JPH09304055A - Apparatus for measuring distance - Google Patents
Apparatus for measuring distanceInfo
- Publication number
- JPH09304055A JPH09304055A JP8140723A JP14072396A JPH09304055A JP H09304055 A JPH09304055 A JP H09304055A JP 8140723 A JP8140723 A JP 8140723A JP 14072396 A JP14072396 A JP 14072396A JP H09304055 A JPH09304055 A JP H09304055A
- Authority
- JP
- Japan
- Prior art keywords
- distance
- laser
- camera
- television camera
- irradiation point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Measurement Of Optical Distance (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、距離計測装置に関
し、特に距離測定対象物をテレビカメラで照準する画像
併用型の距離計測装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a distance measuring apparatus, and more particularly, to a distance measuring apparatus which uses an image to aim a distance measuring object with a television camera.
【０００２】[0002]
【従来の技術】測定対象である物体の距離・位置を計測
する従来の距離計測装置は、レーザ光発射装置と、この
レーザ光発射装置の近傍に設けられ、レーザ光発射装置
から発射され、測定対象で反射されたレーザ光を受ける
テレビ（ＴＶ）カメラと、このテレビカメラの映像を撮
像し、テレビカメラの照準軸を表示するモニタとを備え
ている。2. Description of the Related Art A conventional distance measuring device for measuring a distance and a position of an object to be measured is provided with a laser light emitting device and provided near the laser light emitting device. A television (TV) camera that receives a laser beam reflected by an object, and a monitor that captures an image of the television camera and displays an aiming axis of the television camera.
【０００３】特開平２−８３４１０号公報に開示されて
いる「三次元位置計測装置」を説明するための図７のブ
ロック図を参照すると、この計測装置は、レーザ光発射
装置８５と、レーザ光発射装置８５の近傍部に設けら
れ、レーザ光発射装置８５から発射され測定対象９９で
反射されたレーザ光を受けるテレビカメラ８４と、この
テレビカメラ８４の映像を撮像し、テレビカメラ８４の
照準軸を表示するテレビモニタ５６と、テレビカメラ８
４に設けられ、テレビカメラ８４を水平方向及び垂直方
向に回動させることにより、照準軸ｌを任意方向に向け
ることが可能なテレビカメラ姿勢制御装置８３と、レー
ザ光の発射とテレビカメラ８４による受光とから距離に
相当する信号を検出すると共に予め設定されたテレビカ
メラ８４の基準方向に対する水平方向及び垂直方向の回
転角に相当する各信号を検出する距離・回転角検出手段
４４と、三次元空間に仮想座標系を設定すると共に前記
各信号から仮想座標系における三次元空間に存在する測
定対象の座標を演算するコンピュータ５７とを備える。Referring to a block diagram of FIG. 7 for explaining a “three-dimensional position measuring device” disclosed in Japanese Patent Application Laid-Open No. 2-83410, this measuring device comprises a laser beam emitting device 85 and a laser beam emitting device. A television camera 84 provided in the vicinity of the emission device 85 and receiving the laser light emitted from the laser light emission device 85 and reflected by the measurement object 99; and an image of the television camera 84, and an aiming axis of the television camera 84. TV monitor 56 for displaying
4 and a television camera attitude control device 83 capable of turning the aiming axis l in an arbitrary direction by rotating the television camera 84 in the horizontal direction and the vertical direction. A distance / rotation angle detecting means 44 for detecting a signal corresponding to the distance from the light reception and detecting each signal corresponding to a horizontal and vertical rotation angle with respect to a preset reference direction of the television camera 84; And a computer 57 for setting a virtual coordinate system in the space and calculating coordinates of a measurement object existing in a three-dimensional space in the virtual coordinate system from the signals.
【０００４】テレビモニタ５６とテレビカメラ姿勢制御
装置８３との間には、位置偏差測定回路５２及び追従信
号発生回路５３が接続されている。また、測定対象の座
標を演算するコンピュータ５７が、演算装置５５内の位
置偏差測定回路５２からの信号により算定される偏位を
加算して出力する。測定対象９９までの距離は、レーザ
光の発射と反射光を受光するテレビカメラの受信タイミ
ングから求められる。A position deviation measuring circuit 52 and a follow-up signal generating circuit 53 are connected between the television monitor 56 and the television camera attitude control device 83. Further, a computer 57 for calculating the coordinates of the measurement object adds and outputs the deviation calculated by the signal from the position deviation measuring circuit 52 in the arithmetic unit 55. The distance to the measurement target 99 is obtained from the reception timing of a television camera that emits laser light and receives reflected light.
【０００５】上記構成において、テレビモニタ８４の中
心に測定対象９９がくるように、姿勢制御装置８３を駆
動し、この駆動量を計測するエンコーダ４１，４２から
ズレの水平方向回転角θ，垂直方向回転角φを検出し
て、コンピュータ５７に入力し、また距離検出装置４０
から測定対象９９までの距離もコンピュータ５７に入力
し、測定対象９９の位置を、Ｘ，Ｙ，Ｚの三軸で表示し
ている。In the above configuration, the attitude control device 83 is driven so that the object to be measured 99 is located at the center of the television monitor 84, and the horizontal rotation angle θ of the shift and the vertical direction are shifted from the encoders 41 and 42 for measuring the amount of drive. The rotation angle φ is detected and input to the computer 57.
The distance from the measurement object 99 to the measurement object 99 is also input to the computer 57, and the position of the measurement object 99 is displayed in three axes of X, Y, and Z.
