JP2020056655A - Distance measurement device and position calculation system - Google Patents

Abstract

To provide a distance measurement device which is excellent in accuracy.SOLUTION: A distance measurement device 1 comprises: a disc member 13 attached to a photographing camera T via a universal joint 12; a laser sensor 14 attached to the disc member 13; a winding/unwinding mechanism 21 for winding and unwinding a wire 30 tied to the disc member 13; and a laser reflection plate 23 attached to the winding/unwinding mechanism 21 via a universal joint 22 in such a manner that its reflection surface faces a direction of the wire 30.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a distance measurement device that measures a distance to a measurement target, and a position calculation system that calculates a position of the measurement target from the measured distance.

  2. Description of the Related Art Conventionally, in program production and movie production, it has been widely performed to combine CG or another image with an image photographed while a photographing camera moves. At the time of this combination, a method of measuring the position of the photographing camera to generate camera data of the photographing camera has been proposed (for example, see Patent Document 1). The technique described in Patent Literature 1 is to keep the tension of a wire connected to a photographing camera constant, measure the length and direction of the wire, and obtain the position of the photographing camera based on the measured length and direction.

Japanese Patent Application Laid-Open No. 2013-92441 (Japanese Patent No. 5941261)

  However, in the above-described conventional technology, there is a problem that the measurement result is easily affected by the swinging or bending of the wire, and the accuracy is low.

  Therefore, an object of the present invention is to provide a highly accurate distance measurement device and a position calculation system.

  In view of the above-described problems, a distance measurement device according to the present invention is a distance measurement device that measures a distance between a moving measurement target and a preset measurement reference target, and is used as a measurement target via a first driven unit. With the attached sensor mounting member, the laser sensor mounted on the sensor mounting member, and the measurement object, the string-shaped body connected to the sensor mounting member is kept in tension, and is moved with the movement of the measurement target. A winding / unwinding mechanism for winding and unwinding the string-like body, and a laser reflecting plate having an insertion hole through which the string-like body is inserted and attached to the winding / unwinding mechanism via the second driven portion The laser sensor is configured to irradiate the laser beam to the laser reflector and measure the distance by the reflected light from the laser reflector.

  According to the distance measuring device, when the measurement target moves, the sensor mounting member mounted via the first driven portion also moves. Further, in the distance measuring device, the string-shaped body connected to the sensor mounting member is wound or unwound by a winding / unwinding mechanism arranged on a predetermined measurement reference object through the insertion hole of the laser reflector. Is done. In the distance measuring device, since the wound or unwound cord-like body keeps the tension, the laser sensor and the reflection surface always maintain the posture facing the reflection surface even when the measurement target moves. Therefore, even if the positional relationship between the measurement target and the measurement reference target changes due to the movement of the measurement target, the distance measurement device can always measure the distance. At this time, since the distance measuring device uses the laser sensor for measuring the distance, the measurement result is less likely to be affected by shaking or bending of the cord.

  Further, in view of the above-described problem, the position calculation system according to the present invention includes a first distance measurement device and a second distance measurement device, which are distance measurement devices according to the present invention, and supports a measurement target at a predetermined position. The configuration includes a support mechanism having a support arm to be moved and a support leg for supporting the support arm, an elevation angle measurement sensor for measuring an elevation angle of the support arm, and a position calculation device.

  According to this position calculation system, the position calculation device calculates the height of the measurement target from the preset arm length and tripod height and the arm elevation angle measured by the elevation angle measurement sensor using a trigonometric function, By the point survey, the plane position of the measurement target is calculated from the distance calculated by the first distance measurement device and the second distance measurement device.

  As described above, the first distance measurement device and the second distance measurement device can always measure the distance even if the positional relationship between the measurement target and the measurement reference target changes due to the movement of the measurement target. At this time, since the first distance measuring device and the second distance measuring device use the laser sensor for measuring the distance, the measurement result is less likely to be affected by shaking or bending of the cord.

Note that the position calculation system may include a height measurement sensor that measures the height of the measurement target, instead of the elevation angle measurement sensor.
In addition, the position calculation system may include one set of distance measurement devices instead of the elevation measurement sensors and the height measurement sensors, and may include a total of three sets of distance measurement devices.

According to the present invention, the following excellent effects can be obtained.
According to the present invention, even if the positional relationship between the measurement target and the measurement reference target changes due to the movement of the measurement target, the distance can always be measured. Further, according to the present invention, since the laser sensor is used for measuring the distance, the measurement result is hardly affected by shaking or bending of the cord-like body, and the accuracy can be improved.

