Patent Application
20180218534
The present invention relates to a drawing creation apparatus and a drawing creation method, and particularly relates to a technique which conveniently creates a drawing of a large structure such as a bridge and a dam.
It is necessary to regularly perform an inspection on a social infrastructure such as a bridge. In a case of the inspection of the structure, a drawing such as a design drawing of the structure is necessary, however, there is a case in which a drawing is dispersed and disappeared in old structure. In this case, there is a problem that huge cost and effort are taken to measure the structure and newly create a drawing.
JP2004-272459A discloses an automatic generation device which automatically generates three-dimensional shape data with high precision with respect to a plant, building⋅road, a cultural building, and the like, by using a technique called as a laser scanning. In addition, JP2004-272459A discloses a technique for automatically combining a plurality of range images which are obtained from a plurality of measurement points.
The automatic generation device disclosed in JP2004-272459A performs a segmentation for extracting an edge and a face of a plurality of point group data having three-dimensional coordinates, and determines the three-dimensional shape on the basis of segment information which is generated by the segmentation and a predetermined function (plane equation or curved surface equation).
In addition, a method is described below as a method in which an automatic matching is performed on the plurality of range images obtained from the plurality of measurement points, and the whole range images are converted into a global coordinate system.
First, it is assumed that randomly three segments are selected from each of the range images and the three segments are corresponding segments. Next, a rotation matrix and a movement amount vector are estimated, from the corresponding segments, and a conformity degree of segments which correspond with each other in a case in which two range images are overlapped is obtained by using the estimated rotation matrix and the movement amount vector, by a unique value and a unique vector. The processing described above is performed by a combination of the whole segment, and a rotation matrix and a movement amount vector having the highest conformity degree are employed.
In addition, JP2010-236971A discloses a method in which distance images between adjacent frames are gradually connected with each other, by deploying the distance images between the adjacent frames on the same coordinate system using a rotation matrix and a translation vector between each of frames to overlap the distance images and color images such as a bridge, a road, a tunnel wall surface, and the like imaged by a three-dimensional image sensor which is loaded on a vehicle, and a three-dimensional shape of the bridge, the road, the tunnel wall surface, and the like is detected.
JP2004-272459A discloses a disadvantage that the position or the measurement direction of an accurate measurement point is required to match the positions of the plurality of range images, and such information is obtained. Therefore, the automatic generation device disclosed in JP2004-272459A does not use the information on the position or the measurement direction of the measurement point as described above, selects the plurality of (random three) segments which are present in each of the range images, estimates the rotation matrix and the movement amount vector from the corresponding segments in each of the range images, and obtains the conformity degree of the segments which correspond with each other in a case in which each of the range images is overlapped with each other by using the estimated rotation matrix and the movement amount vector, by the unique value and the unique vector.
Therefore, three or more segments corresponding to each of the range images are required to be included in each of the range images, a shape of each segment is required to have a three-dimensional shape appropriate to a predetermined function (plane equation or curved surface equation), and in a case in which the three or more segments satisfying such a condition is not present in each of the range images, the invention disclosed in JP2004-272459A is not able to be employed.
The invention disclosed in JP2010-236971A is also a method in which the position or the imaging direction of the imaging point is not detected, a translation and a rotation of a camera coordinate system is detected for each frame, and the distance image between the adjacent frames, and the like are combined (connected with each other).
In addition, the inventions disclosed in JP2004-272459A and JP2010-236971A connects a plurality of images with each other by using any rotation matrix and movement amount vector, and in a case in which the number of the connected images is increased, have a problem that an accumulation error by the connection becomes large.
The present invention is made in consideration of such circumstance, and an object of the present invention is to provide a drawing creation apparatus and a drawing creation method capable of conveniently creating a drawing of a structure such as a bridge, without generating an accumulation error by a connection of an image.
In order to achieve the object, the invention according to an aspect comprises: an outer shape acquisition unit that acquires an outer shape of an outline of the structure which is a creation target of a drawing; a distance image capture device that captures the structure, and captures distance images including annex information indicating an imaging position and an imaging direction; a distance image acquisition unit that acquires a plurality of distance images of a plurality of portions configuring the structure, the distance images being obtained by capturing by the distance image capture device; a connection processing unit that connects the distance images of the plurality of portions with each other which are acquired by the distance image acquisition unit, by using the outer shape of the structure acquired by the outer shape acquisition unit and the annex information on the distance images; and a drawing creation unit that creates the drawing of the structure from the distance images connected with each other by the connection processing unit.
