Measuring apparatus, method for measuring, and program

Abstract

To provide a measuring apparatus for easily and properly measuring the size of a measurement object.SOLUTION: A measuring apparatus includes: a determination unit configured to determine, on the basis of a determination condition, whether a measurement point whose origin is set at a reference point of a depth sensor is a measurement target point on a measurement object; and a measuring unit configured to measure the size of the measurement object by using depth data of the measurement point determined to be the measurement target point.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present disclosure relates to a measurement device, a measurement method, and a program. [Background technology]

[0002] There is a technology that uses a depth sensor such as LiDAR (Light Detection and Ranging) to measure the size of an object. One example of how this technology can be used is when a delivery person visits a client's home to measure the size of a package. However, if there are other objects, such as packages waiting to be measured or furniture, near the package (measurement target), the measurement target may not be measured properly. For example, the measurement target and other objects may be recognized as a single measurement target and measured.

[0003] To properly measure the size of an object to be measured, it is sufficient to separate the object to be measured from other objects that exist near the object to be measured, but this requires the measurer to, for example, move the object to be measured or the other objects, or adjust the angle of view so that the other objects are not captured, which is time-consuming. Also, although it is possible to separate the object from other objects by performing object detection processing (deep learning) or edge detection processing using RGB images in addition to depth data, considering costs and other factors, it is desirable to complete the separation processing using depth data.

[0004] Patent Document 1 discloses an object measurement system that uses a depth map and deep learning. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-211425 Summary of the Invention [Problem to be solved by the invention]

[0006] As described above, if another object is present near the measurement target, it may not be possible to easily and appropriately measure the measurement target. Therefore, a measuring device that can easily and appropriately measure the size of the measurement target is desired.

[0007] Non-limiting examples of the present disclosure contribute to providing a measuring device, a measuring method, and a program that can easily and appropriately measure the size of an object to be measured. [Means for solving the problem]

[0008] A measuring device according to one embodiment of the present disclosure has a determination unit that determines, based on a determination condition, whether or not a measurement point is a measurement target point on a measurement target object, starting from the origin of the measurement point on a depth sensor, and a measurement unit that measures the size of the measurement target object using depth data of the measurement point determined to be the measurement target point.

[0009] A measurement method according to one embodiment of the present disclosure starts from the origin of the measurement point on the depth sensor, and determines whether the measurement point is a measurement target point on the measurement object based on a judgment condition, and measures the size of the measurement object using the depth data of the measurement point determined to be the measurement target point.

[0010] A program according to one embodiment of the present disclosure causes a processor to execute a process that starts from the origin of a measurement point on a depth sensor, determines based on a judgment condition whether the measurement point is a measurement target point on a measurement object, and measures the size of the measurement object using depth data of the measurement point that is judged to be the measurement target point.

[0011] These comprehensive or specific aspects may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium. [Effects of the Invention]

[0012] According to an embodiment of the present disclosure, the size of an object to be measured can be measured easily and appropriately.

[0013] Further advantages and benefits of an embodiment of the present disclosure will become apparent from the specification and drawings. Such advantages and / or benefits may be provided by some of the embodiments and features described in the specification and drawings, respectively, but not necessarily all of them may be provided to obtain one or more identical features. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 shows an example of how the measurement device according to the present disclosure is used. [Figure 2A] A diagram explaining an example of extraction of a measurement target [Figure 2B] A diagram explaining an example of extraction of a measurement target [Figure 3] Diagram explaining measurement points [Figure 4] Diagram explaining noise detection [Figure 5] Diagram explaining noise detection [Figure 6] FIG. 10 is a diagram illustrating the measurement target point determination process. [Figure 7] FIG. 10 is a diagram illustrating the measurement target point determination process. [Figure 8] FIG. 10 is a diagram illustrating the measurement target point determination process. [Figure 9] FIG. 10 is a diagram illustrating the measurement target point determination process. [Figure 10] FIG. 10 is a diagram illustrating the measurement target point determination process. [Figure 11] Diagram showing the operation flow of the measuring device [Figure 12] A diagram showing the detailed operation flow in S3 of Figure 11. [Figure 13] A diagram showing an example of the block configuration of a measurement device DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters or redundant explanation of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following explanation and to facilitate understanding by those skilled in the art.

