JP7282578B2 - Angle measuring device, distance measuring device, speed measuring device, altitude measuring device, coordinate measuring device, angle measuring method, and program - Google Patents

Description

The present invention relates to an angle measuring device, a distance measuring device, a speed measuring device, an altitude measuring device, a coordinate measuring device, an angle measuring method, and a program for measuring angles in surveying.

Conventionally, dedicated surveying instruments such as transits and theodolites are used to measure angles in surveying. Patent Literature 1 discloses a total station having a function of theodolite. In order to accurately measure an angle in a survey using a surveying instrument, a certain amount of experience is required. Also, specialized surveying instruments such as transits and theodolites are expensive. Therefore, angle measurement was not easy.

JP-A-9-101152

SUMMARY OF THE INVENTION It is an object of the present invention to provide an angle measuring device capable of easily measuring angles without using special tools.

In order to solve the above problems, the present invention takes the following technical measures.

An angle measuring device provided by a first aspect of the present invention includes an image acquisition unit that acquires a captured image captured by an imaging device, a display control unit that displays the captured image as a display image on a display device, and an auxiliary line generator for generating a vertical center line passing through the center of a display image and extending in a vertical direction, and a horizontal center line passing through the center of the display image and extending in a horizontal direction; an observation point acquisition unit that acquires an observation point located a predetermined distance below from the target point acquisition unit that acquires a first target point and a second target point on the display image; an intersection acquisition unit that acquires a first intersection that is an intersection of a vertical line drawn from the target point and the horizontal center line, and a second intersection that is an intersection of a vertical line drawn from the second target point and the horizontal center line; An angle detection unit for detecting an angle formed by a straight line connecting the first intersection and the observation point and a straight line connecting the second intersection and the observation point.

An angle measuring device provided by a second aspect of the present invention includes an image acquisition unit that acquires a captured image captured by an imaging device, a display control unit that displays the captured image as a display image on a display device, and an auxiliary line generator for generating a vertical center line passing through the center of a display image and extending in a vertical direction, and a horizontal center line passing through the center of the display image and extending in a horizontal direction; an observation point acquiring unit that acquires an observation point located on the right or left side of the display image by a predetermined distance from the target point; a target point acquiring unit that acquires a third target point on the display image; An intersection acquisition unit that acquires a third intersection that is the intersection of a vertical line and the vertical center line, and an angle that detects an angle formed by a straight line connecting the third intersection and the observation point and the horizontal center line. and a detector.

In a preferred embodiment of the present invention, the predetermined distance X is defined by: W being the horizontal dimension of the display image; Assuming that the correction value corresponding to the type of element is α, it is calculated based on the following formula.

In a preferred embodiment of the present invention, the predetermined distance X is the following when W is the horizontal dimension of the display image, φ is the angle of view of the lens of the imaging device, and f1 is the focal length of the imaging device. Calculated based on the formula.

A distance measuring device provided by the third aspect of the present invention calculates a distance using the angle detected by the angle measuring device provided by the first or second aspect of the present invention and the angle detection unit. a distance calculation unit, wherein the image acquisition unit acquires an image of a marker having a known length, and the distance calculation unit calculates a distance to the marker based on the angle and the length. do.

The speed measuring device provided by the fourth aspect of the present invention is a distance measuring device provided by the third aspect of the present invention, and based on the distance calculated by the distance calculating section, the relative speed to the marker. and a speed calculation unit that calculates the

The altitude measuring device provided by the fifth aspect of the present invention uses the angle measuring device provided by the second aspect of the present invention and the angle θ' detected by the angle detection unit to measure the captured image. an elevation difference calculation unit that calculates an elevation difference between an imaging position and an actual position displayed in the display image indicated by the third target point; and based on the elevation of the imaging position and the elevation difference, and an altitude calculator for calculating the altitude of the actual position, wherein the altitude difference calculator calculates the altitude difference dh from the horizontal distance D between the imaging position and the actual position based on the following equation.

The coordinate measuring device provided by the sixth aspect of the present invention comprises the angle measuring device provided by the first aspect of the present invention and the actual position indicated as the second target point on the displayed image. a coordinate calculation unit for calculating coordinates of a certain real position, wherein the coordinate calculation unit calculates the angle detected by the angle detection unit, the horizontal distance between the captured position of the captured image and the actual position, and The coordinates of the actual position are calculated based on the coordinates of the actual position indicated as the first target point and the coordinates of the imaging position.

A program provided by a seventh aspect of the present invention is a program for causing a computer to function as an angle measuring device, the computer comprising: an image acquisition unit configured to acquire an image captured with the vertical direction as the vertical direction; a display control unit for displaying the captured image as a display image on a display device; generating a vertical center line passing through the center of the display image and extending in the vertical direction; and a horizontal center line passing through the center of the display image and extending in the horizontal direction. an observation point acquisition unit that acquires an observation point located on the vertical center line a predetermined distance below the center of the display image; a first target point and a second target point on the display image; a target point acquisition unit that acquires a target point; a first intersection that is an intersection of a perpendicular line drawn from the first target point and the horizontal center line; a perpendicular line drawn from the second target point and the horizontal center line; an intersection acquisition unit that acquires a second intersection that is the intersection of the first intersection and the observation point, and an angle that detects the angle formed by the straight line that connects the second intersection and the observation point It is characterized by functioning as a detection unit.

An angle measurement method provided by an eighth aspect of the present invention includes a first step of acquiring a captured image captured with the vertical direction as a vertical direction, and a second step of displaying the captured image as a display image on a display device. a third step of generating a vertical center line passing through the center of the display image and extending in the vertical direction, and a horizontal center line passing through the center of the display image and extending in the horizontal direction; a fourth step of obtaining an observation point located a predetermined distance below the center of the display image; a fifth step of specifying a first target point and a second target point on the display image; a sixth step of acquiring a first point of intersection that is an intersection point between the vertical line and the horizontal center line, and a second intersection point that is an intersection point between the vertical line drawn from the second target point and the horizontal center line; A seventh step of detecting an angle between a straight line connecting the first intersection and the observation point and a straight line connecting the second intersection and the observation point.

According to the present invention, an angle can be measured by displaying a captured image as a display image on a display device and specifying the first target point and the second target point on the display image. Therefore, angles can be easily measured. In addition, angles can be measured without using a dedicated surveying device such as a transit or theodolite.

Other features and advantages of the present invention will become more apparent from the detailed description given below with reference to the accompanying drawings.

1 is a schematic block diagram showing the overall configuration of an angle measuring device according to a first embodiment; FIG. It is a front view which shows the camera at the time of imaging. It is a figure which shows the camera at the time of imaging, (a) is a side view, (b) is a top view. FIG. 5 is a diagram for explaining angle measurement processing according to the first embodiment; 6 is an example of a flowchart for explaining angle measurement processing according to the first embodiment; It is a figure for demonstrating the method of acquiring the predetermined distance X. FIG. It is a figure for demonstrating the method of acquiring the predetermined distance X. FIG. It is a figure for demonstrating the 2nd modification. (a) is a schematic block diagram showing the overall configuration of a distance measuring device according to a second embodiment, and (b) is a schematic block diagram showing the overall configuration of a speed measuring device according to a third embodiment. FIG. 4 is a diagram for explaining a method of measuring a distance from an observation point to a marker; FIG. 4 is a diagram for explaining a method of measuring a distance from an observation point to a marker; FIG. 11 is a schematic block diagram showing the overall configuration of an altitude measuring device according to a fourth embodiment; It is a figure for demonstrating the angle measurement process which concerns on 4th Embodiment. FIG. 11 is a schematic block diagram showing the overall configuration of a coordinate measuring apparatus according to a fifth embodiment; It is a figure for demonstrating the coordinate calculation process which concerns on 5th Embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings.

<First embodiment>
FIG. 1 is a schematic block diagram showing the overall configuration of the angle measuring device according to the first embodiment. As shown in FIG. 1, the angle measuring device 1 includes a control section 2, an input/output section 3, a display section 4, an operation section 5, and a storage section 6. As shown in FIG.

The angle measuring device 1 is a device for measuring a horizontal angle between two measurement points using an image captured by the camera 7 . The angle measuring device 1 is a so-called CAD (Computer Aided Design) device, and is, for example, a general-purpose personal computer in which CAD software is installed. In this embodiment, a program for angle measurement is added. A program for angle measurement may be pre-installed in the CAD software, or may be added later. When adding later, a method such as downloading from a server and installing via a network line such as the Internet line (not shown) or installing from a storage medium such as a DVD-ROM is adopted.

