JPH0854209A - Image measuring apparatus - Google Patents

Abstract

PURPOSE:To keep high accuracy in the construction by calculating the correction amount of parameters based on the position, attitude, etc., of an object and an image pickup means, the position of the center of gravity of the object determined from the position of the optical axis of the image pickup means, an image potential and a reference pattern. CONSTITUTION:An image pickup means 1 picks up the image of an object 13 and delivers an image signal (f) to a display means 2 and an edge pattern calculating means 5. The means 2 outputs the image signal (f) from the means 1 while superposing a reference pattern (fr) from a reference pattern generating means 7 thereon. An information correcting means 3 receives a correction amount b101 for the position and attitude of the object 13 and delivers the correction amount b101 to a temporary memory means 10. The edge pattern calculating means 5 calculates an edge pattern (fm) for the image (f) from the means 1 and delivers the edge pattern (fm) to a potential calculating means 6. The means 6 delivers a calculated potential (um) to a correction amount calculating means 8. The means 8 determines the correction amount b103 for the position and attitude b107 based on the center of gravity b108 of the object 13, the potential (um) and the reference pattern (fr).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image measuring device,
In particular, with reference to the result of the image measurement, a construction support device for supporting the construction of factory equipment, buildings, etc., an operating device for working equipment used when constructing and maintaining factory equipment, buildings, etc., the construction and maintenance work The present invention relates to a work specification creating device that creates specifications.

[0002]

2. Description of the Related Art In construction and maintenance of large-scale structures such as nuclear power plants and factory facilities, the construction error of the building is large. Therefore, the measurement and design of the building components are performed until the construction error falls within a certain value. The work of reviewing the drawings and modifying the building is repeated. At that time, in the measurement of the position and posture of the components of the construction, point measurement such as triangulation is used for the important points, and it is necessary to measure multiple points, which is often used for measurement work and design review work. Human resources and time are spent.

In order to save human resources and time, for example, in the prior art disclosed in Japanese Patent Laid-Open No. 2-137072, the screen of the display means is based on the reference pattern and the potential generated from the photographed image. It has been proposed to superimpose the above-described image of the measurement target object and the reference pattern to obtain three parameters of the position / orientation of the measurement target object.

[0004]

In the conventional technique disclosed in Japanese Patent Laid-Open No. 2-137072, the position / orientation of a measurement target object placed on a plane is measured while the shape of the measurement target object is known. To do. That is, based on the information obtained from the image plane, two parameters out of the three position parameters of the measurement target object and one parameter out of the three orientation parameters are measured.

However, if the object to be measured which is not placed on a plane is measured or the position / orientation of the plane is unknown, in order to measure the position / orientation of the object to be measured by the above conventional technique, a camera is used. Installation position in the depth direction and 2
The posture of one parameter must be measured by another method, or the position and posture of the plane must be provisionally set. As a result, there is a problem that the measurement procedure is increased and the measurement accuracy is lowered, the measurement work time is increased, and the overall construction accuracy of the building is lowered.

An object of the present invention is to calculate all the parameters of the position and orientation of the object to be measured and improve the measurement accuracy without using other measurement methods together or temporarily setting the position and orientation of the plane. An object of the present invention is to provide an image measuring device capable of maintaining high overall construction accuracy of a building including a measurement target object.

Another object of the present invention is to clearly display the moving direction and the moving amount of a construction supporting device for assisting construction work or design change applying the image measuring device, a large machine or a remote controlled machine. It is to provide a work specification creation device that displays the contents of work such as equipment operation devices and maintenance, and work procedures.

[0008]

In order to achieve the above object and purpose, the present invention provides a display means based on a reference pattern and a potential generated by an image output from an image pickup means for photographing an object to be measured. In an image processing device that superimposes the image of the measurement target object output on the screen and the reference pattern, and obtains the position and orientation of the measurement target object,
Storage means for storing the position / orientation of the target object imaged by the imaging means, and imaging parameter storage means for storing the position / orientation and imaging magnification of the imaging means and the position of the optical axis of the imaging means on the screen of the display means. And the position of the object to be measured
Based on the posture, the position and posture of the photographing means, the photographing magnification, and the position of the optical axis of the photographing means on the screen of the display means,
By a perspective conversion, etc., an object weight center position calculating means for calculating the position of the center of gravity of the measurement target object on the screen of the display means,
A correction amount for calculating the correction amount of all parameters of the position / orientation of the object to be measured based on the position of the center of gravity of the object to be measured on the screen of the display means obtained from the position calculation means and the potential and the reference pattern. An image measuring device provided with a calculating means is proposed.

In order to achieve the above object, the present invention outputs on the screen of the display means based on the reference pattern and the potential generated by the image output from the image capturing means for capturing the object to be measured. In an image processing apparatus that obtains the position / orientation of the measurement target object by superimposing the image of the measurement target object and the reference pattern on each other, a storage unit that stores the position / orientation of the target object captured by the imaging unit Imaging parameter storage means for storing the position / orientation, the photographing magnification, and the position of the optical axis of the photographing means on the screen of the display means, and the distance from two reference points on which the photographing means is mounted and installed at the measurement location. And the angle of the photographing means is calculated from the distance and the angle, and at least the position and posture of the photographing means and the position of the optical axis of the photographing means on the screen of the display means are calculated. And surveying means for sending an imaging parameter storage unit, and position of the imaging means and the position and orientation of the measurement object
A body weight center position calculating means for calculating the position of the center of gravity of the object to be measured on the screen of the display means by perspective transformation based on the posture and the photographing magnification and the position of the optical axis of the photographing means on the screen of the display means. , Based on the position and the potential and the reference pattern of the center of gravity of the measurement target object on the screen of the display means obtained from the body weight center position calculating means,
The present invention proposes an image measuring device provided with a correction amount calculation means for calculating the correction amounts of all parameters of the position / orientation of an object to be measured.

In order to achieve the above-mentioned other objects, the present invention provides
Based on the reference pattern and the potential generated by the image output from the image capturing unit that captures the measurement target object, the image of the measurement target object output on the screen of the display unit and the reference pattern are overlapped, and the measurement target object is superimposed. In the construction support device that displays whether or not the position / orientation is as designed, a storage unit that stores the position / orientation of the target object imaged by the imaging unit, and the position / orientation and imaging magnification of the imaging unit and display Imaging parameter storage means for storing the position of the optical axis of the imaging means on the screen of the means, the position / orientation of the object to be measured, the position / orientation of the imaging means, the imaging magnification, and the light of the imaging means on the screen of the display means. An object weight center position calculating means for calculating the position of the center of gravity of the object to be measured on the screen of the display means by perspective transformation based on the position of the axis, and an object weight center position. Based on the reference pattern and the position and the potential of the center of gravity of the measurement object in the screen of the display means obtained from the calculation unit, and position of the measurement object
The correction amount calculation means for calculating the correction amounts of all the parameters of the posture, the design storage means for storing the shape and the position / orientation of the measurement target object being the design target, and the data transfer command obtained from the design input means are provided. Design data transfer means for receiving the shape and position / orientation of the measurement target object from the object information storage means for storing the shape and position / orientation of the measurement target object to the design storage means or from the design storage means to the object information storage means , Design input means for correcting the shape and position / orientation of the measurement target object stored in the design storage means, and sending a data transfer command to the design data transfer means, and the shape of the measurement target object stored in the design storage means And a graphic generation means for generating a graphic by perspective transformation based on the position / orientation and the graphic generation means. It proposes a construction support apparatus and a design display means for displaying the graphic.

In order to achieve the above-mentioned other object, the present invention displays on the screen of the display means based on the reference pattern and the potential generated by the image output from the image pickup means for photographing the object to be measured. In the construction support device that displays the output image of the measurement target object and the reference pattern and displays whether or not the measurement target object is in the position / orientation as designed, the position / position of the target object photographed by the photographing means
A storage means for storing the posture, an imaging parameter storage means for storing the position / posture and the photographing magnification of the photographing means, and the position of the optical axis of the photographing means on the screen of the display means, and the photographing means are placed and the measurement place The distance and angle from two reference points installed in the camera are measured, the position / orientation of the photographing means is calculated from the distance and the angle, and at least the position / orientation of the photographing means and the optical axis of the photographing means on the screen of the display means. Based on the position / posture of the object to be measured, the position / posture of the photographing means, the photographing magnification, and the position of the optical axis of the photographing means on the screen of the display means. Measurement of the position of the center of gravity of the object to be measured on the screen of the display means by perspective transformation etc. and the measurement of the display means obtained from the position calculation means on the screen A correction amount calculation means for calculating the correction amounts of all parameters of the position and orientation of the measurement target object based on the position of the center of gravity of the elephant object, the potential, and the reference pattern, and the shape of the measurement target object that is the design target And a design storage means for storing the position / orientation and a data transfer command obtained from the design input means, and from the object information storage means or the design storage means for storing the shape and position / orientation of the object to be measured. Design data transfer means for transferring the shape and position / orientation of the measurement target object to the object information storage means, and correction of the shape, position / orientation of the measurement target object stored in the design storage means, and data for the design data transfer means. Based on the design input means that sends the transfer command and the shape and position / orientation of the measurement target object stored in the design storage means, the perspective conversion is performed. Ri and proposes a graphic generating means for generating a graphic, a construction support apparatus and a design display means for displaying a graphic which is obtained from the graphics generating means.

