Wide angle camera device and measurement system

Abstract

Provided are a wide-angle camera device having a wide angle of view in which distortion in a peripheral portion of an image is small and degradation of resolution is small, and a measurement system capable of acquiring an image including three-dimensional point cloud data. The wide-angle camera device comprises a plurality of cameras 2a and 2b. The cameras 2a and 2b respectively include imaging lens rear groups 10a and 10b as objective lenses, imaging lens front groups 11a and 11b as image forming lenses, prisms 6a and 6b optically coupling the imaging lens rear groups and the imaging lens front groups, and image sensors 8a and 8b optically receiving images formed by the imaging lens rear groups. The plurality of cameras are integrated by the prisms being bonded to each other or in close contact with each other. Viewing angles of adjacent cameras partially overlap each other. The entrance pupil positions Oa and Ob of the camera are respectively formed between the imaging lens front group and the prism. The intersection point of the optical axes is a camera origin O.

Description

Technical Field

[0001] This invention relates to a wide-angle camera device for acquiring images with a wide field of view, and a measurement system for acquiring point cloud data by a laser scanner and combining the point cloud data with images to obtain an image including three-dimensional coordinates. Background Technology

[0002] Examples of measuring devices used to acquire shape or three-dimensional point cloud data of an object under test include laser scanners.

[0003] Laser scanners can acquire point cloud data over a wide range. By acquiring 3D point cloud data, laser scanners can measure the 3D shape of an object over a broad range. Furthermore, laser scanners acquire images of the object and combine these images with point cloud data to create images that include 3D coordinates. As a result, the understanding and visualization of measurement results are improved.

[0004] Wide-angle cameras are used to acquire images that cover the measurement range of a laser scanner. Typically, wide-angle cameras have a wide-angle lens, such as a fisheye lens, and capture images over a wide range, such as 180° or more. However, when an image is captured by a wide-angle lens, the peripheral portions of the image experience increased distortion or reduced resolution.

[0005] Therefore, when images are combined with point cloud data, the pixels of the image deviate significantly from the corresponding measurement points of the point cloud in the surrounding area, and the coloring accuracy and resolution of the point cloud data with the image are degraded.

[0006] Existing technical documents Patent documents Patent document 1: JP2023-509137T Summary of the Invention

[0007] The problem the invention aims to solve The present invention provides a wide-angle camera device and a measurement system. The wide-angle camera device has a wide field of view, wherein the distortion in the peripheral portion of the image is small and the resolution degradation is minimal. The measurement system is capable of acquiring images including three-dimensional point cloud data.

[0008] Solution for solving the problem This invention relates to a wide-angle camera device comprising multiple cameras. Each of the multiple cameras includes a rear imaging lens group as an objective lens, a front imaging lens group as an image-forming lens, a prism configured to optically couple the rear imaging lens group and the front imaging lens group, and an image sensor configured to optically receive the image formed by the rear imaging lens group. The prisms are engaged or in close contact with each other to integrate the multiple cameras. The viewing angles of adjacent cameras partially overlap each other. The entrance pupil position of each camera is formed between the front imaging lens group and the prism. The intersection of the optical axes is the camera origin.

[0009] Furthermore, in the wide-angle camera device according to the invention, the wide-angle camera device includes two cameras. A prism has a reflective surface, and the optical axis of the camera is deflected by the reflective surface. A rear imaging lens group is disposed on one of the deflected optical axes, and a front imaging lens group is disposed on the other of the deflected optical axes. The prisms of the two cameras are integrated by engaging or closely contacting each other through the reflective surfaces.

[0010] Furthermore, in the wide-angle camera device according to the invention, the wide-angle camera device includes three cameras arranged in the same plane. The central prism of the central camera has a three-dimensional shape formed by six surfaces. The optical axis of the central camera passes directly through the prism. The prisms of the other two cameras have reflective surfaces configured to deflect the optical axes of the cameras respectively. The three cameras are integrated by means of the reflective surfaces of the other two cameras being engaged or in close contact with two opposing surfaces of the central prism respectively.

[0011] Furthermore, in the wide-angle camera device according to the invention, the wide-angle camera device includes a plurality of cameras arranged radially at predetermined angular intervals in the same plane. The planar shape of the prism of each camera is trapezoidal, and the plurality of cameras are integrated by sequentially engaging or closely contacting each other through prisms that are adjacent to each other.

[0012] Furthermore, in the wide-angle camera device according to the invention, the prism has a reflective surface, and the reflective surface deflects the optical axis of the camera in a direction perpendicular to the same plane.

[0013] Furthermore, in the wide-angle camera device according to the invention, the optical axes of adjacent cameras are opposite to each other through the deflection direction of the reflective surface.

[0014] Furthermore, the present invention relates to a measurement system comprising any one of the aforementioned wide-angle camera devices and a measuring device mounted on a tripod. The wide-angle camera device is integrated into the measuring device. The measuring device has a machine center, and the wide-angle camera device has a camera origin. The measuring device is rotatable about a centerline passing through the camera origin, and the offset distance between the machine center and the camera origin is known.

[0015] Furthermore, in the measurement system according to the present invention, the measuring device includes: a ranging unit configured to emit ranging light and receive reflected ranging light reflected from the object to be measured; a rotation unit configured to emit ranging light; a vertical rotation drive unit configured to rotate the rotation unit in a vertical direction; a measuring device body including the rotation unit; a horizontal rotation drive unit configured to rotate the measuring device body in a horizontal direction; an angle measuring unit configured to detect the emission direction of the ranging light; and a calculation control unit configured to control the driving of the vertical rotation drive unit and the horizontal rotation drive unit, and to calculate three-dimensional point cloud data based on the light reception result of the reflected ranging light and the detection result of the angle measuring unit. Based on the offset distance, the calculation control unit converts the point cloud data into point cloud data with the camera origin as a reference, and combines the converted point cloud data with a wide-angle image acquired by a wide-angle camera device.

[0016] Furthermore, in the measurement system according to the invention, a wide-angle camera device is disposed on the side surface of the measurement device.

[0017] Furthermore, in the measurement system according to the invention, a wide-angle camera device is disposed on the upper surface of the measurement device.

[0018] Invention Effects This invention provides multiple cameras, each camera including a rear imaging lens group as an objective lens, a front imaging lens group as an image-forming lens, a prism configured to optically couple the rear and front imaging lens groups, and an image sensor configured to optically receive the image formed by the rear imaging lens group. The prisms are joined or in close contact with each other to integrate the multiple cameras, the viewing angles of adjacent cameras partially overlap, the entrance pupil position of each camera is formed between the front imaging lens group and the prism, and the intersection of the optical axes is the camera origin. Using this configuration, wide-angle images with no or substantially no parallax can be acquired.