The camera 7 is an imaging device such as a digital camera, and captures an image including two measurement points to be measured. 2 and 3 are diagrams showing the camera 7 during imaging. 2 shows a front view of the camera 7. FIG. 3(a) shows a side view of the camera 7, and FIG. 3(b) shows a plan view of the camera 7. FIG. In these drawings, for convenience of understanding, the horizontal direction of the camera 7 (horizontal direction in FIG. 2) is defined as the x direction, the vertical direction of the camera 7 (vertical direction in FIG. 2) is defined as the y direction, and the depth direction of the camera 7. (The left-right direction in FIG. 3) will be described as the z-direction.

As shown in FIGS. 2 and 3A, the camera 7 has a tripod screw hole 71, a lens 72, and an imaging device 73. As shown in FIG. A tripod screw hole 71 is provided on the bottom surface of the camera 7 and is used to attach the camera 7 to a tripod or the like. The imaging device 73 is a device that receives light input from the lens 72 and converts an image into an electric signal, and is a so-called image sensor. The imaging element 73 is arranged such that the light receiving surface (imaging surface) is located at a position separated from the center point of the lens 72 by the focal length f1 in the z direction.

Also, the camera 7 is fixed to a photography pole 75 arranged at an observation point. As shown in FIG. 2, the photography pole 75 includes a first pole 76, a second pole 77, and an attachment 78. As shown in FIG. The first pole 76 is attached to the tripod screw hole 71 and extends in the y direction. The second pole 77 is arranged parallel to the first pole 76 . The attachment 78 fixes the first pole 76 and the second pole 77 in parallel. Also, the attachment 78 fixes the second pole 77 so that the position of the second pole 77 coincides with the center position of the imaging surface of the imaging device 73 when viewed in the y direction. As shown in FIG. 3B, the position of the center of the imaging surface of the imaging device 73 in the x direction matches the position of the center of the lens 72 of the camera 7 . Also, the position of the imaging surface of the imaging element 73 in the z direction can be estimated from the position of the lens 72 and the focal length f1. The second pole 77 has its lower end located at the observation point and is arranged to extend vertically upward. As a result, the camera 7 observes the center of the imaging surface of the imaging device 73 in the y direction with the vertical direction (y direction) aligned with the vertical direction and the horizontal direction (x direction) aligned with the horizontal direction. Placed to match the points. Note that the camera 7 may be arranged in the same manner by using another jig instead of the photographing pole 75 . As shown in FIGS. 3A and 3B, the camera 7 takes an image in the z direction. That is, the imaging direction coincides with the z direction. The vertical direction of the captured image captured by the camera 7 matches the vertical direction (y direction) of the camera 7, and the horizontal direction matches the horizontal direction (x direction) of the camera 7. FIG.

Returning to FIG. 1, the input/output unit 3 is for inputting/outputting data to/from the outside, and includes an input/output terminal such as a USB terminal. The input/output unit 3 receives image data of an image captured by the camera 7 via a storage medium 8 such as a memory card or memory stick. Note that the input/output unit 3 may be connected to the camera 7 by a cable such as a USB cable, and image data may be input via the cable. Also, the image data may be input from a communication unit (not shown) through wireless communication.

The display unit 4 displays an image generated by the control unit 2, and includes a display device such as a liquid crystal display. The display unit 4 causes the display device to display an image based on the image data input from the control unit 2 .

The operation unit 5 is used by an operator to input commands, and includes operation means such as a keyboard, a mouse, and a touch panel. The operation unit 5 outputs an operation signal to the control unit 2 according to the operation of the operation means by the operator. The control unit 2 performs processing according to input operation signals. In this embodiment, for example, a mouse is used to designate a point on the display image displayed on the display device. The operator operates the mouse to move the cursor and click on the desired position to specify the position. Note that the designation of the position may be performed using other operating means.

The storage unit 6 stores various information and programs, and is a storage device such as a hard disk device. The storage unit 6 stores a CAD program and various data such as three-dimensional data and attribute data used in CAD. Further, in the present embodiment, the storage unit 6 stores a program for angle measurement, and stores image data input from the input/output unit 3 . Note that the storage unit 6 may be a storage device built into the personal computer, or may be an external storage device.

The control unit 2 includes a CPU, a ROM, a RAM, an image processor, and the like as hardware. process for In this embodiment, the control unit 2 measures the horizontal angle between two measurement points as the angle measurement process.

FIG. 4 is a diagram for explaining the angle measurement process and shows an image displayed on the display device. As shown in FIG. 4, the captured image captured by the camera 7 is displayed as the display image 9 on the display device. The vertical direction of the display image 9 matches the vertical direction of the captured image, and the horizontal direction of the display image 9 matches the horizontal direction of the captured image. The display image 9 is displayed so that the horizontal dimension W is a predetermined size. In this embodiment, W is set to 135 mm. The display device also displays a vertical center line L1, a horizontal center line L2, and a parallel line L3 as auxiliary lines. The vertical center line L1 is an auxiliary line passing through the center of the display image 9 and extending in the vertical direction. The horizontal center line L2 is an auxiliary line passing through the center of the display image 9 and extending in the horizontal direction. The parallel line L3 is an auxiliary line which is parallel to the horizontal center line L2 and which is arranged at a predetermined distance X below the horizontal center line L2. Also, an observation point F is displayed on the display device. The observation point F is the intersection of the vertical center line L1 and the parallel line L3. Note that the observation point F is not determined as an intersection point between the vertical center line L1 and the parallel line L3, but is determined as a point located on the vertical center line L1 below the center of the display image 9 by a predetermined distance X. good too. In this case, it is not necessary to display the parallel line L3.

The predetermined distance X varies depending on the model and set value of the camera 7 used. Since the shooting angle of view differs depending on the set focal length, the predetermined distance X also differs. In addition, the type of the image sensor 73 used in the camera 7 differs depending on the model. There are various types of the imaging device 73, and the size thereof also differs depending on the type. If the size of the imaging surface of the imaging device 73 is different, the range to be imaged is also different, so the predetermined distance X is also different. The predetermined distance X is acquired in advance for each model and set value of the camera 7 by a method described later.

The storage unit 6 stores the predetermined distance X in association with the model of the camera 7 and the set value. The control unit 2 allows the operator to select the model and set values of the camera 7, and reads out and sets the predetermined distance X corresponding to the selection from the storage unit 6. FIG. If the image data input from the input/output unit 3 contains information for specifying the model and setting values of the camera 7, the control unit 2 determines the predetermined distance X based on the information. It may be read out from the storage unit 6 and set.

Further, as shown in FIG. 4, the display device displays a first target point P1, a second target point P2, a first intersection point P1', and a second intersection point P2'. The positions of the first target point P1 and the second target point P2 are specified based on the operation of the operating section 5 by the operator. The first intersection P1' is the intersection of a vertical line (a straight line extending downward in the vertical direction) from the first target point P1 and the horizontal center line L2. The second intersection point P2' is the intersection point of a perpendicular line drawn from the second target point P2 and the lateral center line L2. Further, as shown in FIG. 4, the auxiliary line L4 and the auxiliary line L5 are displayed on the display device. The auxiliary line L4 is a straight line connecting the first intersection point P1' and the observation point F. The auxiliary line L5 is a straight line connecting the second intersection point P2' and the observation point F.

In the angle measurement process, the positional relationship between the two actual measurement points and the observation point is reduced and displayed on the display device as the positional relationship between the first intersection point P1' and the second intersection point P2' and the observation point F. are doing. Therefore, the angle θ formed by the auxiliary line L4 and the auxiliary line L5 is the horizontal angle between the two measurement points.

The control unit 2 includes, as functional blocks for angle measurement processing, an image acquisition unit 21, a display control unit 22, an auxiliary line generation unit 23, an observation point acquisition unit 24, a target point acquisition unit 25, an intersection acquisition unit 26, and an angle A detection unit 27 is provided. Illustrations and descriptions of other functional blocks of the control unit 2 are omitted.

The image acquisition unit 21 is a functional block for acquiring image data of a captured image captured by the camera 7 . The image acquisition unit 21 acquires image data selected based on the operation of the operation unit 5 by the operator by reading the image data from the storage unit 6 . Note that the image acquisition unit 21 may directly read the image data stored in the camera 7 from the input/output unit 3 via a cable.

The display control section 22 is a functional block that controls the display section 4 . The display control unit 22 causes the display device to display the display image 9 based on the image data acquired by the image acquisition unit 21 . Further, the display control unit 22 controls the vertical center line L1, the horizontal center line L2, the parallel line L3, the auxiliary line L4, and the auxiliary line L5 generated by the auxiliary line generating unit 23, and the observation point F obtained by the observation point obtaining unit 24. Then, the first target point P1 and the second target point P2 obtained by the target point obtaining section 25 and the first intersection P1' and the second intersection P2' obtained by the intersection obtaining section 26 are also displayed on the display device.

