JP7229034B2 - measurement system - Google Patents

Description

TECHNICAL FIELD The present invention relates to a technique of performing measurement in association with a coordinate system outside the sensor using a sensor whose orientation is unknown.

As a technology to perform measurement in relation to the coordinate system outside the sensor using a sensor whose orientation is unknown, a geomagnetic sensor is fixed to the acceleration sensor, and the vertical and horizontal directions in real space are detected using the geomagnetic sensor. There is known a technology that enables measurement of vertical and horizontal accelerations regardless of the orientation of the acceleration sensor by associating the vertical/horizontal direction with the coordinate system of the acceleration sensor. (For example, Patent Document 1).

JP 2014-130107 A

According to the above-described technology, each sensor requires a different type of sensor from the sensor in order to perform measurement in association with a coordinate system outside the sensor. incur costs.

Accordingly, an object of the present invention is to perform measurement in association with a coordinate system outside the sensor using a sensor whose orientation is not known in a simpler configuration.

In order to achieve the above object, the present invention provides a measurement system that performs measurement using a sensor connected to a measurement device and includes a camera, and the sensor is provided with three or more lights that emit light in different colors and are not on the same plane. A unit is provided, and the measuring device turns on the light emitting part of the sensor connected to the measuring device, and calculates the inclination of the sensor from the arrangement pattern of the three or more color light emitting parts appearing in the image taken by the camera. It is provided with a sensor attitude calculation means.

In such a measurement system, in the sensor attitude calculation means, as the arrangement pattern of the three or more light emitting units of each color, the center of the area of the three or more color light emitting units in the image captured by the camera is used as the arrangement pattern. may be used.

Further, the sensor may have an outer shape with three or more surfaces facing different directions, and the three or more light emitting portions may be arranged on each of the three or more surfaces.
Further, the sensor may have a rectangular parallelepiped outer shape, and light-emitting units that emit light in different colors may be arranged on at least five of the six surfaces of the rectangular parallelepiped.
In this case, in the sensor posture calculation means, the light emitting parts of the sensor connected to the measuring device are lit, and only two light emitting parts appear in the image taken by the camera, and the two light emitting parts A sensor error may be detected if the centers of the regions are neither horizontally nor vertically aligned.

Further, in the above measurement system, the sensor detects a measurement value represented by a sensor coordinate system, which is a coordinate system fixed with respect to the sensor, and the measurement device detects the measurement value detected by the sensor. Coordinate system conversion means may be provided for converting the values into measured values expressed in a coordinate system different from the sensor coordinate system using the tilt of the sensor calculated by the sensor attitude calculation means.

Further, the above measurement system includes a plurality of the sensors, a plurality of channels to which the plurality of sensors are connected, and the measurement device is sequentially provided with the light emitting unit of the sensor connected to the channel for each of the channels. is lit in a predetermined lighting pattern, the lighting pattern appearing in the image captured by the camera is recognized, and the position in the image where the lighting pattern is recognized is detected in the image corresponding to the sensor connected to the channel. A sensor position calculation means may be provided which calculates the position in the middle.

Alternatively, the above measurement system may include a plurality of the sensors, a plurality of channels to which the plurality of sensors are connected respectively, and the measurement device may include a light-emitting portion of the sensor connected to each channel to identify the channel. each lighting pattern that is different for each of the channels, each lighting pattern appearing in the image captured by the camera is recognized, and the position in the image where the lighting pattern is recognized is identified by the channel that the lighting pattern represents identification Sensor position calculation means may be provided for calculating the position in the image corresponding to the sensor connected to the.

According to the measurement system described above, each sensor is provided with a light-emitting unit, and the inclination of the sensor is detected with a simple configuration of simply photographing each sensor with a camera, and measurement is performed in association with the coordinate system outside the sensor. It can be performed.

According to the present invention, in a simpler configuration, it is possible to perform measurement in association with a coordinate system outside the sensor using a sensor whose orientation is unknown.

1 is a block diagram showing the configuration of a measurement system according to an embodiment of the present invention; FIG. Fig. 3 shows a sensor according to an embodiment of the invention; It is a figure which shows the example of arrangement|positioning of the sensor and camera which concern on embodiment of this invention. 4 is a flowchart showing sensor attitude calculation processing according to the embodiment of the present invention; It is a figure which shows the principle of sensor attitude|position calculation which concerns on embodiment of this invention. It is a figure which shows the example of a display of the measuring device which concerns on embodiment of this invention. It is a figure which shows the other example of the sensor which concerns on embodiment of this invention.

