JP6409316B2 - Field recording system - Google Patents

Description

  The present invention particularly relates to an on-site recording system capable of recording a state of a site that cannot be visually recognized from the outside such as a remote or high-rise building.

If the state of a building or other site where people cannot easily enter such as remote places and high places can be recorded in advance as recorded data, it can be used to efficiently manage work such as repair and maintenance of the building.
For example, the management method disclosed in Patent Document 1 that manages the state of the solar panel by remote operation is a method of extending the pole to raise the camera and adjusting the pan / tilt of the pan head by remote operation. The state infrared image and visible image are displayed and inspected, and data is stored and managed.

JP 2012-222766 A

  In the case of recording the above-mentioned situation in advance, if distance measurement data such as dimensions is known in addition to the image of the recording object, it can be used for selecting tools and tools necessary for the work.

  However, the management method disclosed in Patent Document 1 only displays captured infrared images and visible images on a PC screen and saves them as data, and obtains ranging data or processes recorded data. It is not something to do.

  In view of the above-described problems of the prior art, the present invention acquires recording data and distance measurement data of a recording object in a building that cannot be easily entered by a person such as a remote place or a high place, and combines them into three-dimensional drawing data. It aims to provide a field recording system that can be generated.

As a first means for solving the above problems, the present invention provides an imaging unit capable of imaging a recording object, a distance measuring unit capable of measuring the size of the recording object, the imaging unit, and the measurement. A pan head that can be panned and tilted by mounting a distance section, an expansion / contraction section that can be expanded and contracted to a region where the recording object can be measured at the measurement location by mounting the pan head, the imaging section, and the distance measuring section And a control unit capable of creating the three-dimensional drawing data of the recording object by synthesizing the recording data and the distance measurement data, and the expansion / contraction part moves the pan head of the recording object. It is characterized by comprising a pole that can be expanded and contracted in the horizontal direction toward the side surface, and a hanging part or crane that can suspend the pole at an arbitrary height .

  According to the present invention, as a second means for solving the above-described problem, the control unit may measure the unclear portion when the unclear portion exists in the distance measurement data of the distance measuring portion. The distance measurement data of the distance unit or the recording data of the imaging unit is re-acquired for correction.

  As a third means for solving the above-mentioned problems, the present invention is characterized in that the expansion / contraction section includes a pole capable of expanding and contracting the head in the vertical direction from the ground.

  The present invention provides, as a fourth means for solving the above-described problem, the expansion / contraction section includes a pole that can be expanded / contracted in a horizontal direction with the pan head toward a side surface of the recording object, and an arbitrary pole. It is characterized by having a suspended lower part that can be suspended at a height.

  According to the present invention, as a fifth means for solving the above-described problem, the expansion / contraction section includes a pole that can expand and contract in a horizontal direction with the pan head toward a side surface of the recording object, and an arbitrary extension of the pole. And a crane that can be suspended at a height.

  According to the present invention, as a sixth means for solving the above-mentioned problem, the expansion / contraction section includes a driving section that drives the expansion / contraction section to extend / contract, and the driving section uses the support point of the pole as a boundary. It is characterized by being arranged on the side opposite to the extending side of the.

  According to the present invention, as described above, the control unit capable of generating the three-dimensional drawing data by combining the recording data and the distance measurement data is provided. Can be easily generated. In addition, it is possible to obtain three-dimensional data by approaching the measurement object by remote control while saving space and weight compared to a conventional three-dimensional scanner.

  According to the present invention, as described above, even if there is an unclear portion of the distance measurement data, a three-dimensional model that becomes clear three-dimensional drawing data can be generated by re-scanning or correcting with an image. Can do.

  According to the present invention, as described above, since the pole extending in the vertical direction from the lower side of the building toward the upper internal space is provided, the imaging unit and the distance measuring unit are provided in the internal space of the high place that is the measurement target. The three-dimensional drawing data can be easily generated by approaching.

  According to the present invention, as described above, the pole is suspended from a suspended portion such as a chain block and extends horizontally from the side surface of the building having a predetermined height toward the internal space of the building. 3D drawing data can be easily generated by bringing the imaging unit and the distance measuring unit close to the high internal space to be measured.

