Further, the user 800 can set the button setting areas B1 to B7 at desired positions. Accordingly, the button setting areas B1 to B7 can be arranged at positions where the user 800 can efficiently work, and the efficiency of the measurement work can be improved.

(Second Embodiment)
FIG. 6 is a configuration diagram illustrating a measurement system according to the second embodiment.
A measurement system 1B according to the present embodiment includes a computer 100, a measuring machine M controlled by the computer 100, and a 3D sensor SR. The computer 100 includes a CPU 10, a storage unit 20, a calculation unit 30, a measuring machine control unit 40, a display control unit 50, a 3D sensor input unit 70, and a position / distance / attitude recognition unit 75. Further, the computer 100 includes a 3D video input / output unit 51, a 3D camera control unit 52, a stereoscopic video generation unit 53, a head mounted display output unit 54, a control generation unit 55, a headphone microphone input / output unit 61, an audio input / output unit 62, An operation panel input / output unit 65 and a control input recognition unit 76 are provided. An operation panel CT, a headphone microphone HPM, a head mounted display HD, and a 3D camera CM are connected to the computer 100.

Hereinafter, a configuration different from the measurement system 1A according to the first embodiment will be described.
The operation panel input / output unit 65 is an interface part for inputting / outputting information to / from the operation panel CT. The user 800 can control the measuring machine M using the operation panel CT.

  The 3D camera CM is a three-dimensional imaging unit that acquires a three-dimensional image in a real three-dimensional space. The head mounted display HD is a display for displaying a 3D image acquired by the 3D camera CM. Here, in the embodiment, “video” means information of an image captured by an imaging apparatus such as a 3D camera CM, and “image” is prepared in advance by a graphic generated from design data such as CAD or the like. This means information such as graphics.

FIG. 7 is a perspective view illustrating a head mounted display.
The head mounted display HD is attached to the user's 800 head. The user 800 can refer to the three-dimensional image displayed on the head mounted display HD. A 3D camera CM is attached to the head mounted display HD. That is, the head mounted display HD is provided integrally with the 3D camera CM.

  The 3D camera control unit 52 is a part that controls the 3D camera CM. The 3D video input / output unit 51 is an interface part that captures the 3D video acquired by the 3D camera CM into the computer 100. The head mounted display output unit 54 is an interface part that transmits a video signal to the head mounted display HD. The stereoscopic video generation unit 53 is a part that generates a 3D video to be displayed on the head mounted display HD. The stereoscopic video generation unit 53 includes a captured video synthesis unit 531.

  The captured video composition unit 531 performs processing for synthesizing the 3D video acquired by the 3D camera CM and the image corresponding to the button setting area and displaying the synthesized image on the head mounted display HD.

  The control generation unit 55 is a part that associates a predetermined operation of the user 800 with a command. The association between the predetermined operation of the user 800 and the command is stored in the storage unit 20 as table data, for example.

  The headphone microphone HPM is an integrated headphone and microphone, and is attached to the head of the user 800. The headphone microphone input / output unit 61 is an interface part that inputs / outputs information to / from the headphone microphone HPM. The voice input / output unit 62 is a part that generates voice to be sent to the headphone microphone HPM and processes voice information captured from the headphone microphone HPM. In the present embodiment, the headphone microphone HPM may be provided as necessary.

  The control input recognition unit 76 is a part that recognizes a predetermined operation of the user 800. The control input recognition unit 76 performs processing for recognizing a predetermined operation of the user 800 based on information sent from the position / distance / posture recognition unit 75. In such a measurement system 1B, an image of a real three-dimensional space is displayed on the head mounted display HD, and an image of a button setting area can be combined with the image and displayed.

8 to 11 are schematic diagrams illustrating operation examples.
As shown in FIG. 8, the user 800 wears a head mounted display HD. The 3D sensor SR detects the position of an object such as the user 800 or the measuring machine M in the actual three-dimensional space. The 3D camera CM provided in the head mounted display HD acquires 3D video in a real three-dimensional space.

  The user 800 can refer to the 3D video acquired by the 3D camera CM using the head mounted display HD. In addition, the image (button image BG) of the button setting area is displayed on the head mounted display HD in accordance with the actual 3D space of the 3D video. That is, the button image BG is synthesized with the 3D video acquired by the 3D camera by the captured video synthesis unit 531. The button image BG is displayed together with the three-dimensional coordinates in the display of the head mounted display HD based on the three-dimensional coordinates in the real three-dimensional space of the button setting area registered in advance. Thereby, even if the angle of view of the 3D camera CM changes, the combination position on the 3D video of the button image BG does not change.

  The movement of the user 800 is detected by the moving object detection unit 102 based on the information acquired by the 3D sensor SR. The position / distance / posture recognition unit 75 recognizes the movement of the user's 800 hand 801 and foot 802, for example. When the hand 801 and the foot 802 of the user 800 are located in the button setting area corresponding to the button image BG, the command execution unit 103 executes the command associated with the button setting area at the position of the hand 801 and the foot 802. . As a result, the user 800 can execute a desired command depending on the position of his / her hand 801 or foot 802.

  The button image BG can be displayed at an arbitrary position on the 3D video displayed on the head mounted display HD. For example, the button image BG is displayed at a position (in the air) where an object in the actual three-dimensional space where the D image is displayed, or on the 3D image of the floor FL as if it is arranged on the floor FL. A button image BG can be displayed.

  FIG. 9 shows an example in which the button image BG is synthesized on the 3D image of the floor FL. The user 800 holds the measuring head 501 of the measuring machine M with his hand 801 and measures the workpiece W which is a measurement object. The user 800 performs measurement by operating the measurement head 501 while referring to the 3D image of the measuring machine M and the workpiece W displayed on the head mounted display HD.

  The head mounted display HD is displayed in a state where the button image BG is combined with the 3D image of the floor FL. No buttons are arranged on the actual floor FL, but a button image BG is displayed on the head mounted display HD. Thereby, the user 800 can refer to the button image BG as if the button is arranged on the floor FL. The user 800 selects the button image BG on the floor FL with the foot 802. Thereby, the command in the button setting area corresponding to the selected button image BG is executed.

  FIG. 10 shows an example in which a computer image CAL is synthesized with 3D video. In this example, a computer image CAL is synthesized in the vicinity of the 3D video image of the workpiece W displayed on the head mounted display HD. The user 800 operates the computer image CAL with the hand 801, for example. The movement of the hand 801 is tracked by the moving object detection unit 102, and it is determined in which key area of the image CAL of the computer the hand 801 is located. As a result, the command execution unit 103 executes a command corresponding to the key of the image CAL of the computer. The user 800 can perform calculation as if operating the actual computer with reference to the image CAL of the virtual computer displayed on the head mounted display HD.

  The command execution unit 103 may select and execute one of a plurality of commands according to the shape of the hand 801 of the user 800 detected by the moving object detection unit 102. FIG. 11 shows an example in which commands are switched according to the shape of the hand 801.

  As an example, when a certain time elapses with the hand 801 open in a specific direction (H1), a command for displaying a home button (an image in which a plurality of button images BG is gathered) is executed. In addition, when the home button is displayed at a position out of reach of the hand 801 in the display of the head mounted display HD, when a hand 801 is held (H2), a command for displaying a distant home button close is executed. . When the home button is picked and moved by the hand 801 (H3), a command for moving the display position of the home button is executed.

  If the index finger of the hand 801 is directed in a specific direction (H4), a command for hiding the home button is executed. When the operation of pressing the hand 801 toward the wall is performed (H5), a command for moving the home button to be pasted on the wall is executed. When the user moves the palm of the hand 801 upward (H6), a command for moving the home button onto the palm of the hand 801 is executed. When the operation of pressing the hand 801 toward the floor is performed (H7), a command for moving the home button to be pasted on the floor is executed. The association between the shape and operation of the hand 801 and the command is an example, and the present invention is not limited to this.

  As described above, when the command is switched according to the shape of the hand 801, a desired command can be executed only by a gesture using the hand 801 without using an input device such as the keyboard K or the mouse MS. Become.