[0019] Furthermore, the present invention provides a measurement system comprising any one of the aforementioned wide-angle camera devices and a measuring device mounted on a tripod. The wide-angle camera device is integrated into the measuring device, which has a machine center and a camera origin. The measuring device is rotatable about a centerline passing through the camera origin, and the offset distance between the machine center and the camera origin is known. Using this configuration, wide-angle or full panoramic images with no or minimal parallax can be acquired, and excellent results can be achieved in combining point cloud data with the wide-angle or full panoramic images based on known relationships. Attached Figure Description

[0020] Figure 1 This is a diagram of the optical system of the wide-angle camera device according to the first embodiment. Figure 2 This is a schematic diagram of the configuration of a wide-angle camera device. Figure 3 This is a diagram illustrating the optical system of a wide-angle camera device according to a modified example of the first embodiment. Figure 4 This is a diagram illustrating the optical system of a wide-angle camera device according to a second embodiment. Figure 5 This is a diagram illustrating the optical system of a wide-angle camera device according to a modified example of the second embodiment. Figure 6(A) is a diagram showing the optical system of the wide-angle camera device according to the third embodiment, Figure 6(B) is a view seen from arrow A in Figure 6(A), and Figure 6(C) is a view seen from arrow B in Figure 6(B). Figure 7 This is an external view of the measurement system according to the fourth embodiment. Figure 8 This is a schematic diagram of the configuration of the measurement system according to the fourth embodiment. Figure 9 This is an explanatory diagram showing the main parts of the measurement system according to the fourth embodiment. Detailed Implementation

[0021] Embodiments of the present invention will now be described with reference to the accompanying drawings.

[0022] Figure 1 This is a diagram of a wide-angle camera device according to a first embodiment of the present invention.

[0023] Notice, Figure 1 The optical system of a wide-angle camera device is shown, but structures such as housings for accommodating the optical system and retaining members for holding the optical components are not shown.

[0024] According to the first embodiment, the wide-angle camera device 1 includes an imaging unit 2, which includes two cameras, namely a first camera 2a and a second camera 2b.

[0025] The optical axes 4a and 4b of the first and second cameras 2a and 2b are arranged in the same plane (vertical plane) and intersect each other at a 90° angle, and prisms 6a and 6b are disposed at the intersection of the optical axes 4a and 4b. Prisms 6a and 6b are engaged or in close contact with each other at their reflective surfaces. Note that the term "close contact" includes both a state of physical contact and a state with a small gap between the two objects.

[0026] The optical axis 4a of the first camera 2a and the optical axis 4b of the second camera 2b are deflected at right angles away from each other through the reflecting surfaces of prisms 6a and 6b, respectively, and the angle formed by the deflected optical axes 4a and 4b (hereinafter referred to as deflected optical axes 4a' and 4b') is 90°.

[0027] The intersection of optical axis 4a and optical axis 4b is the camera origin O of wide-angle camera device 1, and the camera origin O is located on the reflective surfaces of prisms 6a and 6b.

[0028] The first and second cameras 2a and 2b are arranged symmetrically with respect to the reflective surface.

[0029] First, the first camera 2a will be described.

[0030] The image sensor 8a, the IR cutoff filter 9a, and the imaging lens rear group 10a, which serves as an image forming lens, are disposed on the optical axis 4a, one of the optical axes of the first camera 2a, which is deflected by the reflective surface.

[0031] Imaging sensor 8a is a CCD or CMOS sensor, which is an assembly of pixels, and the position of each pixel can be identified on imaging sensor 8a. For example, each pixel has pixel coordinates with the center of imaging sensor 8a as the origin, and the position of each pixel on imaging sensor 8a can be identified by pixel coordinates. Note that the position through which the optical axis 4a passes can be set as the origin.

[0032] The imaging lens front group 11a, which serves as the objective lens, is positioned on the optical axis 4a' of the other optical axis of the first camera 2a, which is deflected by the reflective surface.

[0033] The imaging lens front group 11a is positioned as close as possible to the prism 6a. In the figure, the imaging lens front group 11a is positioned to be in close contact with the incident surface 7a of the prism 6a.

[0034] exist Figure 1 In the diagram, Oa represents the entrance pupil position of the first camera 2a. The entrance pupil position Oa is located between the incident surface 7a and the front group 11a of the imaging lens.

[0035] With the imaging lens front group 11a in close contact with the incident surface 7a of the prism 6a, the distance between the entrance pupil position Oa and the camera origin O can be minimized. The distance between the entrance pupil position Oa and the camera origin O is known.

[0036] When used alone, the first camera 2a has a vertical field of view of approximately 90° to 110°, for example, 96° as shown in the figure.

[0037] The second camera 2b has a similar configuration to the first camera 2a. The image sensor 8b, the IR cutoff filter 9b, and the rear imaging lens group 10b are disposed on the optical axis 4b of the second camera 2b, and the front imaging lens group 11b is disposed on the deflected optical axis 4b'.

[0038] Similar to the first camera 2a, the front group 11a of the imaging lens is also configured to be in close contact with the incident surface 7b of the prism 6b, and the distance between the entrance pupil position Ob of the second camera 2b and the camera origin O is minimized and known.

[0039] When used alone, the second camera 2b also has a vertical field of view of approximately 90° to approximately 110°, for example, 96° as shown in the figure.

[0040] The viewpoints of the first camera 2a and the second camera 2b are set to partially overlap each other in the boundary portion, and the overlapping viewpoints are appropriately selected based on the viewpoints of each camera, the combined viewpoints required by the wide-angle camera device 1, the shading accuracy, resolution, etc., but are typically about 0° to 15°.

[0041] Therefore, the combined field of view of the first and second cameras 2a and 2b is set to cover a range of 135° to 200° in the vertical direction.

[0042] The front groups 11a and 11b of the imaging lenses are respectively configured to be in close contact with the surfaces of the prisms 6a and 6b of the adjacent front groups 11a and 11b. Therefore, adjacent portions of the front groups 11a and 11b of the imaging lenses may interfere with each other.

[0043] In this case, the adjacent portions of the front imaging lens groups 11a and 11b undergo appropriate processing, such as cutting, chamfering, or stepping, to prevent interference between the front imaging lens groups 11a and 11b (see...). Figure 1 Part A in the middle.