  According to the present invention, as described above, the measurement object includes the pole that is suspended by the crane and extends horizontally from the side surface of the building having a predetermined height toward the internal space of the building. It is possible to easily generate three-dimensional drawing data by bringing the imaging unit and the distance measuring unit close to the high internal space.

  According to the present invention, since the driving means is disposed on the opposite side of the pole extending from the support point of the pole, the weight balance between the imaging unit and the distance measuring unit can be achieved, and the vertical direction or horizontal The pole extending in the direction can be straightened.

1 is a schematic configuration diagram of an on-site recording system of the present invention. It is a partial enlarged view of an on-site recording system. It is explanatory drawing of three-dimensional drawing data. It is a processing flow which produces | generates three-dimensional drawing data using the field recording system of this invention. It is the structure schematic of the field recording system of the modification 1. It is the structure schematic of the field recording system of the modification 2.

  Embodiments of the field recording system of the present invention will be described in detail below with reference to the accompanying drawings. The site to which the field recording system of the present invention is applied assumes an internal space that cannot be seen from the outside, such as a building that is remote, high, and not easily accessible by people. In addition, the recording object in the present specification refers to an internal space such as a building to be recorded and facility equipment existing in the internal space.

[Field recording system 10]
FIG. 1 is a schematic configuration diagram of a field recording system according to the present invention. FIG. 2 is a partially enlarged view of the on-site recording system. As shown in the figure, the field recording system 10 of the present invention has an imaging unit 20, a distance measuring unit 30, a camera platform 40, a telescopic unit 50, and a control unit 60 as main components.

[Imaging unit 20]
The imaging unit 20 images a recording target object. The imaging unit 20 of the present invention includes a first imaging unit 22 and a second imaging unit 24.
The first imaging unit 22 can capture a large amount of recorded data. The first imaging unit 22 can be connected to a PC (personal computer) serving as a control unit 60 to be described later via wired communication (such as a LAN cable), and can store recorded data in the PC. The first imaging unit 22 employs a configuration in which a camera having a zoom function is mounted on an omnidirectional swing mechanism. For this reason, the 1st imaging part 22 can image all directions centering on a camera body, and can perform zoom imaging of all directions. The first imaging unit 22 of the present invention uses an omnidirectional swing camera as an example.

The second imaging unit 24 can capture recorded data having a smaller capacity than the first imaging unit 22, and can store the recorded data in a recording medium of the camera body. The second imaging unit 24 is connected to a PC serving as the control unit 60 via wireless communication. Wireless communication includes a wireless antenna connected to a PC via a wire. The second imaging unit 24 employs a configuration that allows transmission and reception via a wireless LAN to a wireless antenna. The second imaging unit 24 has a zoom function in the camera body. The second imaging unit 24 of the present invention uses a handy camera as an example.
Such an imaging unit 20 employs either the first imaging unit 22 and the second imaging unit 24 or the first imaging unit 22 and the second imaging unit 24.

[Ranging unit 30]
The distance measuring unit 30 can measure the size of the recording object. The distance measuring unit 30 of the present invention includes a first distance measuring unit 32 and a second distance measuring unit 34.
The first distance measuring unit 32 can measure dimensions by camera measurement in which two cameras with a predetermined interval are arranged on a straight line. Such a first distance measuring unit 32 can measure regardless of the material of the recording object. As an example, the first distance measuring unit 32 of the present invention uses a stereo camera.

The second distance measuring unit 34 can measure the dimensions by laser measurement that irradiates the recording target with laser. Such a second distance measuring unit 34 has a higher measurement accuracy in the depth direction than the first distance measuring unit 32. As an example, the second measurement unit 34 of the present invention can use a three-dimensional scanner.
Such a distance measuring unit 30 employs either the first distance measuring unit 32 and the second distance measuring unit 34 or the first distance measuring unit 32 and the second distance measuring unit 34.

[Pant head 40]
The camera platform 40 can be mounted with the imaging unit 20 and the distance measuring unit 30 described above, and can be swung in all directions. At this time, both the imaging unit 20 and the distance measuring unit 30 are installed so that the imaging direction and the distance measuring direction are the same direction. The camera platform 40 is connected to a control unit 60 (to be described later) via wired communication and adopts a configuration capable of receiving pan / tilt control signals from the control unit 60. The pan head 40 having such a configuration can pan and tilt each camera in accordance with the recording object. The camera platform 40 of the present embodiment includes an omnidirectional swing camera and handy camera that are the first and second imaging units 22 and 24 on the upper surface of the stereo camera that is the long first distance measuring unit 32, and a second camera. A miniaturized form equipped with a three-dimensional scanner serving as the distance measuring unit 34 is employed.