  In the above example, the user 800 executes the command by selecting the button image BG with the hand 801 or the foot 802. However, the user 800 may select the button image BG with the measuring head 501 and execute the command.

  In the measurement system 1B according to the present embodiment, a user interface device may be configured by the computer 100, the 3D sensor SR, and the 3D camera CM. According to this user interface device, display / non-display of the button image BG can be switched according to the shape of the hand 801 of the user 800, and a command corresponding to the button image BG can be executed.

(Third embodiment)
12A and 12B are configuration diagrams illustrating a measurement system according to the third embodiment.
A measurement system 1C according to the present embodiment includes a computer 100, a measuring machine M controlled by the computer 100, a 3D sensor SR, and a head mounted display HD. The computer 100 includes a CPU 10, a storage unit 20, a calculation unit 30, a measuring machine control unit 40, a display control unit 50, a 3D sensor input unit 70, and a position / distance / attitude recognition unit 75. Further, the computer 100 includes a stereoscopic video generation unit 53, a head mounted display output unit 54, a headphone microphone input / output unit 61, an audio input / output unit 62, and an operation panel input / output unit 65. An operation panel CT and a headphone microphone HPM are connected to the computer 100.

  In such a measurement system 1C, an image of the measuring machine M is displayed in the virtual three-dimensional space of the head mounted display HD. As an image of the measuring machine M, for example, a CAD image is used. The CAD image is stored in the storage unit 20. In addition, the motion of the user can be detected by the motion detection unit, and the image of the measuring machine M in the virtual three-dimensional space can be moved in accordance with the motion of the user 800.

  The measurement system 1 </ b> C according to the present embodiment is particularly suitable for application to the measuring machine M with abundant automatic measurement functions. For example, a CNC (Computerized Numerically Controlled) measuring instrument can perform automatic measurement according to a preset program (for example, a part program), so that highly accurate and efficient measurement can be performed. However, in order to handle CNC measuring machines, specialized techniques and knowledge such as operation methods and creation / correction of programs are required. In the measurement system 1 </ b> C according to the present embodiment, the user interface can be improved for the measuring machine M having such a rich function.

13 to 17 are schematic diagrams illustrating an operation example.
As shown in FIG. 13, a user 800 wears a head mounted display HD and a headphone microphone HPM. The 3D sensor SR detects the position of an object such as the user 800 or the measuring machine M in the actual three-dimensional space.

  On the head mounted display HD, an image of the measuring machine M (measuring machine image MG) is displayed in a virtual three-dimensional space. The user 800 can move the measuring machine image MG in the virtual three-dimensional space with reference to the measuring machine image MG in the virtual three-dimensional space displayed on the head mounted display HD.

  That is, for example, the position of the hand 801 of the user 800 is detected by the 3D sensor SR, and the movement of the hand 801 is tracked by the moving object detection unit 102. The position and movement of the hand 801 are reflected in the operation of the measuring machine image MG displayed in the virtual three-dimensional space. For example, when the user 800 extends the hand 801 to the position of the image of the measurement head 501 (measurement head image 501G) in the virtual three-dimensional space, the measurement head image 501G in the virtual three-dimensional space can be moved.

  The stereoscopic video generation unit 53 generates an image so that the display position of the measuring machine image MG in the virtual three-dimensional space is moved in accordance with the operation of the hand 801 of the user 800 detected by the moving object detection unit 102. Thereby, the user 800 can freely operate the measuring machine image MG in the virtual three-dimensional space displayed on the head mounted display HD.

  In the measurement system 1 </ b> C according to the present embodiment, the measurement operation storage unit 104 may be provided as a program executed by the CPU 10. The measurement operation storage unit 104 performs a process of recording the measurement operation along the display position of the measurement machine image MG moved by the user 800 in the virtual three-dimensional space displayed on the head mounted display HD.

  Then, the measuring machine control unit 40 measures the workpiece W using the actual measuring machine M according to the measuring operation stored in the measuring operation storage unit 104. Accordingly, the user 800 can record an actual measurement procedure by moving, for example, the measurement head image 501G of the measurement machine image MG in the virtual three-dimensional space.

  At this time, the actual position of the workpiece W is detected by the 3D sensor SR, and the workpiece image WG is synthesized in accordance with the position of the measuring machine image MG in the virtual three-dimensional space. When the user 800 moves the measurement head image 501G, the user 800 can record the measurement procedure while confirming interference between the work image WG and the measurement head image 501G. For example, when interference with the work image WG occurs depending on the orientation of the measurement head image 501G, a warning may be displayed on the head mounted display HD. According to the recording of such a measurement procedure, the movement of the measurement head 501 can be programmed without specialized knowledge.

  FIG. 14 shows an example in which an actual video IMG is displayed in a virtual three-dimensional space. The measurement system 1C may include a camera CM1 that acquires the video IMG of the measuring device M. The video IMG of the measuring machine M acquired by the camera CM1 is displayed at a predetermined position in the virtual three-dimensional space of the head mounted display HD.

  The user 800 can refer to the video IMG of the actual measuring machine M together with the measuring machine image MG displayed on the head mounted display HD. This makes it possible to perform work while confirming the actual operation of the measuring machine M in the virtual three-dimensional space.

  FIG. 15 shows an example of the modification operation of the part program. On the head mounted display HD, the operation of the measuring head 501 by the existing part program is displayed in the virtual three-dimensional space. The user 800 reads an existing part program. For example, an existing part program may be read by voice recognition by inputting voice to the headphone microphone HPM.

  The measurement head image 501G in the virtual three-dimensional space operates in the same manner as when the read part program is executed. The user 800 can refer to the operation of the measurement head image 501G displayed in the virtual three-dimensional space, and can control the stop and restart of the operation by voice recognition. Further, the measurement head image 501G can be moved using the hand 801.

  In the virtual three-dimensional space, a numerical value in the order of movement of the measurement head image 501G or a button image BG may be displayed. When correcting the part program, the operation is temporarily stopped and the measuring head image 501G is moved by the hand 801.

  Here, as an example, an operation in the case of adding a part program step will be described. In this example, as shown in FIG. 15, the part program in which the measurement head 501 operates in the order of (1) to (4) performs an operation of adding (2 ′) between (2) and (3). explain.

  First, the user 800 operates the part program step by step, for example, by voice recognition. When the user 800 inputs a voice “Go to the first step”, for example, the part program advances one step, and the measurement head image 501G in the virtual three-dimensional space is displayed to move to the position (1).

  Next, the user 800 inputs a voice “Go to the next step”, for example. As a result, the part program proceeds to the next step, and the measurement head image 501G in the virtual three-dimensional space is displayed to move to the position (2).

  Here, in order to add a step, the user 800 inputs a voice “Add the step”, for example. As a result, the part program step addition mode is executed. Next, the user 800 moves the measurement head image 501G in the virtual three-dimensional space with the hand 801 and arranges it at the position (2 ′). In this state, for example, when the voice “Continue” is input, the position (2 ′) is added, and the measurement head image 501G advances to the next position (3).

  Here, the operation or correction of the part program is instructed by voice recognition, but the same operation or correction may be instructed by specifying the button image BG. By such an operation, the user 800 can intuitively correct the part program without specialized knowledge.

  FIG. 16 shows an example in which information related to measurement is displayed in the virtual three-dimensional space. The user 800 refers to the image in the virtual three-dimensional space with the head mounted display HD that is attached. A work image WG and a measurement head image 501G are displayed in the virtual three-dimensional space. The work image WG and the measurement head image 501G are CAD images and computer graphics. In the example shown in FIG. 16, an example in which the measurement result is combined with the work image WG and displayed. In addition, when the measurement result is not within a predetermined allowable range, a display indicating that (such as a display for coloring the work image WG) may be added to the work image WG.

  The user 800 inputs sound such as “Show result” from the headphone microphone HPM. Thereby, a display in which the measurement result is combined with the work image WG in the virtual three-dimensional space is performed. The user 800 can confirm the measurement result without referring to the display D of the computer 100 by referring to the contents displayed in the virtual three-dimensional space.