[0016] The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0017] <Examples of using the measuring device> FIG. 1 is a diagram showing an example of use of a measuring device 1 according to the present disclosure. The measuring device 1 is, for example, a terminal (information processing device) such as a smartphone or tablet. The measuring device 1 includes a camera with an imaging element and a depth (distance) sensor such as a LiDAR. The depth sensor may also be referred to as a distance sensor, a three-dimensional sensor, or a depth camera. The camera and depth sensor of the measuring device 1 capture an image of a measurement target A1a, such as a parcel, in response to an operation by a user such as a delivery person. Note that object A1b is a parcel that is waiting to be measured after the measurement target A1a.

[0018] The measuring device 1 displays the subject photographed by the camera on a display. For example, the measuring device 1 displays the measurement target A1a and object A1b photographed by the camera in an area A1c on the display shown in FIG.

[0019] The measuring device 1 displays an origin setting image 1a on the display. For example, the measuring device 1 displays a cross-shaped origin setting image 1a superimposed on a camera image displayed in an area A1c of the display. The origin setting image 1a is fixedly displayed in the center of the display.

[0020] The origin setting image 1a is an image for setting the origin of the measurement point of the measurement object A1a (measurement points will be explained below in <Measurement Points>). For example, if the origin setting image 1a has a cross shape as shown in FIG. 1, the origin of the measurement point is set at the intersection of the cross shape. The origin setting image 1a is set so as to be located on the top surface of the measurement object A1a by adjusting the shooting direction of the measuring device 1 by the user.

[0021] The origin setting image 1a may be set at any position on the top surface of the measurement target A1a, but is preferably set at the center of the top surface. The origin setting image 1a is not limited to a cross shape.

[0022] The measuring device 1 measures dimensions such as width, height, and depth of the measurement object A1a based on the output data of the depth sensor. The measuring device 1 displays the width, height, and depth of the measurement object A1a to be measured on a display. For example, the measuring device 1 displays the width, height, and depth of the measurement object A1a in an area A1d of the display shown in FIG. 1. The output data of the depth sensor is, for example, three-dimensional coordinate data, and may also be referred to as depth data, point cloud data, three-dimensional data, measurement points, or distance image data. Hereinafter, the output data of the depth sensor may also be referred to as depth data.

[0023] Even if an object A1b exists near the object A1a, the measurement device 1 appropriately measures the size of the object A1a. Even if the depth data output from the depth sensor includes depth data (noise) of the object A1b, the measurement device 1 extracts the depth data of the object A1a and appropriately measures the size of the object A1a.

[0024] The object A1b is not limited to a parcel waiting to be measured after the measurement target A1a, but may be an object such as furniture or a wall.

[0025] <Extraction of measurement target> 2A and 2B are diagrams illustrating an example of extraction of a measurement object (separation from noise). FIG. 2A shows depth data (depth data including noise) output from a depth sensor. FIG. 2B shows the depth data after the processing of the present disclosure is applied. As shown in FIG. 2B, according to the present disclosure, noise is removed and depth data of the measurement object is extracted.

[0026] <Measurement point> Fig. 3 is a diagram illustrating measurement points, showing a measurement point A3a of the depth sensor and a measurement target A3b as viewed from the imaging direction (optical axis) of the depth sensor.

[0027] The depth sensor has measurement points set in a matrix of n vertical and m horizontal points on the shooting screen (image), and outputs depth data at the set measurement points in the matrix.

[0028] For example, the example in Fig. 3 shows an example of measurement point A3a in a matrix of n = 21 and m = 17. The depth sensor outputs depth data at measurement point A3a in the 21 x 17 matrix.

[0029] An arrow A3c in Fig. 3 indicates the origin of the measurement point A3a (the origin of the measurement point coordinates). The origin of the measurement point A3a is the measurement point corresponding to the position of the origin setting image 1a shown in Fig. 1. The origin of the measurement point A3a is set by the user operating the measuring device 1, and can be set on the top surface of the object to be measured.