According to an aspect of the present invention, the outer shape of the outline of the structure which is the creation target of the drawing is acquired. The outer shape of the outline of the structure may be, for example, in a case in which the structure is a bridge, a plane shape determined by the length and the width of the bridge. The distance image capture device captures the distance images including the annex information indicating the imaging positions and the imaging directions, which captures the structure in the plurality of imaging positions and imaging directions. The distance image acquisition unit acquires the distance images of the plurality of portions configuring the structure, which are obtained by capturing the distance image capture device. The connection processing unit connects the distance images of the plurality of portions with each other, which are acquired by the distance image acquisition unit, by using the outer shape of the structure and the annex information on the distance images. The using the annex information (imaging position and imaging direction) of the distance images may be converting the distance images into a three-dimensional coordinates of a global coordinate system. In addition, in a case in which the outer shape of the structure is expressed on the global coordinate system, it is possible to connect the distance images with each other by inserting the distance images which are converted into the global coordinate system into the outer shape of the structure of the global coordinate system thereof. In addition, the drawing creation unit automatically creates the drawing of the structure from the distance images which are connected with each other. Since the distance images are connected with each other by combining the distance images to the outer shape of the structure as described above, an accumulation error by the connection of the distance images does not occur, and it is possible to conveniently create the drawing of a large structure such as a bridge.
In the drawing creation apparatus according to another aspect of the present invention, it is preferable that the distance image capture device comprises an estimation unit that estimates the number of the times of capturing from the outer dimension of the outline of the structure, and a first notification unit that notifies a result estimated by the estimation unit.
In the drawing creation apparatus according to further another aspect of the present invention, it is preferable that the distance image capture device comprises a global positioning system and a azimuth sensor, and uses GPS information and azimuth information acquired from the global positioning system and the azimuth sensor, respectively, at the time of capturing the distance images, as the annex information indicating the imaging position and the imaging direction.
In the drawing creation apparatus according to further another aspect of the present invention, it is preferable that the distance image capture device comprises a second notification unit that notifies information indicating which position of the whole structure is captured, in a case in which the structure is captured. Therefore, in a case in which the structure is captured by dividing the capture into a plurality of times, it is possible to support the imaging position and the imaging direction.
In the drawing creation apparatus according to further another aspect of the present invention, it is preferable that the drawing creation apparatus comprises a first display unit that displays the distance images as visualization which are captured by the distance image capture device, or a second display unit that displays a visualization image acquired by a capture device which captures the visualization image of the same capture area as that of the distance image capture device. Since the visualization image is displayed by the first display unit or the second display unit, it is possible to capture the structure while viewing the visualization image.
In the drawing creation apparatus according to further another aspect of the present invention, it is preferable that the drawing creation apparatus comprises a third display unit that displays a previously-captured area where the capture of the distance images is performed with respect to the structure and a non-captured area where the capture of the distance images is not performed with respect to the structure, in a distinguishable manner. Therefore, it is possible to capture the structure so that the non-captured area of the structure is not remained.
In the drawing creation apparatus according to further another aspect of the present invention, it is preferable that the distance image capture device is a time of flight type camera. However, a three-dimensional laser scanner or a stereo camera may be used as the distance image capture device.
In the drawing creation apparatus according to further another aspect of the present invention, it is preferable that the drawing creation unit creates a diagram formed by connecting points with each other, which are seen as a contour of the structure from the distance images which are connected with each other. For example, in a case in which each pixel (distance information) of the distance image is set as the visualization image which is converted into the luminance corresponding to the distance, the change point of the luminance in the visualization image thereof is the point seen as the contour of the structure.
In the drawing creation apparatus according to further another aspect of the present invention, it is preferable that the drawing creation apparatus comprises a first manual correction unit that manually corrects the connection of the distance images of the plurality of portions by the connection processing unit. For example, the positions (specifically, imaging position and imaging direction used at the time of coordinate conversion) of the distance images are manually corrected, so that the outer shape of the structure and the visualization image of the distance image are displayed so as to overlap, and a portion corresponding to the outer shape among the distance image and the outer shape correspond with each other.