  In addition, the infrared sensor 56 which can irradiate a laser toward the expansion-contraction direction of the expansion-contraction part 50 mentioned later can be mounted in the pan head 40. FIG. The detection value of the infrared sensor 56 is input to the control unit 60 described later, and the control unit 60 can determine whether or not an interference object exists in the insertion direction.

[Expandable part 50]
The telescopic portion 50 employs a telescopic shape that can be expanded and contracted. The extensible part 50 is connected at its tip to a pan head 40 on which the imaging part 20 and the distance measuring part 30 are mounted. The expansion / contraction unit 50 includes a driving unit 54 such as hydraulic pressure and pneumatic pressure, and can be expanded / contracted. The expansion / contraction unit 50 is connected to a control unit 60 (described later) via a wired line, and can receive an expansion / contraction control signal from the control unit 60. Adopted. The driving means 54 is disposed below the support point 59 where the expansion / contraction part 50 and the leg part 58 intersect, and plays a role of balancing the weight between the imaging part 20 and the distance measuring part 30. As an example, the stretchable part 50 of the present invention can use a pole 52 that is stretchable along the longitudinal direction. Further, it is possible to adopt a form in which a flexible joint (attachment) is attached to the tip of the pole 52 and the pan head 40 is installed on the joint. Thereby, when there is an obstacle in the direction in which the pole 52 extends, the position of the pan head 40 can be changed by a flexible joint to avoid contact with the interference. Further, the pole 52 can be extended and contracted manually by the operator.

[Control unit 60]
The control unit 60 is configured to be electrically connected to the image capturing unit 20 to transmit a control signal for generating recording data and to input recording data. The control unit 60 is electrically connected to the distance measuring unit 30 to transmit a control signal for generating distance measurement data and to be able to input the distance measurement data. In addition, the control unit 60 can be electrically connected to the pan head 40 to transmit a pan / tilt control signal of the pan head 40. In addition, it is electrically connected to the expansion / contraction part 50 so that a control signal for expansion / contraction of the pole 52 can be transmitted.

The control unit 60 of the present invention is a PC (personal computer) that generates, displays, and records a three-dimensional model that becomes a three-dimensional drawing data of a recording object by combining input recording data and distance measurement data. FIG. 3 is an explanatory diagram of three-dimensional drawing data. The control unit 60 of the present invention receives the recording data of the imaging unit 20 and the distance measurement data of the distance measurement unit 30. The recorded data is data that can be displayed as a color image of the measurement object. For example, commercially available three-dimensional measurement software can be used as means for acquiring three-dimensional point cloud data from the video captured by the stereo camera of the first distance measuring unit 32 of the distance measuring unit 30. The distance measurement data is data that can display the measurement object as a collection of point clouds. First, the control unit 60 collates the recorded data and distance measurement data of the same recording object. And if there is an unclear place in the distance measurement data when generating a 3D model, in other words, an unclear place in the place that the operator needs as a work target, Then, the distance measurement unit 30 is rescanned to reacquire clear distance measurement data. At this time, if rescanning is difficult, the image pickup unit 20 zooms in on an unclear part and re-acquires recorded data such as a clear photograph or sketch. Next, a three-dimensional model that becomes three-dimensional drawing data is generated using clear recording data and ranging data obtained by correcting an unclear portion with re-acquired recording data and ranging data.
The three-dimensional drawing data of this embodiment can be generated by distance measurement data (including angle data of the pan head 40), recording data, and sketches.

[Action]
The operation of the on-site recording system 10 of the present invention having the above configuration will be described below. FIG. 4 is a processing flow for generating three-dimensional drawing data using the on-site recording system of the present invention.