The auxiliary line generator 23 is a functional block that generates a vertical center line L1, a horizontal center line L2, a parallel line L3, an auxiliary line L4, and an auxiliary line L5. The auxiliary line generator 23 generates the vertical center line L1, the horizontal center line L2, and the parallel line L3 based on the coordinates on the screen of the display device. Specifically, the auxiliary line generation unit 23 generates a vertical center line L1 passing through the center point and extending in a vertical direction from the coordinates of the center point of the display image 9, and generates a horizontal center line L2 passing through the center point and extending in a horizontal direction. to generate Also, a parallel line L3 is generated that is a predetermined distance X downward from the horizontal center line L2. The data of each line L1 to L3 generated by the auxiliary line generator 23 is output to the display controller 22, the observation point acquirer 24, and the intersection acquirer . Further, the auxiliary line generation unit 23 is based on the data of the first intersection point P1′ and the second intersection point P2′ input from the intersection acquisition unit 26 and the data of the observation point F input from the observation point acquisition unit 24. , an auxiliary line L4 and an auxiliary line L5. Specifically, the auxiliary line generation unit 23 generates an auxiliary line L4 connecting the coordinates of the first intersection P1′ and the coordinates of the observation point F, and the coordinates of the second intersection P2′ and the coordinates of the observation point F. A connecting auxiliary line L5 is generated. The data of the auxiliary lines L4 and L5 generated by the auxiliary line generator 23 are output to the display controller 22 and the angle detector 27 .

The observation point acquisition unit 24 is a functional block that acquires the observation point F. FIG. The observation point acquisition unit 24 calculates the coordinates of the intersection of the vertical center line L1 and the parallel line L3 based on the data of the vertical center line L1 and the parallel line L3 input from the auxiliary line generation unit 23, and obtains the observation point F coordinates. The data of the observation point F acquired by the observation point acquisition unit 24 is output to the display control unit 22 and the auxiliary line generation unit 23 .

The target point acquisition unit 25 is a functional block that acquires the first target point P1 and the second target point P2. The target point acquisition unit 25 acquires the coordinates of the position specified by the operator's operation of the operation unit 5 as the coordinates of the first target point P1 and the second target point P2. The data of the first target point P<b>1 and the second target point P<b>2 acquired by the target point acquisition section 25 are output to the display control section 22 and the intersection acquisition section 26 .

The intersection acquisition unit 26 is a functional block that acquires the first intersection P1' and the second intersection P2'. The intersection acquisition unit 26, based on the data of the first target point P1 and the second target point P2 input from the target point acquisition unit 25 and the data of the horizontal center line L2 input from the auxiliary line generation unit 23, The coordinates of the points of intersection between the horizontal center line L2 and the perpendiculars drawn from the first target point P1 and the second target point P2 are calculated and used as the coordinates of the first point of intersection P1' and the second point of intersection P2'. The data of the first intersection point P<b>1 ′ and the second intersection point P<b>2 ′ generated by the intersection acquisition unit 26 are output to the display control unit 22 and the auxiliary line generation unit 23 .

The angle detection unit 27 is a functional block that detects an angle θ formed by the auxiliary line L4 and the auxiliary line L5. Based on the data of the auxiliary lines L4 and L5 input from the auxiliary line generator 23, the angle detector 27 calculates the angle θ formed by the auxiliary lines L4 and L5. The angle θ detected by the angle detection section 27 is output to the display control section 22 and displayed on the display device.

FIG. 5 is an example of a flowchart for explaining the angle measurement process performed by the control unit 2. As shown in FIG. The angle measurement process is started when the operator selects the angle measurement process on the menu screen, for example.

First, a screen for selecting an image to be used is displayed on the display device (S1). Specifically, the control unit 2 causes the display device to display the captured images stored in the storage unit 6 as, for example, thumbnails, and displays a prompt to select a captured image to be used. Next, it is determined whether or not a captured image has been selected (S2). Specifically, based on the operation signal input from the operation unit 5, the control unit 2 determines whether or not the captured image has been selected. If no captured image is selected (S2: NO), the process returns to step S2 and the determination is repeated. After waiting for a captured image to be selected (S2: YES), the image data of the selected captured image is read from the storage unit 6 by the image acquisition unit 21 (S2). Next, the vertical center line L1, the horizontal center line L2, and the parallel line L3 are generated by the auxiliary line generation unit 23 (S4), and the observation point F is acquired by the observation point acquisition unit 24 (S5). Next, the display image 9 based on the read image data is displayed on the display device by the display control unit 22 (S6). At this time, the generated lines L1 to L3 and the observation point F are also superimposed on the display image 9 and displayed.

Next, a display prompting the user to designate the first target point P1 and the second target point P2 is displayed on the display device (S7). Next, it is determined whether or not the first target point P1 and the second target point P2 have been specified (S8). Specifically, the control unit 2 determines whether or not the first target point P1 and the second target point P2 have been designated based on the operation signal input from the operation unit 5 . If not specified (S8: NO), the process returns to step S8 and the determination is repeated. If specified (S8: YES), the intersection acquisition unit 26 acquires the first intersection point P1′ and the second intersection point P2′ (S9), the auxiliary line generation unit 23 generates the auxiliary line L4 and the auxiliary line L5, A first target point P1, a second target point P2, a first intersection point P1', a second intersection point P2', an auxiliary line L4, and an auxiliary line L5 are displayed on the display device (S10). Next, the angle θ between the auxiliary lines L4 and L5 is detected by the angle detection unit 27 (S11), displayed on the display device by the display control unit 22 (S12), and the angle measurement process ends.

Note that the processing shown in the flowchart of FIG. 5 is an example, and the processing procedure of the angle measurement processing is not limited to the above.

Next, a method for obtaining the predetermined distance X will be described with reference to FIGS. 6 and 7. FIG.

The predetermined distance X is obtained based on a comparison between the angle θ detected by the angle measurement process and the angle actually measured in transit when a provisional value is set as the predetermined distance X. Specifically, the predetermined distance X is defined as the value when the difference between the angle θ detected by the angle measurement process and the angle actually measured during transit becomes ±0.

A case where the predetermined distance X is calculated using an image captured by the camera 7 whose focal length f1 is 4.6 mm and whose image sensor 73 uses a 1/2.3 type primary color CCD will be described as an example. In this example, the tentative values of the predetermined distance X are X ₁ =102.3 mm, X ₂ =103.5 mm, X ₃ =104.1 mm, X ₄ =104.6 mm, and X ₅ =105 mm. Also, as shown in FIG. 6(a), five target points _P1 , _P2 , _P3 , _P4 , _P5 on one image are specified, and target points _P1 and _P2 are specified. angle θ ₁ between the target points P ₂ and P 3 , _angle θ ₂ between the target points P ₂ and P 3 , angle θ 3 between the target points P ₃ and P ₄ , angle θ ₄ between the target points P ₄ and P ₅ , The angle _θ5 between the target point _P1 and the target point _P3 , the angle _θ6 between the target point _P2 and the target point _P4 , the angle _θ7 between the target point _P3 and the target point _P5 , and the target point _P1 and Angle measurement processing is performed for 10 angles: the angle θ ₈ with the target point P ₄ , the angle θ ₉ between the target points P ₂ and P ₅ , and the angle θ ₁₀ between the target points P ₁ and P ₅ . The difference between the angle detected by and the angle actually measured by the transit was calculated.

FIG. 6(b) shows the angles detected by the angle measurement process for the angles θ ₁ to θ ₁₀ when the provisional values of the predetermined distance X are X ₁ to X ₅ , versus the angles actually measured in transit. It shows the angular difference. That is, the angle difference is positive when the angle detected by the angle measurement process is greater than the angle actually measured on the transit. The bottom row is the average value of the angular difference between the angles θ ₁ to θ ₁₀ .

FIG. 7 is a graph plotting the average values of the angular differences when the provisional values of the predetermined distance X are X ₁ to X ₅ . The vertical axis indicates the angle difference, and the horizontal axis indicates the provisional value of the predetermined distance X (unit: mm). As shown in FIG. 7, the relationship between the provisional value of the predetermined distance X and the angular difference is proportional. Therefore, in FIG. 7, it is understood that the predetermined distance X should be set to a provisional value when the angular difference is ±0. In this embodiment, it was calculated that the angle difference becomes ±0 when X=104.0938571 mm. In this embodiment, W is set to 135 mm, so the calculated predetermined distance X is also a value when the horizontal dimension W of the display image 9 is 135 mm. When the horizontal dimension W of the display image 9 is 135 mm, the predetermined distance X is used as it is. used.

