JP2020201667A - Drawing superimposition device and program - Google Patents

Abstract

To provide a drawing superimposition device with high convenience capable of easily and surely performing a construction error check of a civil engineering structure.SOLUTION: A drawing superimposition device 1 includes a drawing superimposition device main body 100 and a depth camera 200 connected to the drawing superimposition device main body 100 by wire or wirelessly. The depth camera 200 includes: one optical camera 210 that images a two-dimensional image in a real space; and a depth data generation unit 220 and an inertial measurement unit 230 that acquire position calculation information for detecting a focal position and a direction of the optical camera 210. The drawing superimposition device main body 100 includes: a drawing data storage unit 110 that stores drawing data; a position calculation unit 120 that calculates, based on a real space image, depth data, inertia information, and drawing data acquired from the depth camera 200, a current focal position and a direction; and a superposition display control unit 130 that superposes the drawing data on the real space image and outputs it to a display device 160.SELECTED DRAWING: Figure 3

Description

The present invention relates to a drawing superimposition system that superimposes and displays drawing data on an captured real space image.

With regard to the finished form of civil engineering structures including steel structures, mistakes (forgetting to construct the structure, incorrect position, etc.) are not noticed and flow to the subsequent process, and it takes time to recover. Conventionally, in the inspection process, the structure is manually measured with a measuring tool such as a tape measure, and the alignment is confirmed by comparing it with the design drawing.

However, the root cause of this challenge is that this method contains many elements that induce human error. That is, it is necessary for the measurer to select the measurement position (object) by himself / herself, but it is left to the ability of the measurer himself / herself whether or not the measurement target is appropriate for the measurement result to be secured. In addition, the certainty of the reference point at the time of measurement is the decisive factor for accuracy, but this is also left to the ability of the measurer himself. In addition, there may be a simple measurement error (misreading of the measured value) or a simple forgetting to measure.

As another aspect, although it often depends on the skill and motivation of the measurer as described above, lack of manpower and skill deterioration due to labor shortage have spurred the surface of these issues.

Therefore, in recent years, as a method for solving these problems, some error detection methods using a computer or the like have been proposed.

Conventional methods include, for example, photogrammetry. This is a method of taking a target structure as a two-dimensional optical photograph and superimposing the appearance that should be as designed based on the three-dimensional CAD (Computer Aided Design). In this method, the problem is how to obtain the coordinates and angles of the camera that is shooting the structure, but basically, it is established by physically measuring the coordinates in the real world. There are many.

Further, as another method, a case where MR (Mixed Reality) technology is adopted has been proposed. Patent Document 1 describes one using HoloLens (registered trademark) of Microsoft (registered trademark). This HoloLens® is goggle-like hardware designed with a translucent screen covering the eyes of the human head. It is roughly divided into an optical system, an environment recognition system, and a system system.

The optical system superimposes and displays stereoscopic digital information including 3D CAD on the scene actually viewed by the wearer. In order to display the 3D information, the wearer is made to recognize the depth, and different data for the right eye and the left eye are projected.

The environment recognition system is responsible for distance recognition by comparing the deviations of two-dimensional images with a stereo lens, distance recognition by irradiating an infrared laser, and estimation of the amount of movement by an inertial sensor (IMU).

Patent No. 6438995

However, although the above-mentioned error detection method by photogrammetry has an advantage that no special equipment is required, it takes a considerable amount of time and effort to acquire the shooting position of the camera. In addition to the distortion of the lens, it takes time and effort to adjust the appearance on 3D CAD. From this, it cannot be said that the problem can be sufficiently solved because the measurer needs skills including image processing in order to carry out this and it takes a certain amount of time to carry out the work.

On the other hand, the method described in Patent Document 1 is a technique that does not require a special skill for the measurer and automatically adjusts and displays the display at the time of superimposition, so that the problem can be solved in a short time. However, the one described in Patent Document 1 is used by being attached to the head of the measurer, and there is a problem that the measurement work is limited to one person and the other person cannot grasp the measurement situation. is there.