It is a side view of the distance measuring device concerning a 1st embodiment. It is an enlarged view of the laser sensor device of FIG. It is an enlarged view of the wire winding / unwinding device of FIG. 1, (a) is a front view, (b) is a side view. FIG. 3 is an explanatory diagram illustrating the attitude of a laser sensor and a laser reflector in the first embodiment. It is a side view of the position calculation system concerning a 2nd embodiment. It is a block diagram showing the composition of the position calculation device concerning a 2nd embodiment. FIG. 11 is an explanatory diagram illustrating a method of calculating the height of a photographing camera in a second embodiment. FIG. 11 is an explanatory diagram illustrating a method of calculating a plane position of a photographing camera by three-point survey in a second embodiment. It is a flow chart which shows operation of a position calculation system concerning a 2nd embodiment. It is a side view of the position calculation system concerning a 3rd embodiment. It is a block diagram showing the composition of the position calculation device concerning a 3rd embodiment. It is a flow chart which shows operation of a position calculation system concerning a 3rd embodiment. It is a side view of the position calculation system concerning a modification.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate. The drawings referred to in the following description schematically show the embodiments, and the scale, interval, positional relationship, and the like of each member are exaggerated, or some of the members are not shown. There are cases. In the following description, the same names and reference numerals indicate the same or similar members in principle, and a detailed description thereof will be appropriately omitted. Further, the directions shown in the drawings indicate relative positions between components, and are not intended to indicate absolute positions.

(1st Embodiment)
[Outline of distance measurement device]
The outline of the distance measuring device 1 according to the first embodiment will be described with reference to FIG.
As shown in FIG. 1, the distance measuring device 1 measures a distance between the photographing camera T and a measurement reference position (measurement reference target) A using a laser sensor device 10 attached to the photographing camera (measurement target) T. Things.
In each drawing, the horizontal direction is shown as an X axis, the vertical direction is shown as a Y axis, and the depth direction is shown as a Z axis. In FIG. 1, the laser light emitted from the laser sensor device 10 is shown by a broken line.

  Note that the measurement reference position A is a reference position when measuring a distance, and is a position where a wire winding / unwinding device 20 described later is arranged. For example, the measurement reference position A can be set at an arbitrary position on the floor of the photography studio.

  The photographing camera T is a general camera that photographs a photographed image such as a television program, and is mounted on, for example, a tripod Ta that can move in a photographing studio. The photographer performs photographing while moving the photographing camera T mounted on the tripod Ta forward, backward, left, and right. The photographer can also move the camera T up and down by expanding and contracting the tripod Ta.

  Here, the positional relationship between the laser sensor device 10 attached to the photographing camera T and the measurement reference position A changes as the photographing camera T moves. On the other hand, in order for the laser sensor device 10 to measure the distance with high accuracy, it is preferable that the laser sensor device 10 faces the measurement reference position A. Therefore, the distance measuring device 1 mechanically causes the direction of the laser sensor device 10 to follow the measurement reference position A by keeping the tension of the wire (string-like body) 30 connected to the laser sensor device 10 constant. did.

[Configuration of distance measuring device]
Hereinafter, the configuration of the distance measuring device 1 will be described.
The distance measuring device 1 includes a laser sensor device 10, a wire winding / unwinding device 20, and a wire 30.

<Laser sensor device>
The laser sensor device 10 measures the distance between the photographing camera T and the measurement reference position A. The laser sensor device 10 includes a plate 11, a universal joint (first driven portion) 12, a disk member (member for sensor attachment) 13, and a laser sensor 14.

The plate 11 is a flat plate member on which the photographing camera T is placed. The plate 11 has a photographing camera T mounted on an upper surface thereof and a universal joint 12 attached to an end of a lower surface thereof. For example, as the plate 11, an aluminum flat plate can be used.
In the laser sensor device 10, the universal joint 12 may be directly attached to the photographing camera T without using the plate 11.

The universal joint 12 is a universal joint that faces in any direction. As shown in FIG. 2, the universal joint 12 includes a T-shaped part 120, a joint 121, and a fixing member 122 so that an angle at which the photographing camera T and the measurement reference position A are connected can be freely changed.
The T-shaped portion 120 has a fixed shaft 120a having one end fixed to the center of the back surface of the disk member 13, and an arm portion 120b provided to be orthogonal to the other end of the fixed shaft 120a. Further, the T-shaped portion 120 is rotatably supported at both ends of the arm portion 120b by penetrating the first branch portion 121a of the joint 121. Thereby, the T-shaped portion 120 can rotate around the arm portion 120b as an axis so as to be driven within a range of a predetermined angle in one axial direction.