Further, when the predetermined distance X is calculated in the same manner as described above using an image captured by the camera 7 having a focal length f1 of 5.8 mm and a 1/2.7-inch CCD as the image sensor 73, A predetermined distance X=140.4410000 mm was calculated. As described above, the predetermined distance X differs depending on the model and set value of the camera 7 to be used. Therefore, if the predetermined distance X is obtained by the above method for each model and setting value of the camera 7 that may be used, and is associated with the model and setting value of the camera 7, it is stored in the storage unit 6. good. Note that the predetermined distance X may be obtained by other methods.

According to this embodiment, the control unit 2 causes the display device to display the captured image as the display image. The operator can measure the angle θ simply by designating the first target point P1 and the second target point P2 on the display image. Therefore, the angle θ can be easily measured. Also, the angle θ can be measured without using a dedicated surveying device such as a transit or a theodolite.

Further, according to the present embodiment, the control unit 2 determines the first intersection point P1' and the second intersection point P2' corresponding to the actual survey points based on the specified first target point P1 and second target point P2. Generate. Then, the angle θ is detected based on the first intersection point P1' and the second intersection point P2'. Therefore, even if there is an obstacle between the observation point and the measurement point and the actual measurement point cannot be seen, the angle θ can be detected.

In this embodiment, the vertical center line L1, the horizontal center line L2, the parallel line L3, the first intersection point P1', the second intersection point P2', the observation point F, the auxiliary line L4, and the auxiliary line L5 are displayed on the display device. Although the case of displaying on the display device has been described, they do not have to be displayed on the display device. The vertical center line L1, the horizontal center line L2, the parallel line L3, and the observation point F can be generated from the display image 9 and the predetermined distance X by calculation. Further, when the positions of the first target point P1 and the second target point P2 are specified on the display image 9, the first intersection point P1', the second intersection point P2', the auxiliary line L4, and the auxiliary line L5 can be calculated as can be generated. The angle θ can be calculated from the auxiliary lines L4 and L5 generated by the calculation. That is, the control unit 2 causes the display device to display the display image 9, and designates the positions of the first target point P1 and the second target point P2 on the display image 9, thereby automatically calculating the angle θ. may

Further, in the present embodiment, the case where the control unit 2 automatically calculates the angle θ only by allowing the operator to specify the first target point P1 and the second target point P2 has been described, but the present invention is not limited to this. . The angle .theta. may be detected by an operator using a command preset in a general CAD device instead of being automatically calculated by the control unit 2. FIG. That is, the operator first causes the display image 9 to be displayed on the display device according to a command from the CAD device. Next, a vertical center line L1, a horizontal center line L2, and a parallel line L3 are displayed as auxiliary lines. Next, the operator designates the first target point P1 and the second target point P2, and displays perpendicular lines from the first target point P1 and the second target point P2 toward the horizontal center line L2. Next, a straight line (auxiliary Line L4 and auxiliary line L5) are displayed respectively. Then, the operator detects the angle θ formed by the auxiliary line L4 and the auxiliary line L5 according to the command of the CAD device. This method can also detect the angle θ.

Further, in the present embodiment, the case of using a captured image captured with the vertical direction (y direction) of the camera 7 aligned with the vertical direction and the horizontal direction (x direction) aligned with the horizontal direction has been described. However, it is not limited to this.

Further, in the present embodiment, the predetermined distance X is acquired in advance by comparison with the actually measured angle and stored in the storage unit 6, but the present invention is not limited to this. The predetermined distance X may be simply calculated using an arithmetic expression as shown in the following first and second modifications.

<First modification>
In this modification, the control unit 2 calculates the predetermined distance X using an arithmetic expression based on the model and setting values of the camera 7 selected by the operator. The predetermined distance X can be easily calculated according to the following equation (1) according to the horizontal dimension W of the display image 9 and the model and set values of the camera 7 used. In the following equation (1), f1 is the focal length of the camera 7, and f2 is the focal length in terms of the 35 mm format. α is a correction value that varies depending on the type of the image sensor 73 used in the camera 7, and is for correcting the predetermined distance X depending on the type of the image sensor 73. FIG. For example, when a 1/2.3 type primary color CCD is used for the imaging device 73, the correction value α=+0.391.

For example, the setting of the camera 7 is focal length f1=4.6 mm, focal length f2=26 mm in 35 mm format conversion, and a 1/2.3 type primary color CCD is used for the image sensor 73 (correction value α=+0 .391), the predetermined distance X is 104.0938571 mm from the above equation (1). The camera 7 is set to a focal length f1=5.8 mm, a focal length f2=35 mm when converted to the 35 mm format, and a 1/2.7-inch CCD is used for the image sensor 73 (correction value α=-0 .359), the predetermined distance X is 140.4410000 mm from the above equation (1).

Also in this modification, the operator can measure the angle θ simply by designating the first target point P1 and the second target point P2 on the display image displayed on the display device. Further, according to this modified example, since the predetermined distance X is calculated using the above formula (1), the predetermined distance X is obtained in advance for each model and set value of the camera 7 and stored in the storage unit 6. No need to leave.

<Second modification>
FIG. 8 is a diagram for explaining a second modification. In this modified example, the predetermined distance X is calculated using an arithmetic expression different from that in the first modified example.

When the angle of view φ of the lens 72 is known, as shown in FIG. 8, tan (1/2) φ=( W/2)/Z1. Also, the distance Z2 between the point L and the observation point F corresponds to the distance between the center point of the lens 72 and the actual observation point in the z direction. Since the observation point coincides with the imaging surface of the imaging device 73 in the z direction, the distance Z2 is the focal length f1 (see FIG. 3A). Therefore, the predetermined distance X is calculated by the following formula (2). The angle of view φ and the focal length f1 of the lens 72 are input by the operator.

Also in this modification, the operator can measure the angle θ simply by designating the first target point P1 and the second target point P2 on the display image displayed on the display device. Further, according to this modified example, the predetermined distance X is calculated using the above formula (2). No need to leave.

In the above-described first embodiment, the case where the angle measuring device 1 is a general-purpose personal computer with software installed has been described, but the present invention is not limited to this. The angle measurement device 1 may be, for example, a portable communication terminal such as a smartphone with software installed. In this case, the angle measuring device 1 incorporates a camera 7, for example, a display unit 4 having a liquid crystal screen, and an operation unit 5 having a touch panel arranged on the surface of the liquid crystal screen. It can be brought to the site. Therefore, by capturing an image with the built-in camera 7, displaying the captured image on the liquid crystal screen, and specifying the first target point P1 and the second target point P2 on the touch panel, the angle θ can be detected on the spot. .

<Second embodiment>
Next, a distance measuring device 101 to which the angle measuring device 1 according to the first embodiment is applied will be described as a second embodiment. FIG. 9A is a schematic block diagram showing the overall configuration of the distance measuring device 101 according to the second embodiment. In the figure, the same or similar elements as those of the angle measuring device 1 (see FIG. 1) are denoted by the same reference numerals, and overlapping descriptions are omitted. In this embodiment, the distance measuring device 101 is described as having software installed in a portable communication terminal such as a smart phone. Therefore, in FIG. 9A, instead of the input/output unit 3, a camera 7 is incorporated. Note that the distance measuring device 101 may be a general-purpose personal computer with software installed therein.

As shown in FIG. 9A, the distance measuring device 101 includes a control section 201, a camera 7, a display section 4, an operation section 5, and a storage section 6. FIG. The controller 201 has a distance calculator 28 added to the controller 2 according to the first embodiment. It should be noted that description of other functional blocks of the control unit 201 is omitted in FIG. Since the distance measuring device 101 has the function of the angle measuring device 1, it can measure the angle between two points on the display image captured by the camera 7 and displayed on the display device. The distance measuring device 101 captures an image of a marker extending in the horizontal direction with the camera 7, and by specifying both ends of the marker on the display image displayed on the display device, based on the measured angle and the actual length of the marker, Measure the horizontal distance to the marker.