In order to achieve the above-mentioned other object, the present invention further displays on the screen of the display means based on the reference pattern and the potential generated by the image output from the image pickup means for photographing the object to be measured. In the work equipment operating device that superimposes the output image of the measurement object and the reference pattern to obtain the position / orientation of the measurement object and assists the operation of the work equipment, the position / position of the target object photographed by the photographing means Storage means for storing the posture, imaging parameter storage means for storing the position / posture and the photographing magnification of the photographing means, and the position of the optical axis of the photographing means on the screen of the display means,
Based on the position / orientation of the object to be measured, the position / orientation of the image capturing means, the image capturing magnification, and the position of the optical axis of the image capturing means on the screen of the display means, the object to be measured on the screen of the display means by perspective conversion or the like. The position of the object of measurement is calculated based on the position of the center of gravity of the object of measurement and the potential and the reference pattern on the screen of the object of gravity position calculating means for calculating the position of the object's center of gravity and the display means obtained from the object of gravity position calculating means. Obtained from the correction amount calculation means for calculating the correction amounts of all the posture parameters, the work means for processing / attaching the object to be measured, the work input means for inputting the work command of the work means, and the work input means Based on the work instruction and the shape and position / orientation of the measurement target object obtained from the object information storage means, an operation instruction of the work means including coordinate data is created and created. It proposes a working device operation device that includes a work control means for transferring the unit.

In any of the above devices, the correction amounts of all the parameters of the position / orientation of the measurement target object obtained by the correction amount calculation means are added to the position / orientation of the measurement target object stored in the storage means. An information correcting means for correcting can be provided.

In order to achieve the above-mentioned other object, the present invention outputs on the screen of the display means based on the reference pattern and the potential generated by the image output from the image capturing means for capturing the object to be measured. The position and orientation of the measurement target object is obtained by superimposing the image of the measurement target object and the reference pattern on the work device operating device that assists the operation of the work device.
Storage means for storing the posture, imaging parameter storage means for storing the position / posture and the photographing magnification of the photographing means, and the position of the optical axis of the photographing means on the screen of the display means, and the position / posture and photographing of the object to be measured. Based on the position / posture and photographing magnification of the means, and the position of the optical axis of the photographing means on the screen of the display means, the position of the center of gravity of the object to be measured on the screen of the display means is calculated by perspective transformation etc. Based on the position, the potential, and the reference pattern of the center of gravity of the measurement target object on the screen of the position calculation means and the display means obtained from the position calculation means, the correction amounts of all parameters of the position and orientation of the measurement target object Correction amount calculating means for calculating, work means for processing / attaching an object to be measured, work input means for inputting a work command of the work means, and work input means A work control means for creating an operation command of the working means including coordinate data based on the work instruction obtained from the object and the shape and position / orientation of the measurement target object obtained from the object information storage means, and transferring the operation instruction to the working means; Based on the work command obtained from the work control unit, the operation command of the work unit obtained from the work command, the shape and position / orientation of the measurement target object, and the shape and position / orientation of the work unit, the graphic is converted by perspective conversion. It is an object of the present invention to propose a work equipment operating device provided with a graphic generation means for generating and a work display means for superimposing and displaying a video and a graphic.

In order to achieve the above-mentioned other object, the present invention displays on the screen of the display means based on the reference pattern and the potential generated by the image output from the image pickup means for photographing the object to be measured. In the work specification creating device that superimposes the output image of the measurement target object and the reference pattern, obtains the position / orientation of the measurement target object, and outputs the work specification for the measurement target object, Storage means for storing the position / orientation, imaging parameter storage means for storing the position / orientation and the imaging magnification of the imaging means, and the position of the optical axis of the imaging means on the screen of the display means, and the position / orientation of the measurement target object Based on the position and orientation of the photographing means, the photographing magnification, and the position of the optical axis of the photographing means on the screen of the display means, by perspective conversion,
An object weight center position calculating means for calculating the position of the center of gravity of the measurement target object on the screen of the display means, and a position, a potential and a reference pattern of the center of gravity of the object object to be measured on the screen of the display means obtained from the object weight center position calculating means. Correction amount calculation means for calculating the correction amounts of all parameters of the position / orientation of the object to be measured, work specification operation means for transferring a work specification creation start command to the work specification creation means, and work specification operation means A work specification creating means that receives a work specification creation start command obtained from the work specification creating means, creates work specifications based on the shape and position / orientation of the measurement target object stored in the object information storage means, and transfers the work specifications to the work specification output means. And a work specification output device for outputting the work specification from the work specification creating means.

[0016]

According to the present invention, all parameters of the position and orientation of the measurement target object are calculated by reflecting the motion characteristics of the image of the measurement target object on the screen corresponding to the movement of the measurement target object in the three-dimensional space. To calculate. For this reason,
There is no need to use other measurement methods together or provisionally set the position and orientation of the plane.

First, the edge pattern is calculated from the image photographed by the photographing means, and the potential is calculated from the edge pattern. The object-body-center-of-mass position calculating means is based on the position / orientation of the measurement target object stored in the storage means, the position / orientation of the photographing means, the photographing magnification, and the position of the optical axis of the photographing means on the screen of the display means. The position of the center of gravity of the measurement target object on the screen of the display means is calculated by the equal conversion. The correction amount calculation means calculates the correction amount of the position / orientation of the measurement target object based on the potential, the reference pattern generated by the reference pattern generation means, and the position of the center of gravity. This correction amount is added to the position / orientation of the measurement target object stored in the storage means and updated. When this procedure is repeated, the position / orientation of the measurement target object stored in the storage means approaches the position / orientation of the true object.

FIG. 17 is a diagram showing the relationship between the displacement of the object to be measured and the displacement of each point on the corresponding image in the image measuring procedure of the present invention. In order to obtain all the positions and orientations of the measurement target object 13, that is, 6 parameters based on one image f, a means for converting the displacement at each point on the two-dimensional plane (image f) into the displacement in the three-dimensional space is required. Is. This is called a vector field matrix Wc. When the measurement target object 13 is rotated up and down, left and right, in the depth direction and around each axis, each of the marks 1601-1604 on the image f.
Moves as shown in FIG.

Therefore, consider the opposite problem. That is, when each of the marks 1601 to 1604 moves on the image f, there is a problem of determining how the measurement target object 13 moves. In this case, the vector field matrix Wc that converts the displacement at each point on the two-dimensional plane (image f) into the displacement of the three-dimensional measurement target object 13 is required. When the vector field matrix Wc calculates δx _d / δθ, Equation 1
Can be calculated as Where d _k (k = 1, ..., 4) is a positive constant, x _d = [x, y] t is a point in the image region,
(E _x , e _y ) is the position of the optical axis of the photographing means 1 on the screen,
(X _g , y _g ) is the position of the center of gravity of the measurement target object 13 on the screen. Using the vector field matrix Wc, the above inverse problem can be solved by Equation 2. Where dθ
Is the displacement of the measurement object 13 (dθ ₁ , dθ ₂ , dθ ₃ , dθ ₄ ,
dθ ₅ , dθ ₆ ) and (d _x , d _y ) are displacements at each point on the image f.

[0020]

[Equation 1]

[0021]

[Equation 2]

FIG. 18 is a diagram for explaining the principle of superposition of the object to be measured and the reference pattern. In the present invention, the position / orientation of the measurement target object 13 is obtained based on the pattern dynamics matching method using the potential field um. The potential field um of the edge pattern fm is calculated by the mathematical formula 3. The initial condition and the boundary condition are given by Equations 4 and 5, respectively. Where a is a positive constant, t is time, and x
[•] is a characteristic function of T, T is a time domain, G is a screen domain, and tf is a positive constant.

[0023]

(Equation 3)

[0024]

[Equation 4]

[0025]

(Equation 5)

[0026]

(Equation 6)

The potential field um has a shape similar to the electric field generated when a charge is applied to the edge pattern fm. The potential field um and the reference pattern fr are superposed as shown in FIG. Reference pattern fr
When an electric charge opposite to that of the edge pattern fm is applied to the reference pattern fr, the reference pattern fr and the image f
The force (V _x , V _y ) for collating the upper measurement target object 13 comes to work. However, V _x is a vertical component, and V _y is a horizontal component. Therefore, using Equation 6, based on the vector field matrix Wc, the force acting on the reference pattern fr (V _x ,
Force and moment acting the V _y) to the measuring object 13 (F _x,
F _y , F _z , M _x x, M _y , M _z ). (F _x ,
F _y , F _z , M _x , M _y , and M _z ) are similar to the force that acts when the reference pattern fr is given a charge opposite to that of the edge pattern fm. Therefore, the measurement target object 13 on the image f
In a state where the reference pattern fr overlap to some extent with, thereby completely superimposed _{(F x, F y, F} z, M x, M y, M z) are reference pattern fr the measurement object 13 on the image f Work like. Therefore, the reference pattern fr is (F _x ,
F _y, F _z) direction _{(dp x, dp y, dp} z) by shifting, and the center of gravity around _{(M x, M y, M} z) direction (dp _x, d
(p _x , dp _z ) and again using (V _x , V _y ) the vector field matrix Wc (F _x , F _y , F _z , M _x , M _y , M
By repeating the calculation of _z ), the measurement target object 13 on the image f and the reference pattern fr can be superimposed.

[0028]

1 is a block diagram showing the system configuration of an embodiment of an image measuring apparatus according to the present invention. The image measuring device according to the present embodiment includes a photographing means 1 such as a camera for photographing a measurement target object 13, a display means 2 connected to the photographing means 1, an information correcting means 3 including a mouse and a keyboard, a mouse and the like. An operating means 4 including a keyboard, an edge pattern calculating means 5 connected to the photographing means 1, a potential calculating means 6 connected to the edge pattern calculating means 5, and a reference pattern generating means 7 connected to the display means 2. A correction amount calculation means 8 connected to the potential calculation means 6 and the reference pattern generation means 7, a data transfer means 9 connected to the operation means 4, an information correction means 3, a reference pattern generation means 7, a correction amount calculation Means 8 and data transfer means 9
A temporary storage means 10 connected to the data transfer means 9, an object information storage means 11 connected to the data transfer means 9, and a data transfer means 9
The image pickup parameter storage means 12 connected to the above, and the object weight center position calculation means 14 connected to the correction amount calculation means 8 and the temporary storage means 10.

The image pickup parameter b105 is data of the position / posture and magnification of the image pickup means 1 and data of the position of the optical axis of the image pickup means 1 on the screen of the display means 2. The object information b104 is data of the shape b106 of the measurement target object 13 and data of the position / orientation b107.