An embodiment of a measurement system according to the present invention will be described below.
FIG. 1 shows the configuration of a measurement system according to this embodiment.
As shown, the metrology system comprises a plurality of sensors 1, a camera 2, a metrology device 3 with a plurality of channels to which each sensor can be connected.
The sensor 1 is a sensor, such as an acceleration sensor, a vibration sensor, a magnetic sensor, or a directional microphone, which detects the magnitude of a measured quantity in one or more directions as a measured value. Detect in a coordinate system fixed with respect to 1.

FIG. 2 shows the appearance of the sensor 1 according to this embodiment.
2a represents the front side of the sensor 1, FIG. 2b represents the top side of the sensor 1, FIG. 2c represents the right side of the sensor 1, FIG. 2d represents the left side of the sensor 1, and FIG. , and FIG. 2f represents a perspective view of the sensor 1 .

As shown, the sensor 1 has a cuboid shape and houses sensor elements for detecting measured values. A cable 4 for connecting the sensor 1 to the measuring device 3 is connected to the rear of the sensor 1 .

Rectangular light-emitting portions 11 are provided on the front, top, bottom, left and right sides of the sensor 1, and each light-emitting portion 11 has a wavelength or wavelengths recognized by a person or the camera 2 as different colors. Lights up with a combination of For example, the light-emitting units 11 on the front, top, bottom, left, and right sides of the sensor 1 emit red, blue, green, yellow, and cyan in colors recognized by humans and the camera 2, respectively.

Such a light emitting unit 11 accommodates, for example, a long-wavelength light source, a multi-wavelength light source, and a plurality of light sources of different wavelengths in the sensor 1. Color filters having different wavelengths or different combinations of transmittances of the respective wavelengths can be provided so that the light from the light source passes therethrough. Moreover, an LED or the like can be used as the light source of such a light emitting unit 11 .

Also, the light emitting unit 11 can be turned on/off from the measuring device 3 via the cable 4 .
Next, FIG. 3 shows an example of arrangement of the sensor 1 and the camera 2 during measurement.
As shown, the tester arranges multiple sensors 1 at different positions on or near the surface of the object 300 to be measured before starting measurement. In addition, the camera 2 is installed at a position and orientation for photographing so that the measurement object 300 and all the sensors 1 arranged within the photographing range are included.

The tester arranges a plurality of sensors 1 and cameras 2, connects each sensor 1 to each channel of the measuring device 3, causes the measuring device 3 to perform sensor orientation calculation processing, and calculates the inclination of each sensor 1. Calculate.

FIG. 4 shows the procedure of sensor orientation calculation processing performed by the measuring device 3 . Let the channel number be i.
As illustrated, the measuring device 3 performs the following processing for each i from 1 to n, where n is the number of channels to which the sensor 1 is connected.
The light-emitting section 11 of the sensor 1 connected to the i-th channel is turned on (step 404), the light-emitting section 11 appearing as a high luminance area in the image taken by the camera 2 is recognized (step 406), and the light-emitting section 11 is detected. is recognized, the light emitting unit 11 of the sensor 1 connected to the i-th channel is turned off (step 408).

Then, the inclination of the sensor 1 connected to the i-th channel is calculated from the recognized layout pattern of the light emitting units 11 (step 410).
Here, the tilt of the sensor 1 is calculated as follows.
First, if the number of recognized light emitting units 11 is less than three, and three light emitting units 11 do not appear in the image captured by the camera 2, the calculation of the tilt of the sensor 1 fails.
Further, when the number of recognized light emitting units 11 is 3 and three light emitting units 11 appear in the image captured by the camera 2, the color of the area in the image of the recognized three light emitting units 11 , which surface of the sensor 1 the three light emitting units 11 are located on. In addition, the center of the area in the image of the selected three light emitting units 11 is obtained, and the three center arrangement patterns obtained for the three light emitting units 11 and the surface of the sensor 1 where the three light emitting units 11 are located are obtained. Calculate the slope of 1.

For example, as shown in FIG. 5a, when the image of the sensor 1 appears in the image taken by the camera 2, first, as shown in FIG. 5b, the region of the light emitting unit 11 in the image is extracted.
In addition, according to the correspondence between the luminescent color of the light emitting unit 11 and the surface of the sensor 1 on which the light emitting unit 11 is located, the three light emitting units 11 appearing in the image are determined from the colors of the areas of the three light emitting units 11. It is identified whether it is the light emitting part 11 of the surface.