[0044] Note that, needless to say, when processing the front groups 11a and 11b of the imaging lens, the shape of the portion to be cut and the portion to be cut are selected so as not to impair the optical function of the front groups 11a and 11b of the imaging lens.

[0045] Image sensors 8a and 8b are located at a known position relative to the camera origin O.

[0046] The optical characteristics of the front groups 11a and 11b of the imaging lens are set such that the horizontal viewing angles of the front groups 11a and 11b are approximately 50° to 150°, respectively.

[0047] Therefore, the angle of view of the wide-angle camera device 1 is approximately 135° to 200° in the vertical direction and approximately 50° to 150° in the horizontal direction.

[0048] Subsequently, light incident from the front group 11a of the imaging lens is reflected by the prism 6a, passes through the rear group 10a of the imaging lens and the IR cutoff filter 9a, and forms an image on the image sensor 8a.

[0049] Furthermore, the background light incident from the front group 11b of the imaging lens is reflected by the prism 6b, passes through the rear group 10b of the imaging lens and the IR cut-off filter 9b, and forms an image on the image sensor 8b.

[0050] Therefore, an image with a vertical viewing angle of 96° and a horizontal viewing angle of 50° to 150° acquired by the first camera 2a is formed on the image sensor 8a, and an image with a vertical viewing angle of 96° and a horizontal viewing angle of 50° to 150° acquired by the second camera 2b is formed on the image sensor 8b.

[0051] Furthermore, the deflection optical axes 4a' and 4b' have a known relationship, and the vertical viewing angles of the first camera 2a and the second camera 2b overlap each other at angles ranging from 0° to 15° in the boundary portion. Therefore, based on the known relationship between the deflection optical axes 4a' and 4b' and the overlapping portion of the images, the images acquired by the image sensors 8a and 8b can be easily combined.

[0052] Therefore, the wide-angle camera device 1 can acquire wide-angle images with a vertical viewing angle of 135° to 200° and a horizontal viewing angle of 50° to 150°.

[0053] Furthermore, although the wide-angle camera device 1 has a wide field of view, with a vertical field of view of 135° to 200° and a horizontal field of view of 50° to 150°, the first and second cameras 2a and 2b each have a vertical field of view of 96° and a horizontal field of view of 50° to 150°. Therefore, compared to a wide-angle camera that can capture images at the field of view of the wide-angle camera device 1 even when used alone, the wide-angle camera device 1 can suppress distortion and resolution degradation in the peripheral parts of the image.

[0054] Furthermore, since the distances between the entrance pupil positions Oa and Ob and the camera origin O are small, the parallax between the first and second cameras 2a and 2b is small. Therefore, when the images from the first and second cameras 2a and 2b are combined (especially for objects at short distances), pixel-to-pixel deviations can be suppressed, thereby improving resolution.

[0055] Figure 2 A schematic configuration of the wide-angle camera device 1 is shown.

[0056] The wide-angle camera device 1 includes an imaging control unit 12 that controls imaging by the first and second cameras 2a and 2b and performs image processing, a camera storage unit 13, and a camera communication unit 14.

[0057] As the imaging control unit 12, a CPU, general-purpose CPU, embedded CPU, or microprocessor specifically designed for this embodiment may be used, for example. As the camera storage unit 13, a semiconductor memory such as RAM, ROM, flash ROM, or DRAM may be used.

[0058] The imaging control unit 12 performs imaging control and synchronization control of the first and second cameras 2a and 2b, and further performs image processing such as compositing of the images acquired by the first and second cameras 2a and 2b to create wide-angle images.

[0059] Camera storage unit 13 stores programs required for acquiring wide-angle images, such as imaging control programs and image processing programs. Camera storage unit 13 also stores image data acquired by the first and second cameras 2a and 2b, as well as the acquired wide-angle images.

[0060] The camera communication unit 14 transmits the created wide-angle image to another device, such as a personal computer or measuring device. Note that the camera communication unit 14 can be omitted when the wide-angle camera device 1 is used alone.

[0061] When using the wide-angle camera device 1 according to the first embodiment, the horizontal direction can be fixed, and a wide-angle image in only one direction can be acquired. Alternatively, the wide-angle camera device 1 can rotate horizontally about a vertical line passing through the camera origin O to acquire a complete panoramic image.

[0062] In acquiring a complete panoramic image, the wide-angle camera device 1 rotates intermittently in the horizontal direction by a predetermined angular step. Images are captured at each step, while simultaneously overlapping each other between steps, and the captured images are combined. This paper determines the predetermined angular step based on the selected horizontal viewing angles of the first and second cameras 2a and 2b, the viewing angles at which the images overlap in the horizontal direction (overlapping viewing angles), the desired image resolution, and the desired shading accuracy.

[0063] Figure 3 A modified example of the first embodiment is shown. Note that, in Figure 3 In the figure, the same reference numerals are attached to the same reference numerals. Figure 1 Those equivalent parts in the text.

[0064] Similar to the first embodiment, this modified example includes two cameras, namely first and second cameras 2a and 2b. However, the optical axis 4a of the first camera 2a is deflected by 100° by prism 6a', and the optical axis 4b of the second camera 2b is deflected by 100° by prism 6b', such that the angle formed between the deflected optical axes 4a' and 4b' is 80°.

[0065] Note that the angle of optical axis 4a relative to the incident surface of prism 6a' is 90°, and the angle of deflection of optical axis 4a' relative to the incident surface of prism 6a' is also 90°. Similarly, the angle of optical axis 4b relative to the incident surface of prism 6b' is 90°, and the angle of deflection of optical axis 4b' relative to the incident surface of prism 6b' is also 90°.

[0066] Similarly, in this embodiment, needless to say, the adjacent portions of the front imaging lens groups 11a and 11b are appropriately processed by cutting, chamfering, stepping, etc., to prevent interference between the front imaging lens groups 11a and 11b.

[0067] In the modified example, by setting the deflection angles of prisms 6a' and 6b' to 100°, the angle between the deflection optical axes 4a' and 4b' is reduced, and the vertical viewing angle of the wide-angle camera device 1 is also reduced. Furthermore, the deflection angles of prisms 6a' and 6b' can be reduced to, for example, 80°. In this case, the angle between the deflection optical axes 4a' and 4b' is increased, and the vertical viewing angle of the wide-angle camera device 1 is also increased.

[0068] On the other hand, by increasing the deflection angles of the deflection axes 4a' and 4b', which are deflected by prisms 6a' and 6b' respectively, the size of the wide-angle camera device 1 in the depth direction decreases, while its size in the vertical direction increases. Therefore, the deflection angles of prisms 6a' and 6b' are appropriately selected according to the required design specifications of the camera.