FIG. 17 shows an example in which measurement and teaching are performed via the network N.
In the example illustrated in FIG. 17, the measurement system 1 </ b> C further includes a remote control unit 90 that is connected to the measuring machine control unit 40 via the network N. The remote control unit 90 performs processing for sending a command instructed by the user 800 located at a position away from the measuring device M to the measuring device control unit 40 via the network N.

  A user 800 at a remote location can confirm the actual operation of the measuring device M while referring to the measuring device image MG in the virtual three-dimensional space displayed on the head mounted display HD that is attached. The measuring machine image MG and the measuring head image 501G displayed in the virtual three-dimensional space can be moved by the hand 801 of the user 800.

  As described above, the operation of the measurement head 501 by the part program can be confirmed by the operation of the measurement head image 501G displayed in the virtual three-dimensional space. Further, the part program can be corrected in the virtual three-dimensional space.

  The remote control unit 90 transmits an instruction of the remote user 800 to the measurement device control unit 40 via the network N, so that the user 800 can display an image of the virtual three-dimensional space regardless of the position of the measurement device M. The measuring machine M can be handled with reference to FIG.

  That is, the user 800 can handle the measuring device M from a remote place as if it is near the measuring device M. In this measurement system 1C, for example, when a user 800 who is used to operating the measuring instrument M is not near the measuring instrument M, a knowledgeable staff at a remote location can operate the measuring instrument M via the network N. it can. Further, even when the measuring instrument M is in a harsh environment and the user 800 cannot approach it, the measuring instrument M can be operated as if the user 800 is on the spot.

(Fourth embodiment)
FIG. 18 is a configuration diagram illustrating a measurement system according to the fourth embodiment.
A measurement system 1D according to the present embodiment includes a computer 100, a measuring machine M controlled by the computer 100, and a 3D sensor SR. The computer 100 includes a CPU 10, a storage unit 20, a calculation unit 30, a measuring machine control unit 40, a display control unit 50, a 3D sensor input unit 70, and a position / distance / attitude recognition unit 75. Further, the computer 100 includes a 3D video input / output unit 51, a 3D camera control unit 52, a stereoscopic video generation unit 53, a captured video synthesis unit 531, a head mounted display output unit 54, a headphone microphone input / output unit 61, and an audio input / output unit 62. , A sound reproduction unit 621, an operation panel input / output unit 65, and a helper generation unit 95. An operation panel CT, a headphone microphone HPM, a head mounted display HD, and a 3D camera CM are connected to the computer 100.

  In such a measurement system 1D, an image of the actual measuring machine M and a measuring machine image MG such as a CAD image or a computer graphic can be synthesized and displayed in the virtual three-dimensional space of the head mounted display HD. . The measuring machine image MG is stored in advance in the image storage unit 201 of the storage unit 20.

  The helper generator 95 generates an image representing a predetermined measurement procedure of the measuring machine M. As a result, the captured video composition unit 531 of the stereoscopic video generation unit 53 can perform processing for combining the image representing the measurement procedure generated by the helper generation unit 95 with the video captured by the 3D camera CM.

  In addition, the helper generation unit 95 may generate an image corresponding to a predetermined abnormality of the measuring machine M. As a result, the captured video composition unit 531 of the stereoscopic video generation unit 53 can perform a process of combining an image corresponding to the predetermined abnormality generated by the helper generation unit 95 with the video captured by the 3D camera CM.

  In addition, the helper generation unit 95 may generate an image corresponding to a predetermined guidance of the measuring machine M. Accordingly, the captured video composition unit 531 of the stereoscopic video generation unit 53 can perform processing for combining an image corresponding to the predetermined guidance generated by the helper generation unit 95 with the video captured by the 3D camera CM.

  Here, when the operation of the measuring machine M is not known, the user 800 simulates the operation image of the actual measuring machine M in the head while checking the instruction manual of the measuring machine M. However, it is difficult to memorize all the operations, and a troublesome work such as checking the instruction manual again is forced.

  Further, for example, when exchanging the measurement probe, there is a possibility of causing problems such as breakage unless the procedure is followed. For this reason, careful work is required for replacement of the measurement probe. The user 800 who is not familiar with the work will work while referring to the instruction manual each time.

  Further, for example, for origin determination of a non-orthogonal coordinate measuring machine, it is necessary to perform an operation of turning on / off each limit switch of the 7-axis arm of the measuring machine M to acquire the origin. A user 800 who is not familiar with this work often gets lost in the operation because it is difficult to intuitively understand the axis for which the origin has not been acquired and the operation for acquiring the origin.

  Further, for example, when connecting the cable of the measuring instrument M to the dedicated controller, it is difficult to know which cable should be inserted into which connection port of the controller, and it is necessary to check the instruction manual each time.

  Further, for example, in the case of a non-orthogonal coordinate measuring machine, measurement cannot be performed when the limit switch is ON. It is difficult to know whether this limit switch is in an ON state or a measurable state, and the same location may be remeasured many times.

  For example, when an abnormality occurs in the measuring instrument M, a message is displayed on the display D of the computer 100 or a warning is given by sound. However, when the user 800 is concentrating on the measurement, the display D of the computer 100 is not often viewed, or the display D is difficult to see, which may be difficult to recognize.

  In addition, for example, a video or the like may be reproduced for the purpose of educating beginners on measurement methods and the like. However, there are cases where the time required for learning increases, such as losing what to do when actually measuring, or starting from the beginning with a wrong procedure.

  In the measurement system 1D according to the present embodiment, the video of the actual measuring device M and various images are combined and displayed in the virtual three-dimensional space of the head mounted display HD worn by the user 800, which is efficient. Will be able to perform various operations.

19 to 23 are schematic diagrams illustrating an operation example.
FIG. 19 shows an example in which technical support is provided to the user 800.
As shown in FIG. 19, the user 800 wears a head mounted display HD. The 3D sensor SR detects the position of an object such as the user 800 or the measuring machine M in the actual three-dimensional space. The 3D camera CM provided in the head mounted display HD acquires 3D video in a real three-dimensional space.

  The user 800 can refer to the 3D video acquired by the 3D camera CM using the head mounted display HD. In the example shown in FIG. 19, the video IMG of the measuring device M is displayed as a 3D video. In addition, various images G related to the measuring device M are displayed on the head mounted display HD in accordance with the actual three-dimensional space of the 3D video.

  The display position of the image G is determined based on the position of the video IMG of the measuring machine M. Thereby, even if the angle of view of the 3D camera CM changes, the display position of the image G with respect to the measuring machine M does not change. In the example shown in FIG. 19, the image G along the procedure for determining the origin is displayed in a state where it is combined with the video IMG of the measuring machine M. The user 800 can refer to the image G in accordance with the procedure for obtaining the origin while referring to the video IMG of the actual measuring machine M acquired by the 3D camera CM.

  By synthesizing and displaying such an image G on the video IMG of the actual measuring machine M, the user 800 needs to obtain the origin of the axis of the measuring machine M, and obtain the origin. It is possible to intuitively understand the operation procedure necessary to do this.

  FIG. 20 shows an operation example in the case of teaching the operation method of the measuring machine M. FIG. 20 shows images G1 to G7 showing the procedure for replacing the measurement probe as an example. On the head mounted display HD worn by the user 800, the images G1 to G7 are displayed in order. These images G1 to G7 are combined with an actual video IMG (not shown in FIG. 20) of the measuring instrument M taken by the 3D camera CM. In addition, you may perform the step display displayed sequentially one by one as a display of the images G1-G7. Operations such as playback and stop of the step display are instructed by the voice of the user 800 or the operation of the hand 801.

  By referring to the images G1 to G7 displayed on the head mounted display HD, the user 800 can grasp the operation procedure while comparing the actual video IMG of the measuring instrument M and the images G1 to G7.

  FIG. 21 shows an operation example when teaching a cable connection method. On the head mounted display HD worn by the user 800, an actual image IMG of the measuring device M photographed by the 3D camera CM and an image PC-IMG of a personal computer are displayed. Further, the image IMG and PC-IMG are displayed in a state where the cable and guidance images G are combined. The cable image G is synthesized and displayed in accordance with the connection position of the video PC-IMG of the actual personal computer.