Therefore, it is conceivable to separately connect an external device such as a tablet to the goggles for the purpose of observing or recording the measurement status by a person other than the measurer. In this case, the external device acquires the image data captured by the camera provided on the goggles and the data for the right eye or the left eye calculated from the stereoscopic digital information from the goggles. Then, the external device superimposes and displays the data for the right eye or the left eye on the image data acquired from the goggles, and stores the superposed image in a predetermined storage means as needed. However, in the goggles described in Patent Document 1, the camera for imaging is arranged near the intermediate position between the right eye and the left eye of the measurer, while the data for superimposition is calculated for the right eye position or the left eye position. .. Therefore, there is a problem that the image data captured by the camera and the calculated superimposition data are out of alignment. In the measurement of civil engineering structures, the measurement accuracy needs to be in millimeters even if the measurement target is a large-scale structure exceeding several tens of meters. Therefore, the occurrence of the above-mentioned deviation is a very big problem.

Further, the one described in Patent Document 1 is worn on the head of the measurer, and the measurer needs to visually check the measurement target in a quasi-proximity state. However, civil engineering structures are not always visible to the naked eye from a location that is easily accessible to the measurer. That is, in many cases, it can be confirmed only from a high place that cannot be confirmed without providing a scaffolding or a place where the floor surface level is low, and there is a problem that setup is required to make it visible. Further, in the case of the one described in Patent Document 1, since the goggles are susceptible to shocks and vibrations at the time of shooting, the captured image and the measurement signal are blurred, which may hinder the spatial recognition processing and the position recognition processing.

The present invention has been made in view of the above circumstances, and an object of the present invention is a highly convenient drawing superimposing device capable of easily and surely performing construction error inspection of civil engineering structures with high superimposition accuracy of drawing data. Is to provide.

In order to achieve the above object, the present invention is a drawing superimposing device for superimposing and displaying drawing data on an captured real space image, and is connected to the drawing superimposing device main body and the drawing superimposing device main body by wire or wirelessly. The imaging device includes a single-lens camera that captures a two-dimensional image in real space, and a position for acquiring position calculation information for detecting the focal position and direction of the camera. The drawing superimposing device main body is provided with calculation information acquisition means, and is based on a drawing data storage unit that stores drawing data which is a design drawing of a structure and position calculation information acquired by the position calculation information acquisition means. The drawing data stored in the drawing data storage unit is rendered based on the position calculation unit that calculates the focal position and direction of the camera and the current focal position and direction of the camera calculated by the position calculation unit, and the rendered image. The data is superposed on the real space image captured by the camera and output to the display device.

A preferred embodiment of the present invention further includes a device provided with a long support member held by the user and supporting the image pickup apparatus. Further, as another preferable aspect of the present invention, there is an example provided with a stabilizer that absorbs shock and vibration applied to the image pickup apparatus. Further, as another preferable aspect of the present invention, there is an example in which a correction unit for correcting a real space image or a rendered image based on the lens distortion information of the camera is provided. Further, as another preferred embodiment of the present invention, the position calculation information acquisition means corresponds to a real space image captured by the camera and obtains distance information for each pixel from an object existing in the real space. Examples thereof include a depth data generation unit that generates the depth data possessed by the image as the position calculation information, and an inertial measurement unit that measures the inertial information of the imaging device as the position calculation information.

According to the present invention, since the drawing superimposing device main body and the image pickup device are separated, only the image pickup device can be easily moved to the near vicinity of the inspection target. As a result, construction error inspection of civil engineering structures can be easily and surely carried out. Further, according to the present invention, since the image of the real space is performed by one camera included in the image pickup apparatus, the superimposition accuracy of the drawing data in the superimposition display control unit is improved.

In particular, according to the drawing superimposing device provided with the support member, only the imaging device can be easily moved to the quasi-neighborhood of the inspection target. As a result, construction error inspection of civil engineering structures can be easily and surely carried out. Further, according to the drawing superimposing device equipped with a stabilizer, the image pickup device has less blurring and the position is stable, so that the calculation process of the focal position and the direction can be performed with high accuracy, and the real space image with less blurring and easy to see. And a superposed image can be obtained. Further, if the correction unit for correcting the lens distortion is a drawing superimposing device, the deviation between the rendered image obtained by rendering the drawing data and the real space image is reduced, so that the superimposing accuracy of the drawing data is improved.