In the drawing creation apparatus according to further another aspect of the present invention, it is preferable that the drawing creation apparatus comprises a second manual correction unit that manually corrects the drawing of the structure which is created by the drawing creation unit. For example, in a case in which a portion corrupting the diagram among the created drawing, or the like is present, a correction for successively connecting the diagrams or the like is performed.
In the drawing creation apparatus according to further another aspect of the present invention, it is preferable that the drawing creation apparatus comprises a dimension appending unit that appends a dimension line and a dimension in the drawing of the structure. Since the distance images (three-dimensional information) of the whole structure are present, it is possible to obtain the distance (dimension) between random positions of the structure and append the obtained dimension in the drawing.
In the drawing creation apparatus according to further another aspect of the present invention, it is preferable that the outer shape acquisition unit acquires the outer shape of the structure from map information expressing the outer shape of the outline of the structure.
In the drawing creation apparatus according to further another aspect of the present invention, it is preferable that the map information is map information acquirable from a map information system, or map information provided by a map information provision service on the Internet.
In the drawing creation apparatus according to further another aspect of the present invention, it is preferable that the drawing creation apparatus comprises an unmanned aerial vehicle that loads the distance image capture device and a control unit that controls the unmanned aerial vehicle, and the distance image acquisition unit acquires the plurality of distance images which are obtained by capturing by the distance image capture device loaded on the unmanned aerial vehicle. It is preferable that a drone having an automatic driving function is used as the unmanned aerial vehicle.
In the drawing creation apparatus according to further another aspect of the present invention, it is preferable that the distance image capture device successively captures the distance images at a regular frame rate, and the distance image acquisition unit acquires the images of the plurality of portions used in the connection among the successively captured distance images.
A drawing creation method according to further another aspect of the present invention comprises a step of acquiring an outer shape of an outline of a structure which is a creation target of a drawing; a step of acquiring a plurality of distance images of a plurality of portions configuring the structure, which are distance images being acquired by a distance image capture device which captures the structure; a step of connecting the acquired distance images of the plurality of portions with each other, by using the acquired outer shape of the structure and annex information on the distance images; and a step of creating the drawing of the structure from the distance images which are connected with each other.
According to the present invention, since the distance images of the plurality of portions of the structure, which are captured by the distance image capture device, are connected with each other, by using the outer shape of the structure and the annex information (imaging position and imaging direction) of the distance images, and the drawing of the structure is created from the distance images which are connected with each other, an accumulation error by the connection of the images does not occur, and it is possible to conveniently create the drawing of a large structure such as a bridge.
Hereinafter, embodiments of a drawing creation apparatus and a drawing creation method according to the present invention will be described with reference to the accompanying drawings.
[Drawing Creation Apparatus]
As illustrated in
In the drawing creation apparatus of the present embodiment, the TOF 10 and the drawing creation apparatus main body 100 are separated from each other, and have a wireless communication function which enables the TOF 10 and the drawing creation apparatus main body 100 to communicate with each other. However, the drawing creation apparatus may be configured from a TOF camera integrated portable device such as a TOF camera portable information terminal, a smart phone, or a tablet terminal, and in this case, the wireless communication function is not necessary.
<TOF Camera 10>
The TOF camera 10 illustrated in
The pulse light emitting unit 22 includes a near-infrared ray light emitting diode (near-infrared LED), and generates pulse light having a regular pulse width in synchronization with a light emitting timing signal from the exposure control unit 24. In addition, the pulse light emitting unit 22 emits the pulse light on the whole capture area captured through at least image forming lens 12. Further, the pulse light emitted from the near-infrared LED of the pulse light emitting unit 22 is near-infrared ray.
The image forming lens 12 image-forms the reflection light (including reflection light of the pulse light which is emitted from the pulse light emitting unit 22 and reflected from the surface of the structure) from the subject (structure) on the distance image sensor 14.
The distance image sensor 14 is configured by a Complementary Metal-Oxide Semiconductor (CMOS) driver having a vertical driver, a horizontal driver, and the like, and a CMOS type image sensor driven by a timing generator. In addition, the distance image sensor 14 is not limited to the CMOS type, and may be an XY address type or a Charge Coupled Device (CCD) type image sensor.