A control signal for extending the pole 52 is transmitted from the control unit 60 of the on-site recording system 10 to the telescopic unit 50. The pole 52 of the telescopic part 50 extends upward from below the building, and the head 40 at the tip is inserted into the interior space of the building (step 1).
When the camera platform 40 is inserted into the internal space, the pan / tilt of the camera platform 40 is adjusted, and the imaging unit 20 mounted on the camera platform 40 is imaged in the insertion direction. When the recording data of the imaging unit 20 is input to the control unit 60, based on the recording data, it is determined whether or not an interference object exists in the direction in which the camera platform 40 is inserted (the presence or absence of the interference object). Alternatively, the detection value of the infrared sensor 56 mounted on the camera platform 40 and capable of irradiating the laser in the insertion direction is input to the control unit 60, and it is determined whether there is an interference in the insertion direction (step). 2). If there is an interfering object and the pan head 40 cannot be inserted into the internal space, the insertion operation of step 1 is performed again by changing the insertion location.

When the pan head 40 is inserted into the internal space without coming into contact with the interference object, a control signal for directing the distance measuring unit 30 mounted on the pan head 40 from the control unit 60 to the measurement target is transmitted, and the pan head 40 pans. The object to be measured is scanned by the distance measuring unit 30 while being tilted, and distance measurement data obtained by measuring the dimensions of the recording object is acquired (step 3).
As a result, the recording data and the distance measurement data are input to the control unit 60. In the control unit 60, first, the recorded data and distance measurement data of the same recording object are collated (step 4).

As a result of the collation in Step 4, whether or not there is an unclear place in generating a 3D model in a part of the distance measurement data, in other words, an unclear place in a place necessary for the operator to work A determination is made (step 5).
Then, it is determined whether or not the unclear portion is a rescannable portion (step 6).

If it is a place where rescanning is possible, the object to be measured is rescanned by the distance measuring unit 30 while panning and tilting with the pan head 40 (step 7).
On the other hand, if the location is difficult to rescan, the imaging unit 20 re-acquires recorded data such as a clear photograph or sketch by zooming the unclear location (step 8).
The control unit 60 generates three-dimensional drawing data using clear recording data and ranging data obtained by correcting an unclear portion with re-acquired recording data and ranging data (step 9).

According to such an on-site recording system of the present invention, since the control unit capable of generating the three-dimensional drawing data by combining the recording data and the distance measurement data is provided, the three-dimensional state in which the state in the site can be visually recognized is provided. Drawing data can be easily generated.
In addition, since it has a pole that extends vertically from the lower part of the building to the upper internal space, the imaging unit and the distance measuring unit are installed in the internal space of a remote, high-rise building that cannot be used by the person being measured. The three-dimensional drawing data can be easily generated by approaching.

[Modification 1]
The telescopic part 50 of the on-site recording system 10 shown in FIG. 1 has a configuration suitable for recording a high internal space by extending vertically from the lower part of the building to the upper internal space. The on-site recording system 10A of the first modification employs a configuration using an expansion / contraction portion 50A that extends in the horizontal direction from an opening formed on a side surface of a building having a predetermined height from the ground toward the inside. FIG. 5 is a schematic diagram of the configuration of the field recording system according to the first modification.

[Expandable part 50A]
The expansion / contraction part 50A of the first modification includes a first hanging part 70, a turning control part 72, a generator 74, a pole 52, a second hanging part 80, a surveillance camera 82, a radio 84, and driving means thereof. 86 and the controller 88 are the main basic components.
The first suspended portion 70 is a chain block, hoist or the like that can be attached to a beam of a building or an external structure and can suspend the pole 52 arranged so that its longitudinal direction is in the horizontal direction at an arbitrary height. is there. The first hanging portion 70 having such a configuration can lift the pole 52 from the ground and move it to a predetermined height position on the side surface of the recording object. The first hanging portion 70 is connected to the controller 88 and is configured to receive a control signal for moving and raising / lowering the pole 52 from the controller 88.

The first suspended portion 70 includes a turning control unit 72 at the lower portion. The turning control unit 72 includes a gyro sensor and a rotation mechanism (not shown), and performs drive control in a direction to cancel the turning of the suspended load that is turned by the movement of the first hanging portion 70 and the inertial force due to wind.
The generator 74 supplies electric power to the first suspension 70, the turning control unit 72, the second suspension 80, the monitoring camera 82, the controller 88, and the like.