【０００６】しかしながら、テレビカメラ８４の中心軸
とレーザ光発振装置８５のレーザ光とは離間しているた
め或る距離点でレーザ光を測定対象９９の照準点に正確
に照射されるように位置合わせを行うと、他のある距離
点ではテレビモニタ５６の中心からずれてしまい、その
結果、高精度の距離計測ができないという難点があるば
かりでなく、特に測定対象９９までの距離が大幅に変動
する場合には、本質的に測定誤差が大きなものとなり、
またレーザ光を絞り高精度に測定しようとすれば、上述
した離間の関係で、姿勢制御装置８３がレーザ光を永久
に追尾することになる恐れがある。また、レーザ光が赤
外線領域であれば、これをテレビモニタ５６で捕捉する
ことが難しく、レーザ光照射点を見誤る恐れがある。However, since the center axis of the television camera 84 and the laser beam of the laser beam oscillating device 85 are separated from each other, the laser beam is positioned so that the laser beam is accurately applied to the aiming point of the object 99 at a certain distance. When the alignment is performed, the distance from the center of the television monitor 56 is shifted at some other distance point. As a result, not only is there a disadvantage that high-precision distance measurement cannot be performed, but also the distance to the measurement object 99 varies greatly. In this case, the measurement error is essentially large,
If the aperture of the laser beam is to be measured with high precision, the attitude control device 83 may permanently track the laser beam due to the above-mentioned separation. If the laser light is in the infrared region, it is difficult to capture the laser light on the television monitor 56, and the laser light irradiation point may be misidentified.
【０００７】したがって、テレビカメラの撮像する画像
にレーザ反射点と同等の大きさで明るさも同じような点
が複数存在すると、どれが自己のレーザ反射点か特定す
ることが困難となるという問題がある。Therefore, if there are a plurality of points having the same size and the same brightness as the laser reflection point in the image picked up by the television camera, it is difficult to specify which of the laser reflection points is its own. is there.
【０００８】他の従来例が特開平３−１６３７００号公
報に「異常発生位置検出装置」として開示されている。
本装置は、レーザ距離計と赤外線カメラとを併用し、レ
ーザ距離計は赤外線カメラに固定し、赤外線カメラのほ
ぼ画像中心の対象物までの距離が計測できるように取り
付けている。Another conventional example is disclosed in Japanese Unexamined Patent Publication No. Hei 3-163700 as an "abnormality position detecting device".
This apparatus uses a laser range finder and an infrared camera together, and the laser range finder is fixed to the infrared camera, and is mounted so that the distance to the object substantially at the center of the image of the infrared camera can be measured.
【０００９】かかる構成では、カメラの視野中心とレー
ザ距離計の反射点とが一致するように予め軸調整を行う
必要があるが、上述した離間の関係で距離によってレー
ザの反射点が視野中心からずれてしまうため、反射点の
位置が正しく認識できないという欠点がある。In such a configuration, it is necessary to adjust the axis in advance so that the center of the field of view of the camera coincides with the reflection point of the laser rangefinder. There is a disadvantage that the position of the reflection point cannot be recognized correctly because of the deviation.
【００１０】つまり、軸調整を行う場合、予め定めた距
離に反射板を置き、その反射板上でカメラの視野中心と
反射点が一致するようにカメラと距離計の取付位置を固
定するため、測定対象物が調整時の距離よりも遠くにあ
るか、または近くにあるかにより、反射点の位置が変わ
り、カメラの照準点とレーザ反射点とが一致せず、反射
点位置を正しく認識できないという問題がある。In other words, when performing the axis adjustment, the reflector is placed at a predetermined distance, and the mounting position of the camera and the distance meter is fixed on the reflector so that the center of the field of view of the camera coincides with the reflection point. The position of the reflection point changes depending on whether the measuring object is farther or closer than the distance at the time of adjustment, and the aiming point of the camera and the laser reflection point do not match, and the reflection point position cannot be recognized correctly. There is a problem.
【００１１】即ち、レーザ距離計とテレビカメラを一つ
の雲台上の併設して、カメラが撮像する対象物までの距
離をレーザ距離計にて測定する装置において、カメラの
視野中心とレーザ距離計の光軸が一致するようなるべく
遠方に目標を置いて軸を合わせ込む調整を必要とする
が、この方法では近距離において視野中心と照射点が一
致せず、また近距離で合わせ込むと遠方でずれが生ずる
ため、レーザの照射点を正しく認識できない。That is, in a device in which a laser distance meter and a television camera are provided side by side on a single camera platform, and the distance to an object imaged by the camera is measured by the laser distance meter, the center of the field of view of the camera and the laser distance meter It is necessary to adjust the alignment by placing the target as far away as possible so that the optical axes of the two coincide.However, in this method, the center of the field of view does not coincide with the irradiation point at a short distance, and when the alignment is made at a short distance, Because of the shift, the laser irradiation point cannot be correctly recognized.
【００１２】特開平４−３１５００５号公報に開示され
ている更に他の距離計測装置は、レーザ光照射点をスク
リーンの背面に設けたカメラで撮像する構成となってい
るため、スクリーンの手前のレーザ光源体側から変位を
計測できない欠点がある。Still another distance measuring device disclosed in Japanese Patent Application Laid-Open No. Hei 4-315005 has a configuration in which a laser beam irradiation point is imaged by a camera provided on the back of the screen. There is a disadvantage that the displacement cannot be measured from the light source side.
【００１３】[0013]
【発明が解決しようとする課題】そこで、本発明の目的
は、レーザ反射点の位置を、複雑な処理をすることな
く、簡易に正しく観測者に知らせ、測定対象までの距離
が大幅に変化しても、高精度で距離が測定できる距離測
定装置を提供することにある。本発明の他の目的は、レ
ーザ反射点をテレビ画像で見誤ることがなく、レーザ光
発射位置とテレビカメラの中心画像位置とが離間してい
る点を考慮に入れて高い測定精度を確保することができ
る距離測定装置を提供することにある。SUMMARY OF THE INVENTION An object of the present invention is to simply and correctly inform an observer of the position of a laser reflection point without performing complicated processing, and the distance to the object to be measured is greatly changed. Another object of the present invention is to provide a distance measuring device capable of measuring a distance with high accuracy. Another object of the present invention is to ensure high measurement accuracy by taking into account that the laser reflection point is separated from the center image position of the television camera without causing the laser reflection point to be mistaken for the television image. It is an object of the present invention to provide a distance measuring device which can perform the distance measurement.