  In this manner, the image G when the cable is connected is synthesized and displayed on the actual image IMG of the measuring instrument M and the image PC-IMG of the personal computer, so the user 800 intuitively imagines the cable connection method. be able to.

  FIG. 22 shows an operation example in the case of displaying an image G related to a predetermined abnormality. On the head mounted display HD worn by the user 800, an image IMG of the actual measuring machine M taken by the 3D camera CM is displayed. Here, when any abnormality has occurred in the measuring head 501, an image G notifying the abnormality is displayed by combining with the video IMG of the head mounted display HD.

  In the example shown in FIG. 22, an image G that prompts a warning such as “abnormal cable connection” or “limit ON” is synthesized and displayed on the video IMG of the actual measuring machine M. As a result, the user 800 can visually grasp what kind of abnormality is occurring at what position according to the actual video IMG of the measuring instrument M.

  FIG. 23 shows an example in which an image G of the instruction manual is displayed. On the head mounted display HD worn by the user 800, an image IMG of the actual measuring machine M taken by the 3D camera CM is displayed. When the user 800 transmits a predetermined command to the computer 100 in this state, the image G of the instruction manual is synthesized and displayed near the video IMG of the measuring device M of the head mounted display HD.

  The user 800 can refer to the image G of the instruction manual appearing on the display space of the head mounted display HD while referring to the actual video IMG of the measuring device M. Further, the page of the image G of the instruction manual can be turned according to the instruction of the user 800. For example, by detecting the movement of the hand 801 of the user 800 by the moving object detection unit 102, the movement of the hand 801 is tracked. Then, when an operation that turns the page from the movement of the hand 801 is recognized, a display that turns the page of the image G of the instruction manual is performed.

  Further, the user 800 can enlarge and reduce the image G of the instruction manual according to a predetermined instruction. This operation can also be performed by detecting the movement of the hand 801.

FIG. 24 is a flowchart illustrating the operation of helper display.
The helper display operation is performed by the helper generation unit 95. The helper generation unit 95 starts operation when the user 800 calls a helper or when an error occurs.

  First, as shown in step S101, a helper is displayed. A helper is an image corresponding to a predetermined guidance, and may be an image imitating a human figure or a character image. The helper is displayed in the virtual three-dimensional space of the head mounted display HD.

  Next, as shown in step S102, a helper response is output. For example, “Hello”, “Error Occurred!”, “May I help you?”, Etc. are given to the user 800 or a question. The helper's response changes the image displayed on the head mounted display HD or is output as sound to the headphone microphone HPM.

  Next, as shown in step S103, voice commands are recognized. The user 800 makes a voice inquiry to the headphone microphone HPM. A command is recognized based on this voice. Next, as shown in step S104, a helper response is output. The helper outputs a response corresponding to the command instructed by the user 800. For example, an image or sound corresponding to the command of the user 800 such as “I teach you…”, “Please…” is output.

  As shown in step S105, it is determined whether a helper response is acceptable. If so, the process proceeds to step S106, and the helper is deleted. On the other hand, if further response is required, the process returns to step S102 and the subsequent processing is repeated.

25 to 28 are schematic diagrams illustrating display examples of helpers.
FIG. 25 shows a display example of a helper for guiding the operation procedure of the measuring instrument M.
First, the user 800 calls a helper. For example, the user 800 asks “OK Mitutoyo.” By voice. In response, a helper is displayed. In the three-dimensional space of the head mounted display HD, an actual image IMG of the measuring device M is displayed, and a helper image (helper image HG) is displayed in the vicinity thereof.

  Next, the helper image HG responds with, for example, “Hello”, image display, and sound. Next, the user 800 makes an inquiry by voice. For example, in order to hear the operation procedure of the measuring instrument M, a question is made by voice such as “How to ...”.

  Next, in response to the inquiry of the user 800, the helper image HG responds with, for example, “I teach you ..., operating it.”. Subsequently, the user 800 asks, for example, “Teach me step by step.” In this manner, the guidance of the operation procedure of the measuring instrument M is performed by repeatedly asking and responding to the user 800 and the helper image HG. At this time, the measuring machine image MG may be displayed and the progress of the procedure may be expressed by the measuring machine image MG.

FIG. 26 shows a display example of a helper for guiding the measurement probe replacement procedure.
First, the user 800 calls the helper by, for example, asking “OK Mitutoyo.” By voice. In response to this, the helper image HG is displayed. The helper image HG responds with, for example, “Hello”, image display, and sound together with the display.

  Next, the user 800 asks, for example, “How to change the probe”. In response to the user's 800 inquiry, the helper image HG responds, for example, “Please do it this way.”. A measurement head image 501G is displayed together with this response, and the procedure for replacing the measurement probe is guided by a moving image or the like.

FIG. 27 shows a display example of a helper for guiding a cable connection error.
First, the user 800 calls the helper by, for example, asking “OK Mitutoyo.” By voice. In response to this, the helper image HG is displayed. The helper image HG responds with, for example, “Hello”, image display, and sound together with the display.

  Next, the user 800 asks, for example, “Teach me connection error.” In response to the inquiry from the user 800, the helper image HG responds with, for example, “Please check connection of this cable.”. Along with this response, the measuring machine image MG and the image PC-G of the personal computer are displayed. Further, an image G of the cable that prompts the check is displayed. The user 800 can visually recognize which cable connection has an error by referring to this image.

FIG. 28 shows a display example of a helper when an error occurs.
When any error occurs in the measurement by the measuring machine M, the helper image HG is automatically displayed. The helper image HG responds, for example, “Error occurred.” To notify the occurrence of an error.

  Next, the user 800 asks, for example, “Teach me about error.” In response to the inquiry from the user 800, the helper image HG outputs details of the error that has occurred, for example, “I teach you ...”.

  As described above, the display of the helper image HG and the exchange with the helper image HG allows the user 800 to solve the problem as if receiving the guidance directly from the service person.

(Fifth embodiment)
FIG. 29 is a configuration diagram illustrating a measurement system according to the fifth embodiment.
The measurement system 1E according to the present embodiment includes a configuration in which a computer 100A that is a user-side control device and a computer 100B that is a supporter-side control device are connected to each other via a network.

  To the computer 100A, a measuring machine M, an operation panel CT, a display D1, a keyboard K1, a mouse MS1, a head mounted display HD1, a headphone microphone HPM1, a 3D camera CM, and a 3D sensor SR1 are connected.

  The computer 100A includes a CPU 10A, a storage unit 20A, a calculation unit 30A, a measuring machine control unit 40, a display control unit 50A, a video input / output unit 51A, a camera control unit 52A, a stereoscopic video generation unit 53A, a captured video synthesis unit 531A, It has a head mounted display output unit 54A, a headphone microphone input / output unit 61A, an audio input / output unit 62A, an acoustic playback unit 621A, a 3D sensor input unit 70A, a position / distance / attitude recognition unit 75A, and a communication control unit 101A.

  Connected to the computer 100B are a display D2, a keyboard K2, a mouse MS2, a head mounted display HD2, a headphone microphone HPM2, and a 3D sensor SR2.

  Further, the computer 100B includes a CPU 10B, a storage unit 20B, a calculation unit 30B, a display control unit 50B, a stereoscopic video generation unit 53B, a head mounted display output unit 54B, a headphone microphone input / output unit 61B, an audio input / output unit 62B, and a sound reproduction unit. 621B, 3D sensor input unit 70B, position / distance / attitude recognition unit 75B, and communication control unit 101B.

  In such a measurement system 1E, the user side where the measuring device M is installed and the supporter side of the measuring device M are connected to each other via the network N. On the user side, it is possible to refer to the synthesis of the video IMG of the measuring device M displayed on the head mounted display HD1 and the image sent from the supporter side.

  The supporter side can refer to the synthesis of the measuring machine image MG such as graphics and the image sent from the user side in the virtual three-dimensional space displayed on the head mounted display HD2. In other words, each of the user and the supporter who are away from each other refers to the display of the head mounted displays HD1 and HD2, and performs an operation with reference to the 3D video as if they are close to each other. Will be able to.