The photographing means 1 photographs the object 13 to be measured and transfers the image f to the display means 2 and the edge pattern calculation means 5. The display means 2 displays the image f from the photographing means 1.
And the reference pattern fr from the reference pattern generation means 7 are superimposed and output. When the correction amount b101 of the position / orientation b107 of the measurement target object 13 is input, the information correction unit 3 transfers the input value to the temporary storage unit 10. When the data transfer command b102 is input, the operating means 4
This data transfer instruction b102 is sent to the data transfer means 9. The data transfer command b102 is a temporary storage unit 1 that stores the shooting parameter b105 from the shooting parameter storage unit 12.
The instruction is to transfer to 0. When the data transfer instruction b112 is input, the operation means 4 sends this data transfer instruction b112 to the data transfer means 9. Data transfer command b
112 is the object information b10 from the object information storage means 11.
4 is transferred to the temporary storage means 10. When the data transfer instruction b122 is input, the operating means 4
This data transfer instruction b122 is sent to the data transfer means 9. The data transfer command b122 is a command to transfer the object information b104 from the temporary storage means 10 to the storage means 11.

The edge pattern calculation means 5 is the photographing means 1
The edge pattern fm is calculated for the image f from and the edge pattern fm is transferred to the potential calculation means 6. The potential calculation means 6 calculates the potential um for the edge pattern fm and transfers the potential um to the correction amount calculation means 8. Reference pattern generation means 7
Reads the object information b104 of the measurement target object 13 and the imaging parameter b105 from the temporary storage means 10, generates a reference pattern fr of the measurement target object 13, and transfers the reference pattern fr to the display means 2 and the correction amount calculation means 8. To do.

Correction amount calculating means 8 which is a main feature of the present invention
Is the position b108 of the center of gravity of the measurement target object 13 on the screen of the display means 2 from the body weight center position calculation means 14,
The correction amount b103 of the position / orientation b107 of the measurement target object 13 is calculated based on the potential um from the potential calculation means 6 and the reference pattern fr from the reference pattern generation means 7. The correction amount b103 of the position / orientation b107 of the measurement target object 13 is transferred to the temporary storage means 10.

The data transfer means 9 receives an image pickup parameter b105 in response to a data transfer command b102 from the operation means 4.
Is transferred from the imaging parameter storage means 12 to the temporary storage means 10. The data transfer means 9 transfers the object information b104 from the object information storage means 11 to the temporary storage means 10 according to the data transfer command b112 from the operation means 4. The data transfer means 9 uses the data transfer instruction b1 from the operation means 4.
22 transfers the object information b104 from the temporary storage means 10 to the object information storage means 11. Temporary storage means 10
Stores the object information b104 of the measurement target object 13 and the imaging parameter b105.

The object information storage means 11 stores the object 1 to be measured.
The data regarding the object information b104 of No. 3 is stored.
The measurement target object 13 here is a plurality of objects such as component parts of a structure. The imaging parameter storage unit 12 stores the imaging parameter b105. The object weight center position calculating means 14 calculates the position b108 of the center of gravity of the measurement target object 13 on the screen of the display means 2 by perspective transformation etc. based on the object information b104 and the imaging parameter b105 from the temporary storage means 10. To do. The position b108 of the center of gravity of the measurement target object 13 on the screen of the display means 2 is transferred to the correction amount calculation means 8.

FIG. 2 is a flow chart showing an example of the measuring operation of the position / orientation b107 of the measuring object 13 in the embodiment of FIG. Step 201: The image capturing means 1 is installed so that the measurement target object 13 is captured and captured as an image f. However, when the image capturing means 1 is installed in a desired position in advance, step 201 is unnecessary.

Step 202: When the command b102 for transferring the image pickup parameter b105 from the image pickup parameter storage unit 12 to the temporary storage unit 10 is input, the operation unit 4 stores the image pickup parameter b105 from the image pickup parameter storage unit 12 into the temporary storage unit. This instruction b102 of transferring to 10 is transferred to the data transfer means 9. The data transfer means 9 receives the command b102, fetches the imaging parameter b105 from the imaging parameter storage means 12, and stores it in the temporary storage means 10.

When the command b112 for transferring the object information b104 from the object information storage means 11 to the temporary storage means 10 is input, the operation means 4 transfers the object information b104 from the object information storage means 11 to the temporary storage means 10. This command b112 to perform is transferred to the data transfer means 9. The data transfer means 9 receives the command b112, fetches the object information b104 from the object information storage means 11, and stores it in the temporary storage means 10.

Step 203: Reference pattern generating means 7
Acquires the object information b104 and the imaging parameter b105 from the temporary storage means 10, generates a reference pattern fr of the measurement target object 13, and transfers the reference pattern fr to the correction amount calculation means 8. However, the reference pattern fr is a wire frame image obtained by erasing hidden lines of the measurement target object in this embodiment.

Step 204: The edge pattern calculation means 5 calculates the edge pattern fm by the calculation of the expression 7 based on the image f from the photographing means 1. However, the screen size is m × n, p is the screen gradation, μ is the threshold value (constant), f
Is an image, i is an integer of 1 or more and m or less, and j is an integer of 1 or more and n or less. The edge pattern calculation means 5 transfers the edge pattern fm obtained by Expression 7 to the potential calculation means 6.

[0040]

(Equation 7)

[0041]

[Equation 8]

Step 205: Potential calculation means 6
Is the edge pattern f from the edge pattern calculation means 5.
Based on m, use Equation 8 to calculate the potential um. However, tn represents the number of calculation repetitions of Equation 8, and a and b are positive constants. The potential calculation means 6 transfers the potential um calculated by Expression 8 to the correction amount calculation means 8.

Step 206: Body weight / center position calculating means 1
4 is based on the object information b104 and the imaging parameter b105 from the temporary storage means 10 by perspective conversion,
The position b108 of the center of gravity of the measurement target object 13 on the screen of the display unit 2 is calculated. Object weight position calculation means 14
Transfers the position b108 of the center of gravity of the measurement target object 13 on the screen of the display means 2 to the correction amount calculation means 8.

Step 207: The correction amount calculation means 8 generates the position b108 of the center of gravity of the object 13 to be measured on the screen of the display means 2 from the body weight center position calculation means 14, the potential um from the potential calculation means 6 and the reference pattern generation. Based on the reference pattern fr from the means 7, the position / orientation b10 of the measurement target object 13 is calculated by Equations 9 to 22.
7 fixes the amount _{b103 (dp x, dp y,} dp z, dq x, d
q _y , dq _yz ) is calculated. Where c _x , c _y , c _z ,
d _x , _dy , d _z are positive constants, and F _x , F _y , F _z , M
_x, M _y, M _z is calculated by the equation 15 to equation 20. Here, (i ₀ , j ₀ ) is the position b108 of the center of gravity of the measurement target object 13 on the screen of the display unit 2, G is the screen area, and V _x and V _y are the expressions 21 and 22, respectively. Calculate each. The correction amount calculation means 8 transfers the correction amount b103 of the position / orientation b107 of the measurement target object 13 to the temporary storage means 10.

[0045]

[Equation 9]

[0046]

[Equation 10]

[0047]

[Equation 11]

[0048]

[Equation 12]

[0049]

[Equation 13]

[0050]

[Equation 14]

[0051]

(Equation 15)

[0052]

[Equation 16]

[0053]

[Equation 17]

[0054]

(Equation 18)

[0055]

[Formula 19]

[0056]

[Equation 20]

[0057]

[Equation 21]

[0058]

[Equation 22]

Step 208: The temporary storage means 10 adds the correction amount b103 from the correction amount calculating means 8 to the currently stored position / orientation b107 of the measurement object 13 and stores it.

Step 209: Reference pattern generating means 7
Acquires the object information b104 and the imaging parameter b105 from the temporary storage means 10, generates the reference pattern fr of the measurement target object 13, and transfers the reference pattern fr to the display means 2 and the correction amount calculation means 8.

Step 210: The display means 2 displays the image f from the photographing means 1 and the reference pattern fr from the reference pattern generation means 7 on the screen, for example, FIG.
As shown in FIG.

Step 211: When the measurement target object 13 on the image f on the screen of the display means 2 and the reference pattern fr are significantly different, the process proceeds to step 212. When the measurement target object 13 on the image f on the screen of the display means 2 and the reference pattern fr are not so different, the process proceeds to step 214.

Step 212: When the measurement target object 13 on the image f on the screen of the display means 2 and the reference pattern fr are significantly different, the operator looks at the display means 2 and causes the information correction means 3 to display the measurement target object 13 A position / orientation correction amount b101 is input. When a mouse is used as the information correction means 3,
The correction amount b101 is the displacement amount of the mouse. The information correction unit 3 transfers the correction amount b101 of the position / orientation b107 of the measurement target object 13 to the temporary storage unit 10.

Step 213: The temporary storage means 10 adds the correction amount b101 from the information correction means 3 to the currently stored position / orientation b107 of the measurement target object 13, stores it, and proceeds to step 209.

Step 214: If the object 13 to be measured and the reference pattern f on the image f are not so far apart
If r does not match, the process returns to step 204. When steps 204 to 211 are repeated, the value of the position / orientation b107 of the measurement target object 13 converges on the true position / orientation of the measurement target object 13. When the measurement target object 13 on the image f and the reference pattern fr match, the process proceeds to step 215.

Here, the following criteria may be used to determine whether or not the measurement target object 13 on the image f and the reference pattern fr match. Each correction amount b1 of the position / orientation of the measurement target object 13 calculated by the correction amount calculation means 8
Signs of 03 do not match consecutively (+,-, +,-, ...
Becomes ), It is determined that the measurement target object 13 on the image f and the reference pattern fr match.

Step 215: The operation means 4 transfers the object information b104 from the temporary storage means 10 to the object information storage means 11.
When the command b122 to transfer to the object information b104 is input, the object information b104 is transferred from the temporary storage means 10 to the object information storage means 1
The instruction b122 for transferring to 1 is transferred to the data transfer means 9. The data transfer means 9 receives the command b122, fetches the object information b104 from the temporary storage means 10, and stores it in the object information storage means 11.