【００１４】[0014]
【課題を解決するための手段】上述の課題を解決するた
めに、本発明による距離計測装置は、実測目標のレーザ
光照射点を画像表示してモニタする距離計測装置におい
て、初期設定により別途算出した変位角に基づいて前記
照射点に相当する位置にマークを付して画像表示するよ
うに構成される。In order to solve the above-mentioned problems, a distance measuring apparatus according to the present invention is a distance measuring apparatus which displays an image of a laser beam irradiation point of an actual measurement target and monitors the laser light irradiation point. A mark is attached to a position corresponding to the irradiation point on the basis of the obtained displacement angle, and an image is displayed.
【００１５】ここで、前記別途変位角を算出する手段
は、モニタカメラの視野中心軸とレーザ光軸とが一致す
るところまでの距離と、モニタカメラとレーザ光照射装
置との離隔距離と、実測目標までの実測距離とを所定の
計算式に代入して変位角を得る手段であり、前記変位角
を算出する手段に加えて、実測目標のレーザ光照射点と
モニタカメラの視野中心軸との距離を算出して画像表示
する手段を備える。Here, the means for separately calculating the displacement angle includes: a distance until the center axis of the visual field of the monitor camera coincides with the laser light axis; a separation distance between the monitor camera and the laser light irradiation device; Means for obtaining a displacement angle by substituting the measured distance to the target into a predetermined calculation formula, and in addition to the means for calculating the displacement angle, the distance between the laser beam irradiation point of the measured target and the central axis of the visual field of the monitor camera. Means for calculating a distance and displaying an image is provided.
【００１５】また、本発明の他の態様による距離計測装
置は、テレビカメラと、予め定めた距離で前記テレビカ
メラの視野中心軸とレーザ照射軸とが一致するように取
り付けたレーザ距離計と、前記予め定めた距離の値を記
憶する手段と、前記レーザ距離計の計測値を記憶する手
段と、前記テレビカメラと前記レーザ距離計のレーザ光
照射装置との離隔距離を記憶する手段と、前記予め定め
た距離と前記計測距離と前記離隔距離とを用いてレーザ
照射点の位置を所定の計算式で計算する回路と、前記テ
レビカメラのビデオ信号に前記照射点を示す信号を重畳
する回路と、前記ビデオ信号を入力し、前記照射点を表
示するモニタとを備えて構成される。A distance measuring apparatus according to another aspect of the present invention includes a television camera, a laser distance meter attached so that a central axis of a field of view of the television camera coincides with a laser irradiation axis at a predetermined distance, Means for storing the value of the predetermined distance, means for storing the measured value of the laser distance meter, means for storing the separation distance between the television camera and the laser light irradiation device of the laser distance meter, A circuit that calculates the position of the laser irradiation point using a predetermined calculation formula using a predetermined distance, the measured distance, and the separation distance, and a circuit that superimposes a signal indicating the irradiation point on a video signal of the television camera. , A monitor for inputting the video signal and displaying the irradiation point.
【００１５】ここで、前記レーザ距離計と前記テレビカ
メラとを、共通の２軸旋回台に取り付け、前記レーザ距
離計からの距離データを、前記予め定めた距離を記憶す
る手段と測定対象物の測定距離記憶手段とのうちどちら
かに切り換えて出力する手段を備える。Here, the laser range finder and the television camera are mounted on a common two-axis swivel base, and distance data from the laser range finder is stored in the means for storing the predetermined distance, There is provided a means for switching and outputting to either of the measurement distance storage means.
【００１５】[0015]
【発明の実施の形態】本発明の一実施の形態を示す図１
を参照すると、本距離測定装置は、対象物までの距離を
計測するレーザ距離計２と、対象物のレーザ照射点を含
む周囲を監視するためのＴＶ（テレビジョン）カメラ１
と、テレビカメラ１をレーザ距離計２と共に２軸方向に
旋回させる２軸旋回台３と、旋回台３を駆動する２軸旋
回台駆動装置７と、レーザ距離計２から得られた測距デ
ータ等からレーザ照射点の変位角を算出する演算回路装
置４’と、この変位角を例えば、×印又は○印等で画像
表示できるようにテレビカメラ１で得られたビデオ信号
に重畳するビデオ信号合成回路装置５’と、対象物をレ
ーザ照射点と共に画像表示するモニタ６とを備える。FIG. 1 shows an embodiment of the present invention.
Referring to FIG. 1, a distance measuring apparatus includes a laser distance meter 2 for measuring a distance to an object, and a TV (television) camera 1 for monitoring the surroundings of the object including a laser irradiation point.
A two-axis swivel 3 for rotating the television camera 1 in two axial directions together with the laser distance meter 2, a two-axis swivel drive 7 for driving the swivel 3, and distance measurement data obtained from the laser distance meter 2. And an arithmetic circuit device 4 'for calculating the displacement angle of the laser irradiation point from the above, and a video signal to be superimposed on a video signal obtained by the television camera 1 so that the displacement angle can be displayed as an image, for example, with a mark x or a circle It comprises a synthesizing circuit device 5 'and a monitor 6 for displaying an image of the object together with the laser irradiation point.
【００１６】本実施形態で特徴的な点は、後述する演算
回路装置４’が、初期調整を行った後、対象物までの距
離を計測すれば、レーザ照射点の位置を正確に画像表示
できるように演算する機能を備えることである。A characteristic feature of the present embodiment is that if the arithmetic circuit device 4 'described later measures the distance to the object after performing the initial adjustment, the position of the laser irradiation point can be accurately displayed as an image. In this way.
