JPH02281380A - Position measuring and plotting device - Google Patents

Abstract

PURPOSE:To simplify the operation and to execute the measuring work in a job site in a short time to the utmost by displaying an image caught by a photographing means by a photographing image display means, and executing the measuring work while viewing this displayed image. CONSTITUTION:In a camera 4, a TV camera of a photographing means and a range finder being a part of a position detecting means are contained. Also, the camera part 4 is supported by a freely turnable rotary mechanism part. The position detection is executed by measuring a distance to an object to be photographed by the range finder contained in the camera part 4 as to this rotation angle. An image photographed by the TV camera is displayed by a first monitor 10 being a photographing image display means. Position information measured by the position detecting means is brought to arithmetic processing by a computer 18, and displayed on a second monitor 20 being a sketch display means, as a coordinate on a plan view being looked at a road from right above. In such a way, a sketch of a job site can be generated easily, while viewing a state of the job site in the open air.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention is useful for measuring the position coordinates of a predetermined object and creating a plan view of a predetermined range, such as at the scene of a traffic accident. The present invention relates to a position measurement plotting device.

[Conventional technology]

For example, when a traffic accident occurs, a police officer conducts a live observation at the accident scene, and as part of the report, the distance between the objects involved and the positional relationship of the surrounding areas are clarified to show the situation at the scene. An accident site sketch (plan view) as shown in FIG. 15 is created.

Conventionally, when creating such a site floor plan,
A tape measure is used to measure the distance between related objects such as guardrails, stop lines, and colliding vehicles, and the measured distances are noted on a freehand schematic diagram. Then, based on this schematic diagram, a site sketch as shown in Figure 15 is completed.

However, measuring with a tape measure at the accident site is time-consuming, so a method using a stereo camera and a plotter has been developed. This is processed using the method of photogrammetry, which uses a specially made stereo camera to take three-dimensional photographs of the accident scene, and then uses a special plotting machine to create a picture of the accident scene from the pair of photographs. This is to create a floor plan.

[Problem that the invention seeks to solve]

However, the conventional methods and position measuring devices described above each have the following problems.

In the case of measuring the distance between related objects using a tape measure,
Since one person must be physically present at the site and take measurements one by one, it requires one person and a considerable amount of time.

Additionally, there is a risk that a worker such as a police officer conducting measurement work may be collided with a vehicle passing by the accident site. Furthermore, while the measurement is being carried out, traffic in a predetermined range is blocked so as not to interfere with the measurement, which requires a considerable amount of time and causes unnecessary traffic congestion.

On the other hand, when using a stereo camera and a plotter, the work at the accident site is completed by simply taking a 3D photograph of the accident site, so the time it takes to block traffic is short. Since the plan is created using a plotting machine based on photographs, the photograph cannot be processed on-site, but must be taken back to a designated location, developed, and submitted to the plotting machine.

For this reason, it takes a considerable amount of time from the occurrence of an accident to the completion of a site sketch, and furthermore, by the time the site sketch is completed, the site has returned to its original state, so the completed site sketch and the situation at the accident site cannot be compared. It is not possible to compare the information, and the operation of the assimilation machine requires skill, so an expert is required to operate it.

Furthermore, the apparatus becomes large-scale and expensive.

Therefore, this invention is easy to operate, makes the measurement work at the traffic accident site as short as possible, and can create a site sketch at the accident site, so it is possible to quickly compare the accident site with the completed site sketch. It is an object of the present invention to provide a position measurement and plotting device that can be easily used.

[Means for solving problems]

In order to achieve the above object, the position measuring plotting device according to the present invention includes a position detecting means installed at a predetermined position to detect the coordinates of a desired position with respect to the predetermined position, and a range including the desired position. a photographing means for photographing, a photographed image display means for displaying an image photographed by the photographing means, a sketch display means for recording and displaying the coordinates obtained by the position detecting means, and a control means for controlling these. photographing the desired position with the photographing means, and detecting the coordinates of the desired position with the position detecting means by instructing the position on the photographed image display means with the control means; The main feature is that a sketch is created on the sketch display means based on the detected coordinates, and it is also characterized in that a variable magnification optical system is used in the photographing means.