It is preferable for the distance image sensor 14 to have a plurality of light receiving elements (photodiodes) arranged in a two-dimensional shape, and a band pass filter through which only a wavelength band of the pulse light of the near-infrared emitted from the pulse light emitting unit 22 passes or a visible light cut filter which removes visible light is provided on an incident side surface of the plurality of light receiving elements. Therefore, the plurality of light receiving elements of the distance image sensor 14 function as a pixel sensitive to the near-infrared ray.
The distance image sensor 14 controls the exposure period (exposure time and exposure timing) by a shutter control signal added from the exposure control unit 24. In each light receiving element of the distance image sensor 14, an electric charge corresponding to an amount of light of the incident near-infrared ray during the exposure period is accumulated. In addition, a pixel signal (analog signal corresponding to electric charge accumulated in each pixel) corresponding to the amount of incident light of the near-infrared ray from the subject is read from the distance image sensor 14.
Here, although details of the exposure control unit 24 will be described later, the exposure control unit 24 sequentially performs a first exposure control in which the pulse light is emitted from the pulse light emitting unit 22, and a difference between amounts (light receiving times of pulse lights) of exposures in corresponding light receiving elements of the distance image sensor 14 occurs according to at least the distance of subject (structure), and a second exposure control in which the whole light receiving element of the distance image sensor 14 exposes the whole pulse light which is reflected from the structure, which is the second exposure control in which the pulse light is emitted from the pulse light emitting unit 22, and the phase of an exposure start for the pulse light is different from a phase of the exposure start for the pulse light of the first exposure control.
The analog signal read from the distance image sensor 14 after the exposure control by the exposure control unit 24 is converted into a digital signal by the A/D converter 16, and maintained in the memory 19 through the interface circuit 18 which functions as an image input controller.
The memory 19 stores various types of data and the like necessary in processing in the CPU 20, and functions as a working memory of the CPU 20. In addition, the memory 19 is able to function as a recording medium which records the distance image captured by the TOF camera 10.
The operation unit 26 includes a power switch, a shutter button, a mode selection unit, and the like, and an instruction input in the operation unit 26 is added to the CPU 20.
Although descriptions of the CPU 20 will be described later, the CPU 20 has a function as a device control unit which generally controls each unit such as the exposure control unit 24 according to the instruction input in the operation unit 26, and a function as a distance image generation unit 20A.
The distance image generation unit 20A generates a three-dimensional distance image of the structure of the capture target, on the basis of a sensor output of the distance image sensor 14.
<Basic Principle of TOF Method>
Next, a basic principle for acquiring the three-dimensional distance image by the TOF camera 10 is described.
The pulse light emitted from the pulse light emitting unit 22 of the TOF camera 10 enters to a subject (structure) in a measurement area, and the pulse light reflected from the structure is image-formed (received) by the distance image sensor 14 through the image forming lens 12.
The pulse light emitting unit 22 is pulse-driven by the exposure control unit 24, however, as illustrated in
The first exposure control illustrated in
According to the first exposure control described above, in a case in which the reflection rate of the object is consistent, in a state of a comparison between the distant object T1 and the close object T2, an amount of exposure increases by the distant object T1.
The second exposure control illustrated in
According to the second exposure control described above, regardless of the distance of the object, the amount of exposure varies according to the reflection rate of the object, and it is possible to acquire information corresponding to the reflection rate of the object by the amount of exposure which is obtained by the first exposure control.
Next, as illustrated in
D=L
1
L÷2 [Expression 1]
That is, according to Expression 1, division data obtained by dividing the first data L1 by the second data L2 is calculated. The division data is data (distance information D) corresponding to a relative distance in which an influence of the reflection rate of the object is removed and an influence of the amount of light of the pulse light which is not uniform on the whole screen is removed. The distance information D is information corresponding to the time (flying time) taken for the light is emitted on the object and the reflection light thereof is received by the distance image sensor. In addition, it is possible to obtain an absolute distance of the object on the basis of the first data L1 and the second data L2.
In addition, the distance image generation unit 20A may generate the three-dimensional distance image, by acquiring the distance information D for each of all pixels of the distance image sensor 14. Here, the distance image is a two-dimensional distribution image of a distance value (distance information D) to the subject (structure) obtained by the TOF camera 10 which is the distance image capture device, and each pixel of the distance image has the distance value (distance information).