【００１７】図１に示した距離測定装置を機能別に示す
図２のブロック図を参照すると、テレビカメラ１と、こ
のテレビカメラ１の天部又は側部に固定されたレーザ距
離計２と、テレビカメラ１をレーザ距離計２と共に水平
方向又は垂直方向に旋回させる２軸旋回台３と、旋回台
３を駆動してカメラ１を所定方向に向くように制御信号
を与える２軸旋回台駆動装置７と、レーザ測距データに
基づいてテレビカメラ１の中心位置からのずれを変位角
として計算して出力する演算回路４と、演算回路４から
の変位角を基にレーザ照射点を示す位置をビデオ信号の
中に、重畳するビデオ信号合成回路５と、合成回路５の
ビデオ信号を画像表示するモニタ６とを備える。Referring to the block diagram of FIG. 2 showing the distance measuring device shown in FIG. 1 by function, a television camera 1, a laser distance meter 2 fixed to the top or side of the television camera 1, a television A two-axis turntable 3 for turning the camera 1 together with the laser distance meter 2 in the horizontal or vertical direction, and a two-axis turntable driving device 7 for driving the turntable 3 and providing a control signal to turn the camera 1 in a predetermined direction An arithmetic circuit 4 for calculating and outputting the displacement from the center position of the television camera 1 as a displacement angle based on the laser ranging data, and a video indicating the position indicating the laser irradiation point based on the displacement angle from the arithmetic circuit 4 A video signal synthesizing circuit 5 to be superimposed on the signal and a monitor 6 for displaying an image of the video signal of the synthesizing circuit 5 are provided.
【００１８】ここで、テレビカメラ１の視野中心軸とレ
ーザ距離計２のレーザ光軸とは平行ではなく、所定の角
度に予め調整される。即ち、予め設定された距離の対象
物に対してレーザ光がカメラ１の視野中心に位置するよ
うに、モニタ６で視認しながらレーザ光軸を調整する。
この時の初期調整に使用された、予め設定された距離の
値は、基準距離メモリ回路１３に記憶され、またテレビ
カメラ１とレーザ距離計２との離隔距離は離隔距離メモ
リ回路１６に記憶される。Here, the central axis of the visual field of the television camera 1 and the laser optical axis of the laser distance meter 2 are not parallel, but are adjusted in advance to a predetermined angle. That is, the laser beam axis is adjusted while visually recognizing the monitor 6 so that the laser beam is positioned at the center of the field of view of the camera 1 with respect to the target at a preset distance.
The value of the preset distance used for the initial adjustment at this time is stored in the reference distance memory circuit 13, and the separation distance between the television camera 1 and the laser distance meter 2 is stored in the separation distance memory circuit 16. You.
【００１９】演算回路４は、レーザ距離計２に計測指令
を発する制御回路１２と、前記予め定めた距離を記憶す
る基準距離メモリ回路１３と、測定対象の距離計測値を
記憶する距離メモリ回路１４と、前記カメラ１と距離計
２との取付離隔距離を予め記憶する離間距離メモリ回路
１６と、前記回路１３内の予め定めた距離と前記回路１
４内の測定距離と前記回路１６内の離隔距離とから、レ
ーザ照射点位置の視野中心からの変位量を計算して、レ
ーザ照射点を示す信号を画像信号に重畳するビデオ信号
合成回路５に出力する変位角計算回路１５と、レーザ距
離計２からの測距データをメモリ回路１３，１４のうち
どちらかに選択出力する切換器１１とを備える。The arithmetic circuit 4 includes a control circuit 12 for issuing a measurement command to the laser distance meter 2, a reference distance memory circuit 13 for storing the predetermined distance, and a distance memory circuit 14 for storing a measured distance value of the object to be measured. A separation distance memory circuit 16 for preliminarily storing a mounting separation distance between the camera 1 and the distance meter 2; a predetermined distance in the circuit 13;
The amount of displacement of the laser irradiation point position from the center of the field of view is calculated from the measured distance in 4 and the separation distance in the circuit 16, and the video signal synthesizing circuit 5 superimposes the signal indicating the laser irradiation point on the image signal. The circuit includes a displacement angle calculation circuit 15 for outputting the data and a switch 11 for selectively outputting the distance measurement data from the laser distance meter 2 to one of the memory circuits 13 and 14.
【００２０】レーザ距離計２の初期調整要領を示す図３
の斜視図を参照すると、テレビカメラ１の中心軸２９と
共通の水平位置に光軸２７を有するレーザ距離計２と、
既知の距離に設けられた基準目標２５とが用意される。FIG. 3 showing the initial adjustment procedure of the laser rangefinder 2.
With reference to the perspective view of FIG. 1, a laser distance meter 2 having an optical axis 27 at a common horizontal position with the central axis 29 of the television camera 1,
A reference target 25 provided at a known distance is prepared.
【００２１】先ず、テレビカメラ１のカメラの視野中心
軸２９が、基準目標２５上のＸＹ軸の交点Ｏと一致させ
る。この作業は、モニタ６の画像面の中心点に交点Ｏが
来るように旋回台３を調整して行うと簡単である。First, the visual field center axis 29 of the camera of the television camera 1 is made to coincide with the intersection O of the XY axes on the reference target 25. This operation can be easily performed by adjusting the turntable 3 so that the intersection O is located at the center point of the image plane of the monitor 6.