[0069] Figure 4 A second embodiment is shown.

[0070] In the second embodiment, the wide-angle camera device 1 includes three cameras, namely a first camera 2a, a second camera 2b and a third camera 2c, which are arranged in the same plane.

[0071] In the second embodiment, the first and second cameras 2a and 2b have configurations similar to those in the first embodiment. Note that in Figure 4 In the figure, the same reference numerals are attached to the same reference numerals. Figure 1 Those equivalent parts in the text.

[0072] The first to third cameras, 2a to 2c, are arranged in the vertical direction.

[0073] The third camera 2c is positioned in the center, and the first and second cameras 2a and 2b are symmetrically positioned above and below the third camera 2c, respectively. The optical axis 4c of the third camera 2c, the optical axis 4a of the first camera 2a, and the optical axis 4b of the second camera 2b exist in the same vertical plane.

[0074] The third camera 2c will be described.

[0075] The third camera 2c includes a front imaging lens group 11c, a prism 6c, a rear imaging lens group 10c, an IR cutoff filter 9c, and an image sensor 8c, which are linearly arranged on the optical axis 4c. The front imaging lens group 11c and the rear imaging lens group 10c are optically coupled to each other through the prism 6c.

[0076] The front imaging lens group 11c has a similar configuration to the front imaging lens groups 11a and 11b, and the rear imaging lens group 10c has a similar configuration to the rear imaging lens groups 10a and 10b.

[0077] The prism 6c has a three-dimensional shape formed by six flat surfaces. In this embodiment, the prism 6c has a cuboid shape with six surfaces orthogonal to each other, and the upper and lower surfaces, as well as the front and rear surfaces, are parallel to each other.

[0078] The prism 6a of the first camera 2a is engaged or in close contact with one of the opposing surfaces of the prism 6c (i.e., the upper surface of the prism 6c), and the prism 6b on the side of the second camera 2b is engaged or in close contact with the other opposing surface (i.e., the lower surface of the prism 6c). The optical axis 4c of the third camera 2c is perpendicular to the front and rear surfaces of the prism 6c.

[0079] Prism 6c has no deflection effect on the optical axis 4c, and the optical path length of prism 6c is the same as that of prisms 6a and 6b. Therefore, the first to third cameras 2a to 2c have similar optical performance.

[0080] The prism 6a of the first camera 2a deflects the optical axis 4a to a right angle, and the prism 6b of the second camera 2b deflects the optical axis 4b to a right angle. The interval between the deflection optical axis 4a' and the optical axis 4a, and the interval between the optical axis 4b and the deflection optical axis 4b' are 45°.

[0081] exist Figure 4 In the diagram, Oa, Ob, and Oc represent the entrance pupil positions, respectively. The extensions of the deflection optical axis 4a' and 4b' intersect each other on the optical axis 4c, and the intersection point O corresponds to the camera origin.

[0082] Furthermore, the entrance pupil positions Oa, Ob, and Oc lie on the same arc, or substantially on the same arc centered at the camera origin O, and the radius of the arc is known. When the entrance pupil positions Oa, Ob, and Oc exist on the same arc, calculations become straightforward during image processing.

[0083] In the second embodiment, the wide-angle camera device 1 includes three cameras and is configured to cover a vertical field of view ranging from 135° to 200°.

[0084] In the second embodiment, the vertical viewing angle of each of the first to third cameras 2a to 2c is set to about 30° to about 150°, and the horizontal viewing angle (i.e. the horizontal viewing angle of the wide-angle camera device 1) is set to about 30° to about 150°.

[0085] When combining images acquired by the first to third cameras 2a to 2c, the images are overlapped with each other at a predetermined angle in both the vertical and horizontal directions in the same manner as in the first embodiment.

[0086] In the second embodiment, the wide-angle camera device 1 includes three cameras, and each camera can have a relatively small field of view. Therefore, distortion and resolution degradation in the peripheral parts of the image can be further suppressed.

[0087] Furthermore, prisms 6a, 6b, and 6c are respectively placed in the optical systems of the first to third cameras 2a to 2c to form a space for accommodating the third camera 2c. Therefore, the entire wide-angle camera assembly 1 can be configured compactly. Additionally, the entrance pupil positions Oa, Ob, and Oc can be positioned close to the camera origin O, thereby reducing the parallax between the first to third cameras 2a to 2c.

[0088] Figure 5 A modified example of the second embodiment is shown.

[0089] The configuration of this modified example is basically the same as that of the second embodiment. In contrast to the second embodiment, in this modified example, the shape of prism 6c is changed to the shape of prism 6c', thereby changing the angle between the deflection optical axis 4a' of the first camera 2a and the optical axis 4c of the third camera 2c, as well as the angle between the deflection optical axis 4b' of the second camera 2b and the optical axis 4c of the third camera 2c.

[0090] Prism 6c' has a three-dimensional shape formed by six flat surfaces, and the upper and lower surfaces of prism 6c', i.e. the surfaces of prism 6c' to which prism 6a and prism 6b respectively engage or are in close contact, are inclined.

[0091] exist Figure 5 In the figure, the upper and lower surfaces of prism 6c' are tilted towards the image sensor 8c and close to each other. As a result, the angles between the deflection optical axes 4a' and 4c, and between the deflection optical axes 4b' and 4c, are increased. In the figure, the angle between the optical axes is set to 50°.

[0092] Note that the angle between the optical axes is not limited to 50°, but can be an appropriate angle in the range of 50° to 70°.

[0093] The upper and lower surfaces of prism 6c' can be tilted so that they are separated from each other and oriented toward image sensor 8c. In this case, the angle between deflection optical axes 4a' and 4c, as well as the angle between deflection optical axes 4b' and 4c, are reduced.

[0094] The angles between the deflection optical axis 4a', optical axis 4c, and deflection optical axis 4b' are appropriately selected according to the required design specifications of the camera.

[0095] In the modified example of the second embodiment, the viewing angles of the first to third cameras 2a to 2c are each set to 30° to 135°.

[0096] Therefore, the vertical viewing angle of the wide-angle camera device 1 is 135° to 200°, and the horizontal viewing angle of the wide-angle camera device 1 is 30° to 135°.

[0097] When combining images acquired by the first to third cameras 2a to 2c, the images are overlapped with each other at a predetermined angle in both the vertical and horizontal directions in the same manner as in the first embodiment.

