JP3340708B2 - Distance measuring device and distance measuring method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a distance measuring device and a distance measuring method for measuring distances from a plurality of reference points to a predetermined object.

[0002]

2. Description of the Related Art Conventional methods for measuring the position of land, houses, and terrain include those based on so-called triangulation and sighting sights as an automatic distance measuring device. In some cases, surveying was conducted using aerial photographs.

[0003]

In the former case of the prior art, the survey must be carried out with a surveying rod or the like at each measuring point, which requires a lot of time and cost. However, it was not possible to easily obtain ranging data of terrain and houses. Also, surveying from aerial photographs is expensive and has problems with the accuracy of the photographs.

The present invention has been made in view of the above-mentioned conventional problems, and has as its object to provide a distance measuring apparatus and a distance measuring method which can obtain accurate position data with a simple apparatus.

[0005]

A distance measuring apparatus according to the present invention comprises:
A camera having an imaging optical system, a mounting device mounted on the camera and capable of rotating by a predetermined angle, a driving device for rotating the camera by a predetermined angle on the mounting device, and an image captured by the imaging optical system And a line sensor that detects the rotation of the driving device, and the line sensor is provided in a direction perpendicular to a rotation surface of the driving device. Then, the linear image detected by the line sensor, an image from the reference position
A storage device for sequentially storing the order of the linear images from the reference position , the rotational angular velocity of the camera, and the like.
A rotation angle detection device that calculates an angle of the image of a predetermined object from the reference position according to the imaging cycle of the line sensor, and a plurality of points that are known by the rotation angle detection device. and a distance calculating means for calculating the position of the predetermined object from the plurality of detected angles . Further, an image synthesizing apparatus for forming a planar image by arranging the linear images in order is provided. The camera rotates horizontally at a constant angular velocity of 360 degrees on the driving device.

According to another aspect of the present invention, a camera having an image pickup optical system is rotated at a constant angular velocity by a predetermined angle, and an image picked up by the image pickup optical system is transferred to a line provided in a direction perpendicular to the rotation plane. The linear image detected by this line sensor is detected in order of the image from the reference position.
Position with stored sequentially, rank and turtles from the reference position
Based on the rotational angular velocity of the laser and the imaging cycle of the line sensor, calculate the angle from the reference position of the image of the predetermined object , to determine the angle in order at a plurality of known points, Request
This is a distance measuring method for calculating the position of a predetermined object from a plurality of angles .

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a distance measuring apparatus 10 according to an embodiment of the present invention. This distance measuring device 10 is a leveling table 12 which is a mounting device attached to a tripod (not shown) or the like.
And a camera 14 fixed to the leveling table 12. The leveling table 12 includes a mounting portion 16 for attaching to a tripod and the like, and a holding portion 20 provided on an upper surface side of the mounting portion 16 for holding the camera 14. Mounting part 16 and holding part 20
Are provided integrally with each other via an adjustment screw portion 22. The holding portion 20 is provided with a bubble tube 18 that looks horizontal. In the leveling table 12, a driving device such as a step motor for horizontally rotating the camera attached to the holding section 20 at a predetermined speed by 360 degrees is provided.

As shown in FIGS. 2 and 3, the distance measuring apparatus 10 takes an image captured by a camera 14 into a computer 24 and performs a predetermined process. A line sensor 26 is provided in the camera 14 in a direction perpendicular to a rotation surface on the leveling table 12. Accordingly, in the image captured by the imaging optical system 28 as a lens group provided in the camera 14, one image in the vertical direction of the portion where the line sensor 26 is located is detected as image data by the line sensor 26. You. The output of the line sensor 26 is the A / D converter 2
7 and converted into digital data by the computer 24.
Output to The computer 24 stores the data from the line sensor 26 in the memory 29 in chronological order. Further, in the computer 24, the line sensor 2
The imaging data obtained in Step 6 are arranged in order in a direction perpendicular to the line direction of the line sensor 26 to form a planar image, and the image is displayed on the monitor 31 or the like. The A / D converter 27 may be provided in the camera 14 or the computer 24.

The method of using the distance measuring device 10 is as follows. First, a camera 14 is mounted on a leveling table 12 at a distance measuring point.
The adjustment screw 22 is turned while looking at the bubble tube 18 to position the camera 14 horizontally. Then, the camera 14 is turned on, and the camera 14 is moved 360 degrees on the leveling table 12 by the driving device.
Rotate degrees. As a result, an image around 360 degrees is recorded on a storage medium such as a video tape, a disk, or a memory. This is performed at a plurality of points A, B, etc., which are known in advance, as shown in FIGS. The data to be recorded is
Data after A / D conversion may be used.

When the recorded data is analog data, the data is A / D converted by an A / D converter 27 and digitized image data is input to a computer 24. In the computer 24, 36 from the initial position of the camera 14
The image of the line sensor 26 is ranked by a number or the like in a time series until the image is rotated by 0 degrees or a predetermined angle. For example, if the reference position is point A, the direction from point A to point B is used as a reference.