Overall configuration diagram of the drawing superimposing device according to the first embodiment Functional block diagram of depth camera Functional block diagram of the main body of the drawing superimposition device Flowchart explaining the operation of the position calculation unit An example of a real space image An example of a superimposed image Functional block diagram of the drawing superimposing device main body according to the second embodiment Functional block diagram of the drawing superimposing device main body according to the second embodiment

(First Embodiment)
The drawing superimposing device according to the first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an overall configuration diagram of a drawing superimposing device according to the first embodiment, FIG. 2 is a functional block diagram of a depth camera, and FIG. 3 is a functional block diagram of a drawing superimposing device main body.

As shown in FIG. 1, the drawing superimposing device 1 according to the present embodiment includes a drawing superimposing device main body 100 and a depth camera 200 as an imaging device, which are provided as separate housings. The drawing superimposing device main body 100 and the depth camera 200 are connected so that data can be exchanged by a predetermined communication cable 300. Further, the drawing superimposing device 1 according to the present embodiment includes a support tool 400 which is a long support member held by the user and supports the depth camera 200.

The drawing superimposing device main body 100 is configured by installing a program on a computer carried by a user. The drawing superimposing device main body 100 includes at least a display device such as a liquid crystal display or an organic EL display. Typically, the drawing superimposing device main body 100 is composed of a high-performance mobile communication terminal called a tablet terminal. The configuration of the drawing superimposing device main body 100 will be described in detail later.

The depth camera 200 is an imaging device called a depth camera that can capture image information including depth data. As shown in FIG. 2, the depth camera 200 corresponds to one single-lens optical camera 210 that captures a two-dimensional image of the real space and the real space image captured by the optical camera 210, and exists in the real space. It includes a depth data generation unit 220 that generates depth data that has distance information for each pixel, an inertial measurement unit 230 that measures the inertial information of the depth camera 200, and a communication interface unit 240. ..

The optical camera 210 includes a well-known image sensor 211 such as a CCD image sensor and a CMOS image sensor, and a single-lens optical lens 212, acquires a two-dimensional image of the real space in the visible light region, and communicates as a real space image. It is output to the drawing superimposing device main body 100 via the face unit 240 at a predetermined frame rate. The optical camera 210 may include a visible light irradiation unit that illuminates an object with light in the visible light region as an illumination means.

The depth data generation unit 220 includes a pair of left and right image pickup elements 221 such as a CCD image sensor and a CMOS image sensor, and an optical lens 222, and acquires an image in an infrared region. The depth data generation unit 220 generates distance data to an object, that is, depth data for each pixel by utilizing the parallax and / or the arrival time of infrared rays of the image acquired by each image sensor 221 and is a communication interface unit. It is output to the drawing superimposing device main body 100 at a predetermined frame rate via 240. The imaging direction, angle of view, lens magnification, etc. of the depth data generation unit 220 are the same as those of the optical camera 210. Further, the resolution (number of pixels) of the depth data output by the depth data generation unit 220 matches the resolution (number of pixels) of the real space image output by the optical camera 210. This depth data is used as one of the position calculation information for detecting the focal position (focus position of the optical lens 212) and the direction of the optical camera 210.

Further, the depth data generation unit 220 includes an infrared irradiation unit 223 that irradiates an object with infrared rays. The depth data generation unit 220 can irradiate an object with a predetermined pattern (for example, a dot pattern) by using the infrared irradiation unit 223. The depth data generation unit 220 can consider the situation of the pattern included in the captured image when generating the depth data.

The inertial measurement unit 230 is called an IMU (Inertial Measurement Unit) device, which detects the direction and motion of the depth camera 200. The inertial measurement unit 230 includes acceleration sensors in three directions of up and down, left and right, and front and back, and three-axis angular velocity sensors called XYZ axes, and can detect three-dimensional angular velocity and acceleration. The inertial measurement unit 230 outputs the detected data as inertial information to the drawing superimposing device main body 100 via the communication interface unit 240. This inertial information is used as one of the position calculation information for detecting the focal position (focus position of the optical lens 212) and the direction of the optical camera 210. The inertial measurement unit 230 may be provided with another type of sensor such as a pressure gauge, a flow meter, and a GNSS (Global Navigation Satellite System) sensor in order to improve accuracy and reliability.

The communication interface unit 240 is an interface unit with the drawing superimposing device main body 100. The communication standard of the communication interface unit 240 does not matter, and it may be wireless communication or wired communication.