[For production]

The photographing means is installed, for example, at a position where the entire scene of a traffic accident can be viewed appropriately. Whether you can see the entire site or not,
This is carried out while visually checking the photographed image display means, and
While viewing the photographed image display means, the user points out related objects such as the vehicle involved in the accident. Thereby, the position detection means detects the positional relationship between the position detection means and the related object, that is, the coordinates of the related object.

The relevant objects are selected as vehicles, guardrails, center lines, median strips, lane separation lines, skid marks, etc., and their positions are detected. The detected position coordinates are input to the sketch display means, recorded, and displayed.

Then, for example, in the case of a guardrail, two to three points on the guardrail are measured, and the measurements are made consecutive with a symbol indicating the guardrail and the guardrail is displayed on the sketch display means. When this operation is performed for each related object, a schematic sketch of the accident site is displayed on the sketch display means.

Then, while looking at the floor plan displayed by the floor plan displaying means, the driver checks whether the site floor plan obtained by the floor plan displaying means is almost accurate by comparing it with the situation at the accident site.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS The position measuring and plotting apparatus according to the present invention will be specifically explained below based on the preferred embodiment shown in FIGS. 1 to 14.

FIG. 1 is a diagram showing the general structure of this device, in which a camera section 4 having both a position detection means and a photographing means is attached to a tripod 2. This camera section 4 has built-in a TV camera as a photographing means and a range finder as a part of a position detecting means. Further, the camera section 4 is supported by a rotation mechanism section 6 that is rotatable about two orthogonal axes. This rotational drive is performed by a driving means such as a stepping motor built into the rotation mechanism section 6, and the rotational angle from the reference position can be measured by an encoder or the like.

Position detection is performed by measuring the rotation angle and the distance to the subject using a range finder built into the camera section 4.

Images photographed by the TV camera built into the camera section 4 are displayed on a first monitor 10, which is a photographed image display means.

The position information measured by the position detecting means is processed by the computer 18 and displayed on the second monitor 20, which is a sketch display means, as coordinates on a plan view of the road viewed from directly above.

A tablet 14 and a keyboard 22 are connected to the computer 18 as means for inputting various control commands. Furthermore, an XY plotter 24 is connected as a means for printing a sketch.

The control circuit diagram 12 shows one position detection means and image photographing means.

A control circuit for controlling the photographed image display means and the sketch display means, and an interface circuit for electrically connecting the control circuit and the computer 18 are built in.

That is, with the above configuration, it is possible to easily create a site sketch while visually checking the site situation outdoors.

FIGS. 2 to 14 are diagrams for explaining the procedure for creating a site sketch using this position measuring and drawing device.

Hereinafter, with reference to FIGS. 2 to 14, a procedure for creating a site sketch using the position measuring and drawing device according to the present invention will be explained.

Figure 2 shows a large vehicle 26 and a small vehicle 28 stopped on the expressway.
．． 30 is an image taken with a TV camera built into the camera section 4. This image is displayed on the first monitor 10.
displayed above. As shown in the figure, the related objects necessary for creating the sketch are a large car 26, a small car 28, 30, .
There are side gutters 32, 34, guardrails 36, white lines 40, lane separation lines 42, median strips, etc. First, the camera section 4 is installed at a position where the related object is as close as possible and within the image range 50, and adjusted horizontally.