FIG. 30 is a schematic diagram illustrating an operation example.
As shown in FIG. 30, a user 800 wears a head mounted display HD1 and a headphone microphone HPM1. The 3D sensor SR1 detects the positions of objects such as the user 800, the measuring machine M, and the workpiece W in the real three-dimensional space on the user side. Further, the 3D camera CM provided in the head mounted display HD1 captures 3D video images from the measuring machine M and the workpiece W. Information on the measuring device M on the user side, information detected by the 3D sensor SR1, information acquired by the 3D camera CM, information acquired by the headphone microphone HPM1, and the like are transmitted from the communication control unit 101A to the supporter side via the network N. Is done.

  On the other hand, the supporter 900 wears the head mounted display HD2 and the headphone microphone HPM2. The 3D sensor SR2 detects the position of an object such as the supporter 900 in the real three-dimensional space on the supporter side. Information detected by the 3D sensor SR2 on the supporter side, information acquired by the headphone microphone HPM2, and the like are transmitted from the communication control unit 101B to the user side via the network N.

  Next, a display example of the head mounted display HD1 of the user 800 will be described. The 3D video acquired by the 3D camera CM is displayed on the head mounted display HD1 of the user 800. For example, the head mounted display HD1 displays images of the measuring machine M, the work W, the display D1 of the computer 100A, and the like. In addition, a helper image HG1 is displayed on the head mounted display HD1 as a supporter side image.

  As the helper image HG1, an image simulating the supporter 900 is used. The helper image HG1 may be a character image or the like in addition to an image imitating a human shape. The helper image HG1 changes corresponding to the movement of the supporter 900.

  That is, the movement of the supporter 900 is detected by the 3D sensor SR2 on the supporter side, and the helper image HG1 is moved so as to follow the movement of the supporter 900 from the detection result. As a result, the user 800 can refer to an image as if the supporter 900 is in a place where the measuring device M is located.

  The supporter 900 sends advice to the user 800 with gestures and voices. In accordance with this operation, the movement of the helper image HG1 referred to by the user 800 changes. In addition, the sound from the supporter 900 is output from the headphone microphone HPM1 of the user 800.

  Next, a display example of the head mounted display HD2 of the supporter 900 will be described. On the head mounted display HD2 of the supporter 900, an image in a virtual three-dimensional space is displayed based on information transmitted from the user side via the network N. In the virtual three-dimensional space, a measuring machine image MG used by the user 800 and an image (work image) WG of the work W are displayed. In addition, the video D-IMG on the display D1 of the computer 100A of the user 800 is synthesized and displayed in the virtual three-dimensional space.

  Further, the user image YG is displayed on the head mounted display HD2 as a user side image. As the user image YG, an image simulating the user 800 is used. The user image YG may be a character image or the like other than an image imitating a human shape. The user image YG changes corresponding to the movement of the user 800.

  That is, the movement of the user 800 is detected by the 3D sensor SR1 on the user side, and the user image YG is moved so as to follow the movement of the user 800 from the detection result. As a result, the supporter 900 can feel as if he / she is at the measurement location of the user 800 by the measuring machine image MG, the work image WG, and the user image YG displayed in the virtual three-dimensional space.

  For example, the user 800 can refer to the video of the measuring device M displayed on the head mounted display HD1 and the helper image HG1 synthesized with the video, and perform the measurement work while receiving advice on the helper image HG1. .

  On the other hand, the supporter 900 refers to the measuring device image MG in the virtual three-dimensional space displayed on the head mounted display HD2 and the user image YG synthesized with the measuring device image MG, and performs an operation procedure for the user 800. You can send advice, such as giving instructions.

  In this way, both the user 800 and the supporter 900 can communicate with each other using voices and gestures while referring to each other's images. The work can be advanced with such a feeling.

(Sixth embodiment)
FIG. 31 is a configuration diagram illustrating a measurement system according to the sixth embodiment.
As shown in FIG. 31, the measurement system 1F according to the present embodiment includes a computer 100 and a display device 300 connected to the computer 100 via wireless communication. The computer 100 is connected with a measuring machine M, an operation panel CT, a camera C1, a display D, a keyboard K, and a mouse MS. The computer 100 includes a CPU 10, a storage unit 20, a feature point generation unit 35, a measurement result synthesis setting unit 36, a measuring machine control unit 40, a display control unit 50, an input / output control unit 60, an operation panel input / output unit 65, and a communication control unit. 101A.

  The feature point generation unit 35 performs a process of extracting feature points from the video of the measurement target (work) acquired by the camera C1. A feature point is an even part or a side (outline) necessary for configuring the outer shape of the workpiece. The measurement result synthesis setting unit 36 is a part that associates the feature points generated by the feature point generation unit 35 with the measurement results of the workpiece. For example, the distance between two adjacent feature points is associated with the measurement result of the workpiece corresponding to the position.

  The display device 300 is provided with a camera C2 and a display panel DP such as a liquid crystal panel. The display device 300 includes a CPU 310, a storage unit 320, a feature point extraction / tracking unit 350, an input / output unit 360, a measurement result synthesis unit 370, and a communication control unit 301.

  The feature point extraction / tracking unit 350 extracts a feature point from the work image captured by the camera C2, and performs processing for tracking the extracted feature point in the image. While the workpiece is photographed by the camera C2, the feature points are extracted and tracked.

  The measurement result synthesizing unit 370 performs a process of synthesizing the measurement result with a work image photographed by the camera C2 or a work image based on the work image. That is, the measurement result synthesis unit 370 reads the measurement result associated with the feature point from the computer 100 based on the feature point extracted by the feature point extraction / tracking unit 350, and converts the measurement result into a work image or image. Synthesize.

  As a result, the display panel DP of the display device 300 displays the work image or image combined with the measurement result corresponding to the feature point. That is, when the user of the display device 300 acquires the work image by the camera C2, the user can refer to the display in which the measurement result is combined with the work image or image.

  In the measurement system 1F according to the present embodiment, the measurement results can be referred to by the plurality of display devices 300. By acquiring the image of the workpiece W by each display device 300, the image or image of the workpiece and the measurement result are combined and displayed on each display device 300.

FIG. 32 is a flowchart illustrating an example of a measurement result composite display process.
First, as shown in step S201, a work image is acquired by the camera C2. Next, as shown in step S202, it is determined whether or not feature points have been extracted. If not already extracted, feature points are extracted in step S203. After the feature points are extracted from the work image acquired by the camera C2, the feature points are tracked as shown in step S204. Extraction and tracking of feature points are performed by processing of the feature point extraction / tracking unit 350.

  Next, as shown in step S205, the measurement results are synthesized. Here, in accordance with the feature points of the workpiece being extracted and tracked, a process of synthesizing an image of the measurement result corresponding to the feature points with the video of the workpiece is performed. The measurement result synthesis process is performed by the measurement result synthesis unit 370.

FIG. 33 is a schematic diagram illustrating a composite display example of measurement results.
In the example shown in FIG. 33, a mobile terminal is used as the display device 300. The mobile terminal is provided with a camera C2 and a display panel DP. When the work C is photographed by the camera C2, an image IMG of the work W is displayed on the display panel DP.

  The feature point extraction / tracking unit 350 extracts the feature point of the workpiece W from the video IMG of the workpiece W photographed by the camera C2, and tracks the feature point while photographing. In the example shown in FIG. 33, feature points CP1 to CP4 of the workpiece W are extracted and tracked.

  The measurement result synthesizing unit 370 synthesizes the measurement results corresponding to the feature points CP1 to CP4 extracted and tracked with the video. For example, the measurement result of the distance between the feature points CP1 and CP2 is displayed together with the dimension line between the feature points CP1 and CP2 of the image IMG of the workpiece W. Further, the measurement result of the distance between the feature points CP2 and CP3 is displayed together with the dimension line between the feature points CP2 and CP3 of the image IMG of the workpiece W. Further, the measurement result of the diameter of the hole obtained from the feature point CP4 is displayed together with the dimension line at the position of the hole indicated by the feature point CP4 of the image IMG of the workpiece W.