As shown in FIG. 3, the drawing superimposition device main body 100 includes a drawing data storage unit 110, a position calculation unit 120, a superimposition display control unit 130, a history storage unit 140, an input device 150, and a display device 160. It includes a communication interface unit 170.

The drawing data storage unit 110 stores drawing data which is a design drawing of a structure to be inspected. The drawing data is generated by another CAD device (not shown) or the like, and is installed in the drawing superimposing device main body 100. The standard and format of drawing data do not matter. In the present embodiment, the drawing data can display the structure on the display device 160 with a wire frame. The drawing data can include additional information such as the name, model number and dimensions of the structure. Further, the drawing data can include the texture of the structure as additional information.

The position calculation unit 120 stores the real space image, depth data, inertial information, and drawing data storage unit 110 acquired from the depth camera 200 by using SLAM (Simultaneously Localization and Mapping) technology that simultaneously performs self-position estimation and map creation. The current position and direction of the depth camera 200, more specifically, the focal position and direction of the optical camera 210 of the depth camera 200 are calculated based on the drawing data. The operation of the position calculation unit 120 will be described with reference to the flowchart of FIG.

As shown in FIG. 4, the position calculation unit 120 first determines the current position and direction of the depth camera 200 based on the inertial information acquired from the depth camera 200, and more specifically, the current focal position and the current focal position of the optical camera 210 of the depth camera 200. The direction is calculated (step S1). Here, the position calculation unit 120 determines the current position and direction based on the origin position and direction input by the user using the input device 150 and the relative position and direction from the origin position calculated based on the inertial information. calculate.

Next, the position calculation unit 120 is a virtual space image based on the current focal position and direction of the optical camera 210 of the depth camera 200 calculated in step S1 based on the drawing data stored in the drawing data storage unit 110. That is, a virtual image of the structure related to the drawing data viewed from the current focal position and direction is calculated (step S2).

Next, the position calculation unit 120 compares the feature point positions of both based on the virtual space image calculated in step S2 and the real space image and depth data acquired from the depth camera 200, and the virtual space and the real space. The amount of deviation from and is calculated, and the current position and direction calculated in step S1 are corrected based on this amount of deviation (step S3).

The superimposition display control unit 130 renders the drawing data stored in the drawing data storage unit 110 with reference to the current focal position and direction of the optical camera 210 of the depth camera 200 calculated by the position calculation unit 120, and renders the rendered image. It is superimposed on the real space image and output to the display device 160. Here, the mode of the superimposed display does not matter. The drawing data to be superimposed and displayed may include drawing data that is on the back surface of the structure in the real image and cannot be seen from the current position, may be only visible drawing data, or both may be switched as appropriate. May be good. Further, in the present embodiment, the structure is superimposed and displayed on the wire frame. Further, when the drawing data includes additional information, the additional information may also be superimposed and displayed.

FIG. 5 shows an example of real-space imaging, and FIG. 6 shows an example of a superimposed image. As shown in FIGS. 5 and 6, the real space image 900 includes structures 901 and 902. In the superimposed image, as shown in FIG. 6, the drawing data is superimposed on the real space image 900 as a wire frame. FIG. 6 shows an example in which a part of the wire frame does not match the actual structure. That is, in FIG. 6, the structural portion 901 shown in FIG. 5 coincides with the wire frame 161 based on the drawing data. On the other hand, the structure 902 shown in FIG. 5 does not match the wire frame 162 based on the drawing data. This means that the actual structure 902 is different from the design drawing due to some construction error.

The history storage unit 140 records at least one or both of the real space image acquired from the depth camera 200 and the superimposed image output from the superimposed display control unit 130 as history information. The history storage unit 140 can further record depth data and inertial information acquired from the depth camera 200 as history information.

The input device 150 is a well-known device for inputting various information from the user. Examples of the input device 150 include pointing devices such as a touch panel, a mouse, and a trackball. The display device 160 is a well-known display means for displaying various information, and is composed of, for example, an LCD display or an organic EL display. The communication interface unit 170 is an interface unit with the depth camera 200, and has the same communication standard as the communication interface unit 240 of the depth camera 200. As the input device 150, the display device 160, and the communication interface unit 170, when the drawing superimposing device main body 100 is composed of a high-performance mobile communication terminal such as a tablet terminal, those provided in the terminal can be used.