Then, an appropriate number of markers 8 are placed on or near the related object. If marker 8 is set, the first
While looking at the monitor 10, use the tablet 14 or the keyboard 22 to give a rotation command to the rotation mechanism 6, and turn the camera 4 so that the markers 8 placed on these related objects are displayed in a well-balanced manner on the screen. Set the orientation. Once the settings are complete, send the command to Tablet 1.
4 or the keyboard 22, the image at this time is captured into the memory of the computer 18 as a still image. The camera optical axis P at this time is used as a reference for subsequent measurements. Furthermore, if this image that provides a panoramic view of the scene is stored as still image data in an external storage device of the computer 18, it can be used as evidence at a later date.

Next, a method for measuring the position of the installed marker 8 will be explained.

A cursor is displayed superimposed on the still image displayed on the first monitor 10, and the cursor is moved onto a desired marker 8 by giving a command using the tablet 14 or the keyboard 22 so that the centers thereof coincide.

By doing this, the location 1 on the screen corresponding to each marker 8? ! (horizontal: X, vertical: y), and from this it is possible to determine the rotation angle for directing the camera unit 4 in that direction. By issuing an instruction to the rotation mechanism section 6 via the computer 18 based on the determined rotation angle, the camera section 4 rotates in the horizontal and vertical directions to capture a desired portion. After that, when an instruction is given to measure the position of the marker 8, the horizontal rotation angle from the camera unit 4 to the marker 8 can be determined by using the calculated rotation angle as is or by measuring it with an encoder. The movement angle and the vertical rotation angle are determined, and the distance from the camera section 4 to the marker 8 is calculated using a range finder.

This means that information on the three-dimensional position of the marker 8 has been reliably acquired.

Perform the above operations for each marker 8,
Detect each position.

Although it is possible to measure the position of the marker 8 as described above, the accuracy of angle determination decreases as the position of the marker 8 becomes farther away. Therefore, it is more desirable to use a zoom lens or a variable magnification lens as the lens of the TV camera, and when first capturing the entire scene as a still image, set the lens to the wide-angle side, and when measuring each marker 8, set the lens to the wide-angle side. It is preferable to switch to the telephoto side. An example in which this is done is shown below.

FIG. 3 shows the above-mentioned still image, a horizontal cursor 52 and a vertical cursor 54 pointing to the desired marker 8 on the first monitor 10, and a portion of one screen cut out to show an enlarged image (a fourth This is a display incorporating the center portion 60 of FIG.

FIG. 4 was obtained by zooming up the zoom lens of the TV camera built into the camera section 4 to its maximum telephoto position. An enlarged image of a portion centered on the intersection of the cursors 52 and 54 is shown. Furthermore, fixed cursors 62 and 64 passing through the center of the screen are superimposed on this enlarged image. In this case, for example, if the cursor 52 or 54 is placed at the position shown in FIG.
As the camera lens zooms up, it rotates by an angle corresponding to the coordinates of the cursor 52, 54, and points toward the desired marker 8. The desired portion in FIG. A zoomed-in image is obtained as shown in FIG. 4, and a desired portion 60 indicated by a dashed line in FIG. 4 is displayed as an enlarged screen 56 on a portion of the first monitor 10. Then, the marker 8 on the enlarged screen 56 is located at the center of the enlarged screen 56, that is, the cursor 62
．． 64, the marker pattern is extracted by a process such as binarization, and the rotation mechanism section 6 is automatically controlled, or the marker pattern is manually instructed from the tablet 14 or the keyboard 22. Rotate the camera section 4. When the marker 8 is located approximately at the center of the enlarged screen 56, an instruction is given to measure the position of the marker 8. After that, by reading the values indicated by the encoder n and the range finder, the camera The horizontal rotation angle, vertical rotation angle and distance from the section 4 to the marker 8 can be determined.

By doing this, it is possible to enlarge the marker 8 part and match the center point accurately, which improves the accuracy of capturing angle data, and also allows distance measurement with a range finder to be performed up to the center of marker 8. This allows accurate measurement.