The distance calculator 28 is a functional block that calculates the distance based on the angle θ detected by the angle detector 27 . The camera 7 captures an image of the marker, the actual length of which is known in the horizontal direction, so that the marker is positioned at the center of the image in the horizontal direction. By acquiring the points at both ends of the marker on the display image as , the angle detection unit 27 detects the actual angle between the both ends of the marker as the angle θ. The target point acquisition unit 25 automatically acquires the points at both ends of the marker from the displayed image. As shown in FIG. 10(a), when the actual length of the marker M is Lm, the horizontal distance from the observation point to the marker M is D, and the angle between both ends of the marker M is θ, tan(1/2) θ=(Lm/2)/D. Using this relationship, the distance calculation unit 28 calculates the horizontal distance from the observation point to the marker M from the angle θ detected by the angle detection unit 27 and the actual length Lm of the marker M according to the following equation (3). Calculate D. The actual length Lm of the marker M is stored in the storage unit 6 or input by the operator.

According to this embodiment, the distance measuring device 101 can easily measure the angle θ between both ends of the marker M. FIG. Further, the distance measuring device 101 can easily measure the horizontal distance D to the marker M based on the measured angle θ.

In addition, in the present embodiment, the case where the image is captured so that the marker M is positioned at the center of the image in the horizontal direction has been described, but the present invention is not limited to this. For example, the image may be captured so that one end of the marker M is positioned at the center of the image in the horizontal direction. In this case, as shown in FIG. 10(b), tan θ=Lm/D. Therefore, using this relationship, the distance calculation unit 28 uses the angle θ detected by the angle detection unit 27 and the actual length Lm of the marker M to calculate the distance from the observation point to the marker M using the following equation (4). A horizontal distance D is calculated.

Further, as shown in FIG. 11(a), when the marker M is positioned away from the center of the image in the horizontal direction, the angle θ ₁ formed between one end of the marker M and the center, or the other end of the marker M The horizontal distance D from the observation point to the marker M is calculated by measuring the angle _θ2 formed with the center and the angle β formed between the center of the marker M and the center of the screen (that is, the bias angle of the marker M). can be done. FIG. 11(b) is an enlarged view of FIG. 11(a). In FIG. 11B, point P1' and point P2' are points B and B', respectively, and point A is the intersection of a perpendicular line drawn from the center point of marker M and horizontal center line L2. Further, a straight line L6 passing through the point A and orthogonal to the straight line connecting the observation point and the point A, and the perpendicular lines drawn from the points B and B' are respectively defined as points C and C', and the straight line L6 and the straight line The points of intersection with L4 and straight line L5 are defined as point D and point D', respectively.

Triangle ABC is a right triangle with vertex C at right angle and vertex A at angle β. Therefore, the length L _AB of the side AB, the length L _AC of the side AC, and the length L BC of the side _BC have the relationships of L _AC =L _AB ·cos β and L _BC =L _AB ·sin β . Triangle BCD is a right-angled triangle with vertex C at a right angle and vertex B at angle θ ₁ . Therefore, the length LCD of the side _CD can be represented by _LCD = _LBC ·tan θ ₁ . Therefore, the length L _AD of the side AD is
L _AD =L _AC -L _CD =L _AB ·cos β -L _BC ·tan θ ₁
=L _AB ·cos β −L _AB ·sin β ·tan θ ₁
becomes. Therefore, from L _AB =(1/2)Lm, the horizontal distance D is
D=L _AD /tan θ ₁
=(1/2)Lm(cos β /tan θ ₁ -sin β )
It can be calculated by

Triangle AB'C' is a right-angled triangle in which vertex C' is a right angle and vertex A is an angle β. Therefore, the length L AB' of the side AB _' , the length L AC' of the side AC _' , and the length L B'C' of the side _B'C' are L _AC' =L _AB' ·cos β ,L. _B'C' =L _AB' ·sin β . Triangle B'C'D' is a right-angled triangle with vertex C' at a right angle and vertex B' at angle θ ₂ . Therefore, the length L C'D' of the side C'D _' can be expressed as L _C'D' =L _B'C' ·tan θ ₂ . Therefore, the length L _AD ' of the side AD' is
L _AD' =L _AC' +L _C'D' =L _AB' ·cos β +L _B'C' ·tan θ ₂
=L _AB′ ·cos β +L _AB′ ·sin β ·tan θ ₂
becomes. Therefore, the horizontal distance D is given by L _AB' =(1/2)Lm
D= _LAD' /tan θ ₂
=(1/2)Lm(cos β /tan θ ₂ +sin β )
It can also be calculated by

Although the case where the marker M is a line segment extending in the horizontal direction has been described in the present embodiment, the present invention is not limited to this. For the marker M, it is sufficient that two points in the horizontal direction can be identified and the distance between the two points is known. For example, the markers M may be two horizontally aligned points whose distance is known. Also, the marker M may be displayed by printing or the like on the object whose distance is to be measured, or the whole or part of a natural or artificial object whose horizontal dimension is known may be used as the marker M.

For example, if the width of the building 92 in FIG. 4 is known, the distance measuring device 101 can measure the horizontal distance to the building 92 by using the building 92 as the marker M. Further, the distance measuring device 101 is mounted on an automobile and captures an image of the marker M placed in the garage, thereby measuring the horizontal distance to the marker M, and can be used for parking assistance. Further, the distance measuring device 101 is mounted on a spacecraft and measures a horizontal distance to a celestial body (for example, the moon, a planet, the earth when returning) as a marker M, or measures the horizontal distance to another space. By placing a marker at the docking position when docking with the ship, it can also be used to measure the horizontal distance from the docking position. Also, inside a building, a sticker, a poster, a bulletin board, or the like whose dimensions are known can be used as the marker M.

Further, the distance measuring device 101 can measure a vertical distance (that is, depth or height) by using a captured image captured with the imaging direction (z direction) of the camera 7 as the vertical direction. Therefore, the distance measuring device 101 can measure the distance (depth) to the seabed by imaging the marker M submerged in the seabed. Further, the distance measuring device 101 can also measure the distance between the endoscope and the organ by capturing an image of a predetermined organ or a part thereof as a marker M with an endoscope used for surgical operation, for example. can.

<Third Embodiment>
Next, a speed measuring device 102 to which the distance measuring device 101 according to the second embodiment is applied will be described as a third embodiment. FIG. 9(b) is a schematic block diagram showing the overall configuration of the velocity measuring device 102 according to the third embodiment. In the figure, the same or similar elements as those of the velocity measuring device 102 (see FIG. 9A) are denoted by the same reference numerals, and overlapping descriptions are omitted. In this embodiment, similar to the distance measuring device 101, the speed measuring device 102 will be described as having software installed in a mobile communication terminal such as a smart phone. Note that the velocity measuring device 102 may be a general-purpose personal computer with software installed therein.

As shown in FIG. 9B, the speed measuring device 102 includes a control section 202, a camera 7, a display section 4, an operation section 5, and a storage section 6. The controller 202 has a distance calculator 28 and a speed calculator 29 added to the controller 2 according to the first embodiment. Further, it can be said that the control unit 202 has a speed calculation unit 29 added to the control unit 201 according to the second embodiment. In addition, in FIG.9(b), description of the other functional block of the control part 202 is abbreviate|omitted. Since the velocity measuring device 102 has the function of the distance measuring device 101, the horizontal distance D to the marker M can be measured by capturing an image of the marker M with the camera 7. FIG.

The speed calculator 29 is a functional block that calculates the speed based on the horizontal distance D to the marker M calculated by the distance calculator 28 and the measured time. The speed calculation unit 29 acquires the horizontal distance D to the marker M calculated by the distance calculation unit 28 at a predetermined timing, and divides the amount of change in the horizontal distance D by the elapsed time between the timings to obtain a relative distance to the marker M. Calculate speed. The speed measuring device 102 can measure the speed of (the one attached to) the speed measuring device 102 if the marker M does not move. On the other hand, if the speed measuring device 102 does not move, the speed of the marker M (or whatever the marker M is attached to) can be measured.

According to this embodiment, the velocity measuring device 102 can easily measure the angle θ between both ends of the marker M. FIG. Also, the speed measuring device 102 can easily measure the relative speed with the marker M based on the measured angle θ.

The speed measuring device 102 can measure the speed of, for example, an automobile on which the speed measuring device 102 is mounted, by continuously capturing images of the building 92 (whose width is known) in FIG. 4 as a marker M with the camera 7 . Also, the velocity measuring device 102 is mounted on a spacecraft and continuously captures an image of a celestial body with a known diameter as a marker M with the camera 7, thereby measuring the velocity of the spacecraft. It can also be used to measure the docking speed using a marker M placed at the docking position.