[0098] Note that in the modified example of the second embodiment, as shown in the modified example of the first embodiment, the shape of the prism 6c' can be changed so that the deflection angle becomes an angle other than 90°.

[0099] Figures 6(A), 6(B), and 6(C) illustrate the third embodiment.

[0100] Figure 6(A) is an elevation view, Figure 6(B) is a view seen from arrow A in Figure 6(A), and Figure 6(C) is a view seen from arrow B in Figure 6(A).

[0101] In the third embodiment, the wide-angle camera device 1 includes four cameras, including first to fourth cameras 15a to 15d, and the first to fourth cameras 15a to 15d have a similar configuration. Note that in Figures 6(A), 6(B), and 6(C), the same reference numerals are attached to the same reference numerals. Figure 1 Those equivalent parts in the text.

[0102] The imaging lens front groups 17a to 17d of the first to fourth cameras 15a to 15d are arranged in the same vertical plane and radially arranged at predetermined angular intervals (35° intervals in the figure) with the camera origin O as the center. These four cameras are integrated with each other by sequentially joining or closely contacting each other through prisms 18a to 18d of the first to fourth cameras 15a to 15d.

[0103] First, the first camera 15a will be described with reference to Figures 6(A) and 6(B).

[0104] The first camera 15a includes a rear imaging lens group 16a and a front imaging lens group 17a, and the rear imaging lens group 16a and the front imaging lens group 17a are optically coupled to each other through a prism 18a.

[0105] Prism 18a has a reflecting surface 21a, and the optical axis 19a of the first camera 15a is deflected at a right angle by the reflecting surface 21a (deflected perpendicular to the plane of the paper in Figure 6(A)). The planar shape of prism 18a is trapezoidal. That is, the opposing surfaces of prism 18a are tilted close to the center (camera origin O). The apex angle of the trapezoid corresponds to the arrangement interval angle of the first to fourth cameras 15a to 15d, and is 35° in the figure.

[0106] Regarding the states of optical axis 19a and deflection optical axis 19a', when the paper in Figure 6(A) shows a vertical plane, optical axis 19a extends perpendicular to the paper, i.e., horizontally toward the opposite side of the paper, and deflection optical axis 19a' is parallel to the paper, i.e., included in the vertical plane.

[0107] The rear group 16a of the imaging lens is positioned on the optical axis 19a, and the front group 17a of the imaging lens is positioned on the deflection optical axis 19a'.

[0108] The rear imaging lens group 16a and the front imaging lens group 17a have similar configurations to the rear imaging lens group 10a and the front imaging lens group 11a, respectively.

[0109] The field of view of the imaging lens front group 17a, i.e. the field of view of the first camera 15a when used alone, is set to approximately 22.5° to 60°.

[0110] Light incident through the front group 17a of the imaging lens and the prism 18a is transmitted by the rear group 9a of the imaging lens and passes through the IR cutoff filter 16a to form an image on the image sensor 8a.

[0111] The second camera 15b, which is located adjacent to the first camera 15a, has a similar configuration to the first camera 15a, but the deflection direction of the prism 18b relative to the optical axis 19b is different from that of the first camera 15a.

[0112] The optical axis 19b of the second camera 15b is deflected by the reflective surface 21b and extends vertically from the paper surface to the front. The prism 18b deflects the optical axis 19b at a right angle, so that the optical axis 19b is included in the vertical plane.

[0113] In the third camera 15c, which is adjacent to the second camera 15b, the prism 18c deflects the optical axis 19c in the same direction as the first camera 15a.

[0114] Furthermore, in the fourth camera 15d adjacent to the third camera 15d, the prism 18d deflects the optical axis 19d in the same direction as the second camera 15b.

[0115] In other words, between the first to fourth cameras 15a to 15d, the deflection directions of prisms 18a to 18d are opposite to each other.

[0116] Therefore, the rear groups 16a to 16d of the imaging lenses of the first to fourth cameras 15a to 15d extend alternately in opposite directions.

[0117] The first to fourth cameras 15a to 15d are configured such that adjacent prisms 18a to 18d are in close contact with each other in sequence (see Figure 6(A)), and the extensions of the deflection optical axes 19a' to 19d' intersect at the camera origin O. Furthermore, the entrance pupil positions Oa to Od of the first to fourth cameras 15a to 15d are located on an arc centered at the camera origin O.

[0118] In this embodiment, since the entrance pupil positions Oa to Od are located on the same arc, the symmetry of the first to fourth cameras 15a to 15d is improved, making it easier to combine the images acquired by each camera.

[0119] Using the above configuration, interference between the rear groups of the imaging lens 16a to 16d and between the image sensors 8a to 8d can be avoided.

[0120] Note that if interference between lenses and between image sensors can be avoided by appropriately adjusting the shapes of the rear lens groups 16a to 16d of the imaging lens and the shapes of the image sensors 8a to 8d, then the deflection directions of the optical axis by prisms 18a to 18d can be the same.

[0121] The horizontal viewing angles of the first to fourth cameras 15a to 15d are each set to approximately 22.5° to 60°, and the horizontal viewing angle of the wide-angle camera device 1 is also set to approximately 22.5° to 60° in a similar manner.

[0122] The vertical field of view of the wide-angle camera device 1 is a combination of the vertical field of view of the first to fourth cameras 15a to 15d, and is set to cover a range of 135° to 200°.

[0123] In this paper, as described above, the images acquired by the first to fourth cameras 15a to 15d are overlapped with each other, and the overlap angle between the overlapping images is determined by the required image resolution and shading accuracy.

[0124] In the third embodiment, the wide-angle camera device 1 includes four cameras, and the field of view of each camera can be further reduced. Therefore, distortion and resolution degradation in the peripheral parts of the image can be further suppressed.

[0125] In the third embodiment, the rear lens groups 16a to 16d of the radially arranged first to fourth cameras 15a to 15d are respectively positioned on an optical axis deflected at a right angle. Therefore, the distance between the entrance pupil positions Oa to Od and the camera origin O can be shortened, and thus the parallax between the first to fourth cameras 15a to 15d can be reduced.

[0126] According to this embodiment, the wide-angle camera device 1 can acquire a wide-angle image having any angle between 22.5° and 60° horizontal angle and any angle between 135° and 200° vertical angle.

[0127] Wide-angle camera device 1 acquires images at predetermined angular intervals, centered on a vertical line passing through the camera origin O. Then, by rotating 360°, wide-angle camera device 1 can acquire a complete panoramic image at any vertical viewing angle from 135° to 200°.