  Such a composite display is continued while the work W is photographed by the display device 300. Even when the angle of view for photographing the workpiece W changes, since the feature points CP1 to CP4 of the workpiece W are tracked, the display position of the measurement result also changes so as to follow the change of the image IMG of the workpiece W. Displayed. Therefore, the user can refer to the image IMG of the work W viewed from a predetermined angle and the display of the measurement result corresponding to the image by photographing the work W at a desired angle.

FIGS. 34A to 34E are schematic views showing other examples of composite display.
FIG. 34A shows an image IMG of the work W taken by the camera C2. FIG. 34B shows feature points extracted and tracked from the video IMG. Here, feature points are indicated by circles. FIG. 34 (c) shows an example in which the measurement result is synthesized and displayed on the video IMG. Here, the measurement result set in advance is combined and displayed at the position of the feature point.

  On the other hand, FIG. 34 (d) shows an example of a work image WG fitted to a CAD model based on the video IMG. That is, by extracting feature points from the video IMG shown in FIG. 34 (b), the shooting location and angle of the workpiece W can be grasped. Based on this, the work image WG is displayed by fitting the CAD model of the work W. Then, as shown in FIG. 34 (e), the measurement result is synthesized and displayed on the CAD model work image WG.

  Switching between the combination of the measurement result with the video IMG or the combination of the measurement result with the CAD model work image WG is performed by the user's selection. If the measurement result is synthesized with the video IMG, the actually measured workpiece W and the measurement result of the workpiece W can be referred to.

  If the measurement result is synthesized with the CAD model work image WG, the design information based on the CAD model and the CAD model display method (surface model, wireframe model, section display, etc.) can be selected and matched to the display. The measurement results can be synthesized.

  In the CAD model work image WG, the display method such as the display color can be changed based on the difference between the design value and the measured value. For example, when it exceeds the allowable range of dimensions, it is possible to display in red, or to change the display mode between a portion that is within the allowable range and a portion that is not within the allowable range.

  Moreover, you may comprise a user interface apparatus by the computer 100 and the display apparatus 300 among the measurement systems 1F which concern on this embodiment. According to this user interface device, a feature point of the workpiece W is extracted by capturing an image of the workpiece W with the camera C2, and information corresponding to a predetermined position of the workpiece W is obtained based on the feature point. The video IMG can be synthesized and displayed.

(Seventh embodiment)
FIG. 35 is a configuration diagram illustrating a measurement system according to the sixth embodiment.
As shown in FIG. 35, the measurement system 1G according to the present embodiment includes a computer 100 and a display device 300 connected to the computer 100 via wireless communication. The computer 100 is connected with a measuring machine M, an operation panel CT, a camera C1, a display D, a keyboard K, and a mouse MS. The computer 100 includes a CPU 10, a storage unit 20, a marker recognition registration unit 38, a marker measurement result correspondence setting unit 39, a measuring machine control unit 40, a display control unit 50, an input / output control unit 60, an operation panel input / output unit 65, and communication control. Part 101A.

  The marker recognition registration unit 38 recognizes marker-specific information (such as a shape recognition result and identification information) from the marker image acquired by the camera C1, and performs registration. Here, as the marker, a marker such as a figure or a photograph that can be distinguished from others is used. The marker measurement result correspondence setting unit 39 is a part that registers the marker registered by the marker recognition registration unit 38 in association with a predetermined measurement result. Such registration information is stored in the storage unit 20.

  The display device 300 is provided with a camera C2 and a display panel DP such as a liquid crystal panel. The display device 300 includes a CPU 310, a storage unit 320, an input / output unit 360, a marker recognition unit 380, a marker measurement result synthesis unit 390, and a communication control unit 301.

  The marker recognizing unit 380 performs processing for recognizing marker-specific information from the marker image captured by the camera C2. The marker measurement result combining unit 390 performs a process of combining the measurement result associated with the marker-specific information recognized by the marker recognizing unit 380 with the background image.

  That is, the marker measurement result combining unit 390 reads out the measurement result associated with the information from the computer 100 based on the marker-specific information recognized by the marker recognition unit 380, and combines the measurement result with the background image.

  In such a measurement system 1G, the display panel DP of the display device 300 displays the background image and the measurement result synthesized at the marker position. In other words, when the user of the display device 300 acquires the video of the marker with the camera C2, the user can refer to the display in which the measurement result associated with the marker is combined with the background video.

  In the measurement system 1G according to the present embodiment, the measurement results can be referred to by the plurality of display devices 300. By acquiring the marker image by each display device 300, the background and the measurement result are combined and displayed on the display panel DP of each display device 300.

FIG. 36 is a flowchart illustrating the marker registration and setting operation. This operation is performed by the computer 100.
First, as shown in step S301, an image of a marker is acquired by the camera C1. Next, as shown in step S302, the marker image is recognized. For example, processing is performed for recognizing a specific marker photographed, a specific figure, a photograph, etc., adding identification information unique to the marker, and registering it. This process is performed by the marker recognition registration unit 38.

  Next, as shown in step S303, processing for setting the association between the marker and the measurement result is performed. That is, a process of associating the marker identification information recognized in the previous step S302 with a predetermined measurement result is performed. This process is performed by the marker measurement result correspondence setting unit 39.

  Next, as shown in step S304, the marker-specific identification information and the measurement result associated with the identification information are registered. The association between the marker-specific identification information and the measurement result is stored in the storage unit 20 as marker setting information. This process is performed by the marker measurement result correspondence setting unit 39.

FIG. 37 is a flowchart illustrating marker recognition and composite display. This operation is performed by the display device 300.
First, as shown in step S401, marker setting information is received from the storage unit 20 of the computer 100 via wireless communication. Next, as shown in step S402, an image of the marker photographed by the camera C2 is acquired. Next, as shown in step S403, identification information unique to the marker is recognized from the acquired marker image. This processing is performed by the marker recognition unit 380.

  Next, as shown in step S404, a process of combining the measurement results associated with the markers is performed. That is, the measurement result associated with the identification information is read from the marker setting information from the identification information unique to the marker recognized in the previous step S403. And the process which synthesize | combines this measurement result with the image | video of the background image | photographed with the camera C2 is performed. This processing is performed by the marker measurement result synthesis unit 390.

  Next, as shown in step S405, it is determined whether or not all marks have been recognized and combined. If not completed, the process returns to step S402 and the subsequent processing is repeated. As a result, the measurement results are synthesized and displayed corresponding to all the markers photographed by the camera C2.

38 to 40 are schematic diagrams illustrating display examples of measurement results by marker recognition.
FIG. 38 shows an example in which composite display is performed on the mobile terminal. In this example, a mobile terminal is used as the display device 300. The paper PP is provided with a plurality of markers MK1 to MK5.

  The markers MK1 to MK5 are specific figures or specific photographs. Each marker MK1 to MK5 is associated with identification information unique to the marker and a measurement result. For example, predetermined measurement results of the first measuring machine M1 are associated with the markers MK1, MK2, and MK3. In addition, predetermined measurement results of the second measuring machine M2 are associated with the markers MK4 and MK5. These associations are stored in the storage unit 20.

  The user photographs the paper PP with the camera C <b> 2 of the mobile terminal that is the display device 300. When the images of the markers MK1 to MK5 are captured by this shooting, the identification information of each of the markers MK1 to MK5 is recognized. Then, based on the identification information, the measurement results associated with the markers MK1 to MK5 are read from the storage unit 20 of the computer 100.

  Then, images of measurement results associated with the markers MK1 to MK5 are combined with the display areas of the captured markers MK1 to MK5 and displayed on the display panel DP. For example, an image of a measurement result by the first measuring device M1 is combined with each of the markers MK1 to MK3, and an image of a measurement result by the second measuring device M2 is combined with each of the markers MK4 and MK5.

  The measurement result image is displayed in various formats such as a table format and a graph format. When the images are combined, they may be displayed with their sizes and angles adjusted to match the areas indicated by the markers MK1 to MK5. In addition, a three-dimensional image may be combined and displayed on the image of the planar paper PP so that an image of the measurement result is lifted.