Also, the diameter of a utility pole for distribution lines (or a utility pole for communication lines) is constant (known). Therefore, the speed measuring device 102 is mounted on an automobile and captures an image of a utility pole as a marker M, thereby measuring the speed of the automobile up to the utility pole. In addition, since the utility poles are continuously arranged on the road, when one utility pole is reached, the next utility pole may be used as a marker M to take an image. It is also possible to measure the speed of a pedestrian by attaching the speed measuring device 102 to glasses or a hat. In addition, the diameters of manholes and sewage trough covers, the diameters of road signs, the distance between traffic light lamps (for example, a red lamp and a yellow lamp), etc. are also determined by standards, so they can be used as markers M on the road. In addition, if the road width is known, the distance between both ends of the road, the distance between the roadway outer lines (white lines drawn near the road edge), and the distance between utility poles on both sides of the roadway can also be calculated. It can be used as a marker M on the top. In addition, since the size of the license plate is determined by the standard, the license plate can be used as the marker M in order to measure the relative speed to the vehicle running in front. Also, in railways, a gate-shaped iron pole or the like for suspending an overhead wire can be used as the marker M.

Further, by fixing the speed measuring device 102 without moving it and using the license plate as the marker M, the speed of the vehicle with the license plate can be measured. Also, by using a ball with a standardized diameter as the marker M, the speed of the ball can be measured. Also, by using the runner's bib as the marker M, the speed of the runner wearing the bib can be measured. The width of the runner's face, the distance between the eyes, the width of the shoulders, etc. can also be used as the markers M, although there are some errors.

<Fourth Embodiment>
Next, an altitude measuring device 103 to which the angle measuring device 1 according to the first embodiment is applied will be described as a fourth embodiment. FIG. 12 is a schematic block diagram showing the overall configuration of an altitude measuring device 103 according to the fourth embodiment. In the figure, the same or similar elements as those of the angle measuring device 1 (see FIG. 1) are denoted by the same reference numerals, and overlapping descriptions are omitted. In this embodiment, the altitude measurement device 103 is described as having software installed in a general-purpose personal computer, like the angle measurement device 1 . Note that the altitude measurement device 103 may be a portable communication terminal such as a smart phone installed with software.

As shown in FIG. 12, the altitude measuring device 103 includes a control section 203, an input/output section 3, a display section 4, an operation section 5, and a storage section 6. FIG. The input/output unit 3, the display unit 4, the operation unit 5, and the storage unit 6 are the same as the input/output unit 3, the display unit 4, the operation unit 5, and the storage unit 6 according to the first embodiment.

The control unit 203 is the same as the control unit 2 according to the first embodiment, but in this embodiment, as angle measurement processing, it measures the vertical angle, which is the elevation angle of the measurement point. The control unit 203 also measures the altitude based on the measured vertical angle and horizontal distance.

FIG. 13 is a diagram for explaining the angle measurement process according to the fourth embodiment, and shows an image displayed on the display device. As shown in FIG. 13, the image captured by the camera 7 is displayed as the display image 9 on the display device. As in FIG. 4, the vertical direction of the display image 9 matches the vertical direction of the captured image, and the horizontal direction of the display image 9 matches the horizontal direction of the captured image. Moreover, the display image 9 is displayed so that the horizontal dimension W is a predetermined size (135 mm). The display device also displays a vertical center line L1, a horizontal center line L2, and a parallel line L3' as auxiliary lines. The vertical centerline L1 and the horizontal centerline L2 are the same as in the first embodiment (FIG. 4). The parallel line L3' is an auxiliary line which is parallel to the longitudinal center line L1 and which is arranged at a predetermined distance X to the right of the longitudinal center line L1. Note that the parallel line L3' may be arranged on the left side of the vertical center line L1. Also, the observation point F' is displayed on the display device. The observation point F' is the intersection of the horizontal center line L2 and the parallel line L3'. Note that the observation point F' may be determined as a point located on the right side of the center of the display image 9 by a predetermined distance X on the horizontal center line L2. The predetermined distance X is obtained in the same manner as in the first embodiment.

Further, as shown in FIG. 13, the display device displays a third target point P3 and a third intersection point P3'. The position of the third target point P3 is designated based on the operation of the operating section 5 by the operator. The third intersection P3' is the intersection of a vertical line (straight line extending to the right in the horizontal direction) drawn from the third target point P3 to the vertical center line L1 and the vertical center line L1. Further, as shown in FIG. 13, an auxiliary line L4' is displayed on the display device. The auxiliary line L4' is a straight line connecting the third intersection point P3' and the observation point F'. The angle θ' formed by the auxiliary line L4' and the horizontal center line L2 is the vertical angle of the measuring point.

As shown in FIG. 12, the control unit 203 includes, as functional blocks for angle measurement processing, an image acquisition unit 21, a display control unit 22, an auxiliary line generation unit 23', an observation point acquisition unit 24', a target point acquisition unit 25', an intersection acquisition unit 26', and an angle detection unit 27'. The image acquisition unit 21 and the display control unit 22 are the same as the image acquisition unit 21 and the display control unit 22 according to the first embodiment.

The auxiliary line generator 23' is a functional block that generates a vertical center line L1, a horizontal center line L2, a parallel line L3', and an auxiliary line L4'. The auxiliary line generator 23' generates a vertical center line L1, a horizontal center line L2, and a parallel line L3' based on the coordinates on the screen of the display device. The auxiliary line generation unit 23 generates a parallel line L3' separated by a predetermined distance X to the right from the vertical center line L1. Further, the auxiliary line generation unit 23' generates an auxiliary line based on the data of the third intersection point P3' input from the intersection acquisition unit 26' and the data of the observation point F' input from the observation point acquisition unit 24'. Generate line L4'. Specifically, the auxiliary line generator 23' generates an auxiliary line L4' that connects the coordinates of the third intersection point P3' and the coordinates of the observation point F'.

The observation point acquisition unit 24' is a functional block that acquires the observation point F'. The observation point acquisition unit 24' calculates the coordinates of the intersection of the horizontal center line L2 and the parallel line L3' based on the data of the horizontal center line L2 and the parallel line L3' input from the auxiliary line generation unit 23', Let it be the coordinates of the observation point F'.

The target point acquisition unit 25' is a functional block that acquires the third target point P3. The target point acquisition unit 25' acquires the coordinates of the position designated by the operator's operation of the operation unit 5 as the coordinates of the third target point P3.

The intersection acquisition unit 26' is a functional block that acquires the third intersection P3'. The intersection acquisition unit 26' acquires the third target based on the data of the third target point P3 input from the target point acquisition unit 25' and the data of the vertical center line L1 input from the auxiliary line generation unit 23'. The coordinates of the intersection of the vertical center line L1 drawn from the point P3 and the vertical center line L1 are calculated to be the coordinates of the third intersection point P3'.

The angle detection unit 27' is a functional block that detects an angle ?' formed by the auxiliary line L4' and the horizontal center line L2. The angle detection unit 27' detects the auxiliary line L4' based on the data of the auxiliary line L4' input from the auxiliary line generation unit 23' and the data of the horizontal center line L2 input from the auxiliary line generation unit 23'. and the horizontal center line L2. The angle θ' detected by the angle detection section 27' is output to the display control section 22 and displayed on the display device. The angle θ′ is also output to the altitude calculator 32 .

Of the control unit 203, the image acquisition unit 21, the display control unit 22, the auxiliary line generation unit 23', the observation point acquisition unit 24', the target point acquisition unit 25', the intersection acquisition unit 26', and the angle detection unit 27' corresponds to the "angle measuring device" of the present invention. In addition, as shown in FIG. 12, the control section 203 includes a distance measurement section 31 and an altitude calculation section 32 .

The distance measurement unit 31 is a functional block that measures the horizontal distance to the target. In this embodiment, the distance measurement unit 31 has a function corresponding to the control unit 201 of the distance measurement device 101 according to the second embodiment. A distance D can be measured. Note that the distance measurement unit 31 may measure the horizontal distance D to the target using another method. The horizontal distance D measured by the distance measurement section 31 is output to the altitude calculation section 32 .

The altitude calculation unit 30 is a functional block that calculates the altitude of the actual position displayed on the display image 9 indicated by the third target point P3 acquired by the target point acquisition unit 25'. Based on the angle θ′ detected by the angle detection unit 27′ and the horizontal distance D measured by the distance measurement unit 31, the altitude calculation unit 30 calculates the captured position of the captured image and the actual position by the following equation (5). Calculate the altitude difference dh. Further, the altitude calculation unit 30 adds the altitude of the observation point and the height of the camera 7 (height from the observation point to the center point of the lens 72 of the camera 7) input by the operator to the calculated altitude difference dh. By adding, the altitude of the actual position is calculated. The altitude calculator 30 corresponds to the "elevation difference calculator" and the "altitude calculator" of the present invention.