[0128] Note that, needless to say, in the third embodiment, two, three, five or more cameras can be integrated by appropriately selecting the apex angle of the trapezoid of the prisms 18a to 18d and the viewing angle of the rear group of imaging lenses 16a to 16d.

[0129] Note that when the wide-angle camera device 1 is used alone, the optical axes of multiple cameras can be located in the horizontal plane, and the wide-angle camera device 1 can have a wide field of view in the horizontal direction.

[0130] Next, we will refer to Figure 7 and Figure 8 A measurement system 21 according to a fourth embodiment of the present invention is described. The measurement system 21 includes either the wide-angle camera device 1 described above or the measuring device 22. The wide-angle camera device 1 and the measuring device 22 are integrally disposed. The measuring device 22 may be a laser scanner or a total station. Note that for the integration of the wide-angle camera device 1 and the measuring device 22, the wide-angle camera device 1 may be built into the measuring device 22, or the wide-angle camera device 1 may be modularized and externally attached to the measuring device 22.

[0131] exist Figure 7 In this system, the measuring device 22 is, for example, a laser scanner and is mounted on a tripod 23. The measuring device 22 can measure the three-dimensional coordinates of the desired measurement point relative to the machine center (measurement reference point) M, and can measure three-dimensional 360° complete panoramic cloud data centered on the centerline C relative to the machine center M.

[0132] The measuring device body 24 of the measuring device 22 houses the wide-angle camera device 1.

[0133] The camera origin O and the machine center M of the wide-angle camera device 1 are set to be located on the centerline C. The distance (offset distance) D between the camera origin O and the machine center M is known.

[0134] The measuring device 22 includes a leveling unit 25 mounted on a tripod 23, a horizontal rotation drive unit 26 mounted on the leveling unit 25, and a measuring device body 24. The measuring device body 24 is coupled to the horizontal rotation drive unit 26 via a rotation shaft 27, and is rotatable in the horizontal direction by the horizontal rotation drive unit 26 via the rotation shaft 27. The centerline V of the rotation shaft 27 is set to pass through the camera origin O.

[0135] The horizontal rotation drive unit 26 includes a rotation angle detector (not shown) and is capable of detecting the rotation angle of the rotation axis 27 (i.e., the horizontal rotation angle of the measuring device body 24).

[0136] The leveling unit 25 includes a sensor (not shown) for detecting the tilt of the leveling unit 25 and a motor (not shown) for driving the leveling screw to level the leveling unit 25. The leveling unit 25 automatically levels itself based on the sensor's detection results.

[0137] The upper part of the measuring device body 24 has a recess 28 that is open on the front, rear, and upper sides. A lens barrel 29 is disposed in the recess 28 as a rotating unit. The lens barrel 29 includes a scanning mirror and can rotate freely about the center line C, that is, it can rotate freely in the vertical direction.

[0138] A ranging unit 34 (described later) is disposed within the lens barrel 29. The ranging unit 34 emits ranging light onto the ranging optical axis via a scanning mirror and receives reflected ranging light from the object being measured via the scanning mirror. The ranging unit 34 measures the distance to the object being measured based on the time difference between the timing of the emission of the ranging light and the timing of the reception of the reflected ranging light, as well as the speed of light. As a result of the measuring device body 24 rotating horizontally around the rotation axis 27 (i.e., the center line V) and vertically around the center line C together with the lens barrel 29, ranging light can be emitted across a full 360° circumference, and complete 360° panoramic cloud data can be acquired.

[0139] Note that the machine center M of the lens barrel 29 rotates in a state offset from the rotation center (center line V) by D.

[0140] The wide-angle camera device 1 according to any one of the first to third embodiments is housed within the housing of the measuring device body 24. In the following description, it is assumed that the wide-angle camera device 1 according to the first embodiment is housed within the housing of the measuring device body 24, and reference will be made to... Figure 1 Describe it.

[0141] The wide-angle camera device 1 is configured such that the objective lenses of at least the front imaging lens groups 11a and 11b protrude from the housing of the measuring device body 24.

[0142] exist Figure 7 In this configuration, the wide-angle camera device 1 is arranged such that the objective lens protrudes from the side surface of the measuring device body 24. The side surface is shaped to not restrict the field of view of the wide-angle camera device 1. Figure 7 The state of the side surface being tilted is shown.

[0143] Note that the imaging lens front groups 11a and 11b can be located on the front or rear surface of the measuring device body 24.

[0144] Then, as the measuring device body 24 is rotated by the horizontal rotation drive unit 26, the wide-angle camera device 1 can acquire a complete panoramic image with a vertical viewing angle of 135° to 200°.

[0145] Next, we will refer to Figure 8 The configuration of the measurement system 21 is further described.

[0146] The measurement system 21 includes a measuring device 22 and a wide-angle camera device 1. The measuring device 22 includes a horizontal rotation drive unit 26 that rotates the measuring device body 24 relative to the leveling unit 25, a horizontal angle detector 31 that detects the rotation angle (horizontal angle) of the measuring device body 24, a vertical rotation drive unit 32 that rotates the lens barrel 29, and a vertical angle detector 33 that detects the rotation angle (vertical angle) of the lens barrel 29. The measuring device 22 also includes a ranging unit 34, a calculation control unit 35, a storage unit 36, a communication unit 37, a display unit 38, and an operation unit 39.

[0147] Note that the horizontal rotation drive unit 26 and the vertical rotation drive unit 32 constitute the drive unit of the measuring device 22, and the horizontal angle detector 31 and the vertical angle detector 33 constitute the angle measuring unit for detecting the emission direction of the ranging light.

[0148] The arithmetic control unit 35 uses a CPU specifically designed for this embodiment, a general-purpose CPU, an embedded CPU, a microprocessor, or the like. The storage unit 36 ​​uses semiconductor memory such as RAM, ROM, flash memory ROM, or DRAM, magnetic storage such as HDD, optical storage such as CDROM, or the like.

[0149] Note that the computation control unit 35 can also be used as the imaging control unit 12 of the wide-angle camera device 1. The storage unit 36 ​​can also be used as the camera storage unit 13 of the wide-angle camera device 1.