Next, the procedure for creating a site sketch for the scene shown in FIG. 2 will be explained with reference to FIGS. 2 to 12. 28 markers 8 are set on FIG. 2, and each marker 8 is numbered M0 to M□. Table 1 shows the results of measuring these markers 8 by the above measurement operation. Further, each marker 8 is attached with measurement element information so that it can be determined to which related object the marker 8 is set when distance measurement is performed, and is used when creating a floor plan, which will be described later. In Table 1 and Table 2, which will be described later, the left and right angle is the horizontal rotation angle of the rotation mechanism 6 when measuring the marker 8.
Similarly, the vertical angle indicates the rotation angle in the vertical direction.

These angles are based on the optical axis P of the camera when capturing the original still image of the entire scene.

Table 2 shows the above measured values converted into coordinates projected onto a plane viewed from above, which is necessary for creating a floor plan.The camera optical axis P direction is the Y coordinate, the horizontal direction perpendicular to this is the X coordinate,
Further, the vertical direction perpendicular to the optical axis P is defined as the Z coordinate.

The above coordinate calculations are performed by the computer 18, and FIG. 5 shows the obtained XY coordinates displayed on the second monitor 20, which is a sketch display means. In the figure, the position of the marker 8 is plotted based on the obtained XY coordinates.

FIG. 7 shows the outer wall 38, which is an element constituting the road, among the measured markers 8. Guardrail 36, side gutter 32.
34. The 0 drawing, which is a diagram drawn for the white line 40 and the lane separation line 42, connects the markers 8 plotted in Fig. 5 with the same elements in a pattern according to the measurement elements in Table 2. It is something. Furthermore, the elements constituting these roads are drawn as continuous elements over the entire drawing area.

FIG. 9 is a diagram in which related objects on the road such as a large vehicle 26, a small vehicle 28, 30, and skid marks 44 are added to FIG. 7. In this figure, the reference axis is the optical axis P of the still image that provides a panoramic view of the scene that was originally photographed, so the entire image is displayed tilted. If this entire image is rotated based on the camera position to make it easier to see, it becomes Figure 11.Distances between related objects and other notes that are considered necessary for this diagram are written in to complete the sketch. .

These drawing operations are performed using the tablet 14 and keyboard 22 connected to the computer 18 to designate the marker 8 of the drawing element and designate the connecting pattern to draw each measurement element one after another. has the drawing pattern of the vehicle as a data file according to the type and manufacturer of the vehicle, and reads information from this data file and draws the drawing on the floor plan.

Further, at this time, by using color display on the display screen, etc., the above-mentioned sketch drawing work can be made easier.

Figure 6, Figure 8, Figure 11, and Figure 12 are diagrams where one site was a straight line, so the measured values were corrected in advance so that it was parallel to the road before drawing. This shows that if you correct it, you can start drawing work in an easy-to-read state from the beginning.

Furthermore, FIGS. 13 and 14 are application examples in which the site is on a gently curving road, and even in such a situation, the floor plan shown in FIG. 14 can be created in the same manner as described above.

If you have created a site floor plan as described above.

It is also possible to print this using the XY plotter 24 and compare it with the site. Figures 10 and 12 show slip marks 4.
This was modified because the shape of 4 was different.

If there are any insufficiencies in this way, you may take measurements again and make appropriate corrections.

As described above, the position coordinates of each marker 8 are measured. For example, if the related object is also on the rear side of the accident vehicle, after completing the measurement one step in front of the accident site, measure the position coordinates of each marker 8 from the opposite side of the accident site. Also make measurements. Moreover, when there are few positions to be measured, the vehicle is moved after measuring the marker 8 set on the vehicle. Alternatively, the plot may be drawn by actually measuring with a tape measure or the like and inputting the measured value as information from the keyboard 22.

In this embodiment, the first monitor 10 is used as an image display means and the second monitor 20 is used as a floor plan display means. It is also possible to have one unit.

Further, in this embodiment, a case has been described in which a floor plan of a traffic accident site is created, but it can also be used to create a floor plan of not only an accident site but also various construction sites, excavation sites of ruins, etc.