The communication cable 300 is a communication medium for enabling data transmission / reception between the drawing superimposing device main body 100 and the depth camera 200, and is a communication interface between the communication interface unit 170 of the drawing superimposing device main body 100 and the depth camera 200. Conforms to the communication standard of the face unit 240.

The support 400 includes a long rod-shaped member configured so that the depth camera 200 can be detachably attached to the tip end portion. In the present embodiment, the depth camera 200 is attached to the support 400 via the stabilizer 450. The stabilizer 450 has a function of absorbing shocks and vibrations applied to the depth camera 200 via the support 400 and the support 400 to stabilize the focal position and direction of the depth camera 200. The stabilizer 450 may be mechanical or electric. Through the stabilizer 450, it is possible to prevent the depth camera 200 from blurring or abrupt changes in the real space image, depth data, and inertial information. As described above, the position calculation unit 120 of the drawing superimposing device main body 100 performs position calculation using SLAM technology, but in position calculation using the SLAM technology, processing for tracking feature points included in the image is performed. ing. Therefore, if there is a steep data change, it may fail to calculate the accurate position and direction. Therefore, the stabilizer 450 is effective for accurate and stable measurement.

Further, the support 400 may be configured so that the depth camera 200 is attached by using, for example, a well-known pan head, without providing the stabilizer 450. Further, the support 400 may be configured to change the direction of the depth camera 200 by a driving means such as a motor. In this case, the driving means may be a part of the stabilizer 450.

The other end of the support 400 is provided with a handle 401 so that the user can easily grip it. The support 400 can be configured so that its length can be changed. When using the drawing superimposing device 1, the depth camera 200 may be attached to the support 400, or may be removed from the depth camera 200 from the support 400.

According to the drawing superimposing device 1 according to the present embodiment, since the drawing superimposing device main body 100 and the depth camera 200 are separated, only the depth camera 200 can be easily moved to the quasi-neighborhood of the inspection target. As a result, construction error inspection of civil engineering structures can be easily and surely carried out.

Further, according to the drawing superimposing device 1 according to the present embodiment, when calculating the focal position and direction of the depth camera 200, not only the real space image, the depth data, and the inertial information acquired from the depth camera 200 but also the drawing data. Is also used, so that the superimposition accuracy of drawing data is improved.

Further, according to the drawing superimposition device 1 according to the present embodiment, since the imaging of the real space is performed by one optical camera 210 included in the image pickup device, the superimposition accuracy of the drawing data in the superimposition display control unit 130 is improved. improves.

(Second Embodiment)
The drawing superimposing device according to the second embodiment of the present invention will be described with reference to the drawings. FIG. 7 is a functional block diagram of the drawing superimposing device main body according to the second embodiment. The difference between this embodiment and the first embodiment is that correction processing is performed according to the lens distortion of the camera. Since the other points are the same as those in the first embodiment, only the differences will be described here.

Generally, the image data obtained by imaging with a camera is distorted due to the distortion peculiar to the camera lens. In a typical example, when a rectangular object is imaged, the ridgeline of the object is distorted into a barrel shape in the image data due to the distortion of the lens. Therefore, as shown in FIG. 7, the drawing superimposing device main body 100a according to the present embodiment includes a correction processing unit 180 that corrects the distortion of the real space image caused by the distortion of the optical lens 212 of the optical camera 210 of the depth camera 200. A calibration processing unit 190 that generates correction data used by the correction processing unit 180 is provided.

The calibration processing unit 190 uses the optical camera 210 of the depth camera 200 to image a real space including a predetermined calibration object under predetermined imaging conditions. Then, the calibration processing unit 190 generates correction data for the real space image based on the real space image obtained by imaging and various known information regarding the imaging object and the imaging conditions. Further, the calibration processing unit 190 generates the correction data of the depth data together with the correction data of the real space image. In this case, the calibration processing unit 190 generates depth data including the image pickup target for calibration by the depth data generation unit 220 in parallel with the generation processing of the correction data of the real space image, and the depth data and the depth data are combined with the depth data. The correction data of the depth data may be generated based on various known information regarding the imaging object and the imaging conditions. The correction data generated by the calibration processing unit 190 is stored in a predetermined storage unit (not shown).

The calibration work by the calibration processing unit 190 may be performed at least at the time of the first use of the depth camera 200, and may be performed periodically or at any time as needed.