Further, as shown in FIG. 5c, for the three light-emitting portions 11, the edges of the regions of the light-emitting portions 11 in the image are extracted to obtain the vertices of the regions of the light-emitting portions 11, and the line 2 that connects the vertices other than the edges. The intersection point of the two diagonal lines is calculated as the center of the area of the light-emitting portion 11 . Alternatively, the center of the area of the light emitting section 11 in the image can be calculated as the center of the area of the light emitting section 11 .

Then, the arrangement pattern of the center of each color region of the light emitting unit 11 obtained as shown in FIG. Since the pitch, roll, and yaw angles of the sensor 1 are uniquely determined, the pitch, roll, and yaw angles of the inclination of the sensor 1 are defined as the inclination of the sensor 1 from the arrangement pattern of the center of the area of the light emitting unit 11. calculate.

Specifically, the tilt of the sensor 1 is calculated as follows.
First, from the colors of the regions of the three light emitting units 11 in the image, the actual three light emitting units 11 corresponding to the regions of the three light emitting units 11 extracted are specified. Then, from the coordinates of the centers of the three light emitting units 11 in the image, the directions of the centers of the three specified light emitting units 11 with respect to the camera 2 are calculated. That is, since the relationship between each coordinate of the image captured by the camera 2 and the direction of the subject reflected in that coordinate with respect to the camera 2 is uniquely determined, the coordinate in the image of the center of the three light emitting units 11 is determined according to this relationship. , the direction of the center of the actual three light emitting units 11 with respect to the camera 2 can be obtained.

Also, a combination of coordinates of three points in the calculated direction with respect to the camera 2, where the distance between the three points coincides with the distance between the centers of the three specified actual light emitting units 11, is calculated. do. Then, among the tilts of the sensor 1 represented by each combination of the calculated coordinates of the three points, the surface on which the three specified light emitting units 11 are arranged faces the direction of the camera 2, and the top, bottom, left, and right of the specified three light emitting units 11 The tilt of the sensor 1 is calculated as the tilt whose relation matches the vertical and horizontal relation in the image.

However, the inclination of the sensor 1 is calculated by preparing a table in which correspondence between the arrangement pattern of the center of each color area of the light emitting unit 11 and the inclination of the sensor is registered in advance. The tilt of the sensor may be calculated from the arrangement pattern of the centers of the regions of each color of the light emitting unit 11 obtained in .

Returning to FIG. 4, when the tilt of the sensor 1 connected to the i-th channel is successfully calculated (step 412), the tilt of the sensor 1 connected to the i-th channel is calculated. The slope is registered as 1 (step 414).

On the other hand, if the calculation of the inclination of the sensor 1 connected to the i-th channel fails, "unknown" or "error" is registered for the sensor 1 connected to the i-th channel (step 416).

In step 416, first, it is checked whether or not two light-emitting units 11 appear in the image captured by the camera. Unknown" is registered for sensor 1 connected to the i-th channel.

On the other hand, when two light emitting units 11 appear, it is checked whether the centers of the regions of the two light emitting units 11 are aligned in either the horizontal direction or the vertical direction in the image. , "unknown" is registered for the sensor 1 connected to the i-th channel. If the centers of the areas of the two light-emitting units 11 are not aligned in either the horizontal or vertical direction, an "error" indicating that the sensor 1 is malfunctioning or that there is an object blocking the light-emitting unit of the sensor 1 is displayed. ” to the sensor 1 connected to the i-th channel.

Here, the reason for registering an "error" when the centers of the areas of the two light emitting units 11 are not aligned in either the horizontal direction or the vertical direction is that, in this case, the sensor 1 is rotated about two or three axes from a posture facing the camera 2, three surfaces of the sensor 1 face the direction of the camera 2, and three or more light emitting units 11 must be photographed by the camera 2. Because it must be.

Then, when the processing from step 404 to step 416 is completed for each i from 1 to n, the sensor orientation calculation processing is completed.
When the tester causes the measuring device 3 to perform the sensor orientation calculation processing as described above, if there is a sensor 1 connected to a channel in which "unknown" or "error" is registered, After adjusting the tilt of the sensor 1 so that three or more light-emitting units 11 are photographed by the camera 2, or removing the cause of the "error", the measuring device 3 is caused to execute the sensor orientation calculation process again. .