The joint 121 has a first branch portion 121a branched in a U-shape, a trunk shaft portion 121b provided on the first branch portion 121a, and a second branch portion 121c provided at the other end of the trunk shaft portion 121b. . In the joint 121, the directions in which the first branch portion 121a and the second branch portion 121c are attached to the trunk shaft portion 121b are orthogonal to each other. In the joint 121, the second branch portion 121c is rotatably supported by a protrusion 121d penetrating through the holding portion 122a of the fixing member 122 in the Z-axis direction.
This allows the joint 121 to rotate in an axial direction orthogonal to the T-shaped portion 120 so as to follow the protrusion 121d within a predetermined angle range.
The fixing member 122 has a disk portion 122b that is fixed to the lower surface of the plate 11, and a holding portion 122a that is provided in parallel with the disk portion 122b. Then, the joint 121 is attached to the holding member 122a so as to follow the fixing member 122 within a predetermined angle range.
It goes without saying that the universal joint 12 is not limited to the structure shown in FIG.

The disk member 13 connects the tip of the wire 30 to the center of the surface, and attaches (fixes) the laser sensor 14 near the wire 30. The disk member 13 is attached to the photographing camera T (more precisely, the plate 11) via the universal joint 12.
The universal joint 12 is configured such that the wire 30 can be detached from the disk member 13 by engaging an engagement hook provided at the distal end of the wire 30 with an engagement ring provided at the center of the surface of the disk member 13. (Not shown).

  The laser sensor 14 is a general distance measuring sensor that measures a distance by using a laser beam. The laser sensor 14 irradiates a laser beam to a laser reflector 23 described later, and measures the distance between the photographing camera T and the measurement reference position A based on the reflected light from the laser reflector 23.

  With the configuration described above, the laser sensor device 10 can maintain the posture in which the laser reflector 23 and the laser sensor 14 face each other when the wire 30 is pulled to maintain the tension.

<Wire winding / unwinding device>
The wire winding / unwinding device 20 performs winding and unwinding of the wire 30, and includes a winding / unwinding mechanism 21, a universal joint (second driven portion) 22, and a laser reflector 23. Prepare.

  The winding / unwinding mechanism 21 keeps the wire 30 connected to the disk member 13 at a constant tension, and winds and unwinds the wire 30 as the photographing camera T moves. The winding / unwinding mechanism 21 is arranged at the measurement reference position A in advance. 3, the winding / unwinding mechanism 21 includes a housing 210, a bearing 211a, a bearing 211b, a rotating shaft 212a, a rotating shaft 212b, a support rod 213, a constant tension spring 214, A first pulley 215, a second pulley 216, and a base 217 are provided.

  The housing 210 is a substantially rectangular parallelepiped, and a partition plate 210a is provided in a partial region in the rectangular parallelepiped in order to arrange the universal joint 22 described later. The partition plate 210a has a through hole 210b for allowing the wire 30 to reach the first pulley 215 inside the housing 210. Further, the housing 210 is provided with a bearing 211a at the center of the side surface, and supports the rotating shaft 212a. The housing 210 has a bearing 211b through which the partition plate 210a is inserted in the Z-axis direction, and the bearing 211b supports the rotating shaft 212b. Further, the housing 210 fixes the support rod 213 of the constant tension spring 214 at the same height as the rotation shaft 212a on the right side surface.

The constant tension spring 214 is formed by forming a leaf spring into a figure-eight shape and winding it around the rotation shaft 212 a and the support rod 213. That is, the constant tension spring 214 is housed inside the housing 210, and has both ends connected to the rotation shaft 212a and the support rod 213, and applies tension to the wire 30 in the winding direction of the rotation shaft 212a. Further, the constant tension spring 214 is disposed on the rotation shaft 212a so as to be adjacent to the first pulley 215. Here, the constant tension spring 214 is provided with a disk at both ends in the Z-axis direction, and this disk contacts the side plate of the first pulley 215, so that movement in the Z-axis direction on the rotating shaft 212a is restricted.
The first pulley 215 is a pulley for winding and unwinding the wire 30. The first pulley 215 is housed inside the housing 210, and is supported by the rotation shaft 212a so that the rotation surface of the second pulley 216 is flush with the rotation surface of the second pulley 216.
The second pulley 216 is a pulley for guiding the wire 30 to the first pulley 215 from outside the housing 210. The second pulley 216 is supported by the rotating shaft 212b so as to line up with the first pulley 215 in the X-axis direction.
The base 217 is a base part in contact with the photographing floor. The base 217 is two parallel plates provided on the lower surface of the housing 210.