Since the distance image is not appropriate to a visualization image, in a case in which the distance image is recognized, it is necessary to convert the distance image into the visualization image. For example, each pixel (distance information) of the distance image is converted into the luminance corresponding to the distance by the CPU 20 illustrated in
In addition, in a case in which an optical finder which has a view corresponding to a capture area of the distance image by the TOF camera 10 is provided in the TOF camera 10, it is possible to identify the capture area of the distance image by the optical finder.
In
In addition, the azimuth sensor 32 is a sensor which detects azimuth information indicating the imaging direction of the TOF camera 10, and is configured by a gyro sensor, a geomagnetic sensor, and the like. Here, the imaging direction refers to an optical axis direction and a rotation angle of the optical axis of the image forming lens 12. The optical axis direction is a direction specified by a azimuth angle and an elevation angle (or depression angle). The rotation angle of the optical axis is an inclination angle around the optical axis of the camera setting a case in which the TOF camera 10 is in the horizontality as 0°. In a case in which the capture of the distance image is performed by the TOF camera 10, the CPU 20 acquires the azimuth information indicating the imaging direction of the distance image from the azimuth sensor 32.
In a case in which the capture of the distance image is performed according to a capture instruction from the operation unit 26, the CPU 20 relates and stores the distance image generated by the distance image generation unit 20A, the GPS information indicating the imaging position acquired from the GPS device 30 which is the annex information on the distance image, and the azimuth information indicating the imaging direction acquired from the azimuth sensor 32, in the memory 19.
The first communication unit 34 is a part which performs short range wireless communication or wireless communication through a network between the first communication unit 34 and the second communication unit 110 of the drawing creation apparatus main body 100 illustrated in
<Drawing Creation Apparatus Main Body 100>
The drawing creation apparatus main body 100 illustrated in
In the present example, the outer shape acquisition unit 130 acquires the outer shape of the outline of the structure which is the creation target of the drawing, from map information 170 expressing the outer shape of the outline of the structure. Here, the map information 170 is map information which may be acquired from Geographic Information System (GIS), or map information (“Google map” (registered trademark) position information acquisition page) provided by a map information provision service on Internet, and map information including additional information such as GPS information usable on a computer is preferable.
As illustrated in
The estimation unit 160 is a part which estimates the number of the times of capturing and the like by the TOF camera 10, from the outer shape of the bridge 1 acquired by the outer shape acquisition unit 130, and estimates the number of the times of capturing on the basis of the whole size (outer dimension) of the bridge 1 (structure) and the measurement area (measurement area having high reliability of measurement) by the TOF camera 10. For example, as illustrated in
Now, in
In addition, in the imaging positions P2 and P7, the reason why the capture is performed twice in each of the positive direction and the negative direction of the X axis is because an area (occlusion area) in which the object behind a back is hidden by the object in front of configuring the bridge 1 is generated, in the capture of 10 times of only the positive direction of the X axis. In order to capture the occlusion area, the capture in the negative direction of the X axis is also performed. In addition, in the whole of 10 imaging positions P1 to P10, the capture (capture of total 10×2 times) of twice in the positive direction and the negative direction of the X axis may be performed, however, in a case in which the bridge 1 is configured by a repeat of the same structure, the number of the times of capturing of one direction (negative direction) may be reduced like the present example, and an occlusion area generated by reducing the number of the times of capturing may be inferred.
The estimation unit 160 estimates the number (12 times) of the captures, the imaging positions P1 to P10, the imaging directions, and the like, as described above, and transmits an estimation result to the TOF camera 10 through the second communication unit 110 (transmitter 114).
The first communication unit 34 of the TOF camera 10 illustrated in
It is possible for a photographer to capture the distance images of the plurality of portions configuring the bridge 1 while determining the imaging position, the imaging direction, or the like on the basis of the result estimated by the estimation unit 160, which is displayed on the display unit 28 of the TOF camera 10. For example, the photographer performs the capture of the distance image of a direction designated by an arrow, by performing a shift to an imaging position of any of the imaging positions P1 to P10 or an imaging position of the vicinity thereof as illustrated in
The CPU 20 of the TOF camera 10 displays information which indicates a portion of the whole of the bridge 1 corresponding to the portion captured at this time in a case in which the structure (bridge 1) is captured, on the display unit 28 which functions as a second notification unit. For example, the CPU 20 displays the whole outer shape of the bridge 1 which is divided into 10 divisions as illustrated in
In addition, the CPU 20 displays a previously-captured area where the capture of the distance image is performed with respect to the structure (bridge 1) and a non-captured area where the capture of the distance images is not performed with respect to the structure on the display unit 28 which functions as a third display unit so that the previously-captured area and the non-captured area are distinguishable from each other. For example, the CPU 20 displays the outer shape of the whole of the bridge 1 divided into 10 divisions as illustrated in
The distance images (distance image file) are transmitted in a lump from the first communication unit 34 of the TOF camera 10 whenever the distance image is captured or after the capture of the distance images of the whole of the bridge 1 ends. A reception unit 112 of the second communication unit 110 of the drawing creation apparatus main body 100 receives the distance image file transmitted from the TOF camera 10, and stores the received distance image file in the database 120.