FIG. 3 is a diagram showing an example of the screen display of the display means in the embodiment of FIG. One window 301 is displayed on the screen of the display means 2, and the window 3
On 01, the image f from the photographing means 1 and the reference pattern fr from the reference pattern generation means 7 are displayed in an overlapping manner. Further, the position / orientation b107 of the measurement target object 13
The value 302 of is also displayed. However, the value 302 of the position / orientation b107 of the measurement target object 13 does not necessarily have to be displayed. Value 3 of the position / orientation b107 of the measurement target object 13
02 is not displayed, the image f is displayed on the entire screen of the display unit 2.
And the reference pattern fr may be superimposed and output.

By the operation of step 212, when the operator inputs the correction amount b101 to the information correction means 3,
The reference pattern fr on the screen of the display means 2 moves corresponding to the correction amount b101. By this operation, the operator can move the reference pattern fr as intended. That is, the reference pattern fr can be brought close to or coincide with the measurement target object 13 on the image f.

In the embodiment shown in FIG. 1, there may be a plurality of photographing means 1. However, in the measurement operation, the steps 201 and 204 to 208 are performed by the image capturing unit 1.
Will be repeated for the number of times. If a plurality of photographing means 1, edge pattern calculation means 5, and potential calculation means 6 are used, or if a plurality of these means 1, 5, 6 and correction amount calculation means 8 are used, steps 204 to 208 are performed. The processing speed can be increased. Since the measurement accuracy is better in the direction perpendicular to the optical axis than in the optical axis direction of the photographing means 1, when a plurality of photographing means 1 are used, the angle formed by the optical axes of the photographing means 1 becomes 90 degrees. If the photographing means 1 is installed so that the measurement accuracy is improved. At this time, the value of c _z is c _x ,
smaller than the value of c _y, d _x, the value of d _y may be smaller than d _z.

FIG. 4 is a block diagram showing a system configuration of an embodiment of an image measuring system in which the image measuring device according to the present invention is integrated with a surveying means and a designing means. In the embodiment shown in FIG. 4, the photographing means 1 to the body weight / center position calculating means 14 are
This is the same as the embodiment of FIG.

In this embodiment, the means from the photographing means 1 to the body weight / center position calculating means 14 shown in FIG.
And distance measuring means 402 connected to the surveying operation means 401
And angle measuring means 403 connected to the surveying operation means 401
And the imaging parameter storage means 12 and the survey operation means 4
01 connected to 01 and distance measuring means 40
2. Surveying storage means 405 connected to the angle measuring means 403 and the surveying calculation means 404, a design display means 411 connected to the photographing means 1, a design input means 412, and a graphic connected to the design display means 411. Generating means 413
And design input means 412 and graphic generation means 4
13, the design storage means 414, the object information storage means 11, the design input means 412, and the design storage means 41.
4 is connected to the design data transfer means 415. However, the image capturing unit 1 and the design display unit 411 do not have to be directly connected.

FIG. 5 is a perspective view showing an example of how the photographing means is attached to the surveying means in the embodiment of FIG. The surveying means 400 such as a light wave surveying instrument is a surveying operation means 4
01, distance measuring means 402, angle measuring means 403, surveying calculation means 404, and surveying storage means 405.
Further, the surveying means 400 is physically connected to the photographing means 1 as shown in FIG. 5, for example.

The design means 410 is the design display means 411.
, Design input means 412, and graphic generation means 41
3, design storage means 414, and design data transfer means 41
Including 5 and.

FIG. 6 is a diagram showing an example of the coordinate system defined based on the reference target in the embodiment of FIG.
The reference targets 420 and 420A shown in FIG. 4 serve as the reference of the coordinate system. The reference target 420 indicates the origin of the coordinate system, and the reference target 420A indicates the xw direction of the coordinate system. The opposite direction to the vertical direction is the zw direction.

The surveying operation means 401 uses the distance measuring / angle measuring command b.
Upon receiving the input of 401 / b402, the distance measuring command b401 is transferred to the distance measuring means 402, and the angle measuring command b4 is transmitted to the angle measuring means 403.
02 is transferred. When the calculation command b403 is input, the calculation command b403 is transferred to the surveying calculation means 404. When the posture measurement command b412 is input, the angle measuring means 4
The posture measurement command b412 is transferred to 03.

The distance measuring means 402 receives the distance measuring command b401 from the surveying operation means 401, and receives the reference target 420,
Measure the distances l ₁ and l ₂ to 420A. Angle measuring means 40
3 receives the angle measurement command b402 or the posture measurement command b412 from the surveying operation means 401, and receives the reference target 42.
The elevation angles v ₁ and v ₂ formed between the directions of 0 and 420A and the vertical direction and the horizontal angles h ₁ and h _{2 in} the direction of the reference targets 420 and 420A or the attitude b407 of the surveying means 400 are measured.

The survey calculation means 404 is the survey operation means 40.
Upon receiving the calculation command b403 from 1, the surveying storage means 405
Reference target 4 from surveying means 400 stored in
Distances l ₁ and l _{2 to 20} , 420A, elevation angles v ₁ and v ₂ and horizontal angles h ₁ and h _2, and posture b of the surveying means 400 at the time of photographing.
407 and the position of the photographing means 1 with respect to the surveying means 400
Based on the posture b 408, the position / posture b of the photographing unit 1
409 is calculated, and the calculated position / orientation b4 of the photographing means 1 is calculated.
09 is stored in the imaging parameter storage means 12. The surveying storage means 405 includes distances l ₁ , l ₂ , elevation angles v ₁ , v ₂ and horizontal angles h ₁ , h ₂ from the surveying means 400 to the reference targets 420, 420A, and a posture b407 of the surveying means 400 at the time of photographing. The position / orientation b 408 of the photographing means 1 with respect to the surveying means 400 is stored.

The design display means 411 superimposes the image f from the photographing means 1 and the graphic b410 from the graphic generation means 413 and displays it on the screen. However, only the graphic b410 may be displayed. When the object information b104 of the object 13 to be designed is input, the design input unit 412 receives the input object information b.
104 is transferred to the design storage means 414. When the data transfer command b411 is input, the object information b104 of the object 13 is transferred from the object information storage means 11 to the design storage means 41.
4 is transferred to the design data transfer means 415. Further, when the data transfer command b421 is input, the command 421 for transferring from the design storage unit 414 of the object 13 to the object information storage unit 11 is transferred to the design data transfer unit 415.

The graphic generation means 413 executes perspective transformation based on the object information b104 of the object 13 from the design storage means 414, and the graphic b410 of the object.
To create. The design storage unit 414 stores the object information b104 of the object 13 that is the measurement target. The design data transfer means 415 transfers the object information b104 from the object information storage means 11 to the design storage means 4 based on the data transfer instruction b411 or b421 from the design input means 412.
14 or from the design storage means 414 to the object information storage means 11. However, here, the object 13 is a design target.

The operation of the embodiment of the present invention shown in FIG. 4 is the measurement and design of the position / orientation b409 of the photographing means 1.
These two operations can be performed independently.

FIG. 7 is a flow chart showing an example of the measuring procedure of the position / orientation of the photographing means in the embodiment of FIG. Step 701: Two reference targets 420, 420
Install A. At this time, the reference target 420 is the origin of the coordinate system, and the reference target 420A is in the xm direction of the coordinate system. However, if already installed, there is no need to install it again.

Step 702: Photographing means 1 and surveying means 4
A device that is a combination of 00 is installed.

Step 703: The surveying operation means 401 receives the distance measuring / angle measuring commands b401 and b402, and transfers the distance measuring command b401 to the distance measuring means 402 and the angle measuring command b402 to the angle measuring means 403. The distance measuring means 402 receives the distance measuring command b401 from the distance measuring operation means 401, measures the distance l ₁ to the reference target 420, and records the result in the distance measuring storage means 405. The angle measuring means 403 receives the angle measuring command b402 from the surveying operation means 401, measures the elevation angle v ₁ formed by the vertical direction and the reference target 420 direction and the horizontal angle h ₁ in the reference target 420 direction, and the result is the surveying storage means. Record at 405.

Step 703A: The operation of step 703 is also performed on the reference target 420A.

Step 704: The surveying operation means 401 receives the attitude measurement command b412 and transfers the attitude measurement command b412 to the angle measurement means 403. The angle measuring unit 403 receives the posture measurement command b412 from the surveying operation unit 401, measures the posture b407 of the surveying unit 400, and records the result in the surveying storage unit 405.

Step 705: The survey calculation means 404 receives the calculation command b403 from the survey operation means 401, and the reference target 42 stored in the survey storage means 405.
Based on the distances l ₁ and l _{2 to 0} , 420A, the elevation angles v ₁ and v ₂ between the vertical direction and the reference targets 420 and 420A, and the horizontal angles h ₁ and h ₂ , the position (xm, y) of the surveying means 400.
m, zm)) is calculated. Here, the distances l ₁ and l ₂ are the distances between the reference target 420, the reference target 420A and the surveying means 400, respectively. Reference target 42
0 and the measured values of the horizontal angle and the elevation angle of the reference target 420A are h ₁ , h ₂ and v ₁ , v ₂ , respectively.

When 0 ≦ h ₁ −h ₂ <180, the position of the surveying means 400 can be calculated using the formulas 23 to 25.
Here, a ₁ is calculated by Expression 26. 180 ≦ h ₁ −h ₂
When <360, the position of the surveying means 400 can be calculated using Expressions 27 to 29. Here, b ₁ is calculated by Expression 30. Based on the position / orientation of the surveying means 400 and the position / orientation b408 of the image capturing means 1 with respect to the surveying means 400 from the surveying storage means 405, the position / orientation b409 of the image capturing means 1 is calculated using equations 31 to 38. .
However, (x _c , y _c , z _c ) is the position of the photographing means 1, and (θ
_cazim , θ _cinc , θ _ctwist ) is the attitude of the photographing means 1, (θ
_{mazim, θ minc, θ mtwist)} the attitude of surveying means 400,
(X _v , y _v , z _v ) is the position of the photographing means 1 with respect to the surveying means 400, and (θ _vazim , θ _vinc , θ _vtwist ) is the attitude of the photographing means 1 with respect to the surveying means 400.