The universal joint 22 is a universal joint that faces in any direction. As shown in FIG. 3, the universal joint 22 is disposed on the partition plate 210a. Further, the universal joint 22 includes a T-shaped part 220 and a joint 221 such that the angle at which the photographing camera T and the measurement reference position A are connected can be freely changed.
The T-shaped part 220 is formed so as to face an insertion hole 231 of the laser reflector 23 described later, and is formed so that the wire 30 is inserted. The T-shaped part 220 has the same structure as the T-shaped part 120 in FIG. 2 except that the T-shaped part 220 is formed in a cylindrical shape so that the wire 30 can be inserted.
The joint 221 is connected to the T-shaped part 220 and formed so that the wire 30 is inserted therethrough. The joint 221 is formed in a cylindrical shape so that the wire 30 can be inserted, and the rear end side is supported by the rotating shaft 212b. The joint 221 is arranged so as to be aligned with the second pulley 216 in the X-axis direction. Thereby, the wire 30 inserted through the inside of the joint 221 is guided by the second pulley 216 in the direction of the through hole 210 b, and is wound or unwound by the first pulley 215. In other respects, the joint 221 has the same structure as the joint 121 in FIG.

  The laser reflector 23 reflects laser light. For example, the laser reflector 23 may be provided with a coating or a mirror finish on the reflection surface 230 that reflects the laser light. The laser reflecting plate 23 has an insertion hole 231 at the center of the reflecting surface 230 in the plate thickness direction so that the wire 30 can be inserted. The laser reflecting plate 23 is attached to the winding / unwinding mechanism 21 via the universal joint 22, similarly to the disk member 13.

  With the above configuration, when the wire 30 is pulled to maintain the tension, the wire winding / unwinding device 20 can maintain the posture in which the laser reflector 23 and the laser sensor 14 face each other.

<Wire>
The wire 30 is a cord-like material that connects the photographing camera T and the wire winding / unwinding device 20. One end of the wire 30 is connected to the photographing camera T (more precisely, the disk member 13). The wire 30 is wound by the winding / unwinding mechanism 21 or unwinded from the winding / unwinding mechanism 21 as the photographing camera T moves.

[Action / Effect]
In the distance measuring device 1, as shown in FIG. 4, when the photographing camera T moves from the position indicated by the broken line to the position indicated by the solid line, the disk member 13 mounted via the universal joint 12 also moves. Further, in the distance measuring device 1, the wire 30 connected to the disk member 13 is moved by the winding / unwinding mechanism 21 arranged at the measurement reference position A via the insertion hole 231 (FIG. 3) of the laser reflector 23. Take up or unwind. In the distance measuring device 1, the winding / unwinding mechanism 21 keeps the tension of the wound or unwound wire 30, so that even when the photographing camera T moves, the laser sensor 14 and the reflection surface 230 are always in contact. Maintain a facing position. Therefore, even if the positional relationship between the photographing camera T and the measurement reference position A changes due to the movement of the photographing camera T, the distance measuring device 1 can always measure the distance. At this time, since the distance measuring device 1 uses the laser sensor 14 for measuring the distance, the measurement result is less likely to be affected by the swing or bending of the wire 30 and the accuracy can be improved.

Here, advantages of the distance measuring device 1 as compared with an existing method of measuring the photographing camera T will be briefly described.
The existing method of measuring with a special pedestal with wheels has a problem that errors accumulate when the wheels slide on the floor of the shooting studio. In addition, the existing method using an infrared sensor arranged on the ceiling has problems that it interferes with illumination installed on the ceiling and that the apparatus is expensive. Furthermore, in the existing method of performing measurement by image analysis using a stereo camera, it takes time and labor to perform preliminary calibration, and there is a problem such as occlusion due to an obstacle that blocks the camera. Compared to these existing methods, the distance measuring device 1 does not require the introduction of dedicated equipment, and can be introduced at a low price only by making simple modifications to existing facilities. By introducing the distance measuring device 1, a virtual studio can be constructed at a low cost, and the range of video expression can be expanded.

(2nd Embodiment)
[Configuration of position calculation system]
A configuration of the position calculation system 100 according to the second embodiment will be described with reference to FIG.
Position calculation system 100 uses the distance measuring apparatus 1 _A and the distance measuring device 1 two pairs of _B, and the distance in two directions is measured, calculated spatial position of the imaging camera T on the principle of three-point surveying (triangulation) Is what you do. As shown in FIG. 5, the position calculation system 100 includes distance and measuring apparatus _{1 A} and the distance measuring apparatus _{1 B,} and crane (support mechanism) 40, and an elevation angle measurement sensor 50, and a position calculating device 60.

Distance measuring device (first distance measuring device) _{1 A} is provided with laser sensor device 10 _A, a wire takeup-unwinding device 20 _A, a wire 30 _A. The distance measuring device (second distance measuring device) _{1 B} is provided with laser sensor apparatus 10 _B, and the wire takeup-unwinding device 20 _B, and a wire 30 _B.
Laser sensor device 10 _A and the laser sensor apparatus 10 _B is attached to the same photographing camera T. The laser sensor device 10 _A and the laser sensor apparatus 10 _B is by way of wireless communications or wired communications, and transmits the distance, each measured for the position calculation unit 60.
Also, while placing the wire takeup-unwinding device 20 _A to the measurement reference position A, to place the wire takeup-unwinding device 20 _B to the measurement reference position B, the measurement reference position A and the measurement reference position B different.
Other respects, the distance measuring apparatus 1 _A and the distance measuring apparatus 1 _B are the same as those in the first embodiment, further explanation is omitted here.