[0030] The measurement device 1 divides the measurement points into four quadrants with the origin of the measurement point A3a at the center. As described above, the origin of the measurement point A3a can be set by the user on the top surface of the object to be measured. Therefore, the object to be measured photographed by the depth sensor can span the first, second, third, and fourth quadrants of the measurement point coordinates, as shown in FIG.

[0031] As will be explained in the <Measurement Target Point Determination Process> below, the measurement device 1 determines whether each measurement point in each quadrant is a measurement point of the measurement target (measurement target point). For example, the measurement point within the rectangle shown in FIG. 3 is a measurement point of the measurement target A3b and is determined to be a measurement target point. The measurement device 1 measures the size of the measurement target using depth data of the measurement target point among the measurement points.

[0032] <Noise detection> Fig. 4 is a diagram for explaining noise detection, showing depth data when a rectangular parallelepiped object is photographed from the top side.

[0033] As shown in Figure 4, the distance between depth data points increases in areas that are shaded by an object. Therefore, measurement points where the distance between depth data points at adjacent measurement points is longer than the average distance between depth data points at all measurement points can be considered noise.

[0034] Fig. 5 is a diagram illustrating noise detection. Measurement point A5a shown in Fig. 4 is a measurement point that is inspected for noise. The measurement device 1 calculates the distance (depth data distance) between measurement point A5a, which is the noise inspection target, and measurement points A5b to A5e adjacent to measurement point A5a. If the calculated distance is longer than, for example, the average distance between all measurement points, the measurement device 1 determines that measurement point A5a is noise.

[0035] <Measurement target point determination process> First, the measurement device 1 sets all measurement points of the depth sensor as non-measurement points (measurement points not used for measuring the size of the measurement object). For example, the measurement device 1 sets all of the measurement points A3a shown in FIG. 3 as non-measurement points.

[0036] After setting all measurement points of the depth sensor as non-measurement target points, the measurement device 1 determines whether the measurement points satisfy the measurement target point conditions (described later). In other words, the measurement device 1 determines whether the measurement points are measurement target points.

[0037] The measuring device 1 switches the measurement points determined to be measurement target points from non-measurement target points to measurement target points. The measuring device 1 measures the size of the measurement target object using the measurement points (depth data) of the measurement target points. The measuring device 1 may assign a flag to each measurement point indicating whether it is a non-measurement target point or a measurement target point.

[0038] The measurement device 1 executes the above-described measurement point determination process in each quadrant. Since the operation of the measurement device 1 in each quadrant is the same, the operation of the measurement device 1 in the first quadrant will be described below.

[0039] 6 is a diagram for explaining the measurement target point determination process, in which the same components as those in FIG. 3 are denoted by the same reference numerals.

[0040] The parameters shown in FIG. 6 are as follows: from1: The starting position of the measurement target point from2: The starting position of the line (line: the line that passes through the measurement point) by1, by2: judgment step amount (here, 1 measurement point) to1: End position of the judgment range to2:1 line judgment range

[0041] The measurement device 1 determines whether a measurement point is a measurement target point, line by line, in the vertical or horizontal direction of the measurement point. For example, as shown by arrow A6a in FIG. 6, the measurement device 1 determines whether a measurement point is a measurement target point for each determination step amount by2, from the origin (from1, from2) toward to2. More specifically, the measurement device 1 determines that a measurement point is a measurement target point if the depth (depth data) of the measurement point being determined is higher than the floor height and is not noise (see <Noise Detection> above). Hereinafter, the condition that the depth of the measurement point is "higher than the floor height and not noise" may be referred to as the "measurement target point condition." The floor may also be considered as the surface (reference surface) on which the measurement target is placed.

[0042] When the measurement device 1 detects a measurement point that does not satisfy the measurement target point condition (the measurement point at the tip of the arrow A6a), it ends the measurement target point determination process on the line (from1) indicated by the arrow A6a. Then, the measurement device 1 performs the measurement target point determination process on the adjacent line (from1+by1).

[0043] As described above, the origin of the measurement points can be set on the top surface of the measurement object A3b. Therefore, the first measurement point on the first line of the measurement object determination process (the starting point of the line indicated by arrow A6a) satisfies the measurement object condition. The measurement device 1 determines measurement points as measurement object points, starting from the origin that satisfies the measurement object condition, that is, a measurement point on the measurement object, up to a measurement point that indicates the floor or noise (until it moves off the measurement object). This allows the measurement device 1 to easily and appropriately distinguish the measurement object from other objects and easily and appropriately measure the size of the measurement object.