  The pole 52 can be expanded and contracted in the horizontal direction, and the pan head 40 can be moved from the opening formed on the side surface of the building toward the internal space of the building. As with the pole 52 in FIG. 1, the pole 52 adopts a telescopic shape that can be expanded and contracted, and is attached to the first suspended portion 70 with a wire or the like so that the longitudinal direction is the horizontal direction. A pan head 40 is attached to the tip of the pole 52. An imaging unit 20 and a distance measuring unit 30 are attached to the camera platform 40. The pan head 40 is detachably attached to the tip of the pole 52.

  The pole 52 is provided with a second suspending portion 80, a monitoring camera 82, a radio 84, a driving means 86, and a controller 88 on the main body suspended by the first suspending portion 70. By arranging the driving means 86 on the opposite side of the extending direction of the pole 52 with respect to the supporting point 59 for lifting the apparatus, the driving means 86 has the effect of serving as a counterweight and maintaining the weight balance of the apparatus.

  The second suspended portion 80 is in the form of a wire and an automatic take-up reel, and the tip of the wire attached along the longitudinal direction of the pole 52 is connected to the camera platform 40 including the imaging unit 20 and the distance measuring unit 30. ing. The second suspended portion 80 is connected to the controller 88 so as to be able to receive a wire expansion / contraction control signal transmitted from the controller 88. When the wire connected to the pan head 40 detachably attached to the tip of the pole 52 is extended from the reel, the second hanging portion 80 having such a configuration is formed while the pan head 40 is suspended from the tip of the pole 52 while being suspended. It can be moved to the floor of the space.

The monitoring camera 82 is a camera that can image the upper first suspended portion 70 and the turning control unit 72. The monitoring camera 82 can transmit imaging data to the control unit 60 via the wireless device 84, and the operator can move the first suspension 70 while watching the video of the monitoring camera 82 displayed on the screen of the control unit 60. In addition, the work can be performed while avoiding surrounding interferences when moving up and down.
The wireless device 84 transmits and receives data between the controller 88 and the control unit 60.

The drive means 86 of the pole 52 is attached to the opposite side of the pole 52 to extend and retract, and moves forward and backward in the direction opposite to the extension direction of the pole 52, thereby adjusting the horizontal balance when the pole 52 extends. Fulfills the function.
The controller 88 is electrically connected to the first hanging part 70, the turning control unit 72, the second hanging part 80, and the driving means 86. The controller 88 is a signal for controlling the movement and raising / lowering of the pole 52 to / from the first suspension 70, a signal for controlling the turning of the pole 52 to the turning control unit 72, a signal for raising / lowering the pan / tilt head 40 to the second suspension 80, 52, and a signal for adjusting the expansion / contraction operation of the pole 52 and the accompanying horizontal balance can be transmitted to the driving means 86. Further, the controller 88 is connected to the control unit 60 via the wireless device 84 and can receive a control signal from the control unit 60.

  The configuration of the imaging unit 20, the distance measuring unit 30, and the pan head 40 is basically the same as the configuration shown in FIG. 1, and receives the control signal from the control unit 60 via the wireless device 84, or the acquired video or Ranging data can be transmitted. The configuration in which the driving means 86 of the pole 52 is disposed on the opposite side of the extending direction of the pole 52 with the support point 59 as a boundary is basically the same as that in FIG.

[Action]
The operation of the on-site recording system 10A of Modification Example 1 having the above configuration will be described below.
The pole 52 is lifted by the first suspension 70 and moved to an opening provided at a predetermined height position on the side surface of the recording object.

  Next, a control signal for extending the pole 52 in the horizontal direction is transmitted from the controller 60 of the on-site recording system 10A to the controller 88. At this time, the wire of the second suspended portion 80 is free to be fed from the reel. The pole 52 extends horizontally from the opening, and the head 40 at the tip is inserted into the internal space of the building. At this time, the horizontal balance of the pole 52 is adjusted by the movement of the driving means 86.

  When the camera platform 40 is inserted into the internal space, the pan / tilt of the camera platform 40 is adjusted, and the imaging unit 20 mounted on the camera platform 40 is imaged in the insertion direction. The recording data of the imaging unit 20 is input to the control unit 60, and it is determined whether or not there is an interference object in the direction in which the camera platform 40 is inserted (presence / absence of interference object) based on the recording data. Alternatively, the detection value of the infrared sensor 56 mounted on the camera platform 40 and capable of irradiating the laser in the insertion direction is input to the control unit 60, and it is determined whether or not there is an interference in the insertion direction. If there is an interfering object and the pan head 40 cannot be inserted into the internal space, the insertion operation is performed again by changing the insertion location.