  In this way, the user can refer to the measurement results laid out at the positions of the markers MK1 to MK5 only by photographing the paper PP with the markers MK1 to MK5 attached thereto with the mobile terminal.

39 and 40 show other display examples.
First, FIG. 39 shows a display example before composite display. Similar to the previous example, the paper PP is provided with a plurality of markers MK1 to MK5. In this example, a glasses-type display device 300 is used.

  In the display device 300, a display panel DP is provided in the lens portion of the glasses. In addition, a camera C2 is provided at the vine portion of the glasses. By wearing the glasses-type display device 300, the user can take a picture in front of the glasses with the camera C2 and can refer to information displayed on the display panel DP of the lens portion.

  FIG. 40 shows a display example after the composite display. That is, when the markers MK1 to MK5 are photographed by the camera C2 of the glasses-type display device 300, the identification information of the markers MK1 to ML5 is recognized. And the measurement result matched with each marker MK1-MK5 based on identification information is read from the memory | storage part 20. FIG. Then, images of measurement results associated with the markers MK1 to MK5 are combined with the display areas of the captured markers MK1 to MK5 and displayed on the display panel DP.

  The user wearing the glasses-type display device 300 can refer to the display in which the measurement result is combined with the background image displayed on the display panel DP of the lens portion of the glasses. In this example, the measurement results of the first measuring machine M1 are combined with the display areas of the markers MK1, MK2, and MK3, and the measurement results of the second measuring machine M2 are combined with the display areas of the markers MK4 and MK5.

  Note that if the setting for associating the markers MK1 to MK5 with the measurement results is changed, different measurement results can be displayed even for the same markers MK1 to MK5. That is, different measurement results can be displayed by creating one layout form of the markers MK1 to MK5.

  A plurality of measurement results may be associated with one marker. In this case, the user may arbitrarily switch which measurement result among a plurality of measurement results is displayed in combination corresponding to one marker. As a result, by capturing an image of one marker, it is possible to display different measurement results by switching to the position of the marker.

  The measurement result image may be a moving image. Thereby, a moving image is synthesized on the image of the paper PP, and the simple paper PP can be handled like a virtual moving image display device.

  In the measurement system 1G according to the present embodiment, the computer 100 and the display device 300 may constitute a user interface device. According to this user interface device, by shooting the images of the markers MK1 to MK5 with the camera C2, information corresponding to the markers MK1 to MK5 is read, and while the images of the markers MK1 to MK5 are being shot, The read information can be displayed on the display panel DP.

  As described above, according to the measurement systems 1A, 1B, 1C, 1D, 1E, 1F and 1G according to the present embodiment, the operability for the measuring instrument M can be improved.

  Although the present embodiment has been described above, the present invention is not limited to these examples. For example, in a system using a head mounted display HD to which a 3D camera CM is attached, the method is not limited to a method of combining and displaying a real space image captured by the 3D camera CM and computer graphics as described above. For example, computer graphics may be displayed on the head mounted display HD according to real space coordinates. In this case, instead of the 3D camera CM, or in addition to the 3D camera CM, a 3D sensor is mounted on the head mounted display HD, and the real space coordinate system is grasped in real time by the 3D sensor, and the virtual space is created by computer processing. It is also possible to construct and display the computer graphics with the position updated in real time as if it actually existed in the space. In addition, those in which those skilled in the art appropriately added, deleted, and changed the design of the above-described embodiments, and combinations of the features of each embodiment as appropriate also include the gist of the present invention. As long as they are within the scope of the present invention.

1A, 1B, 1C, 1D, 1E, 1F, 1G ... Measurement system 10, 10A, 10B, 310 ... CPU
20, 20A, 20B, 320 ... storage unit 30, 30A, 30B ... calculation unit 35 ... feature point generation unit 36 ... measurement result synthesis setting unit 38 ... marker recognition registration unit 39 ... marker measurement result correspondence setting unit 40 ... measuring instrument control 50, 50A, 50B ... display control unit 51, 51A ... video input / output unit 52 ... 3D camera control unit 52A ... camera control unit 53, 53A, 53B ... stereoscopic video generation unit 54, 54A, 54B ... head mounted display output unit 55 ... Control generation unit 60 ... Input / output control units 61, 61A, 61B ... Headphone microphone input / output units 62, 62A, 62B ... Voice input / output unit 65 ... Operation panel input / output units 70, 70A, 70B ... 3D sensor input unit 75 75A, 75B ... Posture recognition unit 76 ... Control input recognition unit 80 ... Projected figure generation unit 85 ... Projector output unit 90 ... Remote control unit 5 ... Helper generation unit 100, 100a, 100B ... Computer 101 ... Command setting unit 101A, 101B, 301 ... Communication control unit 102 ... Moving object detection unit 103 ... Command execution unit 104 ... Measurement operation storage unit 201 ... Image storage unit 300 ... Display Apparatus 350 ... Tracking unit 360 ... Input / output unit 370 ... Measurement result synthesis unit 380 ... Marker recognition unit 390 ... Marker measurement result synthesis unit 501 ... Measurement head 501G ... Measurement head image 531,531A ... Captured video synthesis unit 621,621A, 621B ... sound reproduction unit 800 ... user 801 ... hand 802 ... foot 900 ... supporters B1 to B7 ... button setting area BG ... button images C1, C2, CM1 ... camera CM ... 3D camera CM1 ... cameras CP1 to CP4 ... feature point D, D1, D2 ... Display D-IMG, IMG ... Video DP ... Display Nel FL ... Floor G, G1-G7 ... Image HD, HD1, HD2 ... Head mounted display HG, HG1 ... Helper image HPM, HPM1, HPM2 ... Headphone microphone K, K1, K2 ... Keyboard M, M1, M2 ... Measuring machine MG ... measuring machine images MK1 to MK5 ... marker MS, MS1, MS2 ... mouse N ... network P1 to P4 ... even part PC-G ... image PC-IMG ... video PP ... paper PR ... projector SR, SR1, SR2 ... 3D sensor W ... Work WB ... Whiteboard WG ... Work image YG ... User image

Claims (28)