According to this embodiment, the control unit 203 causes the display device to display the captured image as the display image. The operator can measure the angle θ', which is the vertical angle of the measurement point, only by designating the third target point P3 on the display image. Therefore, the angle θ' can be easily measured. Also, the angle θ' can be measured without using a dedicated surveying device such as a transit or a theodolite. Further, according to this embodiment, the altitude measuring device 103 can easily measure the altitude of the survey point based on the angle θ′ and the horizontal distance D.

The altitude measurement device 103 is mounted on, for example, a drone, and the measured altitude can be used as a reference for altitude measurement data by the drone. Further, the altitude measuring device 103 can also measure a horizontal distance by the same method as the distance measuring device 101 according to the second embodiment, and can also measure the speed by the same method as the speed measuring device 102 according to the third embodiment. can also be measured. That is, a building with a known height is imaged as a marker M, and the target point acquisition unit 25' acquires the vertex of the building (marker M) on the display image as the third target point P3. detects the vertical angle of the building (marker M) as the angle θ'. Based on the angle θ′ and the height Lm of the building (marker M), the horizontal distance D from the observation point to the marker M can be calculated by the following equation (6). Also, the speed can be calculated based on the horizontal distance D and the measured time.

<Fifth Embodiment>
Next, a coordinate measuring device 104 to which the angle measuring device 1 according to the first embodiment is applied will be described as a fifth embodiment. FIG. 14 is a schematic block diagram showing the overall configuration of the coordinate measuring device 104 according to the fifth embodiment. In the figure, the same or similar elements as those of the angle measuring device 1 (see FIG. 1) are denoted by the same reference numerals, and overlapping descriptions are omitted. In this embodiment, the coordinate measuring device 104 will be described as having software installed in a general-purpose personal computer, like the angle measuring device 1 . Note that the coordinate measuring device 104 may be a portable communication terminal such as a smartphone with software installed therein.

As shown in FIG. 14, the coordinate measuring device 104 includes a control section 204, an input/output section 3, a display section 4, an operation section 5, and a storage section 6. FIG. The input/output unit 3, the display unit 4, the operation unit 5, and the storage unit 6 are the same as the input/output unit 3, the display unit 4, the operation unit 5, and the storage unit 6 according to the first embodiment.

The control unit 204 is the same as the control unit 2 according to the first embodiment, but in the present embodiment, coordinates on the horizontal plane are calculated based on the measured horizontal angle and the measured horizontal distance. take measurements. The coordinate measuring device 104 measures the coordinates of point B based on the coordinates of point O and point A whose coordinates on the horizontal plane are known in advance.

As shown in FIG. 14, the control unit 204 includes, as functional blocks for angle measurement processing, an image acquisition unit 21, a display control unit 22, an auxiliary line generation unit 23, similar to the control unit 2 according to the first embodiment. , an observation point acquisition unit 24 , a target point acquisition unit 25 , an intersection acquisition unit 26 , and an angle detection unit 27 . The operator captures an image including points A and B with the camera 7 using the point O as an observation point, and inputs image data of the captured image from the input/output unit 3 . Then, the operator operates the operation unit 5 to designate the position of the point A on the display image 9 as the first target point P1, and designate the position of the point B on the display image 9 as the second target point P2. specify. Accordingly, the angle detection unit 27 detects the horizontal angle between the points A and B as the angle θ. Further, the control section 204 further includes a distance measurement section 31 and a coordinate calculation section 33 .

The distance measurement unit 31 is a functional block that measures the horizontal distance to point B. FIG. In this embodiment, the distance measurement unit 31 has a function corresponding to the control unit 201 of the distance measurement device 101 according to the second embodiment. A distance D can be measured. Note that the distance measurement unit 31 may measure the horizontal distance D to the point B by another method. The horizontal distance D measured by the distance measuring section 31 is output to the coordinate calculating section 33 .

The coordinate calculator 33 is a functional block that calculates the coordinates of point B, which is a target point, based on the coordinates of point O and point A whose coordinates are known. The coordinate calculation unit 33 calculates the angle θ detected by the angle detection unit 27, the horizontal distance D measured by the distance measurement unit 31, and the coordinates of the point O and the point A input by the operation of the operation unit 5 by the operator. Based on this, the coordinates of point B are calculated.

FIG. 15 is a diagram for explaining coordinate calculation processing performed by the coordinate calculation unit 33. As shown in FIG. Let the coordinates of point O be (X _O , Y _O ) and the _coordinates of point A be (X _A , Y _A ). It can be calculated by the formula.

The angle θ, which is the horizontal angle between the points A and B, is input from the angle detection section 27 to the coordinate calculation section 33 . The coordinate calculation unit 33 sets the angle θ to a negative value when the point B is positioned counterclockwise around the point O from the point A when viewed vertically from above. It should be noted that the angle detection unit 27 may detect the angle θ in consideration of whether it is positive or negative. A horizontal distance D between the point O and the point B is input from the distance measuring section 31 to the coordinate calculating section 33 . The coordinates (X _B , Y _B ) of point B can be calculated by the following equations (8) and (9) when X _A −X _O >0.

Further, when X _A −X _O <0, the coordinates (X _B , Y _B ) of point B can be calculated by the following equations (10) and (11).

The coordinate calculation unit 33 calculates the coordinates (X _O , Y _O ) of the point O and the coordinates (X _A , Y _A ) of the point A input by the operator, the angle θ detected by the angle detection unit 27, the distance measurement Based on the horizontal distance D measured by the unit 31, the coordinates (X _B , Y _B ) of the point B are calculated by the above equations (7) to (9).

According to this embodiment, the coordinate measuring device 104 can easily measure the angle θ, which is the horizontal angle between the points A and B. FIG. Further, the coordinate measuring device 104 can easily measure the coordinates of point B, which is the target point, based on the known coordinates of point O and point A. FIG.

It should be noted that a position measuring device that measures a three-dimensional position may be provided with the functions of both the coordinate measuring device 104 according to the fifth embodiment and the altitude measuring device 103 according to the fourth embodiment.

The angle measuring device, distance measuring device, speed measuring device, altitude measuring device, coordinate measuring device, angle measuring method, and program according to the present invention are not limited to the above-described embodiments. The specific configurations of the angle measuring device, the distance measuring device, the speed measuring device, the altitude measuring device, the coordinate measuring device, the angle measuring method, and the program according to the present invention can be designed and changed in various ways.

1: Angle measuring device 101: Distance measuring device 102: Velocity measuring device 103: Altitude measuring device 104: Coordinate measuring device 2, 201, 202, 203, 204: Control unit 21: Image acquisition unit 22: Display control units 23, 23 ': auxiliary line generation units 24, 24': observation point acquisition units 25, 25': target point acquisition units 26, 26': intersection acquisition units 27, 27': angle detection unit 28: distance calculation unit 29: speed calculation unit 31 : Distance measurement unit 32 : Altitude calculation unit 33 : Coordinate calculation unit 3 : Input/output unit 4 : Display unit 5 : Operation unit 6 : Storage unit 7 : Camera 71 : Tripod screw hole 72 : Lens 73 : Image sensor 75 : Photography pole 76 : First pole 77 : Second pole 78 : Attachment 8 : Storage medium 9 : Display image

Claims (12)

an image acquisition unit that acquires a captured image captured by an imaging device;
a display control unit for displaying the captured image as a display image on a display device;
an auxiliary line generator for generating a vertical center line passing through the center of the display image and extending in the vertical direction, and a horizontal center line passing through the center of the display image and extending in the horizontal direction;
an observation point acquiring unit that acquires an observation point located on the vertical center line at a predetermined distance below the center of the display image;
a target point acquisition unit that acquires a first target point and a second target point on the display image;
Obtaining a first point of intersection that is the intersection of a perpendicular line drawn from the first target point and the horizontal center line, and a second intersection point that is the intersection of the perpendicular line drawn from the second target point and the horizontal center line. an intersection acquisition unit;
an angle detection unit for detecting an angle formed by a straight line connecting the first intersection point and the observation point and a straight line connecting the second intersection point and the observation point;
with
The predetermined distance X is a correction selected according to the horizontal dimension of the display image W, the focal length of the imaging device f1, the focal length in 35 mm format conversion f2, and the type of imaging element of the imaging device. When the value is α, it is calculated based on the following formula,
Angle measuring device.