【００２２】次に、レーザ距離計２の光軸２７を交点Ｏ
と一致するようにレーザ距離計２の取り付け位置を調整
し、点線で示す調整後の光軸２８を得る。この作業は、
図示しない微調整機構により手動で行う。このようにし
て、実測目標２６が基準目標２５より手前（左側）にあ
る場合には、中心軸２６も左側にレーザ光の照射点が存
在し、実測目標２６が基準目標２５よりも遠く（右側）
にある場合には、右側にレーザ光の照射点が存在する。
ここで、実測目標の最長距離におけるレーザ光の照射点
が、テレビカメラ１の視野外にならないように、基準目
標２５の設定距離及びテレビカメラ１とレーザ距離計２
との離隔距離が適宜設定される。また、テレビカメラ１
のレンズは、必要に応じてズームレンズや交換レンズ等
が用意されるが、レーザ光の照射点が捕捉されることが
必須要件となる。Next, the optical axis 27 of the laser distance meter 2 is
The position of the laser rangefinder 2 is adjusted so as to coincide with the above, and the adjusted optical axis 28 indicated by the dotted line is obtained. This work
This is manually performed by a fine adjustment mechanism (not shown). In this way, when the measured target 26 is located before (left side) the reference target 25, the laser beam irradiation point also exists on the left side of the central axis 26, and the measured target 26 is farther than the reference target 25 (right side). )
, The irradiation point of the laser beam exists on the right side.
Here, the set distance of the reference target 25 and the distance between the television camera 1 and the laser distance meter 2 are set so that the irradiation point of the laser beam at the longest distance of the actual measurement target does not fall outside the field of view of the television camera 1.
Is appropriately set. In addition, TV camera 1
As for the lens, a zoom lens, an interchangeable lens, and the like are prepared as necessary, but it is essential that the irradiation point of the laser beam be captured.
【００２３】レーザ距離計２から基準目標２５までの距
離は、レーザ距離計２にて計測し、これを基準距離メモ
リ回路１３に記憶する。この基準距離の測定精度を向上
させるためには、別途距離を測定し、適宜調整しておく
ことが好ましい。The distance from the laser distance meter 2 to the reference target 25 is measured by the laser distance meter 2 and stored in the reference distance memory circuit 13. In order to improve the measurement accuracy of the reference distance, it is preferable that the distance is separately measured and adjusted appropriately.
【００２４】次に、切換器１１により切り換えて実測ス
テップに移行する。実測ステップでは、２軸旋回台３に
より測定対象となる実測目標２６にテレビカメラ１を向
け、距離計測制御回路１２から計測指令を受け取ると、
切換器１１は測定値を距離メモリ回路１４に入力する。Next, the operation is switched by the switch 11 to shift to the actual measurement step. In the actual measurement step, when the television camera 1 is pointed at the actual measurement target 26 to be measured by the two-axis swivel 3 and a measurement command is received from the distance measurement control circuit 12,
The switch 11 inputs the measured value to the distance memory circuit 14.
【００２５】上述した初期設定及び実測ステップの幾何
学的構成を示す図５を参照すると、基準距離ＲＯ，離間
距離ｄが各々メモリ回路１３，１６に記憶される初期設
定が終了すると、実測ステップにおいて、目標２６の測
定距離Ｒを計測し、これをメモリ回路１４に記憶する。Referring to FIG. 5 which shows the geometrical configuration of the above-described initialization and measurement steps, when the initialization in which the reference distance RO and the separation distance d are stored in the memory circuits 13 and 16 respectively is completed, the measurement step is performed. , The measurement distance R of the target 26 is measured and stored in the memory circuit 14.
【００２６】この実測ステップは、軸調整時の基準距離
ＲＯより遠方の対象物の距離を測定する場合の例であり
レーザ照射点３１はテレビカメラ１から見て変位角αの
方向に位置する。テレビカメラ１とレーザ距離計２との
離間距離ｄと、基準距離ＲＯと、測定距離Ｒとが既に既
知であることから、変位角αは次式で示される。 α＝ｔａｎ-1｛(Ｒ−ＲＯ)ｄ／Ｒ(√ＲＯ2−√ｄ2)｝ ・・・・（１）This actual measurement step is an example of measuring the distance of an object farther than the reference distance RO at the time of axis adjustment. The laser irradiation point 31 is located in the direction of the displacement angle α when viewed from the television camera 1. Since the distance d between the television camera 1 and the laser distance meter 2, the reference distance RO, and the measurement distance R are already known, the displacement angle α is expressed by the following equation. α = tan -1 {(R- RO) d / R (√RO 2 -√d 2)} ···· (1)
【００２７】従って、変位角計算回路１５では、離隔距
離ｄを記憶しているメモリ回路１６と基準メモリ回路１
３からそれぞれ距離ｄとＲＯのデータを読み出して、ま
たメモリ回路１４から測定距離Ｒを読み出して、上記
（１）式の計算を行い、変位角αを導出する。Therefore, in the displacement angle calculation circuit 15, the memory circuit 16 storing the separation distance d and the reference memory circuit 1
3, the data of the distance d and RO are read out, and the measured distance R is read out of the memory circuit 14, and the above equation (1) is calculated to derive the displacement angle α.
【００２８】変位角αが求められると、ビデオ信号合成
回路５に出力し、テレビカメラ１のビデオ信号に変位角
αに対応する位置にマーク信号を重畳する。重畳信号が
モニタ６に出力されて、レーザ反射点の位置が表示され
る。When the displacement angle α is obtained, it is output to the video signal synthesizing circuit 5, and the mark signal is superimposed on the video signal of the television camera 1 at a position corresponding to the displacement angle α. The superimposed signal is output to the monitor 6, and the position of the laser reflection point is displayed.