The correction processing unit 180 corrects the real space image captured by the optical camera 210 of the depth camera 200 by using the correction data of the real space image generated by the calibration processing unit 190. Similarly, the correction processing unit 180 corrects the depth data generated by the depth data generation unit 220 by using the correction data of the depth data generated by the calibration processing unit 190. The corrected real space image is sent to the position calculation unit 120 and the superimposition display control unit 130. Further, the corrected depth data is sent to the position calculation unit 120.

According to the drawing superimposition device according to the present embodiment, the real space image captured by the optical camera 210 of the depth camera 200 is corrected according to the distortion peculiar to the camera lens, so that the superimposition accuracy of the drawing data is improved. To do. Further, according to the drawing superimposing device according to the present embodiment, the depth data generated by the depth data generation unit 220 of the depth camera 200 is also corrected according to the distortion peculiar to the camera lens. The detection accuracy of the focal position and direction of the camera 200 is improved. As a result, the superimposition accuracy of the drawing data is further improved. Other actions and effects are the same as those in the first embodiment.

In the present embodiment, the calibration processing unit 190 is mounted on the drawing superimposing device main body 100a, but the calibration processing unit 190 is mounted on another computer, and the depth camera 200 according to the present embodiment is mounted on the other computer. It may be connected to a computer for calibration processing. In this case, the correction data may be stored in a predetermined storage unit (not shown) of the drawing superimposing device main body 100a via a predetermined communication medium or storage medium.

(Third Embodiment)
The drawing superimposing device according to the third embodiment of the present invention will be described with reference to the drawings. FIG. 8 is a functional block diagram of the drawing superimposing device main body according to the third embodiment. The difference between the present embodiment and the first embodiment is that the correction process is performed according to the lens distortion of the camera, as in the second embodiment. However, the object of correction is different from that of the second embodiment. Since the other points are the same as those of the first and second embodiments, only the differences will be described here.

As shown in FIG. 8, the drawing superimposing device main body 100b according to the present embodiment includes a calibration processing unit 190b that generates correction data used in the correction processing.

Similar to the second embodiment, the calibration processing unit 190b uses the optical camera 210 of the depth camera 200 to image a real space including a predetermined calibration object under predetermined imaging conditions. Then, the calibration processing unit 190b generates correction data in the real space image obtained by imaging and various known information regarding the imaging object and the imaging conditions. The correction data generated by the calibration processing unit 190b is stored in a predetermined storage unit (not shown) and sent to the position calculation unit 120b and the superimposition display control unit 130b.

The main function of the position calculation unit 120b is the same as that of the first embodiment. However, the position calculation unit 120b according to the present embodiment obtains a virtual space image at the current position and direction, that is, drawing data viewed from the current position and direction, based on the drawing data stored in the drawing data storage unit 110. The first is that it has a processing function that corrects the virtual space image so as to distort it in the same manner as the distortion of the real space image by using the correction data when the virtual image of the structure is calculated. Different from the embodiment.

The main function of the superimposed display control unit 130b is the same as that of the first embodiment. However, the superimposed display control unit 130b according to the present embodiment uses the correction data when rendering the drawing data stored in the drawing data storage unit 110 with reference to the calculated current focal position and direction. It is different from the first embodiment in that it has a processing function for correcting the rendered image so as to distort it in the same manner as the distortion of the real space image.

According to the drawing superimposing device according to the present embodiment, since the correction is performed according to the distortion peculiar to the camera lens when the drawing data is rendered, the superimposing accuracy of the drawing data is improved. Other actions and effects are the same as those in the first embodiment.

In the present embodiment, the calibration processing unit 190b is mounted on the drawing superimposing device main body 100b, but the calibration processing unit 190b is mounted on another computer, and the depth camera 200 according to the present embodiment is mounted on the other computer. It may be connected to a computer to perform calibration processing. In this case, the correction data may be stored in a predetermined storage unit (not shown) of the drawing superimposing device main body 100b via a predetermined communication medium or storage medium.

Although the drawing superimposing device according to the first to third embodiments of the present invention has been described in detail above, the present invention is not limited to the above-described embodiments and is not deviated from the gist of the present invention. Various improvements and changes may be made.

For example, in the above embodiment, the drawing superimposing device main body 100 and the depth camera 200 are connected by wired communication, but may be connected by wireless communication.