[0044] 7 is a diagram for explaining the measurement target point determination process, in which the same components as those in FIG. 6 are denoted by the same reference numerals.

[0045] 7, the measurement device 1 performs measurement target point determination processing on the adjacent line indicated by arrow A7a. When the measurement device 1 determines that a measurement point (the measurement point at the tip of arrow A7a) on the line indicated by arrow A7a does not satisfy the measurement target point condition, the measurement device 1 terminates the measurement target point determination processing on the line indicated by arrow A7a. Then, the measurement device 1 performs measurement target point determination processing on the adjacent line indicated by arrow A7b.

[0046] When the measurement target point determination process is repeated while shifting the line as described above, the first measurement point on the line may move away from the measurement target A3b.

[0047] 8 is a diagram for explaining the measurement target point determination process, in which the same components as those in FIG. 7 are denoted by the same reference numerals.

[0048] As described above, there are cases where the first measurement point of the line deviates from and moves away from the measurement target A3b. For example, as shown by the starting points of arrows A8a, A8b, and A8c in FIG. 8, there are cases where the first measurement point of the line deviates from and moves away from the measurement target A3b.

[0049] If the first measurement point of the line moves away from the measurement object A3b, unnecessary measurement point determination processing may be performed. For example, the measurement point determination processing at the measurement point surrounded by the dotted frame A8d in Figure 8 can be considered unnecessary.

[0050] Therefore, in order to suppress unnecessary measurement point determination processing, the measurement device 1 determines (selects) the first measurement point of the line so that it follows the outer shape (outer frame) of the measurement object A3b.

[0051] Fig. 9 is a diagram illustrating the measurement target point determination process. In Fig. 9, the same components as in Fig. 8 are assigned the same reference numerals. As indicated by the starting points of arrows A9b, A9c, and A9d in Fig. 9, the measurement device 1 determines the first measurement point of the line so that it follows the outer shape (outer frame) of the measurement target A3b.

[0052] If the first measurement point on a line does not satisfy the measurement target point condition, the measurement device 1 adds 1 to the line start offset offsetZ (initial value 0). Then, the measurement device 1 adds 1 to offsetZ one by one until the measurement point satisfies the measurement target point condition. The measurement device 1 starts the judgment start position from2 on the next line from offsetZ.

[0053] For example, the first measurement point of the three lines indicated by arrow A9a satisfies the measurement target point condition, so offsetZ on the three lines indicated by arrow A9a is offsetZ=0.

[0054] The measurement device 1 starts the determination start position from2 of the line indicated by the arrow A9b from offsetZ(0). That is, the measurement device 1 starts the measurement target point determination process from the measurement point at the starting point of the arrow A9b.

[0055] The first measurement point on the line indicated by arrow A9b does not satisfy the measurement target point condition, so the measurement device 1 adds 1 to offsetZ (offsetZ=1).

[0056] The next measurement point on the line indicated by arrow A9b satisfies the measurement target point condition, so the measurement device 1 does not add 1 to offsetZ (offsetZ=1).

[0057] The measurement device 1 starts the determination start position from2 on the next line indicated by arrow A9c from offsetZ(1). That is, the measurement device 1 starts the measurement target point determination process from the measurement point at the starting point of arrow A9c.

[0058] The first measurement point on the line indicated by arrow A9c does not satisfy the measurement target point condition, so the measurement device 1 adds 1 to offsetZ (offsetZ=2).

[0059] The next measurement point on the line indicated by arrow A9c satisfies the measurement target point condition, so the measurement device 1 does not add 1 to offsetZ (offsetZ=2).

[0060] The measurement device 1 starts the determination start position from2 on the next line indicated by arrow A9d from offsetZ(2). That is, the measurement device 1 starts the measurement target point determination process from the measurement point at the starting point of arrow A9d.

[0061] By repeating the above process, the measurement device 1 determines the first measurement point of the line so as to follow the outer shape of the measurement object A3b.

[0062] Fig. 10 is a diagram for explaining the measurement target point determination process, in which the same components as those in Fig. 9 are denoted by the same reference numerals.