After the pan head 40 is inserted into the internal space, a control signal for extending the wire 52 transmitted from the control unit 60 is input to the second hanging portion 80 when the hanging movement is possible according to the situation at the site. Then, the head 40 detachably attached to the tip of the pole 52 can be moved to the floor of the internal space while being suspended from the tip of the pole 52.
After that, the same operation as Step 3 to Step 9 shown in FIG. 4 can be performed to generate three-dimensional drawing data.

  According to the on-site recording system 10A of the first modified example, a pole that is suspended by a chain block and extends in a horizontal direction from an opening provided on a side surface of a building having a predetermined height toward an internal space in the building. Therefore, it is possible to easily generate the three-dimensional drawing data by bringing the imaging unit and the distance measuring unit close to the high internal space to be measured.

[Modification 2]
Similarly to the field recording system 10A according to the first modification, the field recording system 10B according to the second modification has a configuration in which a camera platform 40 on which the imaging unit 20 and the distance measuring unit 30 are mounted can be inserted from an opening provided on the side surface of the building. Is adopted.
FIG. 6 is a schematic configuration diagram of a field recording system according to the second modification.

[Expandable part 50B]
The telescopic part 50B includes a crane 90, a turning control part 72, a generator 74, a pole 52, a second suspension part 80, a surveillance camera 82, a radio 84, a driving means 86 for the pole 52, and a controller 88. Is the main basic configuration. The crane 90 can insert the pole 52 from the opening provided in the side surface of the building higher than the first suspended portion 70 of the first modification. In this embodiment, a crane is used as an example. Can be used.
Other configurations are the same as those shown in the on-site recording system 10A of the first modification.

  According to the on-site recording system 10B of Modification 2 having such a configuration, as with the on-site recording system 10A of Modification 1, the opening provided on the side surface of the building having a predetermined height is directed toward the internal space of the building. Since a pole extending horizontally is provided, it is possible to easily generate three-dimensional drawing data by bringing the imaging unit and the distance measuring unit close to a high-level internal space that is a measurement target.

  The field recording system of the present invention is particularly useful for recognizing the state of the internal space of a place where a person cannot easily enter, such as a high dose, in addition to remote and high places.

10, 10A, 10B ..... Site recording system, 20 ..... Imaging unit, 22 ..... First imaging unit, 24 .... Second imaging unit, 30 ..... Ranging unit, 32 .... 1 distance measuring section, 34 ......... 2nd distance measuring section, 40 ......... pan head, 50, 50A, 50B ......... telescopic section, 52 ......... pole, 54 ......... drive means, 56 ......... Infrared sensor, 58 ......... Leg, 59 ......... Supporting point, 60 ......... Control, 70 ........., first suspension, 72 ......... Turn control, 74 ......... Generator, 80 ......... Second suspension, 82 ......... Monitoring camera, 84 ......... Wireless device, 86 ......... Drive means, 88 ......... Controller.

Claims (3)

An imaging unit capable of imaging a recording object;
A distance measuring unit capable of measuring the dimensions of the recording object;
A pan / tilt head that is equipped with the imaging unit and the distance measuring unit and is capable of panning and tilting;
An extendable portion that can be expanded and contracted to a region where the recording object can be measured at a measurement location by mounting the pan head,
A control unit that is connected to the imaging unit and the distance measurement unit, and that can synthesize the recording data and the distance measurement data to create three-dimensional drawing data of the recording object;
Equipped with a,
The stretchable part is
A pole that can be expanded and contracted horizontally toward the side surface of the recording object,
A suspension or crane capable of hanging the pole at an arbitrary height; and
An on- site recording system characterized by comprising   The control unit re-acquires the ranging data of the ranging unit or the recording data of the imaging unit at the unclear part when there is an unclear part in the ranging data of the ranging unit. The field recording system according to claim 1, wherein the field recording system is corrected. The expansion / contraction part comprises a drive means for extending / contracting the expansion / contraction part,
The on-site recording system according to claim 1 or 2 , wherein the driving means is arranged on the opposite side of the pole extension side with the support point of the pole as a boundary.