In FIG. 5, for the sake of clarity, has been shown apart a laser sensor device 10 _A and the laser sensor apparatus 10 _B, in order to reduce measurement errors, it is preferably attached in the vicinity. For example, the laser sensor device 10 _A and the laser sensor apparatus 10 _B is mounted so as to be aligned in the Z axis direction in the bottom front side of the plate 11 (FIG. 8). The distance between the laser sensor device 10 _A and the laser sensor device 10 _B is, because much shorter than the distance of each measure, and to ignore the interval.

The crane 40 supports the photographing camera T and moves it to a desired position, and includes an arm (support arm) 41 and a tripod (support leg) 42. In the present embodiment, the crane 40 is assumed to be installed on the floor surface of the photography studio.
The arm 41 moves the photographing camera T to a predetermined position. The arm 41 is mounted on one end so that the photographing camera T is kept horizontal, and is supported by the tripod 42 at the rear end side from the center. The arm 41 can move the photographing camera T to a desired position by changing its length and direction.
The tripod 42 supports the arm 41. For example, the tripod 42 is a stationary tripod that supports the rear end side of the arm 41. Note that the tripod 42 is not limited to a stationary tripod, and may be a movable tripod (not shown) that can move back and forth and left and right on the floor surface of the shooting studio.

  The elevation angle measurement sensor 50 is a rotation angle sensor (for example, a rotary encoder) attached to the rotation axis of the arm 41 and measuring the elevation angle of the arm 41. That is, the elevation angle measurement sensor 50 measures the angle of the arm 41 with respect to the floor surface (horizontal plane) of the shooting studio. Then, the elevation angle measurement sensor 50 transmits the measured elevation angle of the arm 41 to the position calculation device 60 by wireless communication or wired communication.

[Configuration of position calculation device]
The configuration of the position calculation device 60 will be described with reference to FIG.
The position calculating device 60 calculates a spatial position of the photographing camera T, and is disposed, for example, behind the photographing camera T. As shown in FIG. 6, the position calculation device 60 includes a height calculation unit 61, a plane position calculation unit 62, and a spatial position output unit 63.

The height calculating means 61 calculates the height of the photographing camera T from the preset length L of the arm 41 and the height H _{0 of the} tripod 42 and the elevation angle θ of the arm 41 received from the elevation angle measurement sensor 50 by a trigonometric function. Is calculated. Then, the height calculating means 61 outputs the calculated height H of the photographing camera T to the plane position calculating means 62 and the spatial position output means 63.
Plane position calculating means 62, by a three-point measurement, the distance D _A and the distance D _B received from the distance measuring apparatus 1 _A and the distance measuring apparatus 1 _B, and calculates the plane position of the photographing camera T. Then, the plane position calculation means 62 outputs the calculated plane position of the photographing camera T to the spatial position output means 63.
The spatial position output unit 63 uses the height H of the photographing camera T input from the height calculating unit 61 and the plane position of the photographing camera T input from the plane position calculating unit 62 as the spatial position of the photographing camera T. Output.

<Calculation of spatial position>
The calculation of the spatial position of the photographing camera T will be specifically described with reference to FIGS.
First, the height calculation means 61, as a parameter, setting the length L of the arm 41, and a height H ₀ of the tripod 42 in advance. As shown in FIG. 5, the length L of the arm 41 represents the length from the tip of the arm 41 to the rotation axis on which the elevation angle measurement sensor 50 is attached. The height H ₀ of the tripod 42, represents the height of the rotary shaft fitted with elevation angle measurement sensor 50 from the floor surface of the film studios.

As shown in FIG. 7, the height calculation unit 61, using the following equation (1), the length L of the arm 41, the height H ₀ of the tripod 42, the elevation angle θ of the arm 41, shooting The height H of the camera T is calculated.
H = L sin θ + H ₀ Equation (1)

Next, the planar position calculating means 62, for determining the horizontal component of the distance D _A, using an inverse trigonometric function, calculates the irradiation angle phi _A of the laser sensor 14 _A. Here, the illumination angle phi _A, represents the angle of the photographing studio floor surface with respect to (horizontal), the laser beam laser sensor 14 _A is irradiated. Specifically, the plane position calculating means 62, using the following equation (2), the height H of the imaging camera T, and a distance D _A, and calculates the illumination angle phi _A.
φ _A = arcsin (H / D _A ) Equation (2)

Next, the planar position calculating means 62, the distance measuring apparatus 1A also includes the height component of the distance D _A measured, using a trigonometric function, a horizontal component of the distance D _A horizontal distance D _{A '} calculate. Specifically, the plane position calculation means 62 calculates the horizontal distance D _A ′ from the distance D _A and the irradiation angle φ _A using the following equation (3).
D _A ′ = D _A cos φ _A ... Equation (3)

The planar position calculating means 62, similarly irradiated angle phi _B and illumination angle phi _A is calculated by the equation (2), is calculated by the horizontal distance D _{A 'similarly} to the horizontal distance D _B' also equation (3) (Not shown in FIG. 7).