[0063] As the measurement target point determination process is repeated while shifting the line as described above, the line moves away from the measurement target A3b. That is, the line no longer passes over the measurement target A3b. When the line moves away from the measurement target A3b, the measurement device 1 ends the measurement target point determination process in the first quadrant and starts the measurement target point determination process in the next quadrant.

[0064] For example, the line indicated by arrow A10a in Fig. 10 does not pass through measurement target A3b. Therefore, when the measurement device 1 completes the measurement target point determination process for the measurement points on the line indicated by arrow A10a (measurement points indicated by arrows A10g and A10h), it completes the measurement target point determination process for the first quadrant. Then, the measurement device 1 starts the measurement target point determination process for the next quadrant.

[0065] The measuring device 1 increments the object detection counter endZ (initial value 0) when a measurement point on each line satisfies the measurement target point condition. The measuring device 1 increments the object non-detection counter no_obj (initial value 1) when a measurement point on each line does not satisfy the measurement target point condition. The measuring device 1 compares endZ (= maxZ) of the previous line with no_obj of the current line, and ends the measurement target point determination process in the first quadrant when no_obj = maxZ.

[0066] For example, the object detection counter endZ at the measurement points of the arrows A10c, A10d, A10e, and A10f on the line indicated by the arrow A10b in FIG. 10 is as follows: endZ=0 endZ=1 endZ=2 endZ=2

[0067] When the measurement device 1 ends the measurement target point determination process on the line indicated by arrow A10b, it stores the value of endZ in maxZ. Then, the measurement device 1 moves the line on which the measurement target point determination process is executed to the line indicated by arrow A10a.

[0068] The measurement device 1 executes the measurement target point determination process until no_obj=maxZ. That is, the measurement device 1 executes the measurement target point determination process until no_obj of the current line indicated by arrow A10a becomes endZ of the previous line.

[0069] For example, no_obj at the measurement points indicated by arrows A10g and A10h in FIG. 10 is as follows: no_obj=1 no_obj=2

[0070] Here, maxZ (endZ one line before) is 2. Therefore, in the example of Fig. 10, the measurement device 1 ends the measurement target point determination process at the measurement point indicated by arrow A10h, and ends the measurement target point determination process in the first quadrant.

[0071] The value of the object detection counter endZ can be considered to indicate the length of the line of the portion determined to be a measurement target point (the length of the line that overlaps with the measurement target A3b). The value of the object non-detection counter no_obj can be considered to indicate the length of the line of the portion determined not to be a measurement target point (the length of the line that does not overlap with the measurement target A3b). When a line goes outside the measurement target, it can be considered sufficient if the measurement target point determination process is executed until the length of the line (for example, the length of arrow A10a) becomes the length of the portion determined to be a measurement target point in the previous line (for example, the length of arrow A10i).

[0072] <Operation flow> 11 is a diagram showing the operation flow of the measuring device 1. The measuring device 1 displays a camera image and an origin setting image on the display (S1).

[0073] The measurement device 1 determines whether or not the measurement start button has been touched (S2).

[0074] If the measurement start button is not touched (NO in S2), the measurement device 1 shifts the process to S1.

[0075] When the measurement start button is touched (YES in S2), the measurement device 1 acquires depth data and executes a measurement target point determination process (S3).

[0076] The measuring device 1 performs a size measurement process on the measurement object (S4). The measuring device 1 performs the size measurement process on the measurement object using the measurement points determined to be measurement object points in the process of S3. The size measurement of the measurement object may be performed using existing technology.

[0077] The measuring device 1 displays the measurement result of S4 and a frame-shaped image that follows the outline of the object to be measured on the display (S5).

[0078] The measurement device 1 determines whether or not the remeasurement button has been touched (S6).

[0079] If the remeasurement button is touched (YES in S6), the measurement device 1 shifts the processing to S3.

[0080] If the remeasurement button is not touched (NO in S6), the measurement device 1 ends the processing of this flowchart.

[0081] Fig. 12 is a diagram showing a detailed operation flow in S3 of Fig. 11. The measurement device 1 sets all measurement points of the depth sensor as non-measurement points (S11).