[0089]

[Equation 23]

[0090]

[Equation 24]

[0091]

(Equation 25)

[0092]

(Equation 26)

[0093]

[Equation 27]

[0094]

[Equation 28]

[0095]

[Equation 29]

[0096]

[Equation 30]

[0097]

[Equation 31]

[0098]

[Equation 32]

[0099]

[Expression 33]

[0100]

(Equation 34)

[0101]

[Equation 35]

[0102]

[Equation 36]

[0103]

(37)

[0104]

(38)

Step 706: The survey calculation means 404
The calculated position / orientation b409 of the image capturing unit 1 is recorded in the image capturing parameter storage unit 12.

FIG. 8 is a flow chart showing an example of the design procedure in the embodiment of FIG. Step 801: The design input means 412 has the object information b1.
When a data transfer instruction b411 for transferring 04 from the object information storage means 11 to the design storage means 414 is input, this data transfer instruction b for transferring the object information b104 from the object information storage means 11 to the design storage means 414.
411 is transferred to the design data transfer means 415. The design data transfer means 415 reads the object information b104 of the object 13 from the object information storage means 11 according to the data transfer command b411 from the design input means 412 and stores it in the design storage means 414.

Step 802: The design input means 412
When the object information b104 of the object 13 is input, the object information b104 is stored in the measurement storage unit 414.

Step 803: Graphic generating means 4
Reference numeral 13 reads the object information b104 from the design storage unit 414, performs perspective conversion, creates a graphic b410, and transfers the result to the design display unit 411.

Step 804: The design display means 411
Image f from the photographing means 1 and graphic generation means 413
And the graphic b410 from is displayed on the screen. However, only the graphic b410 may be displayed.

Step 805: If the object information b104 is changed, the process returns to step 802. Object information b104
If there is no change in, go to step 806.

Step 806: The design input means 412
When a data transfer command b421 for transferring the object information b104 from the design storage unit 414 to the object information storage unit 11 is input, the object information b104 is transferred to the design storage unit 414.
This data transfer instruction b421 for transferring from the object information storage means 11 to the design data transfer means 415. The design data transfer means 415 is the design input means 412.
Receiving the data transfer instruction b421 from the design storage means 4
Object information b104 of the object 13 is read from 14 and stored in the object information storage means 11.

In the embodiment shown in FIG. 4, if the photographing means 1 and the surveying means 400 are separated from the apparatus of the present invention and the image storing means 416 is newly connected to the photographing means 1, the photographing means 1, surveying means 400, The position / orientation b409 of the photographing means 1 can be measured using the image storage means 416. In this case, for example, the measurement data is brought back to the office, and when the survey storage means 405 and the video storage means 416 are connected to the apparatus main body part left in the office,
Designing by pattern matching and measurement of the object 13 can be performed. Since the photographing means 1, the surveying means 400, and the image storage means 416 can be separated in this way, the weight of the device at the construction site can be reduced, the measurement work at the construction site can be quickly executed, and the range of utilization of the measurement work can be expanded. To do.

At this time, the work at the site is executed according to the following procedure. Step 221: The image pickup means 1 and the surveying means 400 are installed.

Step 222: Steps 701 to 705 (measurement of the position / orientation b409 of the photographing means 1) are executed.

Step 223: The survey calculation means 404
The calculated position / orientation b409 of the photographing means 1 is recorded in the design storage means 414.

Step 224: Image f from the photographing means 1
Is recorded in the video storage means 416 to complete the work at the site.

The work in the office is executed in the following procedure. Step 225: Connect the image storage means 416 to the edge pattern calculation means 5.

Step 226: Imaging means 1 stored in the surveying storage means 405 in the imaging parameter storage means 12
The position / orientation b409 of is recorded.

Step 227: The operation of step 203 is executed.

Step 228: The edge pattern calculation means 5 calculates the edge pattern fm by the calculation of the expression 7 based on the image f from the image storage means 416. The edge pattern calculation means 5 transfers the edge pattern fm obtained by Expression 7 to the potential calculation means 6.

Step 229: The operations of Step 205 to Step 212 are executed.

Step 230: If the object 13 on the image f and the reference pattern fr do not match, step 22
Return to 8. When the operations from step 228 to step 210 are repeated, the value of the position / orientation b107 of the object 13 converges on the true position / orientation of the object 13. Object 1 on video f
3 and the reference pattern fr match, step 23
Go to 1.

Here, in determining whether or not the object 13 on the image f and the reference pattern fr match, the following criteria may be used. Each correction amount b103 of the position / orientation b107 of the object 13 calculated by the correction amount calculation means 8
When the signs of No. match continuously (+,-, +,-, ...), it is determined that the object 13 on the image f and the reference pattern fr match.

Step 231: The operation of Step 214 is executed.

The person who inputs the design information superimposes and outputs the reference pattern fr and the image f photographed at the construction site on the design display means 411 as necessary, and inputs the correction amount b101 to the information correction means 3, The design is executed by moving the reference pattern fr. By doing so, it is possible to immediately simulate how the building components are installed at the construction site. Therefore, the designer can concretely imagine the situation of the site when the components are installed, and the design work can be rationalized. However, the design information input person may look at the display means 2 instead of the design display means 411.

When the embodiment of the present invention shown in FIG. 4 is installed on a construction site, if the construction work of the building components is executed while looking at the display means 2, the building components are immediately installed as designed. it can. However, in this case, the design means 410
It does not have to be.

Since the object in the field of view of the captured image f can be measured, repair and maintenance work can be easily planned.

In the construction with a large construction error, the designer determines the assembling accuracy of the component parts at the time of construction, performs the design including the assembly error in advance, and performs the design work even for the construction with a large construction error. I am making progress. Workers at the site will perform construction based on this design. After construction, the components of the building are photographed by the photographing means 1. If the designer adopts the embodiment of the present invention shown in FIG. 4 based on the image f of the construction site, the designer can immediately recognize the situation of the building by looking at the positions and postures of the constituent parts of the building. Therefore, based on the information of the building component parts, flexible and highly accurate design can be immediately executed according to the progress of construction. By repeating the design and construction in such a procedure, it becomes possible to efficiently proceed with the construction work even in the construction where the construction error is large.

In the embodiment shown in FIG. 4, it is possible to use a plurality of photographing means 1 and surveying means 400. However, in the measurement operation, steps 221 to 224, step 226, step 228, and step 205 to step 207 are repeated for the number of photographing means 1. If a plurality of photographing means 1, surveying means 400, edge pattern calculation means 5, and potential calculation means 6 are used, or if a plurality of these means and correction amount calculation means 8 are used, steps 221-224, step 226. The processing of step 228 and step 205 to step 207 can be speeded up.

FIG. 9 is a block diagram showing a system configuration of an embodiment of an image measuring system in which the image measuring apparatus according to the present invention is integrated with working equipment. In the embodiment shown in FIG. 9, the image capturing means 1 to the body weight / center position calculating means 14 are the same as those in the embodiment shown in FIG.

In this embodiment, the means of photographing means 1 to body weight / center position calculating means 14 shown in FIG. 1, work display means 901 connected to the photographing means 1, work input means 902, work means 903, Graphic generation means 413 connected to work display means 901, temporary storage means 10, object information storage means 11, work input means 902, work means 903.
Work control means 904 connected to the graphic generation means 413 is provided. However, the photographing means 1 and the work display means 901 may not be connected.

The work display means 901 such as a display is
Image f from the photographing means 1 and graphic generation means 413
The graphic b410 from the above is superimposed and output on the screen. However, only the graphic b410 may be output.

Work input means 90 such as a keyboard and a mouse
2, when the work command b901 of the work means 903 is input, the work command b901 of the work means 903 is transferred to the work control means 904, and the work start command b91 of the work means 903 is transmitted.
When 1 is input, the work instruction b901 of the work means 903
Alternatively, the work start command b911 of the work means 903 is transferred to the work control means 904.

The working means 903 such as a robot or a machine tool is
The operation command b902 is received from the work control means 904, and this operation command b902 is executed.

The work control means 904 is the work input means 90.
2 based on the work instruction b901, the object information b104 of the object 13 from the temporary storage unit 10, the object information b904 of the work unit 903 and the object information b914 of the object 15 from the object information storage unit 11, and a working unit including coordinates. 90
No. 3 operation command b902 is created, and the result is transferred to the graphic generation means 413. Further, the work input means 90
2 receives the work start command b911 from the operation command b90
2 is transferred to the working means 903.

FIG. 10 is a flow chart showing an example of the operating procedure of the working means in the embodiment of FIG. Here, the working means 903 is applied to the object 13 to be measured.
Shall work. Further, it is assumed that the object 15 is an object existing near the object 13 and the working means 903.

Step 1001: Work input means 902
When the work instruction b 901 is input, the work instruction b
901 is transferred to the work control means 904.

Step 1002: Work control means 904
Is the object information b104 of the object 13 stored in the temporary storage means 10, the object information b904 of the work means 903 and the object information b914 of the object 15 stored in the object information storage means 11, and the work from the work input means 902. Command b
Based on 901, a motion command b902 of the working means 903 including coordinates is created, and the motion command b902, the object information b104 of the object 13, and the object information b90 of the working means 903.
4, the object information b914 of the object 15 is transferred to the graphic generation means 413.

Step 1003: The graphic generation means 413 instructs the operation command b90 from the work control means 904.
2, based on the object information b104 of the object 13, the object information b904 of the working means 903, and the object information b914 of the object 15, a graphic b410 is generated by perspective transformation and is transferred to the work display means 901.

Step 1004: Work display means 901
Is an image f from the photographing means 1 and a graphic generation means 4
The graphic b410 from 13 is superimposed and output on the screen. However, only the graphic b410 may be output.