As shown in FIG. 8, a distance _DAB between the measurement reference position A and the measurement reference position B is preset in the plane position calculation unit 62 as a parameter. This distance D _AB can be measured in advance at the time of installation of the wire takeup-unwinding device 20 _A and the wire takeup-unwinding device 20 _B. Then, the plane position calculating means 62 calculates the position of the photographing camera T on the floor surface of the photographing studio from three distances of the photographing camera T, the measurement reference position A, and the measurement reference position B by three-point surveying. That is, the plane position calculation unit 62 calculates the plane position of the photographing camera T from the three sides of the horizontal distance D _A ′, the horizontal distance D _B ′, and the distance D _AB by three-point surveying.

  In FIGS. 7 and 8, for the sake of simplicity, the size of the universal joint 12, the laser sensor 14, and the displacement of the laser reflector 23 and the displacement of the mounting position are ignored. These may be reflected to calculate the spatial position.

[Operation of the position calculation system]
The operation of the position calculation system 100 will be described with reference to FIG.
As shown in FIG. 9, in the position calculation system 100, the length L of the arm 41, the height H ₀ of the tripod 42, and the distance D _AB are set in advance as parameters (step S1).

Laser sensor 14 _A measures the distance _{D A} of the imaging camera T and the measurement reference position A. The laser sensor 14 _B measures the distance _{D B} between the imaging camera T and the measurement reference position B (Step S2). In step S2, it has been described as measuring the distance D _A and the distance D _B simultaneously, the distance one may measure ahead of D _A or distance D _B.
The elevation angle measurement sensor 50 measures the elevation angle θ of the arm 41 (Step S3).

The height calculating means 61 calculates the height H of the photographing camera T from the length L of the arm 41 and the height H _{0 of the} tripod 42 set in step S1, and the elevation angle θ of the arm 41 measured in step S3. I do. Specifically, the height calculating means 61 calculates the height H of the photographing camera T using the above equation (1) (step S4).

Plane position calculating means 62, the distance D _A and the distance D _B measured in step S2, and calculates the plane position of the photographing camera T. Specifically, the plane position calculating means 62, using the equation (2) to calculate the irradiation angle phi _A and irradiation angle phi _B. Then, the plane position calculation means 62 calculates the horizontal distance D _A ′ and the horizontal distance D _B ′ using the above equation (3). Further, the plane position calculation unit 62 calculates the plane position of the photographing camera T from the three sides of the horizontal distance D _A ′, the horizontal distance D _B ′, and the distance D _AB by using three-point surveying (step). S5).

  The spatial position output means 63 outputs the height H of the photographing camera T calculated in step S4 and the plane position of the photographing camera T calculated in step S5 as the spatial position of the photographing camera T (step S6).

[Action / Effect]
As described above, in the position calculation system 100 according to this embodiment, since use is less susceptible distance measuring device shaking and the influence of the deflection of the wire 30 1 _A and distance measuring device 1 _B, it is possible to improve the accuracy. Furthermore, as in the first embodiment, the position calculation system 100 does not require the introduction of dedicated equipment, and can be introduced at a low price only by making simple modifications to existing equipment.

(Third embodiment)
[Configuration of position calculation system]
With reference to FIG. 10, a configuration of a position calculation system 100A according to the third embodiment will be described, focusing on differences from the second embodiment.
The position calculation system 100 in FIG. 5 obtains the height H of the camera T from the elevation angle θ measured by the elevation angle measurement sensor 50. On the other hand, the position calculation system 100A of FIG. 10 is different in that the height measurement sensor 70 measures the height H of the photographing camera T.

As shown in FIG. 10, the position calculation system 100A includes distance and measuring apparatus _{1 A} and the distance measuring apparatus _{1 B,} and the crane (support mechanism) 40A, a height measurement sensor 70, and a position calculating device 80. The distance measuring device 1 _A and distance measuring device 1 _B, since the same manner as in the second embodiment, the description thereof is omitted.

The crane 40A supports the photographing camera T and moves it to a desired position, and includes an arm 41 and a tripod 42A. That is, the crane 40A does not include the elevation angle measurement sensor 50 of FIG.
The tripod 42A is a movable tripod having wheels and capable of moving back and forth and left and right on the floor surface of the photography studio. The tripod 42A is not limited to a movable tripod, and may be a stationary tripod (not shown).
In other respects, the crane 40A is the same as that of the second embodiment, and further description will be omitted.