[0082] The measurement device 1 sets, as the origin, one of the measurement points of the depth sensor that corresponds to the position of the origin setting image (S12).

[0083] The measuring device 1 divides the measurement points into four quadrants with the origin at the center (S13).

[0084] The measuring device 1 extracts measurement points to be used for measuring the size of the measurement object from the measurement points included in the n-th quadrant (S14).

[0085] The measurement device 1 determines whether or not there is a quadrant for which the extraction process of measurement target points has not been completed (S15).

[0086] If there is a quadrant for which the extraction process of measurement target points has not been completed (YES in S15), the measurement device 1 proceeds to S14.

[0087] If there is no quadrant for which the extraction process of measurement points has not been completed (NO in S15), the measuring device 1 stores the extraction results of each quadrant as measurement points to be used for measuring the size of the measurement object (S16), and then ends the process of this flowchart.

[0088] <Block configuration> Fig. 13 is a diagram showing an example block configuration of the measurement device 1. As shown in Fig. 13, the measurement device 1 has a control unit 11, a communication unit 12, an input unit 13, a display unit 14, a camera 15, a depth sensor 16, and a storage unit 17.

[0089] The control unit 11 controls the entire measurement device 1. The control unit 11 may be configured with a processor such as a CPU (central processing unit) and a GPU (Graphics Processing Unit), for example.

[0090] Control unit 11 realizes the function of measuring a measurement object such as a parcel. Control unit 11 has camera image display unit 11a, origin setting image display unit 11b, origin setting unit 11c, measurement object point determination unit 11d, size measurement unit 11e, and measurement result display processing unit 11f. Control unit 11 may realize the functions of each of the above-mentioned units by, for example, executing a program stored in storage unit 17.

[0091] The camera image display unit 11a displays an image captured by the camera 15 on a display.

[0092] The origin setting image display section 11b displays the origin setting image fixedly in the center of the display.

[0093] The origin setting unit 11c sets, as the origin, one of the measurement points of the depth sensor 16 that corresponds to the position of the origin setting image.

[0094] The measurement target point determination unit 11d determines whether or not the measurement point of the depth sensor 16 is a measurement target point in each quadrant.

[0095] The size measurement unit 11e measures the size of the object to be measured using the depth data of the measurement point determined to be the measurement target point.

[0096] The measurement result display processing unit 11f displays the size of the measurement object on the display, and also displays a frame-shaped image that conforms to the outline of the measurement object on the display.

[0097] The communication unit 12 communicates with other devices such as a server via a network, and may be configured with a transmitting unit and a receiving unit.

[0098] The input unit 13 receives signals from an input device such as a touch panel or a key input device, and outputs the signals to the control unit 11.

[0099] The display unit 14 displays an image on a display based on data output from the control unit 11.

[0100] The camera 15 is, for example, a complementary metal oxide semiconductor (CMOS) image sensor or a charge coupled device (CCD) image sensor.

[0101] The depth sensor 16 is, for example, a depth sensor such as a LiDAR.

[0102] The storage unit 17 stores an operating system (OS) program and application programs executed by the control unit 11. The storage unit 17 also stores various data and measurement results required for processing by the control unit 11. The storage unit 17 may be, for example, a solid state drive (SSD), a random access memory (RAM), a flash memory, a read only memory (ROM), and / or a hard disk drive (HDD). There may be one storage unit 17 or multiple storage units 17.

[0103] <Summary of the embodiment> As described above, the measuring device 1 starts from the origin of the measurement point on the depth sensor and determines whether the measurement point is a measurement target point on the measurement target based on the measurement target point conditions. The measuring device 1 measures the size of the measurement target using the depth data of the measurement point determined to be a measurement target point. This allows the measuring device 1 to easily and appropriately measure the size of the measurement target.

[0104] For example, if the origin setting image is set on the top surface of the measurement object, a measurement point on the measurement object is set as the origin. Starting from the origin, which is a measurement point on the measurement object, the measuring device 1 determines measurement points as measurement object points up to a measurement point indicating the floor or noise (until it moves off the measurement object). This allows the measuring device 1 to easily and appropriately distinguish the measurement object from other objects, and to easily and appropriately measure the size of the measurement object.