Step 1005: The worker sees the operation of the graphic b410 of the work display means 901 which is output to the work display means 901, and judges whether or not the operation of the work means 903 is correct. If not correct, return to step 1001. If correct, go to step 1006.

Step 1006: The work input command b911 of the work means 903 is input to the work input means 902. The work input means 902 inputs the work start command b of the work means 903.
911 is transferred to the work control means 904. The work control unit 904 receives the work start command b9 from the work input unit 902.
11 is received and the operation command 902 is transferred to the work means 903. The work unit 903 executes the operation of the operation command b902 based on the operation command b902 from the work control unit 904.

However, in the operation procedure of the work means 903 shown in FIG. 10, if it is not necessary to display the object 15 on the work display means 901, the object information storage means 11 stores the object 1
5 object information b914 is read, and graphic b41
It is not necessary to generate 0.

FIG. 11 is a diagram showing an example of work using the work means in the embodiment of FIG. Where port 1
101 and 1102 have the object 13 placed at Bz. The robot arm 1103 is an example of the working unit 903, and is fixed to the wall 1104. However, robot arm 1
103 is not fixed to the wall 1104 but may be fixed to the moving body.

FIG. 12 is a diagram showing an example of instruction conversion from work instructions to operation instructions in the embodiment of FIG. 9 in the environment of FIG. In FIG. 12, "grab the object 13."
The work command b901 of the robot arm 1103 is converted into a motion command b902. In Figure 12, catch (ob
j) represents a work command "grab an object."
_{ve (x o, y o,} z o, R xo, R yo, R zo) is, "the hand position and orientation of the robot arm _{1103 (x o, y o,} z o, R xo, R yo, R
_zo ). ”, And the gripe is
The obj13 represents the object 13, and the obj13 represents the operation command "close the hand of the robot arm 1103."
(x _o13 , y _o13 , z _o13 , R _xo13 , R _yo13 , R _zo13 ) is the object 1
3 represents the position / orientation b107. Where (x
_o13 , y _o13 , z _o13 , R _xo13 , R _yo13 , R _zo13 ) are obtained from the temporary storage means 10.

FIG. 13 is a diagram showing another example of instruction conversion from a work instruction to an operation instruction in the embodiment of FIG. FIG. 13 shows an example in which the work command b901 of the robot arm 1103, “carry the object 13 to the port 1102” is converted into a motion command b902. In FIG. 13, carry (obj, port) is "carry an object to a port."
Represents the work command, gripe-off represents the motion command "open the hand of the robot arm 1103.", and port 1102 represents the platform for placing the object.
(x _p1102 , y _p1102 , z _p1102 , R _xp1102 , R _yp1102 , R
_zp1102 ) represents the position / orientation of the port 1102. Here, (x _p1102 , y _p1102 , z _p1102 , R _{xp 1102} ,
R _yp1102 and R _zp1102 ) are obtained from the object information storage means 11.

In the embodiment shown in FIG. 9, the work display means 90
Even if 1 and the graphic generation means 413 are removed,
The working means 903 can be operated. in this case,
Steps 1003 to 1005 are not executed in the operation procedure of the work unit 903 shown in FIG.

In the embodiment of FIG. 9, a plurality of photographing means 1 may be used.

In the embodiment shown in FIG. 9, the work means 903 is operated by the work command b901 without inputting the coordinate, and the work means 90 is operated.
The instruction to 3 can be easily executed. Also, the working means 903
The time for teaching can be shortened. When the embodiment of FIG. 9 is used, it is possible to immediately provide the positional information of the building component parts for the assembly / processing work by the working means 903, so that the manpower is small.

In the embodiment shown in FIG. 9, the work display means 9
By the graphic b410 output to 01, the operation of the working unit 903 can be seen in advance and the malfunction of the working unit 903 can be prevented in advance, so that the safety is improved.

In the embodiment of FIG. 9, the photographing means 1 and the work display means 901 are connected, and the image f from the photographing means 1 and the graphic b410 from the graphic generation means 413 are superimposed on the screen of the work display means 901. When output together, the operation of the working unit 903 and the operation of the graphic b410 can be compared. Therefore, it is possible to monitor whether the working unit 903 is malfunctioning, and the safety is improved. However, you may look at the display means 2 for this monitoring.

FIG. 14 is a block diagram showing the system configuration of an embodiment of an image measuring system in which the image measuring device according to the present invention is integrated with a work use creating device. The image capturing means 1 to the object body weight center position determining means 14 in this embodiment are the same as the image capturing means 1 to the object body weight center position determining means 14 in the embodiment shown in FIG. That is, in the present embodiment, in addition to the means of the photographing means 1 to the object weight / center position determining means 14 in the embodiment of FIG. 1, a work specification output means 1401 and a work specification operating means 1402.
And object information storage means 11 and work specification output means 140
1, a device equipped with work specification creating means 1403 connected to work specification operating means 1402.

The work specification output means 1401 such as a display or a printer outputs the work specification b1401 from the work specification creating means 1403. A work specification operating means 1402 such as a keyboard or a mouse is used to generate a work specification command b14.
02, the work specification creation command b1402 is transferred to the work specification creation means 1403. Work specification creation means 1
403 receives a work specification creating command b1402 from the work specification operating unit 1402, creates a work specification b1401 based on the object information b104 from the object information storage unit 11, and transfers the result to the work specification output unit 1401. To do.

FIG. 15 is a flow chart showing the procedure for creating work specifications in the embodiment of FIG. Step 1501: The work specification operating means 1402 receives the work specification creating instruction b1402 and transfers the work specification creating instruction b1402 to the work specification creating means 1403.

Step 1502: Work specification creating means 14
03 receives a work specification creation command b1402 from the work specification operation unit 1402, reads the object information b104 from the object information storage unit 11, creates a work specification b1401 based on the object information b104, and the work specification b14.
01 is transferred to the work specification output means 1401.

Step 1503: Work specification output means 14
01 is the work specification b1 from the work specification creating means 1403.
401 is output.

An example of creating work specifications for correcting the attachment position of the object 13 will be shown. Working specification creation section 1403, the position and orientation of the object 13 created by the design procedure shown in FIG. _{8 (x a, y a,} z a, R xa, R ya, R za) and the measurement method shown in FIG. 2 The position / orientation (x _b ,
y _b , z _b , R _xb , R _yb , R _zb ) and the object information storage means 1
1 is read, and the installation error of the object 13 is calculated by Equation 39 based on these pieces of information.

[0158]

[Formula 39]

If the installation error is less than the tolerance,
"No correction" is entered in the work specification b1401. If the installation error is greater than the tolerance in the xw direction,
"The object position is moved xe in the xw direction."
Fill in 401.

An example of creating a work specification for producing a pipe to be installed between two sleeves will be shown. Work specification creation means 14
03 is a sleeve sl made by the measuring method shown in FIG.
1 and the object information b104 of the sleeve sl2 are read from the object information storage means 11. Position / orientation (x _sl1 , y _sl1 , z _sl1 , R _xsl1 , R _ysl1 , R of the sleeve sl1 of radius r _sl
Zsl1) and the position and orientation of the sleeve sl2 radius _{rsl (x sl2, y sl2,} z sl2, R xs l2, R ysl2, from _R zsl2), "length in the radius r _sl connecting the sleeve sl1 and sleeve sl2 l _pi Of the pipe pi, and position / posture (x _pi , y
_pi , z _pi , R _xpi , R _ypi , R _zpi ). Work specification b1401 is created. However, lpi is given by Equation 40, and the position / orientation of the pipe pi is given by Equation 41.

[0161]

(Equation 40)

[0162]

[Formula 41]

According to the work specification creating procedure shown in FIG.
It is easy to see if the object is installed within tolerance, reducing the human resources and working time required for the inspection. When the position / orientation of the part connected to the object is measured by the method shown in FIG.
The posture is obtained. When combined with the embodiment of FIG. 4, automatic design can be realized and the design can be rationalized. Also, when combined with the embodiment of FIG. 9, the object can be installed by the working means 903, and the installation is rationalized.

The principle of pattern superposition in the present invention will be described. First, the edge pattern fm
Will be described. From the image f obtained from the photographing means 1, the edge pattern fm is obtained by the equation 42.
Here, xd = [x, y] t is a point in the image area, and Ω is a sample space. Edge pattern fm
Includes noise, and thus is expressed by Expression 43. Here, t is time, and ∂w (t, xd) / ∂t is
Position-dependent white noise, χ [•] is a feature function of function, fe is a noise-free edge pattern, T is a time domain, G is a screen domain, and tf is a positive constant. Assuming that the shape b106 of the object 13 is known, the estimated value θ * of the position / orientation b107 of the object 13 such that the equation 44 holds.
Exists. fr is a reference pattern as already described.

[0165]

(Equation 42)

[0166]

[Equation 43]

[0167]

[Equation 44]

An algorithm for superimposing the reference pattern fr on the edge pattern fm will be derived. Generally, the corresponding points of the edge pattern fm and the reference pattern fr cannot be easily compared on the screen. Because the edge pattern f
This is because the correspondence between the point on the two-dimensional screen and the three-dimensional point of the object 13 is not known at m. Therefore, using the potential field, an algorithm for superimposing the edge pattern fm and the reference pattern fr is derived. The potential field is calculated using the diffusion equation. Edge pattern f
The potential field um of m is calculated by Equation 45. The initial condition and the boundary condition are given by Equations 46 and 47, respectively. a is a positive constant. The potential field ur of the reference pattern fr is calculated by the formula 48. The initial condition and the boundary condition are given by Equations 49 and 50, respectively.

[0169]

[Equation 45]

[0170]

[Equation 46]

[0171]

[Equation 47]

[0172]

[Equation 48]

[0173]

[Equation 49]

[0174]

[Equation 50]

Next, using the position / orientation b409 of the photographing means 1 as a variable, the collation problem of overlapping the edge pattern fm and the reference pattern fr will be considered. In the vicinity of the reference pattern fr, the reference pattern fr is added to the edge pattern fm.
It is assumed that the force ψ trying to superimpose on is working.
It is considered that the force ψ is intuitively expressed by Expression 51. θ
Indicates the position / orientation b409 of the image capturing unit 1.
The position / orientation b409 of the image capturing unit 1 changes according to the displacement shown in Expression 46. W is the position / posture b4 of the photographing means 1
It is a vector field matrix that characterizes direction and speed for 09 displacement. The evaluation function is represented by Expression 53.