【００２９】モニタ６の画像表示の一例を示す図６の平
面図を参照すると、中央部分の＋印は、カメラの視野中
心軸２９即ち照射点３０の位置２を示し、右側の○印は
実測目標２６の照射点３１の位置を示している。この○
印と＋印との離間距離は、変位角αに相当している。Referring to the plan view of FIG. 6 showing an example of the image display on the monitor 6, a plus sign in the center indicates the position 2 of the center axis 29 of the field of view of the camera, that is, the irradiation point 30, and a circle on the right indicates the actual measurement. The position of the irradiation point 31 of the target 26 is shown. This ○
The distance between the mark and the + mark corresponds to the displacement angle α.
【００３０】上記（１）式において、ＲＯ2＞＞ｄ2の場
合には、次の近似式が得られる。 α＝ｔａｎ-1｛(１／ＲＯ−１／Ｒ)ｄ ・・・・（２）In the above equation (1), when RO 2 >> d 2 , the following approximate equation is obtained. α = tan -1 ｛(1 / RO-1 / R) d (2)
【００３１】上記（２）式によれば、上記（１）式より
も演算が簡単となる利点がある。According to the above equation (2), there is an advantage that the operation is simpler than the above equation (1).
【００３２】上記（１），（２）式では、いずれも変位
角αを導出しているが、この他に画像中央と照射点３１
との距離Ｘを求め、必要に応じて画像片隅に、この距離
ｘの値を表示することも可能である。この場合のＸの値
は、次式である。 Ｘ＝（Ｒ−ＲＯ）ｄ／ＲＯ ・・・・（３）In each of the above equations (1) and (2), the displacement angle α is derived.
It is also possible to determine the distance X between the two and to display the value of the distance x at one corner of the image as needed. The value of X in this case is as follows. X = (R-RO) d / RO (3)
【００３３】以上の説明は、実測目標２６が基準目標２
５よりも遠方にある場合であるが、実測目標２６が基準
目標２５よりも近方にある場合には、上記（１），
（２），（３）式はマイナスとなるだけであり、これに
伴い図６の照射点３１は画面中央の左側に位置する。In the above description, the measured target 26 is the reference target 2
In the case where the measured target 26 is located farther than the reference target 25, the above (1),
Equations (2) and (3) are only negative, and accordingly, the irradiation point 31 in FIG. 6 is located on the left side of the center of the screen.
【００３４】上記導出式は、テレビカメラ１の視野中心
軸２９とレーザ距離計２の光軸２７とが水平位置にある
場合であるが、図４に示すように、テレビカメラ１の天
部にレーザ距離計２が固定され、中心軸２９とレーザ光
軸２８とが垂直位置にある場合も考えられる。この場合
の導出式は上記（１），（２），（３）式と共通する
が、図６の画面表示は中央部の上下方向に照射点が位置
する。The above derivation formula is based on the case where the center axis 29 of the visual field of the television camera 1 and the optical axis 27 of the laser range finder 2 are in the horizontal position, but as shown in FIG. The laser rangefinder 2 may be fixed, and the center axis 29 and the laser optical axis 28 may be in a vertical position. The derivation formula in this case is common to the above formulas (1), (2) and (3), but the irradiation point is located in the vertical direction at the center in the screen display of FIG.
【００３５】以上のように、本実施の形態によれば、基
準とする距離ＲＯにある対象物に対して、撮像カメラの
視野中心とレーザ照射点とが一致するように、カメラと
レーザ距離計を取り付け固定するが、取り付けにおいて
は撮像カメラの視野中心（通常は光学系の光軸中心）と
距離計の送光軸とは間隔があるため、この離間距離ｄと
前記基準距離ＲＯは、予めＲＯＭ等に記憶した後、実際
の測定における対象物までの測定距離Ｒと、前記離隔距
離ｄ及び基準距離ＲＯとの３つの値に成り立つ関係式か
ら、カメラの視野中心からのレーザ反射点の位置を角度
で求め、求められた変位角に対応する画像上の位置にレ
ーザ反射点を示すマークをビデオ信号合成回路で重畳す
ることにより、測定者はモニタに表示されたマークから
レーザの照射点を確認でき、このため視認だけによる照
射点の確認方法と比較して、予めモニタ画面に位置マー
クが施されているため、確認作業で見誤ることなく、迅
速に行える利点がある。As described above, according to the present embodiment, the camera and the laser distance meter are set so that the center of the field of view of the imaging camera coincides with the laser irradiation point with respect to the target at the reference distance RO. However, since the center of the field of view of the imaging camera (usually the center of the optical axis of the optical system) and the light transmission axis of the distance meter have an interval, the distance d and the reference distance RO are set in advance. After being stored in a ROM or the like, the position of the laser reflection point from the center of the field of view of the camera is obtained from a relational expression that holds the three values of the measured distance R to the object in the actual measurement and the separation distance d and the reference distance RO. The angle is calculated and the mark indicating the laser reflection point is superimposed on the position on the image corresponding to the obtained displacement angle by the video signal synthesizing circuit, so that the operator can determine the laser irradiation point from the mark displayed on the monitor. Can sure, Therefore, compared with the confirmation method irradiation point by only viewing, because it is decorated with position mark in advance the monitor screen, without mistaking the confirmation work, there is an advantage that quickly performed.
【００３６】[0036]
【発明の効果】以上説明したように、本発明の距離計測
装置によれば、レーザ光を直接テレビカメラでとらえる
ことがないため、画像上に疑似反射点が現れて、実際の
反射点を特定できないという問題を回避でき、また複雑
な画像処理をすることなく、簡単な回路構成でレーザ反
射点の位置を計算でき、しかもモニタ上でその位置を表
示するので距離測定の信頼性が向上するという効果が得
られ、上述した目的が悉く達成される。As described above, according to the distance measuring apparatus of the present invention, since a laser beam is not directly captured by a television camera, a pseudo reflection point appears on an image and an actual reflection point is specified. It is possible to avoid the problem of not being able to calculate the position of the laser reflection point with a simple circuit configuration without complicated image processing, and to display the position on the monitor, which improves the reliability of distance measurement. The effects are obtained, and all the above-mentioned objects are achieved.