[0150] The storage unit 36 ​​stores programs, such as a control program for overall control of the measuring device 22 and the wide-angle camera device 1, a sequence program for controlling the ranging operation, a ranging program for calculating distance through the ranging operation, an angle measurement program for calculating the extension direction (angle) of the ranging optical axis based on the detection results of the horizontal angle detector 31 and the vertical angle detector 33, a measurement program for calculating the three-dimensional coordinates of the desired measurement point based on distance and angle, a leveling program for causing the leveling unit 25 to perform leveling, a communication program for communicating with a remote operating device (not shown), a drive control program for controlling the horizontal rotation drive unit 26 and the vertical rotation drive unit 32, an imaging program for causing the imaging unit 2 (first and second cameras 2a and 2b) to acquire images, an image processing program for combining the wide-angle images acquired by the first and second cameras 2a and 2b to create a complete panoramic image, a synthesis program for combining the complete panoramic image and point cloud data to create a complete panoramic image including tinted point cloud data or three-dimensional coordinates, and a display program for causing the display unit 38 to display the measurement results, etc.

[0151] Storage unit 36 ​​stores measurement data (distance and angle measurement data) acquired when measuring predetermined measurement points, as well as the three-dimensional coordinate data and three-dimensional point cloud data of the desired measurement points. The computation control unit 35 expands and executes various programs stored in storage unit 36 ​​to perform various processes.

[0152] The communication unit 37 has the function of transmitting data from the measuring device 22 to a terminal device (not shown), such as a smartphone or tablet computer, or receiving data for the measuring device 22 from the terminal device. The operation unit 39 enables the input of measurement conditions, etc., and the display unit 38 displays the setting screen, measurement results, etc.

[0153] Next, we will describe how point cloud data and wide-angle images are acquired through measurement system 21.

[0154] First, the measuring device 22 is installed at a reference point with known three-dimensional coordinates and leveled using the leveling unit 25. Note that the height from the reference point to the machine center M of the measuring device body 24 is known.

[0155] The arithmetic control unit 35 causes the ranging unit 34 to emit pulses of ranging light at predetermined emission intervals. The arithmetic control unit 35 also drives the horizontal rotation drive unit 26 and the vertical rotation drive unit 32 to rotate the measuring device body 24 horizontally at a predetermined rotation speed, and also rotates the lens barrel 29 vertically at a predetermined rotation speed.

[0156] When ranging light is emitted at predetermined pulse intervals, the measuring device body 24 and the lens barrel 29 rotate at constant speeds. As a result of the cooperation between the lens barrel 29 rotating at a constant speed in the vertical direction and the measuring device body 24 rotating at a constant speed in the horizontal direction, the ranging light performs a two-dimensional scan.

[0157] Furthermore, for each light pulse measuring distance, the vertical angle detector 33 and the horizontal angle detector 31 detect the vertical angle and horizontal angle respectively. As a result, distance measurement data, vertical angle data, and horizontal angle data can be obtained for the point (measurement point) illuminated by the pulsed light. Based on the vertical angle data, horizontal angle data, and distance measurement data, the three-dimensional coordinates of the measurement point can be obtained.

[0158] Then, 360° complete panoramic point cloud data is acquired with reference to the machine center M of the measuring device 22, and each point in the point cloud data has three-dimensional coordinates.

[0159] In this paper, the machine center M is offset by a horizontal distance D from the rotation center of the measuring device body 24.

[0160] Therefore, by measuring the horizontal distance of each point in the point cloud data based on distance D, the point cloud data can be converted into point cloud data with the centerline V as the reference, that is, point cloud data with the camera origin O as the reference.

[0161] Note that when acquiring each point in the point cloud, the horizontal distance can be corrected for each point in real time using distance D, or it can be corrected centrally after the point cloud data acquisition is complete.

[0162] Furthermore, based on the known height from the reference point to the machine center M, point cloud data with the reference point as a reference is calculated. Storage unit 36 ​​stores the acquired point cloud data.

[0163] When the measuring device 22 acquires point cloud data, the computation control unit 35 causes the imaging unit 2 to capture a wide-angle image. In this embodiment, the imaging unit 2 includes first and second cameras 2a and 2b. Therefore, the first and second cameras 2a and 2b acquire a first wide-angle image and a second wide-angle image, respectively. The camera storage unit 13 stores each acquired wide-angle image, and the first and second wide-angle images are combined into a wide-angle image of the imaging unit 2.

[0164] As described above, the horizontal viewing angles of the first and second cameras 2a and 2b are 50° to 150°. For example, assuming a horizontal viewing angle of 90°, if the measuring device body 24 rotates horizontally in 72° angular steps and acquires a wide-angle image in each step, a complete panoramic image can be acquired with an overlapping viewing angle of 18°. The storage unit 36 ​​stores each acquired wide-angle image.

[0165] The computation control unit 35 combines the corresponding wide-angle images based on their overlapping portions to create a complete 360° panoramic image. Note that the imaging control unit 12 can also create a complete 360° panoramic image.

[0166] The computing and control unit 35 combines the corresponding wide-angle images and combines the complete panoramic image and point cloud data.

[0167] When combining a complete panoramic image and point cloud data, the point cloud data is converted to point cloud data referenced to the camera origin O, thus ensuring no positional deviation in the correspondence between each pixel in the image and its corresponding point in the point cloud data. As a result, the point cloud data can be accurately colored based on the complete panoramic image, and 3D coordinates can be precisely assigned to each pixel of the complete panoramic image based on the point cloud data.

[0168] As described above, the three-dimensional coordinates of each point in the point cloud data are converted into three-dimensional coordinates with the camera origin O as a reference, which can reduce or essentially eliminate the parallax between the measuring device body 24 and the camera, i.e., the parallax between the point cloud data and the complete panoramic image.

[0169] Therefore, the shading accuracy of point clouds or the accuracy of assigning three-dimensional coordinates to each pixel of a complete panoramic image can be improved, and high-precision collimation can be performed by using a complete panoramic image as a collimation image when measuring specific measurement points.

[0170] Figure 9 A measurement system according to the fifth embodiment is shown.

[0171] Note that in Figure 9 In the figures, the same reference numerals are attached to the same figures. Figure 7 Those equivalent parts, and their descriptions omitted. Figure 9 The tripod 23, leveling unit 25, and horizontal rotation drive unit 26 are not shown in the diagram.

[0172] In the fifth embodiment, the camera origin O of the wide-angle camera device 1 and the machine center M of the measuring device body 24 (lens barrel 29) are offset from each other in the horizontal and vertical directions. Herein, the horizontal offset distance is denoted by D, and the vertical offset distance is denoted by H.

[0173] The measuring device body 24 is configured to rotate horizontally about a center line V via a rotation axis 27. A lens barrel 29 is disposed at the measuring device body 24, allowing it to rotate vertically about a center line C. The lens barrel 29 includes a scanning mirror 41, through which ranging light is emitted onto the ranging optical axis. Rotation of the lens barrel 29 causes the ranging optical axis to rotate in the vertical plane.