an image acquisition unit that acquires a captured image captured by an imaging device;
a display control unit for displaying the captured image as a display image on a display device;
an auxiliary line generator for generating a vertical center line passing through the center of the display image and extending in the vertical direction, and a horizontal center line passing through the center of the display image and extending in the horizontal direction;
an observation point acquiring unit that acquires an observation point located on the vertical center line at a predetermined distance below the center of the display image;
a target point acquisition unit that acquires a first target point and a second target point on the display image;
Obtaining a first point of intersection that is the intersection of a perpendicular line drawn from the first target point and the horizontal center line, and a second intersection point that is the intersection of the perpendicular line drawn from the second target point and the horizontal center line. an intersection acquisition unit;
an angle detection unit for detecting an angle formed by a straight line connecting the first intersection point and the observation point and a straight line connecting the second intersection point and the observation point;
with
The predetermined distance X is calculated based on the following formula, where W is the horizontal dimension of the display image, φ is the angle of view of the lens of the imaging device, and f1 is the focal length of the imaging device.
Angle measuring device.

an image acquisition unit that acquires a captured image captured by an imaging device;
a display control unit for displaying the captured image as a display image on a display device;
an auxiliary line generator for generating a vertical center line passing through the center of the display image and extending in the vertical direction, and a horizontal center line passing through the center of the display image and extending in the horizontal direction;
an observation point acquiring unit that acquires an observation point located on the right or left side of the center of the display image by a predetermined distance on the horizontal center line;
a target point obtaining unit that obtains a third target point on the display image;
an intersection acquisition unit that acquires a third intersection that is an intersection of a vertical line drawn from the third target point to the vertical center line and the vertical center line;
an angle detection unit that detects an angle formed by a straight line connecting the third intersection and the observation point and the horizontal center line;
with
The predetermined distance X is a correction selected according to the horizontal dimension of the display image W, the focal length of the imaging device f1, the focal length in 35 mm format conversion f2, and the type of imaging element of the imaging device. When the value is α, it is calculated based on the following formula,
Angle measuring device.

an image acquisition unit that acquires a captured image captured by an imaging device;
a display control unit for displaying the captured image as a display image on a display device;
an auxiliary line generator for generating a vertical center line passing through the center of the display image and extending in the vertical direction, and a horizontal center line passing through the center of the display image and extending in the horizontal direction;
an observation point acquiring unit that acquires an observation point located on the right or left side of the center of the display image by a predetermined distance on the horizontal center line;
a target point obtaining unit that obtains a third target point on the display image;
an intersection acquisition unit that acquires a third intersection that is an intersection of a vertical line drawn from the third target point to the vertical center line and the vertical center line;
an angle detection unit that detects an angle formed by a straight line connecting the third intersection and the observation point and the horizontal center line;
with
The predetermined distance X is calculated based on the following formula, where W is the horizontal dimension of the display image, φ is the angle of view of the lens of the imaging device, and f1 is the focal length of the imaging device.
Angle measuring device.

an angle measuring device according to any one of claims 1 to 4;
a distance calculation unit that calculates a distance using the angle detected by the angle detection unit;
with
The image acquisition unit acquires an image of a marker with a known length,
The distance measuring device, wherein the distance calculator calculates a distance to the marker based on the angle and the length. a distance measuring device according to claim 5;
a speed calculation unit that calculates a relative speed with respect to the marker based on the distance calculated by the distance calculation unit;
A speed measuring device with a An angle measuring device according to claim 3 or 4 ;
Using the angle θ' detected by the angle detection unit, an elevation difference between the imaging position of the captured image and the actual position indicated as the third target point on the display image is calculated. an elevation difference calculator;
an altitude calculation unit that calculates the altitude of the actual position based on the altitude of the imaging position and the altitude difference;
with
The elevation difference calculation unit calculates the elevation difference dh from the horizontal distance D between the imaging position and the actual position based on the following formula.
Elevation measuring device.

An angle measuring device according to claim 1 or 2 ;
a coordinate calculation unit that calculates the coordinates of the actual position, which is the actual position indicated as the second target point on the display image;
with
The coordinate calculation unit calculates the angle detected by the angle detection unit, the horizontal distance between the imaging position of the captured image and the actual position, the coordinates of the actual position indicated as the first target point on the display image, and calculating the coordinates of the actual position based on the coordinates of the imaging position;
Coordinate measuring device. A program that causes a computer to function as an angle measuring device,
said computer,
an image acquisition unit that acquires a captured image captured with the vertical direction as the vertical direction;
a display control unit for displaying the captured image as a display image on a display device;
an auxiliary line generator for generating a vertical center line passing through the center of the display image and extending in the vertical direction, and a horizontal center line passing through the center of the display image and extending in the horizontal direction;
an observation point acquiring unit that acquires an observation point located on the vertical center line at a predetermined distance below the center of the display image;
a target point acquisition unit that acquires a first target point and a second target point on the display image;
Obtaining a first point of intersection that is the intersection of a perpendicular line drawn from the first target point and the horizontal center line, and a second intersection point that is the intersection of the perpendicular line drawn from the second target point and the horizontal center line. an intersection acquisition unit;
an angle detection unit for detecting an angle formed by a straight line connecting the first intersection point and the observation point and a straight line connecting the second intersection point and the observation point;
to make it work ,
The predetermined distance X is determined by W being the horizontal dimension of the display image, f1 being the focal length of the imaging device that captured the captured image, f2 being the focal length in 35mm format conversion, and depending on the type of imaging element of the imaging device. is calculated based on the following formula, where α is the correction value selected by
A program characterized by

A program that causes a computer to function as an angle measuring device,
the computer,
an image acquisition unit that acquires a captured image captured with the vertical direction as the vertical direction;
a display control unit for displaying the captured image as a display image on a display device;
an auxiliary line generator for generating a vertical center line passing through the center of the display image and extending in the vertical direction, and a horizontal center line passing through the center of the display image and extending in the horizontal direction;
an observation point acquiring unit that acquires an observation point located on the vertical center line at a predetermined distance below the center of the display image;
a target point acquisition unit that acquires a first target point and a second target point on the display image;
Obtaining a first point of intersection that is the intersection of a perpendicular line drawn from the first target point and the horizontal center line, and a second intersection point that is the intersection of the perpendicular line drawn from the second target point and the horizontal center line. an intersection acquisition unit;
an angle detection unit for detecting an angle formed by a straight line connecting the first intersection point and the observation point and a straight line connecting the second intersection point and the observation point;
to make it work ,
The predetermined distance X is calculated based on the following formula, where W is the horizontal dimension of the display image, φ is the angle of view of the lens of the imaging device that captured the captured image, and f1 is the focal length of the imaging device. to be
A program characterized by

a first step of acquiring a captured image captured with the vertical direction as the vertical direction;
a second step of displaying the captured image as a display image on a display device;
a third step of generating a vertical center line passing through the center of the display image and extending in the vertical direction, and a horizontal center line passing through the center of the display image and extending in the horizontal direction;
a fourth step of acquiring an observation point located on the vertical center line at a predetermined distance below the center of the display image;
a fifth step of designating a first target point and a second target point on the display image;
Obtaining a first point of intersection that is the intersection of a perpendicular line drawn from the first target point and the horizontal center line, and a second intersection point that is the intersection of the perpendicular line drawn from the second target point and the horizontal center line. a sixth step;
a seventh step of detecting an angle between a straight line connecting the first intersection and the observation point and a straight line connecting the second intersection and the observation point;
with
The predetermined distance X is determined by W being the horizontal dimension of the display image, f1 being the focal length of the imaging device that captured the captured image, f2 being the focal length in 35mm format conversion, and depending on the type of imaging element of the imaging device. is calculated based on the following formula, where α is the correction value selected by
Angle measurement method.

a first step of acquiring a captured image captured with the vertical direction as the vertical direction;
a second step of displaying the captured image as a display image on a display device;
a third step of generating a vertical center line passing through the center of the display image and extending in the vertical direction, and a horizontal center line passing through the center of the display image and extending in the horizontal direction;
a fourth step of acquiring an observation point located on the vertical center line at a predetermined distance below the center of the display image;
a fifth step of designating a first target point and a second target point on the display image;
Obtaining a first point of intersection that is the intersection of a perpendicular line drawn from the first target point and the horizontal center line, and a second intersection point that is the intersection of the perpendicular line drawn from the second target point and the horizontal center line. a sixth step;
a seventh step of detecting an angle between a straight line connecting the first intersection and the observation point and a straight line connecting the second intersection and the observation point;
with
The predetermined distance X is calculated based on the following formula, where W is the horizontal dimension of the display image, φ is the angle of view of the lens of the imaging device that captured the captured image, and f1 is the focal length of the imaging device. to be
Angle measurement method.

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