【図１】本発明の距離計測装置による一実施の形態の配
置を示す正面図である。FIG. 1 is a front view showing an arrangement of an embodiment by a distance measuring device of the present invention.
【図２】本発明の距離計測装置による一実施形態を機能
別に示したブロック図である。FIG. 2 is a block diagram showing an embodiment of the distance measuring device according to the present invention, by function.
【図３】初期設定要領の一例を示す斜視図である。FIG. 3 is a perspective view showing an example of an initial setting procedure.
【図４】初期設定要領の他例を示す斜視図である。FIG. 4 is a perspective view showing another example of the initial setting procedure.
【図５】初期設定と実測ステップとの幾何学的構成を示
す上面図である。FIG. 5 is a top view showing a geometric configuration of initial setting and actual measurement steps.
【図６】本発明の実施形態におけるモニタの画像表示状
態を示す平面図である。FIG. 6 is a plan view showing an image display state of a monitor according to the embodiment of the present invention.
【図７】従来の三次元位置計測装置を示すブロック図で
ある。FIG. 7 is a block diagram showing a conventional three-dimensional position measuring device.
１ テレビカメラ ２ レーザ距離計 ３ ２軸旋回台 ４ 演算回路 ４’ 演算回路装置 ５ ビデオ信号合成回路 ５’ ビデオ信号合成回路装置 ６ モニタ ７ ２軸旋回台駆動装置 １１ 切換器 １２ 距離計制御回路 １３ 基準距離メモリ回路 １４ 距離メモリ回路 １５ 変位角計算回路 １６ 離隔距離メモリ回路 ２５ 基準目標 ２６ 実測目標 ２７ 距離計の光軸 ２８ 調整後の光軸 ２９ カメラの視野中心軸 ３０，３１ 照射点 ４４ 距離・回転角検出手段 ５５ 画像処理・処理画像演算装置 ５７ コンピュータ ８３ 姿勢制御装置 DESCRIPTION OF SYMBOLS 1 Television camera 2 Laser distance meter 3 2-axis turntable 4 Arithmetic circuit 4 'Arithmetic circuit device 5 Video signal synthesizing circuit 5' Video signal synthesizing circuit device 6 Monitor 7 2-axis swivel platform drive device 11 Switching device 12 Distance meter control circuit 13 Reference distance memory circuit 14 Distance memory circuit 15 Displacement angle calculation circuit 16 Separation distance memory circuit 25 Reference target 26 Actual measurement target 27 Optical axis of distance meter 28 Optical axis after adjustment 29 Camera's visual field center axis 30, 31 Irradiation point 44 Distance / Rotation angle detection means 55 Image processing / processing image calculation device 57 Computer 83 Attitude control device
Claims (6)
モニタする距離計測装置において、初期設定により別途
算出した変位角に基づいて前記照射点に相当する位置に
マークを付して画像表示することを特徴とする距離計測
装置。1. A distance measuring apparatus for displaying and monitoring a laser beam irradiation point of an actual measurement target by displaying an image by marking a position corresponding to the irradiation point based on a displacement angle separately calculated by initial setting. A distance measuring device characterized in that:
カメラの視野中心軸とレーザ光軸とが一致するところま
での距離と、モニタカメラとレーザ光照射装置との離隔
距離と、実測目標までの実測距離とを所定の計算式に代
入して変位角を得る手段である請求項１に記載の距離計
測装置。2. The method according to claim 1, wherein the means for separately calculating the displacement angle includes: a distance until the center axis of the visual field of the monitor camera coincides with the laser light axis; a separation distance between the monitor camera and the laser light irradiation device; 2. The distance measuring device according to claim 1, wherein the distance measuring device obtains a displacement angle by substituting the measured distance up to a predetermined calculation formula.
目標のレーザ光照射点とモニタカメラの視野中心軸との
距離を算出して画像表示する手段を備えた請求項１に記
載の距離計測装置。3. The apparatus according to claim 1, further comprising: a means for calculating a distance between a laser beam irradiation point of an actual measurement target and a central axis of a visual field of a monitor camera and displaying an image in addition to the means for calculating the displacement angle. Distance measuring device.
レビカメラの視野中心軸とレーザ照射軸とが一致するよ
うに取り付けたレーザ距離計と、前記予め定めた距離の
値を記憶する手段と、前記レーザ距離計の計測値を記憶
する手段と、前記テレビカメラと前記レーザ距離計のレ
ーザ光照射装置との離隔距離を記憶する手段と、前記予
め定めた距離と前記計測距離と前記離隔距離とを用いて
レーザ照射点の位置を所定の計算式で計算する回路と、
前記テレビカメラのビデオ信号に前記照射点を示す信号
を重畳する回路と、前記ビデオ信号を入力し、前記照射
点を表示するモニタとを備えたことを特徴とする距離計
測装置。4. A television camera, a laser distance meter attached so that a center axis of a field of view of the television camera coincides with a laser irradiation axis at a predetermined distance, and means for storing the value of the predetermined distance. Means for storing a measurement value of the laser range finder, means for storing a separation distance between the television camera and a laser light irradiation device of the laser range finder, the predetermined distance, the measurement distance, and the separation distance A circuit that calculates the position of the laser irradiation point using a predetermined calculation formula using
A distance measuring device comprising: a circuit for superimposing a signal indicating the irradiation point on a video signal of the television camera; and a monitor for inputting the video signal and displaying the irradiation point.
を、共通の２軸旋回台に取り付けた請求項４に記載の距
離計測装置。5. The distance measuring apparatus according to claim 4, wherein said laser distance meter and said television camera are mounted on a common two-axis swivel.