The connection processing unit 140 sequentially reads the distance images (12 distance images in the example illustrated in
The distance image is three-dimensional information including a diameter and a declination angle of polar coordinates space using the imaging position expressed by the GPS information as the origin. The distance information of each pixel of the distance image corresponds to the diameter, and the position of each pixel in a two-dimensional distribution image of the distance image corresponds to the declination angle. Here, the connection processing unit 140 converts the distance image expressed by the polar coordinates into xyz of triaxial orthogonal coordinates using the imaging position as the origin. For example, the z axis of the triaxial orthogonal coordinates may be used as the imaging direction (optical axis direction), and the x axis and the y axis may be used as the horizontal direction and the vertical direction of a face orthogonal to the z axis, respectively. As described above, the three-dimensional coordinates of the bridge 1 are acquired in a local coordinate system of the TOF camera 10, in which the distance image is converted into the triaxial orthogonal coordinates using the imaging position as the origin.
Then, the connection processing unit 140 converts the three-dimensional coordinates of the bridge 1 in the local coordinate system into the three-dimensional coordinates of the global coordinate system illustrated in
In this case, the coordinate value (GPS information) of the origin O of the global coordinate system and the azimuth directions of the X axis and the Y axis of the global coordinate system are known from the GPS information at the time of the acquisition of the outer shape of the bridge 1 in advance, and the coordinate value (GPS information indicating imaging position of distance image) of the origin of the local coordinate system is acquired. Therefore, it is possible to obtain a translation vector for converting the coordinate value of the local coordinate system into the coordinate value of the global coordinate system. In addition, it is possible to acquire the information (optical axis direction and rotation angle of optical axis rotation of image forming lens 12) on the imaging direction at the time of capturing the distance image, and to obtain the rotation angle of the each axis rotation of the orthogonal triaxis for converting the coordinate value of the local coordinate system into the coordinate value of the global coordinate system. Therefore, it is possible to convert the coordinate value of the local coordinate system into the coordinate value of the global coordinate system on the basis of the translation vector and the rotation angle, which are obtained by processes described above.
The connection processing unit 140 connects the distance images with each other by converting the distance images sequentially read from the database 120 into the coordinate value of the global coordinate system, by using the annex information indicating the imaging position and the imaging direction appertaining to the distance image. The distance images which are connected with each other as described above become images expressing the three-dimensional information on the whole of the bridge 1.
Ideally, it is possible to obtain the outer shape (plane shape) of the bridge 1 from the three-dimensional information on the whole of the bridge 1, and the outer shape of the bridge 1 obtained from the three-dimensional information on the whole of the bridge 1 is identical to the outer shape acquired by the outer shape acquisition unit 130. However, the outer shape of the bridge 1 obtained from the three-dimensional information on the whole of the bridge 1 is not identical to the outer shape acquired by the outer shape acquisition unit 130, due to an error of the imaging position (GPS information) positioned by the GPS device 30 and an error of the imaging direction detected by the azimuth sensor 32. The connection processing unit 140 corrects the translation vector and the rotation angle used in a case in which each distance image is converted into the coordinate value of the global coordinate system, so that the outer shape (plane shape) of the bridge 1 obtained from the three-dimensional information on the whole of the bridge 1 is identical to the outer shape acquired by the outer shape acquisition unit 130.