  The height measurement sensor 70 is a sensor that measures the height H of the photographing camera T, and may be fixed to the center of the lower surface of the plate 11. For example, as the height measuring sensor 70, a general distance measuring sensor such as a laser sensor, an infrared sensor, and an ultrasonic sensor can be used. Then, the height measurement sensor 70 transmits the measured height H of the photographing camera T to the position calculation device 80 by wireless communication or wired communication.

[Configuration of position calculation device]
The configuration of the position calculation device 80 will be described with reference to FIG.
The position calculation device 80 calculates the position of the photographing camera T, and includes a plane position calculation unit 81 and a spatial position output unit 82 as shown in FIG.

Plane position calculating means 81, the distance D _A and the distance D _B received from the distance measuring apparatus 1 _A and the distance measuring device 1 _B, by a three-point measurement, and calculates the plane position of the photographing camera T. Here, since the plane position calculating means 81 receives the height H of the photographing camera T from the height measuring sensor 70, it is not necessary to calculate the height H of the photographing camera T.
In other respects, the plane position calculation means 81 is the same as that of the second embodiment, and further description will be omitted.

  The spatial position output unit 82 outputs the height H of the photographing camera T received from the height measurement sensor 70 and the plane position of the photographing camera T input from the plane position calculating unit 81 as the spatial position of the photographing camera T. Is what you do.

[Operation of the position calculation system]
The operation of the position calculation system 100A will be described with reference to FIG.
As shown in FIG. 12, in the position calculation system 100A, the distance _DAB is set in advance as a parameter (step S10).

Laser sensor 14 _A measures the distance _{D A} of the imaging camera T and the measurement reference position A. The laser sensor 14 _B measures the distance _{D B} between the imaging camera T and the measurement reference position B (step S11). Note that the processing in step S11 is the same as the processing in step S2 in FIG.
The height measurement sensor 70 measures the height H of the photographing camera T (Step S12).

Plane position calculating means 62, the distance _{D A} and the distance _{D B} measured in step S11, and calculates the plane position of the imaging camera T (Step S13) The processing in step S13, the processing in step S5 in FIG. 9 The same is true.
The spatial position output means 63 outputs the height H of the photographing camera T measured in step S12 and the plane position of the photographing camera T calculated in step S13 as the spatial position of the photographing camera T (step S14).

[Action / Effect]
As described above, the position calculation system 100A according to the present embodiment can improve the accuracy similarly to the second embodiment. Furthermore, as in the second embodiment, the position calculation system 100A does not require the introduction of dedicated equipment, and can be installed at a low price only by simply modifying existing equipment.

(Modification)
As described above, the embodiments of the present invention have been described in detail. However, the present invention is not limited to each of the above-described embodiments, and includes a design change or the like without departing from the gist of the present invention.
In the second and third embodiments described above, the spatial position of the photographing camera is calculated by three-point survey, but the technique of three-point survey is not limited to this.
In the above-described second and third embodiments, the position calculation device has been described as being arranged behind the photographing camera, but the arrangement position is not limited to this.

In each of the embodiments described above, the photographing camera is described as being mounted on a tripod, but is not limited to this. For example, the photographing camera may be a general shoulder-mounted camera in which a photographer places a photograph on a shoulder.
In each of the embodiments described above, the measurement target is the photographing camera, but is not limited thereto.

In each of the embodiments described above, the winding / unwinding mechanism has been described as using a constant tension spring, but is not limited to this. The winding / unwinding mechanism only needs to be a mechanism capable of winding and unwinding the wire while maintaining the tension of the wire.
In each of the embodiments described above, the string-shaped body is described as being a wire, but is not limited thereto. The string-shaped body may be any string-shaped material that can maintain tension between the measurement target and the winding / unwinding mechanism. For example, a string, a rope, and a chain can be given as the string-like body.

  In each of the embodiments described above, the first driven portion and the second driven portion have been described as being universal joints (universal joints), but are not limited thereto. The first follower and the second follower need only be able to move the laser sensor in any direction. For example, as the first driven portion and the second driven portion, there are a ball joint and a flexible joint.

In the above-described second and third embodiments, the position calculation system has been described as including two sets of distance measurement devices and using the elevation angle measurement sensor and the height measurement sensor together, but the present invention is not limited to this. As shown in FIG. 13, the position calculation system 100 </ b> B adds a pair of distance measurement devices (third distance measurement devices) 1 </ b> _C instead of the elevation measurement sensors and the height measurement sensors, and a total of three distance measurement devices it may comprise 1 _a to 1 _C. In this case, the distance measuring device ₁ A to 1 _C are attached to the same photographing camera T. On the other hand, the measurement reference positions _A to _C of the distance measurement devices _1A to 1C are different from each other. Accordingly, the position calculation system 100B (position calculating device 90), by a three-point measurement, from the distance the distance measuring device 1 _A to 1 _C are measured, it can be calculated spatial position of the imaging camera T.