When there is no more sensor 1 connected to the channel in which "unknown" or "error" is registered, the state of the measurement object 300 and the environment is set to the state for measurement, and the measurement device 3 is instructed to start measurement. instruct.

In the measurement, the measuring device 3 inputs from each channel, the measured value detected by the sensor 1 in a coordinate system fixed with respect to the sensor 1, is registered as the inclination of the sensor 1 connected to that channel. The tilt is used to correct (coordinate transformation) to a measured value representing the magnitude of the measured quantity in one or more predetermined directions. Here, the predetermined one or more directions are coordinate axis directions of a coordinate system fixed with respect to the real space or the measurement object 300. For example, the vertical direction or horizontal direction of the real space, or A direction perpendicular to or parallel to the plane of the plane can be set as the predetermined one or more directions.

Then, the measuring device 3 analyzes the corrected measured value.
FIG. 6 shows an example of the analysis result of the measurement device 3. An acceleration sensor is used as the sensor 1, and a luminance Overlaying layers of map or color map images. The brightness map or color map shows the magnitude of the vibration in the direction perpendicular to the surface of the measurement object 300 obtained by correcting the acceleration detected by each sensor 1 as the vibration at the position on the image corresponding to the sensor 1. As magnitude, the magnitude of vibration at each position on the image is represented by the brightness or color of that position.

The embodiments of the present invention have been described above.
As described above, according to the present embodiment, each sensor 1 is provided with the light emitting unit 11, and the tilt of the sensor 1 is detected with a simple configuration in which each sensor 1 is photographed by the camera 2. Associated measurements can be made.

By the way, in the sensor orientation calculation process shown in FIG. When the number of the portions 11 is 2 and the centers of the areas of the two light emitting portions 11 are aligned in either the horizontal direction or the vertical direction in the image, the calculation of the inclination is not regarded as a failure. The tilt of the sensor 1 may be calculated from the ratio of the areas of the two light emitting units 11 in the image to the colors of the two light emitting units 11 in the image. That is, in this case, the sensor 1 is tilted only around one axis in the vertical direction or the horizontal direction of the camera 2, and the direction of tilt is obtained from the colors of the two light emitting portions 11. FIG. In addition, since the relationship between the angle of inclination and the ratio of the areas of the two light emitting units 11 is uniquely defined, the angle of inclination can be obtained according to this relationship. Although the rectangular light-emitting portions 11 are provided on the front, top, bottom, left, and right sides of the sensor 1, the shape of the light-emitting portions 11 may be other than rectangular. A point-like light emitting portion 11 or the like may be used as the portion 11 . Further, in this case, each light emitting unit 11 may emit light using a common light source, or may emit light using an individual light source. It may be used as

In the embodiment, as shown in FIG. 2, the light emitting units 11 are provided on the front, top, bottom, left, and right sides of the sensor 1. The light-emitting portions 11 may be provided on any three or more surfaces including three surfaces with mutually different directions.

Further, in the embodiment, the sensor 1 has a rectangular parallelepiped shape, but the sensor 1 may have any shape. In this case, light-emitting units 11 that emit light in different colors are provided at a plurality of positions on the sensor 1, including three positions that are not on the same plane.

Further, in the embodiment, the measurement device 3 sequentially lights the light emitting units 11 of the sensors 1 connected to each channel, recognizes the lighting position appearing in the image captured by the camera 2, and detects the light in the recognized image. may be calculated as the position in the image corresponding to the sensor 1 connected to the channel. In addition, the measuring device 3 lights the light emitting unit 11 of the sensor 1 connected to each channel with mutually different blinking patterns, recognizes the blinking pattern appearing at each position in the image photographed by the camera 2, and recognizes the blinking pattern. may be calculated as the position in the image corresponding to the sensor 1 connected to the channel lit in the blinking pattern.

By doing so, the position in the image corresponding to the sensor 1 can be detected in addition to the orientation of the sensor 1 using the light emitting section 11 of each sensor 1 . Further, by lighting the light emitting unit 11 for each sensor 1, the detection area of the sensor 1 on the image can be easily determined.

In this case, the analysis device sets the calculated position in the image of the sensor 1 of each channel to the position in the image corresponding to the position of occurrence of the measured value of the channel, or sets the calculated position of the sensor 1 in the image of each channel Measured values are analyzed using the position on the real space that is reflected in the middle position as the position where the measured value of the channel is generated.