[0105] <Variation 1> Although the origin setting image is fixedly displayed in the center of the display of the measurement device 1 in the above embodiment, the present invention is not limited to this. The origin setting image may be moved and displayed in response to, for example, a touch-and-drag operation by the user.

[0106] <Variation 2> The measuring device 1 may transmit the measured size of the object to a server via a network. The server may be, for example, a server managed by a delivery company.

[0107] Although the embodiments have been described above with reference to the drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims. It is understood that such modifications or alterations also fall within the technical scope of the present disclosure. Furthermore, the components in the embodiments may be combined in any manner without departing from the spirit of the present disclosure.

[0108] In the above-described embodiments, the notation "... part" used for each component may be replaced with other notations such as "... circuitry," "... assembly," "... device," "... unit," or "... module."

[0109] The present disclosure can be realized by software, hardware, or software linked to hardware. Each functional block used in the description of the above embodiments may be partially or entirely realized as an LSI, which is an integrated circuit, and each process described in the above embodiments may be partially or entirely controlled by a single LSI or a combination of LSIs. The LSI may be composed of individual chips, or may be composed of a single chip that includes some or all of the functional blocks. The LSI may have data input and output. Depending on the degree of integration, the LSI may be called an IC, system LSI, super LSI, or ultra LSI.

[0110] The integrated circuit method is not limited to LSI, but may be realized by a dedicated circuit, a general-purpose processor, or a dedicated processor. Also, a field programmable gate array (FPGA) that can be programmed after LSI manufacturing, or a reconfigurable processor that can reconfigure the connections and settings of circuit cells within the LSI, may be used. The present disclosure may be realized as digital processing or analog processing.

[0111] Furthermore, if an integrated circuit technology that can replace LSI emerges due to advances in semiconductor technology or other derivative technologies, it is natural that such technology may be used to integrate functional blocks. The application of biotechnology, etc. is also a possibility. [Industrial Applicability]

[0112] The present disclosure is useful for measuring the size of an object to be measured, such as a parcel delivered. [Explanation of symbols]

[0113] 1. Measuring equipment 1a Origin setting image A1a Measurement object 11 Control section 11a Camera image display section 11b Origin setting image display area 11c Origin setting section 11d Measurement target point determination unit 11e Size measurement section 11f Measurement result display processing section 12 Communications Department 13 Input section 14 Display section 15 Camera 16 Depth Sensor 17 Memory section

Claims

1. a determination unit that determines whether the measurement point is a measurement target point on the measurement target based on a determination condition, using an origin of the measurement point of the depth sensor as a starting point; a measurement unit that measures the size of the measurement object using depth data of the measurement point determined to be the measurement object point; A measuring device having:

2. an image display unit that displays an origin setting image superimposed on a camera image; an origin setting unit that sets a measurement point corresponding to a position of the origin setting image among measurement points of the depth sensor as the origin; The measurement device of claim 1 further comprising:

3. the determination unit determines a measurement point that is higher than a reference plane and is not noise as the measurement target point; The measuring device according to claim 1 .

4. the determination unit determines, line by line, whether the measurement point is the measurement target point; The measuring device according to claim 1 .

5. When the measurement point at the start point of the one line is not the measurement target point, the determination unit determines the measurement point at the start point of the one line so as to be along the outer shape of the measurement target.

5. The measuring device according to claim 4.

6. the determination unit divides the measurement points of the depth sensor into four quadrants and determines whether the measurement points are on the object to be measured in each quadrant. The measuring device according to claim 1 .

7. the determination unit determines, line by line, in one quadrant, whether or not the measurement point is the measurement target point, and when the one line falls outside the measurement target, determines, line by line, in the next quadrant, whether or not the measurement point is the measurement target point; The measuring device according to claim 6.

8. Using the origin of the measurement point of the depth sensor as a starting point, determine whether the measurement point is a measurement target point on the measurement target based on a determination condition; measuring the size of the measurement object using depth data of the measurement point determined to be the measurement object point; Measurement method.

9. The processor Using the origin of the measurement point of the depth sensor as a starting point, determine whether the measurement point is a measurement target point on the measurement target based on a determination condition; measuring the size of the measurement object using depth data of the measurement point determined to be the measurement object point; A program that executes a process.

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