1 ... Drawing superimposition device 100, 100a, 100b ... Drawing superimposition device main body 110 ... Drawing data storage unit 120, 120b ... Position calculation unit 130, 130b ... Superimposition display control unit 140 ... History storage unit 150 ... Input device 160 ... Display device 170 ... Communication interface unit 180 ... Correction processing unit 190, 190b ... Calibration processing unit 200 ... Depth camera 210 ... Optical camera 211 ... Imaging element 212 ... Optical lens 220 ... Depth data generator 221 ... Imaging element 222 ... Optical lens 222 ... Infrared Irradiation unit 230 ... Inertivity measurement unit 240 ... Communication interface unit 300 ... Communication cable 400 ... Support 401 ... Handle 450 ... Stabilizer

Claims (7)

It is a drawing superimposing device that superimposes and displays drawing data on the captured real space image.
A drawing superimposing device main body, an image pickup device connected to the drawing superimposing device main body by wire or wirelessly, and a long support member held by a user and supporting the image pickup device are provided.
The imaging device includes a single-lens camera that captures a two-dimensional image of a real space, and a position calculation information acquisition means that acquires position calculation information for detecting the focal position and direction of the camera.
The drawing superimposing device main body is
A drawing data storage unit that stores drawing data that is a design drawing of a structure,
A position calculation unit that calculates the focal position and direction of the camera based on the position calculation information acquired by the position calculation information acquisition means.
The drawing data stored in the drawing data storage unit is rendered with reference to the current focal position and direction of the camera calculated by the position calculation unit, and the rendered image is superimposed and displayed on the real space image captured by the camera. A drawing superimposing device characterized by having a superimposing display control unit that outputs to the device. The drawing superimposing device according to claim 1, wherein the image pickup device is attached to the support member via a stabilizer. It is a drawing superimposing device that superimposes and displays drawing data on the captured real space image.
It is provided with a drawing superimposing device main body, an image pickup device connected to the drawing superimposing device main body by wire or wirelessly, and a stabilizer that absorbs shock and vibration applied to the image pickup device.
The imaging device includes a single-lens camera that captures a two-dimensional image of a real space, and a position calculation information acquisition means that acquires position calculation information for detecting the focal position and direction of the camera.
The drawing superimposing device main body is
A drawing data storage unit that stores drawing data that is a design drawing of a structure,
A position calculation unit that calculates the focal position and direction of the camera based on the position calculation information acquired by the position calculation information acquisition means.
The drawing data stored in the drawing data storage unit is rendered with reference to the current focal position and direction of the camera calculated by the position calculation unit, and the rendered image is superimposed and displayed on the real space image captured by the camera. A drawing superimposing device characterized by having a superimposing display control unit that outputs to the device. The drawing superimposing device according to any one of claims 1 to 3, wherein the drawing superimposing device main body includes a correction unit that corrects a real space image or a rendered image based on the lens distortion information of the camera. It is a drawing superimposing device that superimposes and displays drawing data on the captured real space image.
A drawing superimposing device main body and an imaging device connected to the drawing superimposing device main body by wire or wirelessly are provided.
The imaging device includes a single-lens camera that captures a two-dimensional image of a real space, and a position calculation information acquisition means that acquires position calculation information for detecting the focal position and direction of the camera.
The drawing superimposing device main body is
A drawing data storage unit that stores drawing data that is a design drawing of a structure,
A position calculation unit that calculates the focal position and direction of the camera based on the position calculation information acquired by the position calculation information acquisition means.
The drawing data stored in the drawing data storage unit is rendered with reference to the current focal position and direction of the camera calculated by the position calculation unit, and the rendered image is superimposed and displayed on the real space image captured by the camera. The superimposed display control unit that outputs to the device and
A drawing superimposing device including a correction unit that corrects a real space image or a rendered image based on lens distortion information of a camera. The position calculation information acquisition means generates depth data as the position calculation information, which corresponds to the real space image captured by the camera and has distance information for each pixel from an object existing in the real space. The drawing superimposing device according to any one of claims 1 to 5, further comprising an inertial data generation unit and an inertial measurement unit that measures inertial information of the imaging device as the position calculation information. A program characterized in that the computer functions as each part of the drawing superimposing device main body according to claim 4 or 5.