[0176]

(Equation 51)

[0177]

[Equation 52]

[0178]

[Equation 53]

[0179]

[Equation 54]

[0180]

[Equation 55]

For the matching problem, the evaluation function of Expression 53 is expressed by Expression 5
The position / orientation b409 of the photographing means 1 that is minimized as shown in FIG.
Is to obtain the estimated value of θ *. Here, U _ad is a permissible class. However, the allowable class is given by Expression 55. Further, Sc is a set of positions / postures b409 of the image capturing means 1 capable of capturing the object 13. From the maximum value principle of the diffusion equation, the evaluation function is non-positive and takes 0 only when θ = θ *.

When the evaluation function of Expression 53 is differentiated with respect to time and the gradient method is used, << Theorem 1 >> is obtained. << Theorem 1 >> (Convergence of the position / orientation b409 of the image capturing means 1) If the initial value and the estimated value θ * of the position / orientation b409 of the image capturing means 1 are both present in a region where the evaluation function is convex,
When the displacement of the position / orientation b409 of the image capturing unit 1 is given by Expression 56, the position / orientation b409 of the image capturing unit 1 asymptotically converges to the estimated value θ *.

[0183]

[Equation 56]

Next, θ is the position / orientation b107 of the object 13.
Assuming that the force ψc acts on the reference pattern fr near the edge pattern fm, the force ψc is intuitively expressed by Expression 57. The position / orientation b107 of the object 13 changes with the displacement shown in Expression 58. Here, Wc is a vector field matrix that characterizes the direction and speed in the displacement of the position / orientation b107 of the object 13.

According to Theorem 1, the position / orientation b1 of the object 13
07 is given by Expression 59. However, the allowable class in Expression 54 is given by Expression 60. S is a visual field area of the photographing means 1.

[0186]

[Equation 57]

[0187]

[Equation 58]

[0188]

[Equation 59]

[0189]

[Equation 60]

After all, the collation algorithm for obtaining the position / orientation b107 of the object 13 is as follows. << Algorithm >> By repeating the following steps 1 to 3,
The position / orientation b107 of the object 13 is obtained. Step 1: Using Equation 42, the edge pattern fm is obtained from the image f. Step 2: The potential field um of the edge pattern fm is obtained from the edge pattern fm using the equations 45, 46 and 47. Step 3: The displacement of the position / orientation b107 of the object 13 is calculated using Expression 59, and the position / orientation b10 of the object 13 is calculated.
Ask for 7.

Consider the movement state of an object in the image of the screen, that is, the approximation of the optical flow, which is the principle of the image measurement in the present invention.

From the equations 57, 58 and 59, the vector field matrix Wc is obtained by the equation 61.

[0193]

[Equation 61]

By using the mathematical expression 59 and the coordinate transformation from the object coordinate system to the screen coordinate system, << Theorem 2 >> can be obtained. However, the object coordinate system is the coordinate system defined on the object 13, and the screen coordinate system is the coordinate system defined on the screen of the display unit 2. << Theorem 2 >> The vector field matrix Wc can be approximately expressed by Expression 62. Here, d _k (k = 1, ..., 4) is a positive constant, (ex _x , _{y y} ) is the position of the optical axis of the image pickup means 1 on the screen, and (x _g , y _g ) is the object on the screen. The position of the center of gravity of 13.

[0195]

[Equation 62]

FIG. 16 is a diagram qualitatively showing the movement of marks within an image on a screen, which is the principle of image measurement in the present invention. That is, FIG. 16 shows a situation where the object 13 is photographed by the photographing means 1 and a mark 16 on the object 13 on the image f when the object 13 is moved.
The moving directions of 01 to 1604 are also shown together. The vector field matrix may be intuitively defined by Expression 63 depending on the moving state of the mark in the image shown in FIG. here,
dk (k = 1, ..., 8) is a positive constant.

[0197]

[Equation 63]

In the above embodiments, the target object is described as a building component, but the target object is a vehicle such as a car or a train, a cargo handling device such as a ship, an airplane, a crane, a rolling mill, a compressor, a turbine, or the like. Machine equipment, work machines such as nuclear reactors, robots, and processing machines, and components such as space stations.
In the case where the above product is manufactured by the CIM system, if the object information storage means 11 of this embodiment is a database of products managed by the CIM system, this embodiment will be C
It can be integrated into the IM system. Further, the target object may be a magnetic levitation coil to rationalize the installation of the magnetic levitation coil. Further, the target object may be an elevator to rationalize the installation / renewal of the elevator.

For example, when the target object is a cargo in the physical distribution system, the working means 903 in FIG. 9 is replaced with a cargo carrying means such as a robot. This cargo carrying means performs the operation shown in FIG. 10 (step 1003 to step 1005).
May be omitted. ) To load and unload truck loads. For this work, a person only has to instruct the work input means 902 to load and unload a load. For this reason, a person is freed from severe work, and the time required for the work can be shortened.

For example, the target object is a component of a nuclear power plant, and the working means 903 of FIG. 9 is replaced with a moving working means such as a robot. This mobile work carrying means performs repair / maintenance work in the nuclear power plant by performing the operation shown in FIG. 10 (steps 1003 to 1005 may be omitted). This work is performed by a person with work input means 9
It is only necessary to give 02 a work order to the moving work means. This frees people from dangerous work within the nuclear power plant.

[0201]

According to the present invention, there is provided a correction amount calculation means for calculating all correction amounts of the position / orientation of an object based on the potential, the reference pattern and the position of the center of gravity of the object on the display screen. Therefore, it is possible to measure all the positions and orientations of the measurement target object from one image. As a result, the measurement accuracy is improved and, for example, the overall construction accuracy of the building can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing a system configuration of an embodiment of an image measuring device according to the present invention.

FIG. 2 is a flowchart showing an example of a measurement operation in the embodiment of FIG.

FIG. 3 is a diagram showing an example of a screen display of a display unit in the embodiment of FIG.

FIG. 4 is a block diagram showing a system configuration of an embodiment of an image measuring system in which the image measuring device according to the present invention is integrated with a surveying unit and a designing unit.

FIG. 5 is a perspective view showing an example of a mounting state of the photographing means with respect to the surveying means in the embodiment of FIG.

6 is a diagram showing an example of a coordinate system defined based on a reference target in the embodiment of FIG.

FIG. 7 is a flow chart showing an example of a measuring procedure of the position / orientation of the photographing means in the embodiment of FIG.

8 is a flowchart showing an example of a design procedure in the embodiment of FIG.

FIG. 9 is a block diagram showing a system configuration of an embodiment of an image measuring system in which the image measuring device according to the present invention is integrated with a work device.

FIG. 10 is a flowchart showing an example of an operation procedure of the working means in the embodiment of FIG.

FIG. 11 is a diagram showing an example of work using the work means in the embodiment of FIG. 9;

FIG. 12 is a diagram showing an example of instruction conversion from work instructions to operation instructions in the embodiment of FIG.

FIG. 13 is a diagram showing another example of instruction conversion from work instructions to operation instructions in the embodiment of FIG.

FIG. 14 is a block diagram showing a system configuration of an embodiment of an image measuring system in which the image measuring device according to the present invention is integrated with a work use creating device.

FIG. 15 is a flowchart showing a procedure for creating work specifications in the embodiment of FIG.

FIG. 16 is a diagram qualitatively showing a mark moving state in an image on a screen, which is a principle of image measurement in the present invention.

FIG. 17 is a diagram showing the relationship between the displacement of the measurement target object and the displacement of each point on the corresponding image in the image measurement procedure of the present invention.

FIG. 18 is a diagram illustrating the principle of superposition of the measurement target object and the reference pattern.

[Brief description of reference numerals]

 DESCRIPTION OF SYMBOLS 1 Photographing means 2 Display means 3 Information correction means 4 Operation means 5 Edge pattern calculation means 6 Potential calculation means 7 Reference pattern generation means 8 Correction amount calculation means 9 Data transfer means 10 Temporary storage means 11 Object information storage means 12 Imaging parameter storage means 13 object to be measured 14 object weight / center position calculating means 400 surveying means 401 surveying operation means 402 distance measuring means 403 angle measuring means 404 surveying calculating means 405 surveying storage means 410 designing means 411 design display means 412 design inputting means 413 graphic generating means 414 designing Storage means 415 Design data transfer means 420 Reference target 421 Reference target 901 Work display means 902 Work input means 903 Work means 904 Work control means 1101 Port 1102 Port 1103 Robot arm 1 104 wall 1401 work specification output means 1402 work specification operation means 1403 work specification creation means 1601 mark 1602 mark 1603 mark 1604 mark

Claims (12)