In this manner, an image at 360 degrees or a predetermined angle from the reference position is photographed for a fixed time. Then, based on this, a plane image is synthesized by the computer 24.
As described above, the plane image is synthesized by synthesizing the image data by arranging the image data from the line sensor 26 in the direction perpendicular to the line direction. As shown in FIG. 4, in the synthesized image G, imaging data including the buildings 30 and 31 are formed in a plane, and lines L <b> 1 to Ln extend in the horizontal direction of the plane image in the drawing.
The combined image G is formed by arranging a predetermined number n of lines up to this point. Here, the fineness of the image depends on the number of pixels of the line sensor 26, the reading speed, and the angular speed of rotation of the camera 14.

Thus, as shown in the composite image G of FIG. 4 and FIG. 6, the positions of the corners C and D, which are the reference points, of the buildings 30 and 31 are different from the line connecting the reference positions A and B. Obtained as angles α1, β1, α2, β2. These angles are calculated based on the rotational angular velocity of the camera 14 and the number of lines from the positions A and B, which are reference positions for distance measurement, to the reference points C and D of the buildings 30 and 31. For example, when the rotation angular velocity of the camera 14 is ωrad / sec, the rank of the point A taken from the point B is 0, and the line rank number Lc of the point C is T, the imaging cycle of the line sensor 26 is T, and the angle β1 = T ·
Lc · ω. Similarly, the angle α about the point D
2 are also obtained. Further, looking at point B from point A, α1, β
2 can be similarly determined.

From the above, the order of the lines at the reference points C and D of the buildings 30 and 31 to be measured from the points A and B is C
The angles α1, β1, α2, β2 of the points D and D are calculated, and when these angles are obtained, the distance W between AB is known.
The positions of points C and D can be easily obtained by an existing computer program for distance measurement based on a survey equation using a trigonometric function.

According to the distance measuring apparatus and the distance measuring method of this embodiment, accurate distance measurement can be performed using a simple camera, a leveling table and a computer, and the number of surveying steps can be greatly reduced. .

Note that it is not always necessary to rotate 360 degrees at the time of distance measurement, as long as the number of lines from the reference position can be accurately counted.

[0016]

According to the distance measuring apparatus and the distance measuring method of the present invention, the distance can be easily measured by taking an image of a predetermined range using a camera, and the surveying is greatly simplified.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a distance measuring apparatus according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing a state in which the distance measuring apparatus according to the embodiment of the present invention and a computer are connected.

FIG. 3 is a schematic block diagram of a distance measuring apparatus according to an embodiment of the present invention.

FIG. 4 is a schematic diagram showing an image obtained by a distance measuring apparatus according to an embodiment of the present invention.

FIG. 5 is a schematic explanatory view showing a use state of the distance measuring apparatus according to the embodiment of the present invention.

FIG. 6 is a schematic view showing a distance measuring method by the distance measuring apparatus according to the embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Distance measuring device 12 Leveling stand 14 Camera 16 Attachment part 18 Bubble tube 20 Holding part 24 Computer 26 Line sensor 28 Imaging optical system

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-2-71116 (JP, A) JP-A-10-206939 (JP, A) JP-A-5-83711 (JP, A) JP-A-7- 30802 (JP, A) JP-A-7-231399 (JP, A) JP-A-2000-146571 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 15/00 G01C 3 / 06

Claims (4)

(57) [Claims] 1. A camera having an imaging optical system, a mounting device attached to the camera and capable of rotating by a predetermined angle, a driving device for rotating the camera by a predetermined angle on the mounting device, and the imaging optical system And a line sensor that detects an image captured by the driving device. The line sensor is provided in a direction perpendicular to a rotation surface of the driving device, and converts a linear image detected by the line sensor from a reference position. Image of
A storage device for sequentially storing the order of the linear images from the reference position , the rotational angular velocity of the camera, and the like.
A rotation angle detection device that calculates an angle of the image of a predetermined object from the reference position according to the imaging cycle of the line sensor, and a plurality of points that are known by the rotation angle detection device. A distance measuring device provided with distance calculating means for calculating a position of a predetermined object from a plurality of detected angles . 2. A distance measuring apparatus according to claim 1, further comprising an image synthesizing device for forming a planar image by arranging said linear images in order. 3. The distance measuring apparatus according to claim 1, wherein the camera rotates horizontally at a constant angular velocity of 360 degrees on the driving device. 4. A camera having an image pickup optical system is moved at a constant angular velocity.
In is rotated by a predetermined angle, the image captured by the imaging optical system, is detected by the line sensor provided in a direction perpendicular to the rotation plane, the linear images detected by the line sensor The order is stored together with the order of the images from the reference position, and the order from the reference position and the rotational angular velocity of the camera are stored.
And by an imaging period of the line sensor to calculate the angle from the reference position of the <br/> image of a predetermined object, a known multiple locations
A distance measuring method, wherein the angles are obtained in order at points, and a position of a predetermined object is calculated from the obtained angles .