記予め定めた距離を記憶する手段と測定対象物の測定距
離記憶手段とのうちどちらかに切り換えて出力する手段
を備えた請求項４に記載の距離計測装置。6. A means for outputting the distance data from the laser distance meter by switching to one of the means for storing the predetermined distance and the means for storing the measured distance of the object to be measured. The distance measuring device described in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8140723A JP2830839B2 (en) | 1996-05-10 | 1996-05-10 | Distance measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8140723A JP2830839B2 (en) | 1996-05-10 | 1996-05-10 | Distance measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09304055A true JPH09304055A (en) | 1997-11-28 |
| JP2830839B2 JP2830839B2 (en) | 1998-12-02 |
Family
ID=15275216
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8140723A Expired - Lifetime JP2830839B2 (en) | 1996-05-10 | 1996-05-10 | Distance measuring device |
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| Country | Link |
|---|---|
| JP (1) | JP2830839B2 (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000227963A (en) * | 1999-02-08 | 2000-08-15 | Nippon Telegr & Teleph Corp <Ntt> | Device and method for preparing image with distance information and recording medium recording program for the method |
| JP2003315442A (en) * | 2002-04-22 | 2003-11-06 | Mitsubishi Electric Corp | Position adjustment apparatus and method for vehicle- mounted radar apparatus |
| JP2004205398A (en) * | 2002-12-26 | 2004-07-22 | Nissan Motor Co Ltd | Vehicle radar device and optical axis adjustment method of radar |
| WO2014043113A1 (en) * | 2012-09-13 | 2014-03-20 | Laser Technology, Inc. | Self-aligned aiming system and technique for a laser rangefinder incorporating a retroreflector |
| KR20140045631A (en) * | 2012-10-09 | 2014-04-17 | 주식회사 히타치엘지 데이터 스토리지 코리아 | Laser range finder |
| US9354051B2 (en) | 2012-09-13 | 2016-05-31 | Laser Technology, Inc. | System and method for a rangefinding instrument incorporating pulse and continuous wave signal generating and processing techniques for increased distance measurement accuracy |
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-
1996
- 1996-05-10 JP JP8140723A patent/JP2830839B2/en not_active Expired - Lifetime
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000227963A (en) * | 1999-02-08 | 2000-08-15 | Nippon Telegr & Teleph Corp <Ntt> | Device and method for preparing image with distance information and recording medium recording program for the method |
| JP2003315442A (en) * | 2002-04-22 | 2003-11-06 | Mitsubishi Electric Corp | Position adjustment apparatus and method for vehicle- mounted radar apparatus |
| JP2004205398A (en) * | 2002-12-26 | 2004-07-22 | Nissan Motor Co Ltd | Vehicle radar device and optical axis adjustment method of radar |
| WO2014043113A1 (en) * | 2012-09-13 | 2014-03-20 | Laser Technology, Inc. | Self-aligned aiming system and technique for a laser rangefinder incorporating a retroreflector |
| US9213101B2 (en) | 2012-09-13 | 2015-12-15 | Laser Technology, Inc. | Self-aligned aiming system and technique for a laser rangefinder incorporating a retroreflector |
| US9354051B2 (en) | 2012-09-13 | 2016-05-31 | Laser Technology, Inc. | System and method for a rangefinding instrument incorporating pulse and continuous wave signal generating and processing techniques for increased distance measurement accuracy |
| US9879995B2 (en) | 2012-09-13 | 2018-01-30 | Laser Technology, Inc. | System and method for superimposing a virtual aiming mechanism with a projected system beam in a compact laser-based rangefinding instrument |
| US10145940B2 (en) | 2012-09-13 | 2018-12-04 | Laser Technology, Inc. | System and method for a rangefinding instrument incorporating pulse and continuous wave signal generating and processing techniques for increased distance measurement accuracy |
| KR20140045631A (en) * | 2012-10-09 | 2014-04-17 | 주식회사 히타치엘지 데이터 스토리지 코리아 | Laser range finder |
| US9897690B2 (en) | 2014-10-27 | 2018-02-20 | Laser Technology, Inc. | Technique for a pulse/phase based laser rangefinder utilizing a single photodiode in conjunction with separate pulse and phase receiver circuits |
| US11913829B2 (en) | 2017-11-02 | 2024-02-27 | Fluke Corporation | Portable acoustic imaging tool with scanning and analysis capability |
| EP3751313A4 (en) * | 2018-02-07 | 2021-10-13 | Naoyuki Murakami | Method for using driven measurement by tracking laser rangefinder to calculate three-dimensional drive value for device controlled by three-dimensional numerical driving |
| US11762089B2 (en) | 2018-07-24 | 2023-09-19 | Fluke Corporation | Systems and methods for representing acoustic signatures from a target scene |
| JP2021532357A (en) * | 2018-07-24 | 2021-11-25 | フルークコーポレイションFluke Corporation | Systems and methods for analyzing and displaying acoustic data |
| US11960002B2 (en) | 2018-07-24 | 2024-04-16 | Fluke Corporation | Systems and methods for analyzing and displaying acoustic data |
| US11965958B2 (en) | 2018-07-24 | 2024-04-23 | Fluke Corporation | Systems and methods for detachable and attachable acoustic imaging sensors |
| JP2022524308A (en) * | 2019-03-05 | 2022-05-02 | ウェイモ エルエルシー | Lidar transmitter / receiver alignment |
| US20230072172A1 (en) * | 2021-08-26 | 2023-03-09 | Industrial Technology Research Institute | Projection system and projection calibration method using the same |
| CN114046768A (en) * | 2021-11-10 | 2022-02-15 | 重庆紫光华山智安科技有限公司 | Laser ranging method and device, laser ranging equipment and storage medium |
| CN114046768B (en) * | 2021-11-10 | 2023-09-26 | 重庆紫光华山智安科技有限公司 | Laser ranging method, device, laser ranging equipment and storage medium |
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