〔Effect of the invention〕

As explained above, according to the position measuring and plotting device according to the present invention, an image captured by a photographing means installed at a predetermined position is displayed on the photographed image display means, and while visually checking the displayed image, Since measurement work can be performed, there is no need to move from place to place unlike when measuring with a tape measure.Also, since it is only necessary to set up the photographing device at an appropriate position, measurement work can be done without requiring any skill. can be done.

Moreover, since it can be measured electrically, it is possible to perform accurate measurement with little measurement error, and it can be measured in a short time.

In addition, among the measuring equipment, the camera section that serves as the photographing means and the position detecting means can be installed on the road, and the other equipment can be mounted on, for example, a vehicle for handling an accident. This can be done inside the vehicle. Therefore, the worker will not be hit by a vehicle passing by, and if the photographing means is equipped with a waterproof function, weighing in rainy weather can be easily carried out.

Furthermore, since the site sketch can be completed at the accident site, it is possible to obtain an accurate site sketch that is easy to compare with the scene.

In addition, since one task only takes a short time, the time during which traffic is blocked can be minimized, and traffic congestion can be prevented as much as possible.

[Brief explanation of drawings]

The drawings show a preferred embodiment of the position measuring and plotting device according to the present invention, and FIG. 1 is a diagram showing the general configuration of this device. FIGS. 2 to 14 show the procedure for creating a sketch using this device. FIG. 2 is a diagram showing a scene on an expressway, and shows the relationship with the photographing range of the camera. FIG. 3 shows a composite image appearing on the photographed image display means,
FIG. 4 is an enlarged image partially incorporated in FIG. FIG. 5 is a plan view showing the predetermined position coordinates obtained by the 1-position detection means on the sketch display means, and FIG. 6 is a plan view in which the coordinates in FIG. 5 have been converted for easier viewing. FIG. 7 is a plan view of road information drawn on the sketch map display means, and FIG. 8 is a plan view in which the coordinates in FIG. 7 are converted according to the site to make it easier to see. FIG. 9 is a plan view with vehicle slip marks added to FIG. 8, and FIG. 10 is a modified version of the shape of the slip marks in FIG. In FIG. 11, the coordinates in FIG. 9 have been converted to make them easier to see, and in FIG. 12, the shape of the slip marks in FIG. 11 has been modified. 13 and 14 are for the case where the road at the site is a gently curving road, and FIG. 13 corresponds to FIG. 2. FIG. 14 is an example of a site sketch completed on the sketch display means based on the measurement results in FIG. 13. Figure 15 is an example of a site sketch completed for a traffic accident investigation. 4... Camera section (position detection means, photographing means) 6...
Rotation mechanism section 8... Marker (target) 10.
...First monitor (photographed image display means) 20...Second
Monitor (diagram display means) 24...XY plotter
26...Large car 28, 30...Small car 32.
24...Gutter 36...Guardrail 38...Outer wall 40...White line 42...Lane separation line 50
...Image range 52...Horizontal cursor 54
... Vertical cursor 56 ... Enlarged screen 58.60 ... Desired section 6
2...Horizontal cursor 64...Vertical cursor P...Camera optical axis

Claims (2)

[Claims] (1) a position detecting means installed at a predetermined position to detect the coordinates of a desired position with respect to the predetermined position; a photographing means photographing a range including the desired position; and an image photographed by the photographing means. a photographed image display means for displaying the photographed image, a sketch display means for recording and displaying the coordinates obtained by the position detecting means, and a control means for controlling these, and the photographing means photographs the desired position. At the same time, by instructing the position on the photographed image display means by the control means, the position detecting means detects the coordinates of the desired position, and the sketch is displayed on the sketch display means based on the detected coordinates. A position measurement plotting device characterized in that it creates a position measurement drawing device. (2) The position measuring and plotting device according to claim 1, wherein the photographing means uses a variable magnification optical system.