In addition, the connection processing unit 140 has a function of correcting the connection of the distance images of the plurality of portions by a correction instruction which is input from the first manual correction unit 180. The first manual correction unit 180 has a display unit (not shown) which displays the outer shape of the structure (bridge 1) and the visualization image of the distance images which are connected with each other, so that the outer shape of the structure (bridge 1) and the visualization image of the distance images which are connected with each other overlap, and outputs the correction instruction for correcting the positions (specifically, imaging positions (translation vector) and imaging direction (angle) at the time of the coordinate conversion) of each distance image to the connection processing unit 140, so that a portion corresponding to the outer shape among each of the distance images displayed on the display unit coincides with the outer shape. The connection processing unit 140 corrects the connection (coordinate conversion of distance image) of the distance images of the plurality of portions by the correction instruction from the first manual correction unit 180.
In addition, in a case in which an area where adjacent distance images overlap is present, the connection processing unit 140 may correct a mutual coordinate conversion so that the three-dimensional coordinate value after a coordinate conversion of the overlap area becomes the same coordinate value.
The drawing creation unit 150 creates the drawing of the structure (bridge 1) on the basis of the distance images which are connected with each other by the connection processing unit 140. The drawing creation unit 150 may create the diagram configured by connecting points seen as the contour of the bridge 1 from the distance images (three-dimensional information on the whole of the bridge 1) which are connected with each other. In addition, the three-dimensional information on the whole of the structure (bridge 1) is obtained. Therefore, it is possible to create six side views (front view, rear view, plan view, bottom view, right side view, and left side view), or create a perspective view, by for example, an orthographic drawing method.
The drawing created by the drawing creation unit 150 is related to the distance images of the plurality of portions and stored in the database 120. The drawing of the structure stored in the database 120 may be read, may be output as a print, or may be displayed on the display unit, as occasion demands.
In addition, the drawing creation unit 150 has a function of correcting the drawing of the structure (bridge 1) by the correction instruction input from the second manual correction unit 190. The second manual correction unit 190 has the display unit (not shown) which displays the drawing created by the drawing creation unit 150, and in a case in which a portion (portion corresponding to occlusion area, and the like) omitted in the drawing displayed on the display unit is present, or in a case in which an apparent error is present in the drawing, the correction instruction of the drawing by a manual is output to the drawing creation unit 150.
The dimension appending unit 152 is a part which appends a dimension line and a dimension in the drawing of the structure (bridge 1) created by the drawing creation unit 150. The dimension appending unit 152 has a display unit which displays the drawing created by the drawing creation unit 150, and may perform an instruction input of the dimension and a portion where the dimension line is input on the display unit. In addition, since the three-dimensional information on the structure is generated by the distance images which are connected with each other, in a case in which the instruction input of the portion where the dimension line is input, it is possible to automatically calculate the dimension of a configuration portion of the structure corresponding to the dimension line, and it is possible to use the calculated dimension as information which is appended in the drawing.
<Unmanned Aerial Vehicle 200>
There is a case in which it is difficult to move the TOF camera 10 to an appropriate imaging position by a hand and capture a distance image of a structure, according to a structure.
In this case, as illustrated in
The unmanned aerial vehicle 200 includes the TOF camera 10 and a communication unit (first communication unit) which wirelessly transmits the distance image captured by the TOF camera 10. In addition, in a case in which the TOF camera 10 includes the first communication unit 34 (
In addition, it is preferable that the unmanned aerial vehicle 200 further includes a capture device which captures a visualization image (live view image) of the same capture area (including substantially the same capture area) as the TOF camera 10, and a communication unit which transmits the live view image captured by the capture device to the remote operation unit 210.
The remote operation unit 210 functions as a control unit which remotely controls the unmanned aerial vehicle 200. The remote operation unit 210 includes a display unit which displays the live view image captured by the capture device of the unmanned aerial vehicle 200, and an operation unit which instructs a flight of the unmanned aerial vehicle 200 or the capture of the TOF camera 10. An operator remotely operates the unmanned aerial vehicle 200 while watching the live view image displayed on the display unit.
In addition, in a case in which the unmanned aerial vehicle 200 is the drone having the automatic driving function, the unmanned aerial vehicle 200 may include a control unit in which a flight route, the imaging position, and the like are programmed in advance, may not use the remote operation unit 210 by controlling the flight of the drone by the control unit, or may supplementary use the remote operation unit 210.
As illustrated in
The distance image is read from the IR pixel of the image sensor of the above described configuration, and it is possible to acquire the distance image which indicates the distance of the object on the basis of a signal electric charge corresponding to the near-infrared ray which is emitted from the pulse light emitting unit 22 and reflected from the object.