[0174] The machine center M (measurement reference point) of the lens barrel 29 is the intersection between the center line C and the reflective surface of the scanning mirror 41.

[0175] The wide-angle camera device 1 is mounted entirely on the upper surface of the measuring device body 24. The center line V is set to pass through the camera origin O of the wide-angle camera device 1. Note that the upper part of the measuring device body 24 is truncated conical in shape so as not to obstruct the imaging range of the wide-angle camera device 1.

[0176] In the fifth embodiment, the wide-angle camera device 1 shown in the second embodiment is used, which includes three cameras, namely the first to the third cameras 2a to 2c.

[0177] Note that the description of the wide-angle camera device 1 in the second embodiment has been omitted.

[0178] In the fifth embodiment, a pulse of ranging light is emitted through the scanning mirror 41, the measuring device body 24 rotates horizontally at a constant speed, and the lens barrel 29 rotates vertically at a constant speed. As a result, a two-dimensional scan is performed using the ranging light. For each light pulse, the distance is measured, and point cloud data is acquired, where each measurement point has three-dimensional coordinates (three-dimensional data).

[0179] The machine center M is used as a reference for the three-dimensional coordinates of the point cloud data, and the three-dimensional coordinates are offset from the camera origin O of the wide-angle camera device 1 by a horizontal distance D and a vertical distance H.

[0180] Therefore, the horizontal and vertical distances of each point in the point cloud data are corrected based on the horizontal distance D and the vertical distance H, and the point cloud data is converted into point cloud data with the camera origin O as a reference.

[0181] By combining the converted point cloud data with the complete panoramic image acquired by the wide-angle camera device 1, the parallax between the measuring device body 24 and the camera can be reduced or essentially eliminated.

[0182] Therefore, in the fifth embodiment, the shading accuracy of the point cloud or the accuracy of assigning three-dimensional coordinates to each pixel of the complete panoramic image can also be improved, and when measuring a specific measurement point, the complete panoramic image can be used as a collimation image to perform high-precision collimation.

[0183] Although the wide-angle camera device according to the second embodiment is described as a wide-angle camera device according to the fifth embodiment, it goes without saying that the wide-angle camera device shown in the first embodiment, the modified example of the first embodiment, the modified example of the second embodiment, or the third embodiment can also be used as a wide-angle camera device according to the fifth embodiment.

[0184] List of reference numerals 1: Wide-angle camera device 2a: First camera 2b: Second camera 2c: Third camera 6a: Prism 6b: Prism 6c: Prism 10a: Rear group of imaging lens 10b: Rear group of imaging lens 10c: Rear group of imaging lens 11a: Front group of imaging lens 11b: Front group of imaging lens 11c: Front group of imaging lens 12: Imaging control unit 21: Measurement System 22: Measuring device 29: Lens tube 34: Distance measuring unit 35: Computation and Control Unit 36: Storage unit.

Claims

1. A wide-angle camera device, comprising: Multiple cameras, each camera including: The rear group of the imaging lens serves as the objective lens; The front group of the imaging lens serves as the imaging forming lens; A prism is configured to optically couple the rear group of the imaging lens and the front group of the imaging lens; and An image sensor is configured to optically receive an image formed by the rear group of the imaging lenses, wherein prisms are joined or in close contact with each other to integrate multiple cameras. The perspectives of neighboring cameras in a camera partially overlap. The entrance pupil of each camera is formed between the front group of the imaging lens and the prism, and The point where the optical axes intersect is the camera origin.

2. The wide-angle camera device according to claim 1, wherein, The wide-angle camera device consists of two cameras. A prism has a reflective surface. The camera's optical axis is deflected by the reflective surface. The rear group of the imaging lens is positioned on one of the deflecting optical axes. The front group of the imaging lens is positioned on the other side of the deflected optical axis, and The prisms of the two cameras are integrated by engaging or bringing them into close contact with each other through reflective surfaces.

3. The wide-angle camera device according to claim 1, wherein, The wide-angle camera setup consists of three cameras arranged in the same plane. The central prism of the camera, positioned in the center, has a three-dimensional shape formed by six surfaces. The optical axis of the central camera passes directly through the prism. The other two cameras have prisms with reflective surfaces configured to deflect the camera's optical axis, and the three cameras are integrated by the reflective surfaces of the other two cameras engaging or being in close contact with the two opposing surfaces of the central prism.

4. The wide-angle camera device according to claim 1, wherein, A wide-angle camera device comprises multiple cameras arranged radially at predetermined angular intervals in the same plane. The prism of each camera has a trapezoidal plane shape, and Multiple cameras are integrated by sequentially engaging or closely contacting each other through prisms that are adjacent to each other.

5. The wide-angle camera device according to claim 4, wherein, A prism has a reflective surface, and The reflective surface deflects the camera's optical axis in a direction perpendicular to the same plane.

6. The wide-angle camera device according to claim 5, wherein, The optical axes of adjacent cameras are deflected in opposite directions by the reflective surface.

7. A measurement system, comprising: Wide-angle camera device according to any one of claims 1 to 6; and The measuring device mounted on a tripod, wherein, The wide-angle camera device is integrated into the measuring device. The measuring device has a machine center, Wide-angle camera devices have a camera origin. The measuring device can rotate around a center line passing through the camera origin, and The offset distance between the machine center and the camera origin is known.

8. The measurement system according to claim 7, wherein, The measuring device includes: The ranging unit is configured to emit ranging light and receive reflected ranging light reflected from the object to be measured; The rotating unit is configured to emit ranging light; A vertical rotation drive unit is configured to rotate the rotation unit in the vertical direction; The main body of the measuring device includes the rotating unit; A horizontal rotation drive unit is configured to rotate the main body of the measuring device in the horizontal direction; An angle measuring unit is configured to detect the emission direction of the ranging light; and The computation control unit is configured to control the driving of the vertical rotation drive unit and the horizontal rotation drive unit, and to calculate 3D point cloud data based on the light reception results of the reflected rangefinder light and the detection results of the angle measurement unit. Based on the offset distance, the computation control unit converts the point cloud data into point cloud data with the camera origin as a reference, and combines the converted point cloud data with the wide-angle image acquired by the wide-angle camera device.

9. The measurement system according to claim 7, wherein, The wide-angle camera device is mounted on the side surface of the measuring device.

10. The measurement system according to claim 7, wherein, The wide-angle camera device is mounted on the upper surface of the measuring device.

Images