[Claims] 1. An image of the measurement target object and a reference pattern output on the screen of the display unit based on the reference pattern and the potential generated by the image output from the image capturing unit for capturing the measurement target object. In an image processing device for superimposing and determining the position / orientation of the measurement target object, a storage unit for storing the position / orientation of the target object imaged by the imaging unit; An imaging parameter storage unit that stores the position of the optical axis of the image capturing unit on the screen of the display unit, the position / orientation of the measurement target object, and the position of the image capturing unit.
Based on the posture and the photographing magnification and the position of the optical axis of the photographing means on the screen of the display means, the position of the center of gravity of the object to be measured on the screen of the display means is calculated by perspective transformation etc. Based on the calculation means and the position of the center of gravity of the measurement target object on the screen of the display means obtained from the object weight center position calculation means, the potential and the reference pattern, all of the position and orientation of the measurement target object An image measuring device, comprising: a correction amount calculating means for calculating a parameter correction amount. 2. The image measuring device according to claim 1, wherein the correction amounts of all parameters of the position and orientation of the measurement target object obtained by the correction amount calculation means are stored in the storage means. An image measuring apparatus comprising an information correction unit that adds and corrects the position / orientation of a target object. 3. The image of the measurement target object and the reference pattern output on the screen of the display unit based on the reference pattern and the potential generated by the image output from the image capturing unit for capturing the measurement target object. In an image processing device for superimposing and determining the position / orientation of the measurement target object, a storage unit for storing the position / orientation of the target object imaged by the imaging unit; An imaging parameter storage unit that stores the position of the optical axis of the image capturing unit on the screen of the display unit, and a distance and an angle from two reference points installed at the measurement location on which the image capturing unit is mounted are measured. Calculating the position / orientation of the photographing means from the distance and the angle, and at least the position / orientation of the photographing means and the position of the optical axis of the photographing means on the screen of the display means. Means for sending the position to the imaging parameter storage means, the position / orientation of the object to be measured and the position / orientation of the imaging means.
Based on the posture and the photographing magnification and the position of the optical axis of the photographing means on the screen of the display means, the position of the center of gravity of the object to be measured on the screen of the display means is calculated by perspective transformation etc. Based on the calculation means and the position of the center of gravity of the measurement target object on the screen of the display means obtained from the object weight center position calculation means, the potential and the reference pattern, all of the position and orientation of the measurement target object An image measuring device, comprising: a correction amount calculating means for calculating a parameter correction amount. 4. The image measuring device according to claim 3, wherein the correction amounts of all parameters of the position / orientation of the measurement target object obtained by the correction amount calculation means are stored in the storage means. An image measuring apparatus comprising an information correction unit that adds and corrects the position / orientation of a target object. 5. The image of the measurement target object and the reference pattern output on the screen of the display unit based on the reference pattern and the potential generated by the image output from the image capturing unit that captures the measurement target object. In a construction support device that displays whether or not the measurement target object is in a position / orientation as designed by overlapping, a storage unit for storing the position / orientation of the target object imaged by the imaging unit, and the imaging unit. Image pickup parameter storage means for storing the position / orientation and photographing magnification of the image pickup means and the position of the optical axis of the photographing means on the screen of the display means, and the position / orientation of the measurement target object and the position of the photographing means.
Based on the posture and the photographing magnification and the position of the optical axis of the photographing means on the screen of the display means, the position of the center of gravity of the object to be measured on the screen of the display means is calculated by perspective transformation etc. Based on the calculation means and the position of the center of gravity of the measurement target object on the screen of the display means obtained from the object weight center position calculation means, the potential and the reference pattern, all of the position and orientation of the measurement target object A correction amount calculation means for calculating the parameter correction amount, and the shape and position of the measurement target object that is the design target.
Design storage means for storing the attitude, and a data transfer command obtained from the design input means to store the shape and position / orientation of the object to be measured from the object information storage means to the design storage means or from the design storage means. Design data transfer means for transferring the shape and position / orientation of the measurement target object to the object information storage means, and correction of the shape, position / orientation of the measurement target object stored in the design storage means, and the design Design input means for sending the data transfer command to the data transfer means, and graphic generation means for generating a graphic by perspective transformation based on the shape and position / orientation of the measurement target object stored in the design storage means. And design display means for displaying the graphic obtained from the graphic generation means. Construction support equipment. 6. The construction support apparatus according to claim 5, wherein the correction amounts of all parameters of the position / orientation of the measurement target object obtained by the correction amount calculation means are stored in the storage means. A construction support apparatus comprising information correction means for adding and correcting the position / orientation of a target object. 7. The image of the measurement target object and the reference pattern output on the screen of the display unit based on the reference pattern and the potential generated by the image output from the image capturing unit that captures the measurement target object. In a construction support device that displays whether or not the measurement target object is in a position / orientation as designed by overlapping, a storage unit for storing the position / orientation of the target object imaged by the imaging unit, and the imaging unit. Of the position / orientation, the photographing magnification, and the position of the optical axis of the photographing means on the screen of the display means, and two reference values installed on the measurement place where the photographing means is mounted. Measure the distance and angle from the point, calculate the position and orientation of the photographing means from the distance and angle, and at least display the position and posture of the photographing means and the screen of the display means. Surveying means for sending the position of the optical axis of the photographing means to the imaging parameter storage means, the position / orientation of the object to be measured, and the position of the photographing means.
Based on the posture and the photographing magnification and the position of the optical axis of the photographing means on the screen of the display means, the position of the center of gravity of the object to be measured on the screen of the display means is calculated by perspective transformation etc. Based on the calculation means and the position of the center of gravity of the measurement target object on the screen of the display means obtained from the object weight center position calculation means, the potential and the reference pattern, all of the position and orientation of the measurement target object A correction amount calculation means for calculating the parameter correction amount, and the shape and position of the measurement target object that is the design target.
Design storage means for storing the attitude, and a data transfer command obtained from the design input means to store the shape and position / orientation of the object to be measured from the object information storage means to the design storage means or from the design storage means. Design data transfer means for transferring the shape and position / orientation of the measurement target object to the object information storage means, and correction of the shape, position / orientation of the measurement target object stored in the design storage means, and the design Design input means for sending the data transfer command to the data transfer means, and graphic generation means for generating a graphic by perspective transformation based on the shape and position / orientation of the measurement target object stored in the design storage means. And design display means for displaying the graphic obtained from the graphic generation means. Construction support equipment. 8. The construction support apparatus according to claim 7, wherein the correction amounts of all parameters of the position and orientation of the measurement target object obtained by the correction amount calculation means are stored in the storage means. A construction support apparatus comprising information correction means for adding and correcting the position / orientation of a target object. 9. The image of the measurement target object and the reference pattern output on the screen of the display unit based on the reference pattern and the potential generated by the image output from the image capturing unit for capturing the measurement target object. In a work equipment operating device that superimposes, obtains the position / orientation of the measurement target object, and assists the operation of the work equipment, a storage means for storing the position / orientation of the target object imaged by the imaging means; Image pickup parameter storage means for storing the position / orientation and photographing magnification of the image pickup means and the position of the optical axis of the photographing means on the screen of the display means, and the position / orientation of the measurement target object and the position of the photographing means.
Based on the posture and the photographing magnification and the position of the optical axis of the photographing means on the screen of the display means, the position of the center of gravity of the object to be measured on the screen of the display means is calculated by perspective transformation etc. Based on the calculation means and the position of the center of gravity of the measurement target object on the screen of the display means obtained from the object weight center position calculation means, the potential and the reference pattern, all of the position and orientation of the measurement target object A correction amount calculation means for calculating a correction amount of a parameter, a working means for processing / attaching the measurement target object, a work input means for inputting a work command of the working means, and the work obtained from the work input means. Based on a command and the shape and position / orientation of the measurement target object obtained from the object information storage means, A work equipment operating device, comprising: a work control unit that creates an operation command and transfers it to the work unit. 10. The work equipment operating device according to claim 9, wherein the correction amounts of all parameters of the position / orientation of the measurement target object obtained by the correction amount calculation means are stored in the storage means. A work equipment operating device comprising information correction means for adding and correcting the position and orientation of an object to be measured. 11. The image of the measurement target object and the reference pattern output on the screen of the display unit based on the reference pattern and the potential generated by the image output from the image capturing unit for capturing the measurement target object. In a work equipment operating device that superimposes, obtains the position / orientation of the measurement target object, and assists the operation of the work equipment, a storage means for storing the position / orientation of the target object imaged by the imaging means; and the imaging means. Image pickup parameter storage means for storing the position / orientation and photographing magnification of the image pickup means and the position of the optical axis of the photographing means on the screen of the display means, and the position / orientation of the measurement target object and the position of the photographing means.
Based on the posture and the photographing magnification and the position of the optical axis of the photographing means on the screen of the display means, the position of the center of gravity of the object to be measured on the screen of the display means is calculated by perspective transformation etc. Based on the calculation means and the position of the center of gravity of the measurement target object on the screen of the display means obtained from the object weight center position calculation means, the potential and the reference pattern, all of the position and orientation of the measurement target object A correction amount calculation means for calculating a correction amount of a parameter, a working means for processing / attaching the measurement target object, a work input means for inputting a work command of the working means, and the work obtained from the work input means. Based on a command and the shape and position / orientation of the measurement target object obtained from the object information storage means, Work control means for creating a motion command and transferring it to the work means, the work command obtained from the work control means, the motion command of the work means obtained from the work command, and the shape and position of the measurement target object.・ Based on the posture and the shape and position / posture of the working means, by perspective transformation,
A work equipment operating device comprising: a graphic generation unit that generates a graphic; and a work display unit that displays the image and the graphic in an overlapping manner. 12. The image of the measurement target object and the reference pattern output on the screen of the display unit based on the reference pattern and the potential generated by the image output from the image capturing unit for capturing the measurement target object. In a work specification creating device that superimposes, obtains the position / orientation of the measurement target object, and outputs work specifications for the measurement target object, a storage unit that stores the position / orientation of the target object photographed by the photographing unit, Imaging parameter storage means for storing the position / orientation and imaging magnification of the imaging means and the position of the optical axis of the imaging means on the screen of the display means, the position / orientation of the measurement target object and the position of the imaging means・
Based on the posture and the photographing magnification and the position of the optical axis of the photographing means on the screen of the display means, the position of the center of gravity of the object to be measured on the screen of the display means is calculated by perspective transformation etc. Based on the calculation means and the position of the center of gravity of the measurement target object on the screen of the display means obtained from the object weight center position calculation means, the potential and the reference pattern, all of the position and orientation of the measurement target object A correction amount calculation means for calculating a correction amount of a parameter, a work specification operation means for transferring a work specification creation start command to the work specification creation means, and a work specification creation start command obtained from the work specification operation means for receiving the work specification creation start command, Based on the shape and position / orientation of the measurement target object stored in the object information storage means,
A work specification creating device comprising: a work specification creating unit that creates a work specification and transfers the work specification to a work specification outputting unit; and a work specification outputting unit that outputs the work specification from the work specification creating unit.