In addition, a visualization image generation unit (not shown) in the CPU 20 may generate a color image (visualization image) of the subject in the capture area from the image of the RGB read from the R pixel, the G pixel, and the B pixel of the above described image sensor. Each of the filters of the RGB has transmittance even to the near-infrared ray. However, each of the filters may have a structure in which corresponding R pixel, G pixel, and B pixel do not have sensitivities to the near-infrared ray. Alternatively, it is possible to generate the visualization image which does not have sensitivity to the near-infrared ray by providing an IR cut filter to each of the filters of the RGB so that the IR cut filter overlaps each of the filters. In addition, the visualization image may be generated by installing a visible light cut filter instead of the near-infrared ray filter having a band pass characteristic in
According to the image sensor of the above described configuration, it is possible to capture the distance image and the visualization image (color image) by one image sensor. In addition, in this case, it is preferable that the captured distance image and the visualization image (color image) are related to each other and stored in the database 120.
[Drawing Creation Method]
In
The estimation unit 160 establishes an imaging plan such as, the imaging position, imaging direction, and the number of the times of capturing by the TOF camera 10 from the outer shape of the structure (bridge 1) acquired by the outer shape acquisition unit 130 (step S12). The photographer performs the capture (capture of distance image) of the structure by the TOF camera 10 according to the imaging plan in step S12. The distance image acquisition unit of the drawing creation apparatus main body 100 acquires the distance images of the plurality of portions configuring the structure captured by the TOF camera 10 (step S14).
Then, the connection processing unit 140 connects the distance images of the plurality of portions with each other acquired in step S14, by using the outer shape of the structure acquired in step S10 and the annex information (imaging position and imaging direction) of each distance image (step S16).
Next, the drawing creation unit 150 creates the drawing of the structure from the distance images (three-dimensional information of the entire structure) after the connection (step S18).
The drawing of the structure created by the processes described above is made as electronic data or output as a print, and thus may be used in a repair, an inspection, and the like of the structure.
[Others]
In the present embodiment, the structure is divided by a plurality of times (for each of plurality of imaging positions) so that the distance images are captured, however, the present embodiment is not limited thereto. The distance image may be successively captured in a regular frame rate while successively changing (shifting) the imaging position, and images of the plurality of portions to be successively used may be extracted (acquired) from among the plurality of successively captured distance images.
In addition, in the present embodiment, the outer shape of the outline of the structure which is the creation target of the drawing is acquired from the map information which may be acquired from the GIS, and the like. However, for example, in a case in which information related to the outer shape of the structure such as the length, the width, and the like of a bridge is known in advance, the outer shape may be acquired from the information thereof, and may be acquired by measuring the outer shape of the structure.
Furthermore, the present embodiment is not limited to a case in which the distance image including the annex information indicating the imaging position and the imaging direction is acquired by the wireless communication from the TOF camera, and the distance image may be acquired from the TOF camera by a wired method or through a recording medium of the TOF camera.
In addition, the distance image capture device is not limited to the TOF camera, and may use a three-dimensional laser scanner or a stereo camera. Any device may be used as the distance image capture device as long as the device is a device capable of acquiring a distance image of a necessary structure.
In addition, it is obvious that the present invention is not limited to the above described embodiments, and various modifications can be made without departing from the spirit of the present invention.
10: TOF camera
12: image forming lens
14: distance image sensor
20: Central Processing Unit (CPU)
22: pulse light emitting unit
24: exposure control unit
28: display unit
30: GPS device
32: azimuth sensor
34: first communication unit
100: drawing creation apparatus main body
110: second communication unit
120: database
130: outer shape acquisition unit
140: connection processing unit
150: drawing creation unit
152: dimension appending unit
160: estimation unit
180: first manual correction unit
190: second manual correction unit
200: unmanned aerial vehicle
210: remote operation unit
| Number | Date | Country | Kind |
|---|---|---|---|
| 2015-195768 | Oct 2015 | JP | national |
The present application is a Continuation of PCT International Application No. PCT/JP2016/078452 filed on Sep. 27, 2016 claiming priority under 35 U.S.C § 119(a) to Japanese Patent Application No. 2015-195768 filed on Oct. 1, 2015. Each of the above applications is hereby expressly incorporated by reference, in their entirety, into the present application.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/JP2016/078452 | Sep 2016 | US |
| Child | 15936512 | US |