The present invention can be used in television program production and movie production. In particular, the present invention makes it possible to efficiently and efficiently perform processes such as synthesizing computer graphics with video in a virtual studio program, a drama program, or a sports broadcast.
In addition, the present invention can also be used for measurement of various operating devices, wheelchairs and mobile robots for the physically handicapped, as measurement targets.

1 distance measuring device 1 _A distance measuring device (first distance measuring device)
1 _B distance measuring device (second distance measuring device)
1 _C distance measuring device (third distance measuring device)
Reference Signs List 10 Laser sensor device 11 Plate 12 Universal joint (first driven part)
13 Disc member (sensor mounting member)
14, 14 _A, 14 _B laser sensors 20,20 _{A, 20} B, _{20 C} wire takeup-unwinding device 21 winding-unwinding mechanism 22 universal joint (second driven part)
23 Laser Reflector 30 Wire (String)
40, 40A crane (support mechanism)
41 arm (support arm)
42, 42A tripod (supporting leg)
50 Elevation angle measurement sensor 60 Position calculation device 61 Height calculation means 62 Plane position calculation means 63 Spatial position output means 70 Height measurement sensor 80 Position calculation device 81 Plane position calculation means 82 Spatial position output means 90 Position calculation devices 100, 100A, 100B, 100C Position calculation system T Camera (measurement target)
A, B, C Measurement reference position (measurement reference target)

Claims (6)

A distance measuring device that measures a distance between a moving measurement target and a preset measurement reference target,
A sensor attachment member attached to the measurement target via a first driven unit,
A laser sensor attached to the sensor attachment member,
Winding / winding, which winds and unwinds the string with the movement of the measurement object, such that the string is connected to the sensor mounting member and maintains the tension. Delivery mechanism,
A laser reflecting plate having an insertion hole through which the string-shaped body is inserted, and attached to the winding / unwinding mechanism via a second driven portion;
The said laser sensor irradiates a laser beam to the said laser reflector, and measures the said distance by the reflected light from the said laser reflector, The distance measuring device characterized by the above-mentioned.   2. The distance measuring device according to claim 1, wherein the first driven unit and the second driven unit are universal joints that freely change an angle connecting the measurement target and the measurement reference target. 3. The second follower,
A T-shaped portion formed to face the insertion hole of the laser reflector and through which the string-like body is inserted;
A joint connected to the T-shaped portion and through which the string-like body is inserted,
The T-shaped part is driven in one axial direction within a predetermined angle range,
The distance measuring device according to claim 2, wherein the joint is driven within a range of a predetermined angle in an axial direction orthogonal to the T-shaped portion. A first distance measuring device and a second distance measuring device, each of which is the distance measuring device according to any one of claims 1 to 3;
A support arm that supports the measurement target and moves to a predetermined position, and a support mechanism that has a support leg that supports the support arm,
An elevation angle measurement sensor for measuring the elevation angle of the support arm,
By a trigonometric function, the height of the measurement object is calculated from a preset length of the support arm, a height of the support leg, and an elevation angle of the support arm measured by the elevation angle measurement sensor. A position calculation device that calculates the planar position of the measurement target from the distance calculated by the first distance measurement device and the second distance measurement device,
The first distance measurement device and the second distance measurement device are attached to the same measurement target, and the first distance measurement device and the second distance measurement device are respectively arranged on different measurement reference targets. The position calculation system characterized by the above. A first distance measuring device and a second distance measuring device, each of which is the distance measuring device according to any one of claims 1 to 3;
A height measurement sensor that measures the height of the measurement target,
A three-point survey, comprising: a position calculation device that calculates a planar position of the measurement target from the distance calculated by the first distance measurement device and the second distance measurement device,
The first distance measurement device and the second distance measurement device are attached to the same measurement target, and the first distance measurement device and the second distance measurement device are respectively arranged on different measurement reference targets. The position calculation system characterized by the above. A first distance measuring device, a second distance measuring device, and a third distance measuring device, each of which is the distance measuring device according to any one of claims 1 to 3;
By a three-point survey, the first distance measurement device, the second distance measurement device, and a position calculation device that calculates the spatial position of the measurement target from the distance calculated by the third distance measurement device,
The first distance measurement device, the second distance measurement device, and the third distance measurement device are attached to the same measurement target, and the first distance measurement device, the second distance measurement device, and the third distance measurement A position calculation system, wherein the devices are arranged on different measurement reference targets.

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