In the embodiment, the measuring device 3 may also perform a process of lighting the light-emitting portion 11 of the sensor 1 of the channel in which an abnormal value such as no input or excessive input is detected in a predetermined lighting pattern indicating an error.

DESCRIPTION OF SYMBOLS 1... Sensor, 2... Camera, 3... Measuring device, 4... Cable, 11... Light-emitting part, 300... Measurement object.

Claims (8)

A measurement system that performs measurement using a sensor connected to a measurement device,
equipped with a camera,
The sensor has three surfaces orthogonal to each other as outer surfaces, and has light emitting units arranged on the three surfaces orthogonal to each other and emitting light in mutually different colors,
The measuring device turns on all of the light emitting units arranged on the three orthogonal surfaces of the sensor connected to the measuring device, and from the arrangement pattern of the three color light emitting units appearing in the image captured by the camera, A measurement system comprising sensor attitude calculation means for calculating an inclination of the sensor. The measurement system according to claim 1,
The measurement system according to claim 1, wherein the sensor orientation calculation means uses, as the arrangement pattern of the three-color light-emitting sections, the arrangement pattern of the centers of the areas of the three-color light-emitting sections in the image captured by the camera. The measurement system according to claim 1 or 2,
The sensor has a rectangular parallelepiped outer shape, and light-emitting units that emit light in different colors are arranged on three or more surfaces including at least three mutually orthogonal surfaces out of six outer surfaces of the rectangular parallelepiped. A measurement system characterized by: A measurement system that performs measurement using a sensor connected to a measurement device,
equipped with a camera,
The sensor has a rectangular parallelepiped outer shape, and at least five of the six faces of the rectangular parallelepiped are provided with light emitting units that emit light in different colors,
The measuring device turns on the light emitting part of the sensor connected to the measuring device, and calculates the inclination of the sensor from the arrangement pattern of the light emitting parts of three or more colors appearing in the image captured by the camera. A measuring system characterized by having means. The measurement system according to claim 4,
The sensor attitude calculation means turns on the light emitting parts of the sensor connected to the measuring device, only two light emitting parts appear in the image taken by the camera, and the center of the area of the two light emitting parts is horizontal. A metrology system characterized by detecting sensor errors when they are neither directional nor vertically aligned. The measurement system according to claim 1, 2, 3, 4 or 5,
The sensor detects measurements expressed in a sensor coordinate system, which is a coordinate system fixed with respect to the sensor;
The measuring device includes coordinate system conversion means for converting the measured value detected by the sensor into a measured value expressed in a coordinate system different from the sensor coordinate system using the tilt of the sensor calculated by the sensor attitude calculation means. A measurement system comprising: A measurement system that performs measurement using a sensor connected to a measurement device,
Equipped with a camera,
A plurality of the sensors,
The sensor has three or more non-coplanar light-emitting portions that emit light in mutually different colors;
The measuring device turns on the light emitting part of the sensor connected to the measuring device, and calculates the inclination of the sensor from the arrangement pattern of the light emitting parts of three or more colors appearing in the image captured by the camera. have the means
The measuring device comprises a plurality of channels to which the plurality of sensors are respectively connected,
The measuring device sequentially turns on the light emitting unit of the sensor connected to each channel in a predetermined lighting pattern, recognizes the lighting pattern appearing in the image captured by the camera, and recognizes the lighting pattern. A measurement system comprising sensor position calculation means for calculating the recognized position in the image as a position in the image corresponding to the sensor connected to the channel. A measurement system that performs measurement using a sensor connected to a measurement device,
Equipped with a camera,
A plurality of the sensors,
The sensor has three or more non-coplanar light-emitting portions that emit light in mutually different colors;
The measuring device turns on the light emitting part of the sensor connected to the measuring device, and calculates the inclination of the sensor from the arrangement pattern of the light emitting parts of three or more colors appearing in the image captured by the camera. have the means
The measuring device comprises a plurality of channels to which the plurality of sensors are respectively connected,
The measuring device lights the light-emitting part of the sensor connected to each channel with a different lighting pattern for each channel, which indicates the identification of the channel, and recognizes each lighting pattern appearing in the image captured by the camera. a sensor position calculating means for calculating a position in the image where the lighting pattern is recognized as a position in the image corresponding to a sensor connected to a channel in which the lighting pattern indicates identification; .

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