A measuring machine for measuring the measurement object;
A measuring instrument control unit for controlling the measuring instrument based on an instruction from a user;
A three-dimensional sensor unit for detecting three-dimensional coordinates of a predetermined object in a real three-dimensional space;
A button setting area in the real three-dimensional space; a command setting unit for setting an association between the button setting area and a command;
A moving object detection unit for detecting a moving object from the three-dimensional coordinates detected by the three-dimensional sensor unit;
A command execution unit that executes the command associated with the button setting area when the three-dimensional coordinates of the moving object detected by the moving object detection unit are located in the button setting area;
A measurement system comprising: The measuring machine includes a measuring head that acquires the three-dimensional coordinates of the measurement object, and a video output unit that is provided on the measuring head and projects an image.
The measurement system according to claim 1, wherein the video output unit outputs a video of the button setting area set by the command setting unit. The moving object detection unit detects an operation of the measurement head,
The measurement system according to claim 2, wherein the command execution unit executes the command according to the three-dimensional coordinates of the measurement head detected by the moving object detection unit. The moving object detection unit detects at least one movement of the user's hand and foot,
The said command execution part performs the said command according to the said three-dimensional coordinate of at least any one of the said user's hand and leg | foot detected by the said moving body detection part, The any one of Claims 1-3 characterized by the above-mentioned. The measurement system according to item.   The command execution unit executes a first command when the three-dimensional coordinates of the moving object detected by the moving object detection unit remain within the button setting area for a predetermined time, and the three-dimensional coordinates of the moving object are The measurement system according to claim 1, wherein the second command is executed when moving along the button setting area. A three-dimensional imaging unit for acquiring a three-dimensional image in the real three-dimensional space;
A display unit for displaying the 3D image acquired by the 3D imaging unit;
A display control unit that synthesizes the three-dimensional video in the real three-dimensional space and an image corresponding to the button setting area and displays the synthesized image on the display unit;
The measurement system according to claim 1, further comprising:   The command execution unit selects and executes any one of the plurality of commands according to the shape of the user's hand detected by the moving object detection unit. The measurement system according to item. A measuring machine for measuring the measurement object;
A measuring instrument control unit for controlling the measuring instrument based on an instruction from a user;
A three-dimensional sensor unit for detecting three-dimensional coordinates of a predetermined object in a real three-dimensional space;
A moving object detection unit that detects the user's movement from the three-dimensional coordinates detected by the three-dimensional sensor unit;
A display unit for displaying an image of the measuring instrument in a virtual three-dimensional space;
A display control unit that moves the display position of the image of the measuring machine in the virtual three-dimensional space displayed on the display unit according to the user's operation detected by the moving object detection unit;
A measurement system comprising:   The measurement operation storage unit for recording the measurement operation along the display position of the image of the measuring instrument moved by the user in the virtual three-dimensional space displayed on the display unit. Item 9. The measurement system according to Item 8.   The measurement system according to claim 9, wherein the measurement machine control unit controls the measurement machine based on the measurement operation stored in the measurement operation storage unit. An image storage unit for storing a CAD image of the measuring instrument;
The measurement system according to claim 8, wherein the display unit displays the CAD image stored in the image storage unit in the virtual three-dimensional space. An imaging unit for acquiring an image of the measuring device in the real three-dimensional space;
The measurement according to any one of claims 8 to 11, wherein the display control unit displays the image of the measuring instrument acquired by the imaging unit in the virtual three-dimensional space of the display unit. system.   The said display control part moves the image | video of the said measuring machine displayed in the said virtual three-dimensional space of the said display part according to the preset measurement operation | movement. The measurement system according to item 1.   The said display control part synthesize | combines the image | video and measurement result of the said measurement object, and displays it in the said virtual three-dimensional space of the said display part, The any one of Claims 8-13 characterized by the above-mentioned. Measuring system. A remote control unit connected to the measuring machine control unit via a network;
The remote control unit transmits a command to the measurement device control unit via the network based on a measurement operation designated by the user in the virtual three-dimensional space displayed on the display unit. The measurement system according to any one of claims 8 to 14. A measuring machine for measuring the measurement object;
A measuring instrument control unit for controlling the measuring instrument based on an instruction from a user;
An imaging unit for acquiring an image of the measuring machine in a real three-dimensional space;
An image storage unit for storing an image relating to the measuring instrument;
A display unit for performing display in the real three-dimensional space;
A display control unit configured to synthesize the video of the measuring device acquired by the imaging unit and the image stored in the image storage unit in the real three-dimensional space and display the resultant on the display unit;
A measurement system comprising:   The measurement system according to claim 16, wherein the display control unit synthesizes an image representing a predetermined measurement procedure with the video of the measuring machine acquired by the imaging unit.   The measurement system according to claim 16 or 17, wherein the display control unit synthesizes an image corresponding to a predetermined abnormality with the video of the measuring instrument acquired by the imaging unit.   The measurement system according to any one of claims 16 to 18, wherein the display control unit synthesizes an image corresponding to a predetermined guidance with the video of the measuring device acquired by the imaging unit. A user-side control device connected to a measuring machine for measuring the measurement object;
A supporter-side control device connected to the user-side control device via a network;
A measuring system comprising:
The user-side control device
A measuring instrument control unit for controlling the measuring instrument based on an instruction from a user;
A first three-dimensional sensor unit for detecting three-dimensional coordinates of a predetermined object in a real three-dimensional space;
A first moving object detection unit that detects a moving object from the three-dimensional coordinates detected by the first three-dimensional sensor unit;
A three-dimensional imaging unit for acquiring a three-dimensional image in the real three-dimensional space;
A first display unit for displaying the 3D image acquired by the 3D imaging unit;
A first display control unit that synthesizes the 3D video and the image sent from the supporter-side control device and displays the synthesized image on the first display unit,
The supporter side control device comprises:
A second three-dimensional sensor unit for detecting the three-dimensional coordinates of the supporter in the real three-dimensional space;
A second moving object detection unit that detects the movement of the supporter from the three-dimensional coordinates detected by the second three-dimensional sensor unit;
A second display unit that displays an image based on the three-dimensional video acquired by the three-dimensional imaging unit in a virtual three-dimensional space;
A second display control unit that causes the second display unit to display an image based on information sent from the user-side control device in accordance with the three-dimensional coordinates of the virtual three-dimensional space;
A measurement system comprising: an operation information transmission unit that transmits an image relating to the operation of the supporter detected by the second moving body detection unit to the user-side control device via the network. The first display control unit causes the first display unit to display a supporter side image corresponding to a supporter based on the image sent from the supporter side control device,
The measurement system according to claim 20, wherein the second display control unit displays a user-side image corresponding to a user on the second display unit based on an image sent from the user-side control device. A measuring machine for measuring the measurement object;
A measurement result storage unit for storing a measurement result by the measuring instrument;
An imaging unit for acquiring an image of the measurement object;
A feature point extraction unit for extracting feature points from the video acquired by the imaging unit;
A display unit for displaying an image of the measurement object obtained from the video acquired by the imaging unit or the feature point extracted by the feature point extraction unit;
A measurement result reading unit that reads out the measurement result corresponding to a predetermined position of the measurement object based on the feature point extracted by the feature point extraction unit from the measurement result storage unit;
A display control unit that synthesizes the measurement result read out by the measurement result reading unit with the video or the image of the measurement object and displays it on the display unit;
A measurement system comprising:   The measurement system according to claim 22, wherein the display control unit synthesizes the measurement result with the video or the image corresponding to the imaging angle of the video of the measurement object acquired by the imaging unit. A measuring machine for measuring the measurement object;
A measurement result storage unit for storing a measurement result by the measuring instrument;
An imaging unit for acquiring a marker image;
A marker recognition unit for recognizing the marker from the image of the marker acquired by the imaging unit;
A measurement result reading unit that reads the measurement result corresponding to the marker recognized by the marker recognition unit from the measurement result storage unit;
A display control unit for displaying the measurement result read by the measurement result reading unit on the display unit while acquiring the image of the marker by the imaging unit;
A measurement system comprising: The imaging unit acquires a video of a background with the marker,
The measurement system according to claim 24, wherein the display control unit synthesizes the measurement result corresponding to the marker with the background image and displays the synthesized result on the display unit. A three-dimensional sensor unit for detecting three-dimensional coordinates of a predetermined object in a real three-dimensional space;
A button setting area in the real three-dimensional space; a command setting unit for setting an association between the button setting area and a command;
A moving object detection unit for detecting a moving object from the three-dimensional coordinates detected by the three-dimensional sensor unit;
A command execution unit that executes the command associated with the button setting area when the three-dimensional coordinates of the moving object detected by the moving object detection unit are located in the button setting area;
A three-dimensional imaging unit for acquiring a three-dimensional image in the real three-dimensional space;
A display unit for displaying the 3D image acquired by the 3D imaging unit;
A display control unit configured to synthesize the 3D video and an image corresponding to the button setting area and display the synthesized image on the display unit;
With
The user interface device, wherein the command execution unit selects and executes any one of the plurality of commands according to the shape of the user's hand detected by the moving object detection unit. An imaging unit for acquiring an image of a measurement object;
A feature point extraction unit for extracting feature points from the video acquired by the imaging unit;
A display unit for displaying an image of the measurement object obtained from the video acquired by the imaging unit or the feature point extracted by the feature point extraction unit;
A dimension acquisition unit that acquires information of a dimension corresponding to a predetermined position of the measurement object based on the feature points extracted by the feature point extraction unit;
A display control unit configured to synthesize the information of the dimension acquired by the dimension acquisition unit with the video or the image of the measurement object and display the information on the display unit;
A user interface device comprising: An imaging unit for acquiring a background image with a marker;
A marker recognition unit for recognizing the marker from the image of the marker acquired by the imaging unit;
A measurement result acquisition unit for acquiring a measurement result corresponding to the marker recognized by the marker recognition unit;
A display control unit for synthesizing the measurement result acquired by the measurement result acquisition unit with the background image and displaying the image on the display unit while acquiring the marker image by the imaging unit;
A user interface device comprising: