Stereo imaging system, stereo imaging device, and remote control terminal for stereo imaging device

Abstract

To provide a stereo imaging system which remotely obtains an imaging range and an imaging distance, and can precisely and accurately perform stereo imaging, at a position away from an operator operating a stereo camera in a narrow space such as the top of a steel tower.SOLUTION: An operator A carries a stereo imaging device 50 which includes a center unit 80 having digital cameras (90, 100) at right and left sides, and a center digital camera 81 and distance sensors (82, 84) at the center. An operator B at a remote position carries a tablet 200 so as to perform shutter photographing with the tablet 200.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a stereoscopic imaging system. [Background technology]

[0002] The performance of all structures deteriorates over time due to external forces and environmental influences. Therefore, it is necessary for the structure itself and the components that make up the structure (for example, a steel tower) to continue to meet the required performance under expected conditions.

[0003] During design and construction, various considerations are made to take performance degradation into account, but it is extremely important to suppress the level of performance degradation through appropriate maintenance and management.

[0004] For this reason, structures are inspected regularly to ensure they meet the required performance, and if necessary, measures are taken at the appropriate time and with the appropriate methods. At this time, structures are managed through a series of maintenance management systems, including inspection → planning → construction. At this time, it is important to keep records.

[0005] It is important to record the history of changes over time in deformation, construction work, etc. To do this, it is necessary to measure the current state of deformation and the shape and dimensions of components that have been replaced through construction work, and obtain the latest information.

[0006] The measurement method is to use a tape measure if you can get close to the structure, but in the case of large structures, it is often not possible to measure up close, so remote, non-contact measurement is required.

[0007] There are three known non-contact measurement methods: a method using a total station (TS), a method using a terrestrial laser, and a method using a stereo camera.

[0008] The TS method and terrestrial laser method have a proven track record and can achieve very high measurement accuracy. However, they have drawbacks, such as the need to calculate the exact coordinates of the installation position, and the high cost of observations from multiple points and creating bridge structure data from measurement data.

[0009] Furthermore, depending on the structure, it is important to be able to grasp the exact positional relationship of deformed areas and areas that need repair, and precision on the order of millimeters may be required. On the other hand, methods using stereo cameras are roughly divided into two types: a single-camera photography method and a stereo photography method.

[0010] The single-camera photography method uses one camera to take pictures of the same object while moving the camera position sequentially to obtain stereoscopic photographs.

[0011] On the other hand, the stereo photography method uses two cameras (collectively called stereo cameras) fixed to a flat stand or the like with parallel optical axes and an accurately measured distance apart, to take stereo images at each shooting position.

[0012] The single-camera imaging system and the stereo camera imaging system have opposing advantages and disadvantages.

[0013] The single-camera method has the drawback of making it difficult to find the same location in the photos because the photos are taken from different points. In particular, the more complex the structure, the more blind spots there are.

[0014] In contrast, the stereo camera method uses two cameras set up horizontally and parallel to each other, so by pointing them in the direction you want to measure, you can easily capture the exact area you want to measure.

[0015] Furthermore, while the single-camera photography method requires accurate calculation of the camera position and tilt when photographing an object to measure its dimensions, the stereo photography method has the advantage of eliminating the need to calculate the camera position and tilt when photographing an object, because the positional relationship between the two cameras is calculated in advance and is accurately calculated.

[0016] As an imaging method for the stereo camera described above, a stereo imaging device is disclosed in Patent Document 1 (Japanese Patent No. 4838368). The stereo imaging device of Patent Document 1 has digital cameras mounted on the left and right sides of the surface of a flat stereo stand (also called a stand), a distributor in the center that distributes shutter signals to the left and right digital cameras, and a battery unit that supplies power to the left and right digital cameras mounted next to the distributor. Furthermore, a pole is provided in the center of the back of the stereo stand. The shutter switch unit is connected to the distributor via a shutter switch cable.

[0017] In other words, the stereoscopic imaging device of Patent Document 1 allows the user to check whether the subject is within the imaging range of the left and right cameras while looking at the viewfinder or the monitor on the back of the digital camera, and then operate the shutter switch described above to simultaneously send shutter signals to the left and right digital cameras to obtain a stereoscopic image.

[0018] On the other hand, the components of the steel towers of power lines, which are structures, also deteriorate over time and require replacement, etc. For this reason, workers periodically climb the towers and measure the components of the towers by placing a physical scale (such as a convex scale) directly on the object to be measured.

[0019] This measurement method requires the power line to be turned off as measurements are taken directly using a convex or similar device, and has the drawback of requiring adjustments to the schedule for the work, which means the measurement takes several days. Also, this measurement work is carried out by a team of three people, which makes it difficult to secure enough workers and the measurement work takes time. [Prior art documents] [Patent documents]

[0020] [Patent Document 1] Patent No. 4838368 Summary of the Invention [Problem to be solved by the invention]

[0021] It is also conceivable to photograph the target components of the steel tower using a stereoscopic imaging device such as that disclosed in Patent Document 1. However, when a single worker uses a stereo device such as that described in Patent Document 1 to take stereo photographs of a target component of a steel tower, he or she must look at the viewfinders of the left and right digital cameras or the monitor on the back, and take the photograph while checking whether the images from the left and right digital cameras capture the target and whether they are within the specified shooting range.

[0022] That is, using a stereoscopic camera, one worker can check the measurement points in a small, limited space on the tower using the viewfinders or monitor of the left and right cameras of the stereoscopic camera, and accurately measure the measurement points. On the other hand, it is very difficult to operate the shutter.

[0023] Furthermore, when performing high-precision measurements, it is necessary for one worker to take the photograph while being aware of the distance to the subject at which the camera will be focused and the shooting angle. However, when taking photographs using a stereoscopic camera on a steel tower, it is not easy for a worker to take the left and right images needed to obtain a stereo image while being aware of the shooting distance and shooting angle.

[0024] The present invention has been made in consideration of the above problems, and aims to provide a stereoscopic image capturing system that enables a worker operating a stereo camera in a narrow space such as on a steel tower to grasp the location to be captured, and also enables a shooting instructor located at a distance from the worker to remotely grasp the shooting range and shooting distance, enabling the worker to take accurate and precise stereoscopic images. [Means for solving the problem]

[0025] The stereoscopic photography system according to the present invention is a stereoscopic photography system including a stereoscopic photography device and a mobile terminal, both of which have a wireless communication function, The stereoscopic imaging device The camera is provided with a left digital camera and a right digital camera on the left and right sides of a longitudinal stand, each of which stores a still image in its memory card upon receiving a shutter signal, and a central unit in the center. The central unit comprises: a central digital camera provided near the center and adapted to transmit a central camera image having a wider angle than the left and right digital cameras; Left and right distance sensors are provided on either side of the central digital camera, and emit laser light at a predetermined angle (1 to 3 degrees) to measure the distance to an object; a laser pointer that is provided near the distance sensor at the predetermined angle (1 to 3 degrees) and that emits a spot light of a predetermined color along the laser light toward the target; a control unit that transmits the image from the center camera and the left and right distance measurement values ​​measured by the left and right distance sensors to the mobile terminal via short-range wireless communication, and outputs the shutter signals to the left and right digital cameras in response to receiving a shooting instruction signal from the mobile terminal, The mobile terminal a means for receiving the center camera image (wide angle) from the stereoscopic imaging device via short-range wireless communication and displaying it on a screen, and for determining the stereoscopic imaging range of the left and right digital cameras based on the positions and attitudes of these cameras on the mount, and for displaying this stereoscopic imaging range on the screen above the center camera image in a frame of a predetermined color, and for displaying a shooting button; a means for transmitting the photographing instruction signal to the mobile terminal by short-range wireless communication in response to the selection of the photographing button; means for displaying the frame in an acceptable color when the left-side distance measurement value and the right-side distance measurement value satisfy an acceptable distance range for the focus match distance (Lo) of the left and right cameras, and for displaying the frame in a different color when the measured left-side distance and the measured right-side distance do not satisfy the acceptable range; The gist of the system is that it is equipped with the following: [Effects of the Invention]

[0026] As described above, according to the present invention, even in a narrow space such as on a steel tower, it is possible to know where the image is being captured by the laser spot light without having to look at the images from the left and right digital cameras. Furthermore, the terminal at the remote location automatically analyzes whether the stereo image of the stereo photographing device satisfies the optimum photographing range and photographing distance, and notifies the operator of the terminal at the remote location, who then takes the photograph with the shutter from the remote location, so the worker carrying the stereo photographing device does not need to look at the images from the left and right digital cameras. Therefore, even in a narrow space such as on a steel tower, workers carrying the stereoscopic imaging device can concentrate on photographing the target components in the narrow space, which has many advantages such as safety and shortening the time spent on site.In addition, because the work is safe, there is no need to stop the transmission of electricity from the power line. Furthermore, if the stereo image satisfies a predetermined condition, the frame of the stereo image area is displayed in a different color, so that worker B can transmit the shutter signal with peace of mind. [Brief explanation of the drawings]

[0027] [Figure 1] 1 is a schematic configuration diagram of a stereoscopic imaging system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a perspective view of the stereoscopic imaging device. [Figure 3] FIG. 2 is a schematic diagram illustrating the internal configuration of the central unit 80. [Figure 4] 10 is a flowchart illustrating the general operation of a tablet carried by worker B. [Figure 5] This is an enlarged view of a part of the tower (target component). [Figure 6] FIG. 2 is a top view of the stereoscopic imaging device 50. [Figure 7] FIG. 10 is a schematic diagram illustrating the configuration of an application program on the tablet of worker B. [Figure 8]FIG. 1 is a schematic diagram showing the program configuration of a microcontroller unit 85 (MCU) of the stereoscopic imaging device. [Figure 9] FIG. 2 is an explanatory diagram of a stereoscopic imaging range. [Figure 10] FIG. 1 is a sequence diagram (1) of the stereoscopic imaging system according to the present embodiment. [Figure 11] FIG. 10 is a sequence diagram (2) of the stereoscopic imaging system according to the present embodiment. [Figure 12] FIG. 10 is a sequence diagram (3) of the stereoscopic imaging system of the present embodiment. [Figure 13] 1 is a transition diagram (1) of a tablet screen according to the present embodiment. [Figure 14] FIG. 10 is a transition diagram (2) of the tablet screen according to the present embodiment. [Figure 15] FIG. 10 is a transition diagram (3) of the tablet screen according to the present embodiment. [Figure 16] 10A and 10B are explanatory diagrams for explaining calculation of a shooting distance and a shooting angle. [Figure 17] 10 is a transition diagram (4) of the tablet screen according to the present embodiment. [Figure 18] FIG. 1 is an explanatory diagram (1) explaining why the reference distance is set to 0.3 m. [Figure 19] FIG. 10 is an explanatory diagram (2) explaining why the reference distance is set to 0.3 m. [Figure 20] FIG. 10 is an explanatory diagram of a stereoscopic imaging device according to a second embodiment. [Figure 21] FIG. 11 is a rear view of the stereoscopic imaging device according to the second embodiment. [Figure 22] FIG. 1 is a diagram showing the installation of a laser pointer and a distance sensor. [Figure 23] FIG. 2 is an external view of a laser spot. [Figure 24] 10 is an explanatory diagram of an example of use of the stereoscopic image pickup device of the second embodiment. FIG. [Figure 25] FIG. 2 is an explanatory diagram of the irradiation position of a laser spot. [Figure 26] FIG. 10 is an explanatory diagram of the relationship between a laser spot and a stereo range. [Figure 27]FIG. 10 is a schematic diagram of a central unit 300 with a pointer on the stereoscopic image pickup device side of the second embodiment. [Figure 28] FIG. 10 is an explanatory diagram (1) of the tablet 200 screen according to the second embodiment. [Figure 29] FIG. 10 is an explanatory diagram (2) of the tablet 200 screen according to the second embodiment. [Figure 30] 10 is an explanatory diagram of calculation of a stereo shooting distance and an angle of view according to the second embodiment. FIG. [Figure 31] FIG. 10 is an explanatory diagram of calculation of an imaging angle according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0028] The present embodiment described below exemplifies an apparatus and a method for embodying the technical idea (structure, arrangement) of the invention, and the technical idea of ​​the present invention is not limited to the following. The technical idea of ​​the present invention can be modified in various ways within the scope of the matters described in the claims. It should also be noted that the drawings are schematic, and the configuration of the apparatus and system may differ from the actual ones.

[0029] Embodiment 1 is a stereo photography system in which a photography instructor (hereinafter referred to as worker B) who is located at a distance (or can be close) from a worker (hereinafter referred to as worker A) operating a stereo photography device in a narrow space such as on top of a steel tower, remotely grasps the photography range and photography distance of the stereo photography device, enabling worker A who is climbing the steel tower to take stereo photography accurately and with precision. On the other hand, the second embodiment described below is a stereoscopic image capturing system that allows worker A operating the stereoscopic imaging device to grasp the imaging location using laser spot light, and also allows a shooting instructor (worker B) located at a distance from worker A to remotely grasp the imaging range and imaging distance of the stereoscopic imaging device, enabling worker A to take accurate and precise stereoscopic images. First, the first embodiment will be described.

[0030] (Embodiment 1) In the first embodiment, worker A carries a stereoscopic photography device having a central digital camera, left and right digital cameras, and a distance sensor, climbs a steel tower, and photographs (also called stereo photography) the target component (target part or target object), and transmits this information to a mobile terminal carried by worker B (the photography instructor: it does not matter if he is in close proximity) who is located away from worker A.

[0031] Then, on this mobile terminal (e.g., a tablet), the range of the overlapping area (stereo range) of the images captured by the left and right digital cameras is displayed in a frame on the image of the central digital camera, and the mobile terminal displays so that worker B can see whether the shooting distance and shooting angle to the target component meet specified conditions.At worker B's discretion, shutter signals are sent to the central digital camera and the left and right digital cameras, and these images are stored in the left and right digital cameras.

[0032] An example is given below. In this embodiment, an example will be described in which bolts, nuts, iron materials, etc. (collectively referred to as objects) of beam members of an electric power steel tower (hereinafter referred to as steel tower) are photographed by a stereoscopic imaging device.

[0033] Fig. 1 is a schematic diagram of a stereoscopic photography system according to this embodiment. This system comprises a stereoscopic photography device and a mobile terminal, both of which have wireless communication capabilities. In this embodiment, the wireless communication capability will be described as Wi-Fi (registered trademark), which is a short-range wireless (wireless LAN) technology (Bluetooth, IP wireless, etc. may also be used).

[0034] Worker A carries a stereoscopic camera 50 and climbs the tower 10, securing his body by hooking a rope to a beam member 20 of the tower 10, and worker B similarly carries a tablet 200 (mobile terminal) and climbs the tower 10, securing his body by hooking a rope to a tower member 20; however, in Figure 1, workers A and B are shown separated from the tower 10.

[0035] The mobile terminal may be a smartphone, a personal computer, or other mobile terminal instead of the tablet 200. The beams of the steel tower 10 are fixed with nuts 30 and bolts. In this embodiment, the object is the nut 30, and the nut 30 is photographed by a stereoscopic imaging device 50 in order to analyze the deterioration, dimensions, type, etc. of the nut 30 using a separate computer.

[0036] 1 has a left digital camera (hereinafter referred to as left camera 90) fixed to the left side of a flat platform 60 (also called a pan head), and a right digital camera (hereinafter referred to as right camera 100) fixed to the right side. The left camera 90 and the right camera 100 are collectively referred to as the left and right cameras.

[0037] In addition, a central digital camera (not shown) and left and right distance sensors (not shown) are installed in the center of the stand 60. A controller box (hereinafter referred to as a central unit 80) incorporating a wireless communication device (not shown), a short-range wireless communication device (WiFi (registered trademark)), etc. is fixed to the central unit 80. The surface side of the mount 60 described above has machined portions (approximately 3 mm deep: not shown) into which the central unit 80, left camera 90, and right camera 100 are fitted and secured with screws or the like. The central unit 80, left camera 90, and right camera 100 are fitted and secured in these machined portions (which are made to match the bottom shapes of the central unit 80, left camera 90, and right camera 100). Therefore, even if the stereoscopic imaging device is subjected to an impact, it will not shift. In other words, the surface side of the mount 60 is formed so that the machined portions (approximately 3 mm deep: not shown) into which the central unit 80, left camera 90, and right camera 100 are fitted and secured with screws or the like are inclined at an angle of 0 to 2 degrees with respect to the center line (lateral direction) of the mount 60. It is optional whether or not to tilt the left and right cameras.

[0038] In addition, Figure 1 shows the optical axis center line of the left camera 90 (hereinafter referred to as the left camera optical axis center line Ca), the optical axis center line of the right camera 100 (hereinafter referred to as the right camera optical axis center line Cb), and the optical axis center line of the central camera (not shown) provided in the central unit 80 (hereinafter referred to as the central camera optical axis center line Cc). In addition, the optical axis of the left distance sensor (not shown) provided in the central unit 80 (hereinafter referred to as the left distance sensor optical axis LAa) and the optical axis of the right distance sensor (not shown) provided in the central unit 80 (hereinafter referred to as the right distance sensor optical axis LBb) are described.

[0039] In addition, the tip of a single retractable pole 70 is connected to the center of the back side of the base 60. Furthermore, a speaker 88 and an LED 87 are provided on the rear surface (or the upper or side surface) of the central unit 80.

[0040] FIG. 2 is a perspective view of the stereoscopic imaging device. 2, a monitor (referred to as left camera monitor 92) is provided on the back side of left camera 90, and a monitor (referred to as right camera monitor 102) is provided on the back side of right camera 100. The camera lens of left camera 90 is denoted as 94, and the camera lens of right camera 100 is denoted as 104.

[0041] The left and right cameras have a 23.6mm x 15.6mm primary color CMOS image sensor (with approximately 24 million effective pixels) and a single-focus lens with a focal length of 26.1mm (equivalent to approximately 40mm on 35mm film). In addition, the focus mode is equipped with a focus function (hereinafter referred to as the snap shooting function) that allows you to set each shooting distance.

[0042] The left and right cameras also have the function of storing images captured in response to input of a shutter signal in a removable SD card (memory card: not shown). The dimensions of the left and right cameras are approximately 109.4 (width) x 61.9 (height) x 35.2 (thickness) mm, and the weight, including the battery and SD card, is approximately 262 g.

[0043] In addition, the snapshot function makes it possible to easily measure the shooting distance (also called the in-focus distance) without having to adjust the focus each time.

[0044] The pole 70 is similar to the pole in Japanese Patent No. 4838368 and is made of a material such as carbon, plastic resin, or aluminum.

[0045] The pole 70 is a single pole that is extendable (approximately 45 cm to 200 cm). One side of the pole 70 is provided with a round base 73 with a male screw (also called a camera screw) that can be inserted into a female screw hole (used to secure the pole) in the mount 60. The other side is equipped with a leg lock lever, leg lock nut, and ferrule.

[0046] The dimensions of the stand 60 are approximately 444.8 mm (W) x 8.0 mm (H) x 39.8 mm (D), taking into consideration portability and measurement accuracy.

[0047] Furthermore, it is desirable that the left and right digital cameras have a snapshot function that allows various shooting distances to be set, which will enable shooting of structures in a variety of situations, not just on towers. Furthermore, a speaker 89, an LED 88, etc. are provided on the back side of the central unit 80.

[0048] Fig. 3 is a schematic diagram of the internal configuration of the central unit 80. However, Fig. 3 illustrates the tablet 200 carried by worker B. The screen of the tablet 200 in Fig. 3 also illustrates the shooting distance Ls of the stereo shooting range, the shooting angle θ' (θ' = absolute value of (shooting angle θ - 90)), a shooting button, and a stereo range frame Wi, which will be described later.

[0049] As shown in FIG. 3, the central unit 80 includes a left distance sensor 82 (TOF: Time of flight), a central digital camera (hereinafter referred to as central camera 81), a Wi-Fi (registered trademark) unit 83 (hereinafter referred to as short-range wireless communication unit 83), a right distance sensor 84 (TOF: Time of flight), a microcontroller unit 85 (MCU), a left camera shutter terminal 89a, and a right camera shutter terminal 89b. The left distance sensor 82 and the right distance sensor 84 are collectively referred to as the left and right distance sensors.

[0050] The central unit 80 also includes a battery 87, a charge control unit 86 (IC), a battery charge terminal 88, etc. The battery 87 is used as a power source for each section within the central unit 80. Furthermore, an LED 88 and a speaker 89 are connected to the microcontroller unit 85 (MCU).

[0051] The left and right distance sensors described above detect distance by measuring the time it takes for light (laser) emitted from a light-emitting element (laser element) in the sensor to reach the target, be reflected, and reach the light-receiving element. The detection method is preferably a Direct method or an InDirect method, etc. The specifications of the left and right distance sensors are as follows:

[0052] Size:23x28x13.6mm Weight: 7.9g Distance measurement range: 5cm to 15m Ranging resolution: 1mm Viewing angle (FOV): 1~2 degrees Distance measurement accuracy: 2 cm up to 2 m, 2% of the measurement distance from 2 m to 15 m (20 mm at 1.5 m)

[0053] In addition, the central camera 81 1 / 4-inch primary color CMOS sensor (maximum resolution: 2048 x 1536) The camera measures 33 x 33 x 17 mm (excluding the lens) and has a fixed focal length lens of 90° (D) x 75° (H) x 56.4° (V). Since the horizontal angle of view is as wide as 75 degrees, the stereo range captured by the left and right cameras can be fully accommodated within the image captured by this central camera 81. In addition, it is preferable that the image size to be transferred to the tablet be 1 / 2 size or less, taking into consideration the transfer speed.

[0054] 4 is a flowchart illustrating the general operation of the tablet carried by worker B. Note that FIG. 4 illustrates the stereoscopic imaging device 50.

[0055] As shown in FIG. 4, the tablet 200 displays the central camera image Goi from the central camera 81 of the stereoscopic image capturing device 50 on the screen (S2). Then, the tablet 200 displays a stereo range frame Wi on the center camera image Goi (S3). This stereo range frame Wi will be described later.

[0056] Then, worker B checks whether the object (for example, a nut) on the steel tower 10 is within this stereo range frame Wi (S4). If the nut 30 is within the stereo range frame Wi, the photographing distance button (not shown) displayed on the screen is selected (S5).

[0057] When this shooting distance button is selected, the microcontroller unit 85 (MCU: microcontroller) calculates the shooting distance Ls (based on LA and LB: also written as LrA and LrB) of the stereo shooting range of the stereo imaging device (for example, beam 20) and displays it on the screen. The calculation of the shooting distance Ls will be described later. Since the nut 30 fastens the beam 20, the beam 20 is included in the stereo shooting range.

[0058] Then, worker B checks whether the photographing distance Ls is "OK" (S6). If the shooting distance Ls is "OK", the tablet app calculates the shooting angle θ' from the shooting distance and displays it on the screen. The calculation of this shooting angle θ' will be described later.

[0059] Worker B checks whether the imaging angle θ' (also called imaging angle) is "OK" (S8). If the imaging angle θ' is "OK", worker B selects the imaging button (not shown) on the screen, and the tablet 200 transmits an imaging instruction signal (WiFi (registered trademark)) (S12).

[0060] The microcontroller unit 85 (MCU) of the central unit 80 of the stereoscopic imaging device 50 receives this imaging instruction signal (terminal number, date and time, shutter instruction, etc.) via the short-range wireless communication unit 83, and sends a shutter signal to the right camera 100 and the left camera 90. Upon receiving the shutter signal, the right camera 100 and the left camera 90 take pictures (one, two, three, or even ten pictures: see FIG. 5), and store these images (still images) in an SD card (memory).

[0061] This allows the SD card to be inserted later into a computer in the office, for example, and the dimensions, mounting location, type, and degree of deterioration of the object (see Figure 5) can be analyzed, and work instructions can be issued to replace the object (nuts, bolts) as necessary.

[0062] 6 is a top view of the stereoscopic imaging device 50. The distance between the left camera 90 and the right camera 100 (referred to as the stereo distance) is 300 mm. The width of the central unit 80 is approximately 100 mm to 150 mm. A central camera 81 (a micro-miniature digital camera) is provided in the center of the central unit 80.

[0063] Furthermore, a left distance sensor 82 (TOF: Time of flight) and a right distance sensor 84 (TOF: Time of flight) are provided on the left and right ends of the central unit 80. The left distance sensor 82 is tilted to the left (outside) by 1 to 2 degrees (θLA), and the right distance sensor The sensor 84 is tilted to the right (outside) by about 1 to 2 degrees (θLB).

[0064] Furthermore, the left camera 90 and the right camera 100 are tilted inward by 0 to 2 degrees (θCa, θCb). These tilts are relative to the Y axis that intersects the horizontal axis X of the mount at a right angle. The centers of the left camera 90 and the right camera 100 are approximately 150 mm from the center of the mount 60 , and the centers of the left and right distance sensors are approximately 70 mm from the center of the mount 60 .

[0065] That is, the two left and right distance sensors are placed at an angle where the optical axes of the left and right lenses intersect 1.5 m ahead. Also, the shooting ranges of the left camera 90 and right camera 100 overlap at a distance of 1.5 m.

[0066] Fig. 7 is a schematic diagram of the application program of the tablet of worker B. However, Fig. 7 also illustrates the memory 240 and the transceiver 205 having a Wi-Fi (registered trademark) function.

[0067] The general configuration of this application program (hereinafter referred to as tablet-side AP) will be explained with reference to FIG. As shown in FIG. 7, the display unit 200 includes an operation item display unit 210, an initial setting unit 220, a central camera image display unit 230, a stereo range frame display unit 250, a shooting distance display unit 260, a shooting angle display unit 280, a stereo range frame color-coded display unit 270, a condition determination unit 297, and a shooting command sending unit 295.

[0068] The memory 240 stores at least tablet information, stereo imaging device communication information, left and right camera information, center camera information, mount camera installation information, mount information including mount dimensions, left and right distance sensor information, mount distance sensor installation information, and shooting distance permission / prohibition condition information (shooting distance allowable range condition information, shooting distance other than allowable range condition information), as well as shooting angle permission / prohibition condition information (shooting angle allowable condition information, shooting angle other than allowable range condition information), etc. The aforementioned stereo imaging device communication information, left and right camera information, center camera information, mount-mount camera installation information, mount information including mount dimensions, left and right distance sensor information, and mount-mount distance sensor installation information are collectively referred to as stereo imaging device information. In addition, shooting distance allowable / disallowable condition information (shooting distance allowable range condition information, shooting distance other than allowable range condition information) and shooting angle allowable / disallowable condition information (shooting angle allowable condition information, shooting angle other than allowable range condition information) are collectively referred to as shooting distance / angle allowable condition information.

[0069] The tablet information includes the tablet number, screen size, screen resolution (number of pixels), and communication address. The stereoscopic imaging device communication information includes the stereoscopic imaging device number, the communication address (WiFi (registered trademark)) of the stereoscopic imaging device, and the like.

[0070] The left and right camera information includes the stereo imaging device number, the left or right camera number, the camera type, the manufacturer, the focal length [single focus lens focal length 26.1 mm (equivalent to approximately 40 mm in 35 mm film)], the resolution [the image sensor is a 3.6 mm x 15.6 mm primary color CMOS (effective pixels are approximately 24 million)], the angle of view (the angle of view (horizontal angle) of the right camera information and left camera information is approximately 50 to 70 degrees), and the SD card identification information (e.g., number), etc. Specifically, the angle of view is For example, 56.6°(D) x 43.8°(H) x 33.3°(V).

[0071] The central camera information includes the stereo camera number, resolution [1 / 4-inch primary color CMOS sensor (maximum resolution: 2048 x 1536)], and angle of view [90° (D) x 75° (H) x 56 It has a fixed focal length of 0.4° (V) and measures 33x33x17mm (excluding the lens).

[0072] The camera mounting information on the mount includes the stereo imaging device number, the positions of the left and right cameras on the mount 60 [mounting hole positions of the left and right cameras from the center of the mount (with camera numbers)], and the attitude (camera tilt angle (0 degrees to 2 degrees: θCa, θCb in Figure 6)). The gantry information includes the stereo imaging device number, dimensions (444.8 mm (W) x 8.0 mm (H) x 39.0 mm (D)), center position, etc. Furthermore, the weight is added.

[0073] In addition, the photographing allowance determination condition information (photographing distance allowable / not allowable condition information and photographing angle allowable / not allowable condition information) includes the reference focus match distance of the left and right cameras to the stereo photographing range (Lo: for example, 1.5 m) and the angle formed between the central axis of the stereo photographing device 50 and the target component (for example, beam 20) when photographing the target component from the front (for example, 90 degrees: also called the target component reference angle when photographing from the front: see Figure 16). The left and right distance sensor information mentioned above includes left distance sensor information and right distance sensor information. The left and right distance sensor information includes the stereo image capture device number, the left or right distance sensor number, size (e.g., 23x28x13.6mm), weight (e.g., 7.9g), distance measurement range (e.g., 5cm to 15m), distance measurement resolution (e.g., 1mm), field of view (FOV: 1 to 2 degrees), and distance measurement accuracy [(up to 2m, 2cm, 2m to 15m, 2% of the distance measurement distance (1.5m, 20mm)], etc.

[0074] In addition, the above-mentioned distance sensor mounting information on the mount includes the stereo imaging device number, the left or right distance sensor number, and information on the position of the distance sensor on the mount 60 (dimensions from the center of the mount, dimensions from the edge of the mount) and posture (mounting angle).

[0075] The shooting distance allowable range condition information includes the stereoscopic image capturing device number and the shooting distance allowable range that takes into account the error in the shooting distance (Ls) from the reference focusing distance (Lo) of the left and right cameras to the stereoscopic shooting range. For example, the allowable shooting distance range (see Figure 16) is: (A1) The error distance from the standard focusing distance (standard shooting distance) is ±0.3m (good; blue). (A2) ±0.3m to ±0.5m (acceptable or caution).

[0076] Condition information other than the shooting distance allowance range is (B1) ±0.5m or more (no) This is based on the following standard data: for example, When the reference focusing distance (Lo) is 1.5m (a1) 1.3m≦Shooting distance (Ls)≦1.7m is ◎ (best: blue) (a2) 1.2m ≦ Shooting distance (Ls) ≦ 1.8m is good (green). (a3) Shooting distance (Ls) is less than 1.2m, 1.8m or more △ (Caution: Yellow) (b1) Shooting distance (Ls) is less than 1.0 m, 2.0 m or more. × (Warning: Red) is.

[0077] On the other hand, the imaging angle allowable condition information (see FIG. 16) is (C1) Shooting angle θ´ is ±10 degrees (best) (C2) ±10 degrees to ±20 degrees (good) (C3) ±20 degrees ~ ±30 degrees (possible)

[0078] Range condition information other than the shooting angle tolerance is (D1) ±30 degrees or more (No) Specifically, for example, The absolute value of the difference (θ': also referred to as the shooting angle θ') between the reference angle of the target component when shooting from the front (90 degrees: the angle between the Y axis and the horizontal axis when the stereo camera is facing the target component) and the shooting angle (θ) is

[0079] (c1) Shooting angle (θ´)≦10 degrees: ◎ (best: blue) (c2) 10 degrees < Shooting angle (θ´) ≦ 20 degrees: Good (Green) (c3) 20 degrees < Shooting angle (θ´) ≦ 30 degrees: △ (Caution: Yellow)

[0080] The range conditions other than the shooting angle allowance are: (d1) 30 degrees < Shooting angle (θ´): × (Warning: Red) is.

[0081] "Best", "Good", "Acceptable", "Caution", "Warning", "No", blue, green, yellow, red, etc. are flags. "Best", "Good", and "Acceptable" are called photography permission flags, and "Caution", "Warning", and "No" are called photography non-permission flags. Blue and green are called photography permission color flags, and yellow and red are called photography non-permission color flags. These flags are collectively called photography permission / non-permission flags. This information is associated with the stereo photography device number.

[0082] Furthermore, this information is associated with the name of the measurement company, the name of the person in charge, the name of the worker, and the date and time of registration. The operation item display unit 210 displays an initial setting button (software button) (not shown), a central camera image acquisition button, a stereo range frame display button (which may include a shooting distance measurement display button and a shooting angle measurement display button), an initial setting button, etc. on the screen of the tablet 200. That is, by selecting the stereo range frame display button, the shooting distance Ls and shooting angle θ' may be calculated and the stereo range frame Wi may be displayed.

[0083] When the initial setting unit 220 is notified by the aforementioned operation item display unit 210 that the initial setting button has been selected, it displays an input screen for inputting tablet information, stereo imaging device communication information, left and right camera information, center camera information, mount-mounted camera installation information, mount information, left and right distance sensor information, mount-mounted distance sensor installation information, shooting distance / angle allowable condition information [shooting distance allowable / not allowable condition information (shooting distance allowable range condition information, shooting distance other than allowable range condition information), shooting angle allowable / not allowable condition information (shooting angle allowable condition information, shooting angle other than allowable range condition information)], calibration information, the reference shooting distance, the reference angle of the target material when shooting from the front, etc., and stores the information in memory 240.

[0084] When the calibration button is selected, the initial setting unit 220 constructs a model coordinate system of the central camera (see FIG. 16) with the X-axis as the horizontal side of the mount 60 in the memory 240 based on the stereo imaging device information (including the central camera coordinates, left and right distance sensor coordinates, left and right camera coordinates, etc.).

[0085] Then, in this model coordinate system of the center camera, a stereo range HB is defined by the angles of view of the left and right cameras, and the angles of the left and right distance sensors (θLA, θLB or attitude) are defined. Information on this model coordinate system is called calibration information (including left and right camera information, center camera information, mount-mounted camera installation information, mount information, left and right distance sensor information, and mount-mounted distance sensor installation information).

[0086] The center camera image display section 230 displays the center camera image in response to the selection of the center camera image acquisition button. The image acquisition information Gij (including the tablet number, stereo image capturing device communication information, etc.) is transmitted by the transmitting / receiving unit 205 (near field wireless communication).

[0087] Then, the central camera image Goi (including the stereoscopic image capturing device number, central camera number, etc.) from the stereoscopic image capturing device 50 is received and stored in the memory 240.

[0088] In addition, when the stereo range frame display button is selected, the stereo range frame display unit 250 calculates the position coordinates (four points) of the stereo range HB (the range where the left and right images overlap (see Figure 9)) on the central camera image Goi on the tablet 200 from the model coordinate system based on the field of view (75 degrees to 90 degrees) of the central camera 81, the resolution, the field of view of the left and right cameras (50 degrees to 70 degrees), the focal length, the distance between the left and right cameras (also called the stereo distance HB), the positions of the left and right cameras on the stand 60, the tilt angle of the left camera, the position and tilt of the stand for the central camera 81, the resolution (number of pixels) of the tablet 200, etc. of the stereo imaging device information in the memory 240.

[0089] Then, it is displayed on the screen as a stereo range frame Wi (rectangle).

[0090] The color of the stereo range frame Wi is based on the judgment of the stereo range frame color-specific display unit 270, which will be described later. This stereo range frame Wi (rectangle) may be determined at the time of initial setting and stored in association with the stereo imaging device number.

[0091] However, the initial stereo range frame Wi is displayed in a fixed color (red), for example (see FIG. 14(a)). The shooting distance display unit 260 is activated by selecting the shooting distance display button or the stereo range frame display button on the screen of the tablet 200, and transmits left and right distance sensor acquisition information requesting LrA (LA) of the left distance sensor 82 and LrB (LB) of the right distance sensor 84 via the transmitter / receiver unit 205.

[0092] Then, LrA (including the stereoscopic image capturing device number, date, time, etc.) and LrB (including the stereoscopic image capturing device number, date, time, etc.) are received and stored in memory 240.

[0093] Then, the average of LrA and LrB is calculated as the shooting distance Ls (also called the in-focus distance or stereo distance) to the target member (beam 20) (this is called shooting distance calculation processing), and this shooting distance Ls is displayed on the screen and also output to the condition determination unit 297. The color of the numerical value of the shooting distance Ls is based on shooting result determination information of the condition determination unit 297, which will be described later.

[0094] In this embodiment, the nut 30 is the target member, but since the beam 20 has a screw, the beam 20 is the target member for distance measurement.

[0095] At this time, since a model coordinate system has been constructed (defined) in memory 240, shooting distance display unit 260 defines positions corresponding to LrA (also simply written as LA) and LrB (also simply written as LB) in the model coordinate system (see FIG. 16). However, in FIG. 16, LrA is written as LA and LrB is written as LB.

[0096] Furthermore, the position corresponding to the obtained shooting distance Ls is defined in the model coordinates by a line Lm (for example, a dotted line) (see FIG. 16). These are defined in association with the stereo image capturing device number.

[0097] Furthermore, the shooting distance display unit 260 outputs the stereoscopic image capturing device number and a shooting angle calculation command (hereinafter collectively referred to as shooting angle calculation instruction information) to the shooting angle display unit 280 in conjunction with the calculation of the shooting distance Ls.

[0098] The imaging angle display unit 280 reads the stereo imaging device number included in the imaging angle calculation instruction information, and calculates the angle (imaging angle θ) formed between the stereo imaging device 50 and the target member 20 based on the left and right distance sensor information and mount information associated with this number, and outputs a condition determination instruction command including this imaging angle θ and the stereo imaging device number to the condition determination unit 297.

[0099] This imaging angle θ(θ') is calculated based on the model coordinate system defined in the memory 240, the imaging distance Ls to the target component, LrA, LrB, and the like. Also, based on the shooting angle permission color flag (blue, green, yellow or red) included in the shooting result determination information from the condition determination unit 297, the shooting angle θ′ (numerical value) on the screen is displayed in different colors.

[0100] The condition determination unit 297 determines whether the shooting distance Ls and shooting angle θ' are appropriate based on the shooting distance / angle allowable condition information [shooting distance allowable / disallowable condition information (shooting distance allowable range condition information, condition information other than the shooting distance allowable range, etc.) and shooting angle allowable / disallowable condition information (shooting angle allowable condition information, shooting angle non-allowable range condition information, etc.)] in the memory 240 associated with the stereo shooting device number included in the condition determination instruction command, and outputs shooting result determination information [stereo shooting device number, date and time, shooting allowable flag, shooting disallowable flag, shooting allowable color flag (blue or green), shooting disallowable color flag (yellow, red), shooting distance allowable color flag (blue, green, yellow or red), shooting angle allowable color flag (blue, green, yellow or red)] including this determination result.

[0101] The stereo range frame color display section 270 displays the stereo range frame Wi on the screen in a different color based on the color (photography permitted color flag or photography prohibited color flag) included in the photography result determination information.

[0102] For example, if the photography permission / prohibition flag has a photography permission flag, the stereo range frame Wi on the screen is displayed in blue, for example, and if the photography permission / prohibition flag has a photography prohibition flag, it is displayed in red. The stereo range frame Wi is displayed by determining the position coordinates (four points, rectangle) of the stereo photographing range in the central camera image, and these are stored in association with the stereo photographing device number.

[0103] When the photographing button is selected (pressed), the photographing command sending unit 295 transmits a photographing instruction command to the stereo photographing device 50 via the transmitting / receiving unit 205 (short-distance wireless communication). This photographing instruction command is associated with the stereo photographing device number, stereo device communication information, etc.

[0104] FIG. 8 is a schematic diagram showing the program configuration of the microcontroller unit 85 (MCU) of the stereoscopic imaging device.

[0105] 8, the microcontroller unit 85 has a central camera image transmitting unit 85a, a distance data transmitting unit 85b, a shutter signal sending unit 85c, a speaker sound output unit 85d, an LED light emission signal output unit 85e, etc. However, Fig. 8 also shows a stereo device side Wi-Fi (registered trademark) unit 83 (hereinafter referred to as the short-range wireless communication unit 83).

[0106] The central camera image transmitting unit 85a reads the central camera image acquisition information Gij received via the short-range wireless communication unit 83 on the stereo device side, and outputs an instruction to start shooting to the central camera 81 to start shooting (video; for example, 30 frames / s).

[0107] These images are then stored sequentially in a memory (not shown) and taken out, for example, at intervals of 0.5 to 1.0 seconds (or 2, 3, 4, or 5 seconds).

[0108] Then, it is transmitted to the tablet 200 as the central camera image Goi.

[0109] The distance data transmitting unit 85b receives a distance data acquisition command from the tablet 200 via the short-range wireless communication unit 83 on the stereo device side, and sends a distance acquisition signal to the left distance sensor 82 and the right distance sensor 84.

[0110] When the shutter signal sending unit 85c receives a shooting instruction command from the tablet 200 via the short-range wireless communication unit 83 on the stereo device side, it sends a shutter signal to the left camera 90 and the right camera 100 simultaneously.

[0111] Upon receiving the shooting instruction command, the speaker sound output unit 85d generates a shutter sound (click) or the like from the speaker 88. It may also generate a message sound such as "Photo taken."

[0112] Upon receiving the photographing instruction command, the LED light emission signal output unit 85e causes the LED 87 to display a color (for example, blink blue).

[0113] This shows that Worker A captured stereo images under optimal conditions even though there was noise around and he was far away from Worker B.

[0114] 10 to 12 are sequence diagrams of the stereoscopic imaging system of this embodiment. However, the following description will be given assuming that when the stereo range frame display button is selected, the shooting distance Ls and shooting angle θ' are calculated and the stereo range frame Wi is displayed. As shown in FIG. 10, the tablet-side AP of the tablet 200 displays various buttons on the operation item display unit 210, prompting the user to select the initial setting button, and thus initial settings are performed (d10).

[0115] For example, memory 240 stores tablet information, stereo imaging device communication information, left and right camera information, central camera information, mount-mounted camera installation information, mount information, left and right distance sensor information, mount-mounted distance sensor installation information, shooting distance / angle allowable condition information [shooting distance allowable / not allowable condition information (shooting distance allowable range condition information, shooting distance other than allowable range condition information), shooting angle allowable / not allowable condition information (shooting angle allowable condition information, shooting angle other than allowable range condition information)], calibration processing, reference shooting distance, and reference angle of target material when shooting from the front.

[0116] When the power is turned on, the tablet's operation item display section 210 displays an initial setting button, a central camera image acquisition button, distance measurement buttons for the left and right distance sensors, left and right camera image acquisition buttons, a stereo shooting frame display button, etc. (not shown).

[0117] Then, at the construction site, worker A carries the stereoscopic imaging device 50, and worker B carries the tablet 200 (smartphone, personal computer), and they climb the steel tower.

[0118] Then, worker A turns on the left and right cameras of the stereoscopic imaging device 50 (d14a, d14b), and turns on the central unit 80 (d16).

[0119] The central unit 80 is provided with buttons (power-on buttons) for turning on the left and right distance sensors, the central camera, etc., and worker A presses these buttons (d18, d20). In addition, when the central unit is turned on, the short-range wireless communication unit 83 is turned on (not shown).

[0120] The buttons may be displayed on a liquid crystal display provided on the rear surface of the central unit 80 of the stereoscopic imaging device 50, and may be displayed in different colors when the buttons are operating normally.

[0121] When the central unit 80 is turned on, laser light is emitted from the left and right distance sensors (82, 84), which then receive the light and calculate the distance using the internal distance measurement unit. In other words, the target component (beam) is irradiated with laser light (e.g., red light).

[0122] Furthermore, when the power is turned on, the center camera 81 starts taking pictures, and the left and right cameras (90, 100) are ready to receive shutter signals.

[0123] Then, worker B selects the central camera image acquisition button on the tablet 200 (d22), which causes the central camera image display unit 230 to transmit the central camera image Goi (moving image, video image), and transmits the central camera image acquisition information Gij (central camera number, stereoscopic photographing device number, central camera image Goi...) to the central unit 80 of the stereoscopic photographing device 50 via the tablet's transmitter / receiver unit 205 (wireless LAN) (d26).

[0124] Meanwhile, the stereoscopic photographing device 50 receives this central camera image acquisition information Gij via the short-range wireless communication unit 83 on the stereoscopic photographing device side, and the central camera image transmission unit 85a (also called the central image transmission unit) of the MPU 85 outputs this central camera image acquisition information Gij to the central camera 81 (d28).

[0125] Upon receiving the central camera image acquisition information Gij, the central camera 81 outputs the central camera image Goi (video) to the MPU 85 of the central unit 80 (d30).

[0126] The central image transmission unit 85a of the MPU 85 of the central unit sequentially stores the central camera images Goi (video) in a memory (not shown), and transmits the central camera images Goi in the memory to the tablet 200 via the short-range wireless communication unit 83 on the stereo imaging device side in response to the output of an image transmission timing signal Ei (at intervals of 0.5 to 1 second, taking into account the processing load of the MPU) from the central camera image transmission control unit (not shown) (d32).

[0127] The tablet 200 receives this central camera image Goi via the transmitter / receiver 205, and the central camera image display unit 230 stores this central camera image Goi (also referred to as central camera video) in the memory 240 (d34) and displays it on the screen (d36: see Figure 13(a)).

[0128] Then, in response to the selection of the stereo range frame display button, the stereo range frame display unit 250 of the tablet 200 calculates the position coordinates (four points) of the stereo range HB (the range where the left and right images overlap (see Figure 13(b))) on the center camera image Goi based on the above model coordinate system, and connects these points with lines to display the stereo range frame Wi (rectangle) on the screen (d38: Figure 13(b)). However, in Figures 13(b) and (c), the color is red (if outside the allowable range).

[0129] Worker B checks on the screen whether all of the target nuts 30 are included in the stereo range frame Wi shown in FIG. 13(b) (d40).

[0130] FIG. 13(b) shows an example in which a part of the nut 30 is not included in the stereo range frame Wi.

[0131] If all of the nuts 30, which are the target objects, are not included, the worker B instructs the worker A to move the stereoscopic imaging device 50 (d42). For example, verbally tell the person to move about 20 cm to the right or left.

[0132] Then, Worker B looks at the screen again to see if all of the target nuts 30 are included. Check on the screen (d42) to see if it is in the stereo frame Wi like on the d40.

[0133] If the object is within the stereo shooting frame Wi (see FIG. 13(c)), as shown in FIG. 11, the shooting distance display unit 260 of the tablet 200 determines whether the shooting distance button has been selected (notified by a command from the operation item display unit 210) (d50).

[0134] In addition, the shooting distance display unit 260 transmits a shooting distance measurement instruction command (including the tablet side number, stereo imaging device number, date, time, etc.) to the central unit 80 when the stereo range frame display button (or shooting distance button) is selected (d52).

[0135] The distance data transmission unit 85c of the central unit 80 of the stereo photographing device 50 receives the photographing distance measurement instruction command from the tablet 200 via the short-range wireless communication unit 83 on the stereo photographing device side, and outputs (at intervals of 0.5 to 1.0 seconds) a distance measurement command (including the stereo photographing device number, tablet number, date and time) to the left and right distance sensors (left distance sensor 82 and right distance sensor 84) (d54).

[0136] Meanwhile, upon receiving a distance measurement command (including the stereo imaging device number, tablet number, short-range wireless communication unit identification code, and date and time), the left and right distance sensors perform a process of measuring the left and right distances (LrA, LrB) to the target component 20 (beam) (d56).

[0137] As shown in Figure 6, the left distance sensor 82 is tilted 1 to 2 degrees to the left (or 0.8 to 2 degrees), and the right distance sensor 84 is tilted 1 to 2 degrees to the right (or 0.8 to 2 degrees).For example, a laser is irradiated to the left and right ends of a 1.0 m range of the target member 20, and the distance is measured (left fixed distance value LrA, right measured distance value LrB).

[0138] Then, the left distance sensor 82 outputs the measured left fixed distance value LrA (including the stereo image capturing device number, tablet number, short-range wireless communication unit identification code, and year, month, date, and time) to the central unit 80, and the right distance sensor 84 outputs the measured right measured distance value LrB (including the stereo image capturing device number, tablet number, short-range wireless communication unit identification code, and year, month, date, and time) to the central unit 80 (d58).

[0139] Each time the distance data transmission unit 85b of the central unit 80 of the stereoscopic photographing device 40 receives the left side measured distance LrA and the right side measured distance LrB, it adds the central unit number, etc. and transmits the data to the tablet 200 via the short-range wireless communication unit 83 on the stereoscopic photographing device side (d60).

[0140] The shooting distance display unit 260 of the tablet 200 receives the left distance LrA and the right distance LrB, stores them as a pair in the memory 240, and performs a process (called the shooting distance calculation process) to calculate and display the shooting distance Ls to the target component (d62).

[0141] (Shooting distance calculation process) In the shooting distance calculation process, each time the left distance LrA and the right distance value LrB are stored in the memory 240 (at intervals of 0.5 to 1.0 seconds), the average of these left distance LrA and right distance LrB is calculated as the shooting distance Ls (also called the in-focus distance or stereo distance) to the target component (beam 20), and this shooting distance Ls is displayed on the screen (see Figure 14(b)) and the condition determination unit 297 is activated.

[0142] At this time, since a model coordinate system has been constructed (defined) in memory 240, shooting distance display unit 260 defines positions corresponding to left distance LrA and right distance LrB in the model coordinate system (see FIG. 16).

[0143] Furthermore, the position corresponding to the obtained shooting distance Ls is defined in the model coordinates by a line Lm (for example, a dotted line) (see FIG. 16). These are defined in association with the stereo image capturing device number.

[0144] Furthermore, the shooting distance display unit 260 outputs the stereoscopic image capturing device number and a shooting angle calculation command (hereinafter collectively referred to as shooting angle calculation instruction information) to the shooting angle display unit 280 in conjunction with the calculation of the shooting distance Ls.

[0145] Meanwhile, the imaging angle display unit 280 of the tablet 200 receives imaging angle calculation instruction information from the imaging distance display unit 260 and performs imaging angle calculation processing (d64).

[0146] (Shooting angle calculation process) This imaging angle calculation process reads the stereo imaging device number included in the imaging angle calculation instruction information, and calculates the imaging angle θ between the target component and the stereo imaging device based on the left and right distance sensor information associated with this number and the mount information (width, length, distance between cameras, etc.).

[0147] The imaging angle θ is calculated as shown in FIG. From the formula for the dot product of vector AB and vector C θ=cos-1((AB·C) / (|AB||C|) is required.

[0148] Then, a condition determination instruction command including this imaging angle θ and the stereo imaging device number is output to the condition determination unit 297.

[0149] 12, the condition determination unit 297 performs a process (also called a photographing angle permission / denial condition process) to determine whether the calculated photographing distance Ls and photographing angle θ (the angle they form) are appropriate (d70). The photographing angle permission / denial condition process will be described later.

[0150] Then, when the condition determination unit 297 determines that the shooting distance Ls and the shooting angle θ' (θ' = absolute value of (shooting angle θ - 90)) are within an appropriate range [within the allowable values ​​(within the ranges of the shooting distance allowable range conditions and the shooting angle allowable conditions)], the stereo shooting frame color display unit 220 displays the stereo shooting frame Wi in blue (d72: see Figure 15(c)).

[0151] (Determining the acceptable shadow distance range conditions) The determination of the above-mentioned shooting distance allowable range condition will now be described. for example, When the reference focusing distance (Lo) of the stereoscopic image capturing device 50 is 1.5 m, the condition determining unit 297 determines that the focal length d is 0. (a1) 1.3m≦Shooting distance (Ls)≦1.7m is ◎ (best: blue) (a2) 1.2m ≦ Shooting distance (Ls) ≦ 1.8m is good (green). (a3) Shooting distance (Ls) is less than 1.2m, 1.8m or more △ (Caution: Yellow) (b1) Shooting distance (Ls) is less than 1.0 m, 2.0 m or more. × (Warning: Red) It is determined which of the above applies (see the upper text in Figure 14(c)).

[0152] For example, if the calculated shooting distance Ls is 1.65m, (a1) 1.3m≦Shooting distance (Ls)≦1.7m is ◎ (best: blue) It is determined that the shooting distance is within the allowable range. In (a1) to (b1), blue, green, yellow, and red are shooting distance permission color flags.

[0153] (Shooting angle permission / denial condition processing) Furthermore, the condition determining unit 297 determines whether the imaging angle θ', which is the absolute value of the imaging angle θ, is (c1) Shooting angle (θ´)≦10 degrees: ◎ (best: blue) (c2) 10 degrees < Shooting angle (θ´) ≦ 20 degrees: Good (Green) (c3) 20 degrees < shooting angle (θ´) ≦ 30 degrees: △ (Caution: Yellow) d1) 30 degrees < Shooting angle (θ´): × (Warning: Red) It is determined which of the above applies (see the upper text in Figure 15(c)).

[0154] The blue, green, yellow, and red colors in (c1) to (d1) are the shooting angle permission color flags. For example, if the calculated shooting angle θ' is 8.5 degrees, (c1) Shooting angle (θ´)≦10 degrees: ◎ (best: blue) It is determined that the imaging angle tolerance condition is satisfied (see FIG. 14(c) and FIG. 15(c)). Then, the condition determination unit 297 outputs the shooting result determination information [stereo shooting device number, year / month / date / time, shooting permission flag, shooting non-permission flag, shooting permission color flag (blue or green), shooting non-permission color flag (yellow or red), shooting distance permission color flag (blue, green, yellow or red), shooting angle permission color flag (blue, green, yellow or red), etc.] to the shooting distance display unit 260, shooting angle display unit 280, stereo range frame color-specific display unit 270, and shooting command transmission unit 295.

[0155] The photographing distance display section 260 displays the photographing distance Ls (for example, 1.65 m) on the screen in a different color based on the photographing distance permission color flag (blue, green).

[0156] for example, If the shooting distance Ls (e.g., 1.65 m) is determined to be good (good) because 1.2 m≦shooting distance (Ls)≦1.8 m and the shooting distance permission color flag indicates blue, the shooting distance Ls (e.g., 1.65 m) is set to blue (see Figures 14, (b) and (c)).

[0157] The imaging angle display section 280 displays the imaging angle θ′ as, for example, 8.5 degrees. (c1) When the shooting angle (θ')≦10 degrees is determined to be ◎ (best: blue) and the shooting angle permission color flag indicates blue, the shooting distance display unit 260 displays the shooting angle (θ') on the screen in blue (see Figure 14(c) and Figure 15(c)).

[0158] Furthermore, if the shooting result determination information [stereo shooting device number, date and time, shooting permission flag, shooting non-permission flag, shooting distance permission flag, shooting distance non-permission flag, shooting angle permission flag, shooting angle non-permission flag, shooting permission color flag (blue or green), shooting non-permission color flag (yellow, red), shooting distance permission color flag (blue, green), shooting distance non-permission color flag (yellow or red), shooting angle permission color flag (blue, green, yellow or red)] indicates blue, for example, the stereo range frame color display unit 270 displays the stereo shooting frame Wi on the screen in blue (see FIGS. 14(c) and 15(c)).

[0159] FIG. 14B shows an example in which the shooting distance disallowance color flag indicates red, the shooting distance Ls is set as the shooting angle disallowance flag, and the shooting disallowance flag is displayed in red.

[0160] Then, if the condition determination unit 297 determines that the shooting distance Ls and the shooting angle (θ) are "◎ (best)" and the shooting result determination information includes a shooting permission flag, a shooting distance permission flag, a shooting angle permission flag, a shooting distance permission color flag, and a shooting angle permission color flag, the condition determination unit 297 displays a shooting button on the screen (see FIG. 17) and activates the shooting command sending unit 295 (d74).

[0161] The photographing command sending unit 295 monitors (determines) whether or not the photographing button has been selected (d78).

[0162] When the photographing button is selected, the photographing command sending unit 295 causes the stereo photographing device 50 to transmit photographing commands for the left and right cameras via the short-distance wireless communication unit 83 (d80).

[0163] The shutter signal sending unit 85d of the central unit 80 of the stereoscopic imaging device 50 receives left and right camera imaging commands (also called left and right camera imaging instruction signals) from the tablet 200 via the short-range wireless communication unit 83 on the stereoscopic imaging device side, and sends shutter signals to the left camera 90 and right camera 100 (d82, d86).

[0164] The left camera 90 and the right camera 100 acquire shutter images (still images) in synchronization with the shutter signal, and store these in their respective SD cards (d84, d88).

[0165] The left and right shutter images are stored in association with the tablet number, stereo imaging device number, date and time, camera number, tower number, etc. The left and right shutter images consist of a left camera shutter image LGi and a right camera shutter image RGi.

[0166] This makes it possible to remove the SD cards from the left and right cameras, insert them into an office computer, display the stereo images, and analyze the dimensions, type, etc. of the nuts.

[0167] In addition, the central unit 80 of the stereo photographing device 50 is provided with a speaker sound output unit 85d and an LED light emission signal output unit 85e, so that upon receiving photographing commands for the left and right cameras, sound is emitted from the speaker and the LED is lit (d90).

[0168] This shows that even if Worker B is far away from Worker A or there is noise, the stereoscopic imaging device 50 is in a position and posture (direction) that results in the shooting distance Ls and shooting angle (θ') being "◎ (best)" or the shooting distance Ls and shooting angle (θ') being "◯ (good)."

[0169] On the other hand, in d70, if the shooting result determination information from the condition determination unit includes a shooting distance disallowed flag, a shooting angle disallowed flag, a shooting color disallowed flag (yellow, red), or a shooting distance disallowed color flag, the stereo shooting frame Wi (including Ls and θ on the screen) is displayed in another color (yellow, red) (d92).

[0170] for example, If the shooting distance (Ls) is less than 1.2 m, or 1.8 m or more (Caution), and the shooting angle is determined to be 20 degrees < shooting angle (θ´) ≦ 30 degrees (Caution), the stereo range frame Wi will be displayed in yellow. The shooting distance Ls and shooting angle θ´ on the screen will also be displayed in yellow.

[0171] Furthermore, if it is determined that 30 degrees < shooting angle (θ'): × (warning), the shooting distance display unit 260 displays the stereo range frame Wi in red (see FIGS. 13(b) and 13(c)), and the numerical value of the shooting distance Ls on the screen is displayed in red (see FIG. 14(b) and FIG. 14(c)), and the captured image display unit 280 displays the numerical value of the shooting angle θ' in red.

[0172] Also, even if 1.3m≦shooting distance (Ls)≦1.7m is ◎ (best), The shooting angle θ' is 10 degrees < Shooting angle (θ´) ≦ 20 degrees: Good (good) or 20 degrees < Shooting angle (θ´) ≦ 30 degrees: △ (Caution) Or, There are cases where it is determined that 30 degrees < shooting angle (θ´): × (warning).

[0173] In this case, the stereo range frame Wi will be displayed in red or yellow, and the shooting distance value will be displayed in blue. The color of the shooting angle value is displayed in a color based on the judgment of "good," "caution," or "warning" (green, yellow, or red).

[0174] Therefore, since the shooting distance is optimal, the position should remain the same and only the direction and posture should be changed.

[0175] Or, Shooting angle (θ´)≦10 degrees: ◎ (best), 1.2m≦Shooting distance (Ls)≦ 1.8m is good (good), or Shooting distance (Ls) is less than 1.2m, 1.8m or more, △ (Caution) or Shooting distance (Ls) less than 1.0m, 2.0m or more × (Warning) It may be judged that:

[0176] In this case, the stereo range frame Wi is displayed in red or yellow, the numerical value of the shooting angle θ is displayed in blue, and the color of the numerical value of the shooting distance is displayed in a color based on the judgment of "good," "caution," or "warning" (green, yellow, red).

[0177] Therefore, since the shooting angle is optimal, worker B can easily understand that he should leave the direction and posture as they are and only move the position (for example, forward or backward).

[0178] Then, based on the colors of Wi, θ', and Ls, worker B instructs worker A to move the stereo camera (position, posture, direction) (d94). This causes d70 to again determine whether the values ​​are within the tolerance range.

[0179] A supplementary note will be made regarding the above-mentioned condition determination process. First, we will explain why the baseline length B (stereo distance or distance between the left and right cameras) is set to 0.30 m.

[0180] The following factors can be considered as causes of the large difference (=original dimension value - stereo measurement value). (1) When the shooting distance (Ls) is long If the shooting distance is long, not only does the resolution of the subject decrease, but the error in the depth direction during stereo photography increases in proportion to the square of the shooting distance. Considering that the camera spacing (B) of the stereo photography device in this study is 0.30 m, when measuring in the order of millimeters, a shooting distance of 2.5 m or less is desirable, but at worst the shooting distance should be 5.5 m or less.

[0181] (2) When the angle (θ: shooting angle θ) between the object (target component) to be measured and the stereoscopic imaging device during imaging is greater than 90°, When the angle is 90°, the photograph is taken from the front, and the error in the dimension measurement is the smallest (see Figure 16).

[0182] If |θ-90| is large, the measurement will be taken from an oblique angle, which will increase the error in measuring dimensions. It is desirable that the shooting angle θ´ (|θ-90|) be within 20° as much as possible.

[0183] (3) When the difference between the shooting distance and the actual shooting distance (S1, S2) is large, If there is a large difference between the in-focus shooting distance (Ls) and the actual shooting distance (LA (LrA, LB (LrB)), the image will be out of focus and blurred. If the snapshot shooting distance is 1.5m, the range in which the image will be in focus and will not be blurred is approximately ±0.3m, i.e., the shooting distance range of 1.2m to 1.8m.

[0184] (4) When the difference in the shooting distances (LA, LB) between dimension measurement points A and B is large, This is also related to (2), but if the difference is large, one of the points (or both) will be out of focus and the image will be blurred. Therefore, it is desirable that the difference in the shooting distances (LA, LB) of dimension measurement points A and B be within 0.3 m as much as possible.

[0185] (5) When the shooting angle is increased, (4) is also a factor, but the important thing is that the bolt head, which is the measurement point, becomes less visible and more difficult to measure (image analysis).Furthermore, if the shape of the bolt foot is hemispherical, it becomes difficult to measure the center, which can lead to measurement errors.

[0186] Regarding (1) (shooting distance) and (2) (shooting angle), we calculated the simulation error (mm) when measuring the dimensions of a stereo camera (e.g., GRIIIx). Calculation conditions: component dimensions: 800 mm, shooting angle θ´: |θ-90| = 0° The error in this case is shown in Figure 18, and the error is smallest when the baseline length B is 0.30 m.

[0187] Calculation conditions: component dimensions: 800 mm, shooting angle θ´: |θ-90| = 10° The error in this case is shown in Figure 19. As the shooting angle increases, the error amount decreases in proportion to the increase in the baseline length B. However, a longer baseline length B means that the stereo imaging device becomes larger, which makes it difficult to use in terms of portability and operability. Therefore, it can be said that the error is smallest when the baseline length B is 0.30 m.

[0188] For this reason, the baseline length B (stereo spacing) is set to approximately 0.30 m. That is, the condition determination unit 297 determines whether the shooting distance Ls in the memory 240 associated with the stereoscopic image capturing device number included in the condition determination instruction command is 1.5m±0.3m, 1.5m±0.3m to ±0.5m, or 1.5m±0.5m or more.

[0189] It is also determined whether the obtained imaging angle θ is 90°±10°, 90°±10° to ±20°, 90°±20° to ±30°, or 90°±30° or more.

[0190] The results of these determinations are displayed on the stereo range frame color display section 297 along with the stereo image pickup device number and the date and time.

[0191] In the above embodiment, the stereo photography system is described as targeting the steel tower 10, but the stereo photography device 10 may be attached to a drone.

[0192] In this case, the stereo distance, the angles of the left and right distance sensors, and the angles of the left and right cameras are changed according to the in-focus distance.

[0193] In addition, the left and right camera information, the center camera information, the camera mounting information on the mount, the mount information including the mount dimensions, the left and right distance sensor information, the distance sensor mounting information on the mount, the shooting distance allowable range condition information, the condition information other than the shooting distance allowable range, the shooting angle allowable condition information, the shooting angle allowable range condition information, etc. are changed.

[0194] Furthermore, in the above embodiment, the target object has been described as a steel tower, but it may also be a building, tower, bridge, tree, or the like.

[0195] (Embodiment 2) In the first embodiment, the left and right distance sensors use the TOF (Time of Flight) method, but worker A does not know where the distance sensors are measuring and what part of the tower they are photographing. Therefore, this problem is solved by using a laser spot (also called a laser pointer). 20 is an explanatory diagram of a stereoscopic image pickup device according to embodiment 2. Note that embodiment 2 will also be described using a number of drawings, but in these drawings, the same reference numerals as in embodiment 1 will not be described again. Moreover, since the stereoscopic image pickup device of the second embodiment uses a laser pointer, it is referred to as laser pointer-equipped stereoscopic image pickup device 400. Note that Fig. 20(a) shows the front view of laser pointer-equipped stereoscopic image pickup device 400 as seen from the camera lens side.

[0196] This stereoscopic imaging device 400 with a laser pointer has a left camera 90, a right camera 100, and a central unit 300 with a pointer in the middle of the left and right cameras. 20(a) is a front view of stereo image pickup device 400 with laser pointers according to embodiment 2. The left and right cameras of the stereo image pickup device according to embodiment 1 have been described as being tilted inward by 0 to 2 degrees, but the tilt will now be set to 0 degrees.

[0197] That is, the surface side of the mount 60 is formed so that the inclination of the machined-out portions (depth: about 3 mm: not shown) into which the central unit with pointer 300, left camera 90, and right camera 100 are fitted and fixed with screws or the like is 0 degrees (parallel to the side edge of the mount) with respect to the center line (horizontal direction) of the mount 60, thereby preventing any inclination. Then, as in the first embodiment, the central unit with pointer 300, left camera 90, and right camera 100 are fixed with screws or the like (not shown).

[0198] FIG. 20(b) is an explanatory diagram illustrating the relationship between the distance sensor and the laser pointer. As shown in FIG. 20(b), the central unit 300 with pointer has left and right laser pointers (either one will do) provided near the left and right distance sensors (left distance sensor 82, right distance sensor 84).

[0199] These laser pointers (e.g., Quarton: VLM-520-29 LPT) are left and right laser pointers (right laser pointer 210, left laser pointer 220), and are located on a horizontal line Lki that crosses the lens centers of the camera lenses (camera lens 94 (left), camera lens 104 (right)) of the left and right cameras (right camera 10, left camera 90), and are also located at the positions of the laser irradiation lenses of the left and right distance sensors (left distance sensor 82, right distance sensor 84).

[0200] For example, as shown in FIG. 20(b), the right laser pointer 210 is provided inside the right distance sensor 84 (on the side of the vertical line Lpi passing through the center of the central camera 81), and the left laser pointer 220 is provided inside the right distance sensor 84.

[0201] The right laser pointer 210 may be located outside the right distance sensor 84 (towards the right camera 100), and the left laser pointer 220 may be located outside the right distance sensor 84 (towards the left camera 90), or one may be located inside and the other outside.

[0202] Figure 20(b) shows an example in which the left and right laser pointers are provided inside each other, and the dimensional relationship between the left and right cameras and the left and right distance sensors will be explained using the right laser pointer 210 as a representative. In Figure 20(b), La1 is 75 mm (±3 mm), La2 is 88 mm (±3 mm), La3 is 12 mm to 16 mm (±2 mm), and La4 (the range between the center of the right laser pointer 210 and the vertical line Lpi passing through the center of the central camera 81) is 34 mm to 34 mm (±2 mm) according to Lp3. The diameter of the laser pointer is 6 mm to 10 mm.

[0203] 21 is a rear view of the stereoscopic image pickup device 400 with a laser pointer according to the second embodiment. 330 is a unit power switch. 320 is a switch for the laser spot. Figure 22 shows the installation diagram of the laser pointer and the distance sensor. , the right laser pointer 210 will be shown and explained.

[0204] Figure 22(a) is an installation diagram for the case where the laser light of the right laser pointer 210 travels in a straight line. As shown in Figure 22(a), the right laser pointer 210 is attached to the housing 300a of the pointer-equipped central unit 300 by a hold plate 212. This hold plate 212 (made of aluminum or acrylic) has, for example, a circular hole with the diameter of the right laser pointer 210, and the right laser pointer 210 is inserted into this circular hole and fixed at both ends with screws. The circular hole is surrounded by a cylinder 214.

[0205] Figure 22(b) is an installation diagram for slightly tilting the right laser pointer 210. For this installation, it is preferable to use an inclined space 216 (0.8 degrees to 3 degrees) as shown in Figure 22(b). Then, the holding plate 212 is fixed with screws 218a and nuts 218b. FIG. 23 is an external view of the laser spot. Figure 23(a) shows a laser pointer that produces a circular spot, and Figure 23(b) shows a laser pointer that produces a rectangular spot (see Figures 24 and 25). A circular or rectangular spot may be used, but the laser pointer for a rectangular spot in Figure 23(b) is preferred.

[0206] When using the laser pointer shown in Figure 23(b), since the angle of the lens attached to the laser pointer is 90 degrees, the emitting lens may be masked so that the length of the rectangular spot is approximately 30-40 cm (3 cm to 5 cm vertically) at a shooting distance of 1 m-15 m. For example, plates may be attached to either end, top or bottom, or both ends of the hole in the housing into which the emitting lens is fitted (see Figure 31), so that the length of the rectangular spot is approximately 30-40 cm at a shooting distance of 1 m-15 m.

[0207] As a result, the spots PA and PB are projected onto the beam of the steel tower, which is the object of photography, as shown in Fig. 24 (however, the laser pointer is not shown in Fig. 24). Therefore, worker A can easily see where the left and right cameras of stereo photography device 400 with laser pointer are pointing (photographing).

[0208] That is, since the spot is rectangular (200 mm to 300 mm), if the beam 20 is at an angle, for example, as shown in Fig. 25, and the left and right spots (PA, PB) are not parallel to the upper edge of the angled beam 20, the pole of the stereoscopic imaging device 400 with laser pointer can be tilted so that the left and right spots (PA, PB) are parallel to the upper edge of the angled beam 20, and the stereo device can be easily made to face the beam 20. Note that Fig. 25 is an example in which a screw is being photographed.

[0209] That is, the left and right spots (PA, PB) are located within the stereo range HB as shown in Fig. 26. Note that the left and right distance sensors are not shown in Fig. 26. In this second embodiment, the tablet 200 (also referred to as the remote photography controller terminal) of Figure 24 mentioned above has the function of sending left and right camera photography commands to the stereo photography device 50 via the short-range wireless communication unit 83 each time the shutter button (SHOT) is pressed, as in the first embodiment (at this time, the center camera image Goi currently displayed on the screen is stored in memory), as well as a PR-SHOT button function (means), etc., but as in the first embodiment, the tablet will be described as the tablet 200.

[0210] This PR-SHOT button function has a function of displaying the center camera images Goi from the previous few times on the screen every time the PR-SHOT button (button for displaying the previous photographed location) is selected.

[0211] This storage is performed by the central camera image acquisition information Gij (central camera number, stereo photography equipment The position number and the central camera image Goi are stored. 27 is a schematic diagram of the central unit 300 with a pointer on the side of the stereoscopic image pickup device 400 with a laser pointer according to embodiment 2. However, the LED 88 and the speaker 89 shown in FIG. As shown in FIG. 27, the right laser pointer 210 (LP), the left laser pointer 220 (LP), and the laser pointer switch 320 are connected to a microcontroller unit 85aa (MCU) of the second embodiment.

[0212] As in the first embodiment, the microcontroller unit 85aa (MCU) has a central camera image transmitting unit 85a, a distance data transmitting unit 85b, a shutter signal sending unit 85c, a speaker sound output unit 85d, an LED light emission signal output unit 85e, a stereo device side Wi-Fi (registered trademark) unit 83, etc. (see FIG. 8).

[0213] It also has means (LP drive unit: not shown) for supplying power to the right laser pointer 210 (LP) and the left laser pointer 220 (LP) when the laser pointer switch 320 is pressed.

[0214] As a result, laser light is emitted from the left and right distance sensors (82, 84), and the light is received, and the distance is calculated. Furthermore, although not shown, the microcontroller unit 85aa (MCU) of the central unit with pointer 300 is connected to a temperature sensor that detects the temperature inside the central unit with pointer 300 and a battery voltage detection circuit.

[0215] In other words, when the microcontroller unit 85aa (MCU) receives a shooting instruction command from the tablet 200 via the short-range wireless communication unit 83, it has the function of including the temperature detected by the temperature sensor (temperature inside the central unit with pointer) and the current battery voltage detected by the battery voltage detection circuit (battery voltage inside the central unit with pointer) in the central camera image acquisition information Gij, outputting it to the short-range wireless communication unit 83, and transmitting it to the tablet 200.

[0216] In addition, the left and right laser pointers display square-shaped spots (PA, PB) on the beam, and the central camera acquires a central camera image Goi (moving image, video image: including PA, PB), which is then sent to worker B's tablet 200 (remote photography controller terminal) as central camera image acquisition information Gij (central camera number, stereo photography device number, central camera image Goi...).

[0217] The tablet 200 (remote photography controller terminal) displays this center camera image Goi on the screen, and in response to selection of the stereo range frame display button, calculates the position coordinates (four points) of the stereo range HB (the range where the left and right images overlap (see Figure 13(b)) on the center camera image Goi based on the model coordinate system described above, and connects these points with lines to display the stereo range frame Wi (rectangle) on the screen (see Figure 28). In other words, selection of the stereo range frame display button calculates the shooting distance Ls and shooting angle θ' and displays the stereo range frame Wi.

[0218] Specifically, the shooting distance calculation process of the shooting distance display unit 260 calculates the average of the left distance LrA and the right distance LrB as the shooting distance Ls (also called the in-focus distance or stereo distance) to the target component (beam 20), displays this shooting distance Ls on the screen, and activates the condition determination unit 297.

[0219] The photographing distance Ls is displayed by the photographing distance calculation process of the photographing distance display unit 260, but it is not just the photographing distance Ls ("2.142" in FIG. 28), but also the left distance LrA and the right distance LrB. The left distance LrA (1.255) is displayed at the bottom left of the center camera image Goi, and the right distance LrB (3.028) is displayed at the bottom right. This allows the worker to see the degree of tilt of the left and right cameras.

[0220] The imaging angle θ' is calculated by the imaging angle display unit 280, and is displayed ("79.855" in FIG. 28) next to the imaging distance Ls ("2.142" in FIG. 28). That is, the shooting distance Ls and the shooting angle are displayed as a pair at the bottom center of the frame. Then, whether or not the shooting distance Ls and shooting angle are appropriate is determined by the condition determination unit 297. Fig. 28 shows an example in which the shooting distance Ls ("2.142" in Fig. 28) and shooting angle ("79.855" in Fig. 28) do not satisfy the conditions, and is displayed in red.

[0221] Then, when the SHOT button (photographing button) in FIG. 28 is selected, the tablet 200 transmits a shutter signal (a photographing command for the left and right cameras) to the stereo photographing device 400 with laser pointer. The laser pointer-equipped stereoscopic photographing device 400 receives left and right camera photographing commands (also called left and right camera photographing instruction signals) from the tablet 200 (remote photographing controller terminal), and sends shutter signals to the left camera 90 and right camera 100.

[0222] The left camera 90 and the right camera 100 acquire shutter images (still images) in synchronization with the shutter signal (left camera shutter image LGi, right camera shutter image RGi), and store these in their respective SD cards. The left and right shutter images are stored in association with the tablet number, stereoscopic imaging device number, date and time, camera number, tower number, etc.

[0223] This makes it possible to remove the SD cards from the left and right cameras, insert them into an office computer, display the stereo images, and analyze the dimensions, type, etc. of the nuts. On the other hand, the tablet 200 (remote photography controller terminal) has a function of displaying on the screen a screen form that displays a SHOT button (photographing button), a PR-SHOT button, and the center camera image Goi, as shown in FIG.

[0224] Then, each time the SHOT button (photographing button) is selected (when the camera is within the stereo photographing frame Wi), the central camera image Goi on the screen is stored in memory, and a photographing instruction command is sent to the stereo photographing device 400 with laser pointer via the transmitter / receiver unit 205 (short-range wireless communication).

[0225] The date and time of the photo, tablet code, stereoscopic camera number, tower number, tower location, worker A's name, worker B's name, etc. are associated and stored in order (the order number of the photo may also be associated). Then, when the PR-SHOT button shown in Figure 28 is selected, the screen switches to that of Figure 29, and the center camera image Goi from several times ago (for example, 1 to 3 times ago: in order of most recent time) stored in memory is displayed on the screen.

[0226] For example, the previous center camera image Goi is displayed on the right edge of the screen, the center camera image Goi two images before is displayed to the left of the previous image, and the center camera image Goi three images before is displayed to the left of the image two images before. These images are called thumbnail images for stereo image confirmation. This allows you to check that you have photographed the desired object accurately, in the correct direction, and at the correct distance.

[0227] 28. The 3.87V in FIG. 28 is the value of the laser pointer-equipped stereoscopic imaging device 400. 51.5° C. is the internal temperature of the central unit 300 with pointer of the stereoscopic photographing device 400 with laser pointer (the information contained in the central camera image acquisition information Gij is extracted and displayed). This makes it possible to estimate whether the central unit 300 with a pointer of the stereoscopic image pickup device 400 with a laser pointer is normal or whether there is a possibility that it may malfunction due to a rise in temperature.

[0228] The first number "1909" in "1909 Images, fps" indicates the number of images (cumulative) received from the central camera after the tablet 200 (remote photography controller terminal) is turned on, the tablet-side app is launched, and the remote photography controller terminal is connected to the central unit 300 with pointer of the stereo photography device with laser pointer.

[0229] The second number, "0.9," indicates how frequently the app is receiving the video. A higher number indicates that images are being received more frequently. For example, 2.0 fps means that two images are being received per second, meaning that the image is being redrawn approximately every 0.5 seconds. When you close the app, the first number is reset to 1.

[0230] "1.255" is the distance value measured by the left distance sensor 82 of the stereoscopic image pickup device 400 with a laser pointer, and "3.028" is the distance value measured by the right distance sensor 84. "2.142: (in red)" is the average of "1.255" and "3.028", and corresponds to the shooting distance Ls in the first embodiment. "79.855: in red" is the imaging angle, which corresponds to the imaging angle θ' in the first embodiment.

[0231] The calculation of this imaging angle is shown more specifically in FIG. Note that αa and αb indicate the set values ​​of the angles (for example, 2.1 degrees) of the left and right distance sensors (or cameras), Lab indicates the shooting distance Ls, and Dbsse indicates the distance between the left and right distance sensors.

[0232] The calculation of this imaging angle is shown more specifically in FIG. Note that αa and αb indicate the set values ​​of the angles (for example, 2.1 degrees) of the left and right distance sensors (or cameras), Lab indicates the shooting distance Ls, and Dbsse indicates the distance between the left and right distance sensors. However, the value "0.078 m" for Dbsse is just an example. Also, the formula to the right of the arrow in Figure 30 is the formula used to derive the formula within the dotted line frame. Also, values ​​such as 2.1 degrees are just examples.

[0233] An example of the above-mentioned masking process will be described with reference to Fig. 31. As shown in Fig. 31, a mounting hole 300b for a laser pointer is provided in a housing 300a of a central unit 300 with a pointer, and rectangular plates 310a, 310b (plastic, metal, acrylic) are attached so as to cover, for example, the left and right parts of the mounting hole 300b for the laser pointer. The plates 310a and 310b have rectangular holes 310aa and 310bb formed at the top and bottom, and are attached with screws 320. Since rectangular holes 310aa and 310bb are formed at the top and bottom, if the beam does not assume a predetermined shape, the position of the screw 320 can be adjusted to achieve the desired shape.

[0234] The rectangular plates 310a, 310b (plastic, metal, acrylic) may be provided above and below the mounting hole 300b for the laser pointer. [Explanation of symbols]

[0235] 50 Stereoscopic equipment 60 Mounting stand 90 Left Camera 80 Central Unit 100 Right Camera

Claims

1. A stereo photography system including a stereo photography device and a mobile terminal, each having a wireless communication function, The stereoscopic imaging device The camera is provided with a left digital camera and a right digital camera on the left and right sides of a longitudinal stand, each of which stores a still image in its memory card upon receiving a shutter signal, and a central unit in the center. The central unit comprises: a central digital camera provided near the center and adapted to transmit a central camera image having a wider angle than the left and right digital cameras; left and right distance sensors that are provided on either side of the central digital camera and that emit laser light at a predetermined angle (1 to 3 degrees) to measure the distance to an object; a laser pointer that is provided near the distance sensor at the predetermined angle (1 to 3 degrees) and that emits a spot light of a predetermined color along the laser light toward the target; a control unit that transmits the image from the center camera and the left and right distance measurement values ​​measured by the left and right distance sensors to the mobile terminal via short-range wireless communication, and outputs the shutter signals to the left and right digital cameras in response to receiving a shooting instruction signal from the mobile terminal, The mobile terminal a means for receiving the center camera image (wide angle) from the stereoscopic imaging device via short-range wireless communication and displaying it on a screen, and for determining the stereoscopic imaging range of the left and right digital cameras based on the positions and attitudes of these cameras on the mount, and for displaying this stereoscopic imaging range in a frame of a predetermined color on the center camera image on the screen, and for displaying a shooting button; a means for transmitting the photographing instruction signal to the mobile terminal by short-range wireless communication in response to the selection of the photographing button; means for displaying the frame in an acceptable color when the left-side distance measurement value and the right-side distance measurement value satisfy an acceptable distance range for the focus distance (Lo) of the left and right cameras, and for displaying the frame in a different color when the acceptable range is not satisfied; A stereo photography system comprising:

2. the laser pointers are provided near the left and right distance sensors, and are positioned on a horizontal axis passing through the lens centers of the left and right distance sensors and the lens centers of the left and right cameras, respectively; 2. The stereoscopic imaging system according to claim 1, wherein the shape of each spot on the object is a rectangle whose horizontal direction is longer.

3. The storage unit of the mobile terminal includes at least left and right distance sensor information, and on-mount distance sensor installation information, which is information on the position and orientation of the distance sensor on the mount; shooting distance allowable range condition information including an allowable shooting distance range of the shooting distance (Ls) relative to the focusing distance (Lo) of the left and right cameras up to the stereo shooting range and an allowable shooting distance color when this allowable shooting distance range is satisfied; and shooting distance other than allowable range condition information including an unallowable shooting distance range of the shooting distance (Ls) relative to the focusing distance (Lo) and an unallowable color different from the allowable color when this unallowable shooting distance range is satisfied; imaging angle tolerance condition information including an imaging angle tolerance range of the imaging angle (θ') of the stereo imaging device relative to the target member and the tolerance color (blue or green) when this imaging angle tolerance range is satisfied; The imaging angle (θ') is stored as an unacceptable imaging angle range and imaging angle unacceptable range condition information including the unacceptable color when the imaging angle is satisfied. The left and right distance values ​​(LA) measured by the left and right distance sensors from the stereoscopic imaging device a means for receiving the side measured distance values ​​(LB) and calculating the average of these distances as the shooting distance (Ls); a means for calculating the shooting angle (θ') based on the left fixed distance value (LA), the right measured distance value (LB), the shooting distance (Ls), the left and right camera information, the camera installation information on the mount, and the distance sensor installation information on the mount; a means for determining the calculated shooting distance (Ls) based on the shooting distance allowable range or the shooting distance outside the allowable range; a means for determining the obtained imaging angle (θ') based on the imaging angle allowable range or the imaging angle outside the allowable range; means for displaying the frame (Wi) in the allowable color (blue or green) when it is determined that the determined shooting distance (Ls) is within the allowable shooting distance range and the determined shooting angle (θ') is within the allowable shooting angle range; a means for displaying the frame (Wi) in the non-permissible color (yellow or red) when it is determined that the determined shooting distance (Ls) falls within the non-permissible shooting distance range and the determined shooting angle (θ') falls within the non-permissible shooting angle range; 2. The stereoscopic imaging system according to claim 1, further comprising:

4. The mobile terminal a means for displaying the shooting distance (Ls) and the shooting angle (θ') in a color corresponding to the determined result in an area outside the frame (Wi) displayed on a screen; 4. The stereoscopic imaging system according to claim 3, further comprising:

5. The mobile terminal 2. The stereo photography system according to claim 1, further comprising: means for displaying a display button for a previously photographed location on a screen, and, when this display button is selected, transmitting the photography instruction signal to the stereo photography device, receiving and storing the central camera images in order, and displaying them on the screen as thumbnail images in order of most recent time.

6. (Rights to Stereoscopic Photography Equipment) A stereoscopic imaging device having a left digital camera and a right digital camera on the left and right sides of a flat-plate-shaped stand, and a central unit having a wireless communication function for communicating with a mobile terminal in the center, The left digital camera and the right digital camera are The camera includes a built-in removable card memory and a built-in rechargeable battery, and includes means for storing a still image in each memory card upon receiving a shutter signal from the portable terminal, The central unit comprises: a central digital camera provided near the center, which sequentially transmits central camera images having a wider angle than the left and right digital cameras; left and right distance sensors that are provided on either side of the central digital camera and that emit laser light at a predetermined angle (1 to 3 degrees) to measure the distance to an object; a laser pointer that is provided near the distance sensor at the predetermined angle (1 to 3 degrees) and that emits a spot light of a predetermined color along the laser light toward the target; a control unit that transmits the image from the center camera and the left and right distance measurements measured by the left and right distance sensors to the mobile device via short-range wireless communication, and outputs the shutter signals to the left and right digital cameras upon receiving a shooting instruction signal from the mobile device; A stereoscopic imaging device comprising:

7. the laser pointers are provided near the left and right distance sensors, and are positioned on a horizontal axis passing through the lens centers of the left and right distance sensors and the lens centers of the left and right cameras, respectively; The shape of each spot on the target is a rectangle with the horizontal direction being longer.

7. The stereoscopic imaging device according to claim 6, wherein:

8. The mounting hole of the housing of the laser pointer is 7. The stereoscopic imaging device according to claim 6, further comprising a plate covering a part of the left and right sides or a part of the top and bottom sides, for forming a rectangular spot that is long in the longitudinal direction on the object.

9. (Rights as a mobile device) A portable terminal that communicates with a stereoscopic imaging device that has a left digital camera and a right digital camera on the left and right sides, a central digital camera in the center that has a wider angle than the left and right digital cameras, and a central unit that has a wireless communication unit and controls these cameras, a means for receiving the center camera image (wide angle) from the stereoscopic imaging device via short-range wireless communication and displaying it on a screen, and for determining the stereoscopic imaging range of the left and right digital cameras based on the positions and attitudes of the cameras on the mount, and for displaying this stereoscopic imaging range in a frame of a predetermined color on the center camera image on the screen, and for displaying a shooting button; a means for transmitting the instruction to capture an image to the mobile terminal by short-range wireless communication in response to the selection of the capture button; means for displaying the frame in an acceptable color when the left-side distance measurement value and the right-side distance measurement value satisfy an acceptable distance range for the focus distance (Lo) of the left and right cameras, and for displaying the frame in a different color when the acceptable range is not satisfied; A portable terminal for a stereo device, comprising:

10. a storage unit that stores left and right camera information of the left and right digital cameras, center camera information of the center digital camera, camera mounting information on the mount that is information on the positions and orientations of these cameras on the mount, mount information including the dimensions of the mount, information on the left and right distance sensors, and distance sensor mounting information on the mount that is information on the positions and orientations of the distance sensors on the mount; and shooting distance allowable range condition information including an allowable shooting distance range of the shooting distance (Ls) relative to the focusing distance (Lo) of the left and right cameras up to the stereo shooting range and an allowable color when this allowable shooting distance range is satisfied; and shooting distance other than allowable range condition information including an unallowable shooting distance range of the shooting distance (Ls) relative to the focusing distance (Lo) and an unallowable color different from the allowable color when this unallowable shooting distance range is satisfied. imaging angle tolerance condition information including an imaging angle tolerance range of the imaging angle (θ') of the stereo imaging device relative to the target component and the tolerance color when this imaging angle tolerance range is satisfied; The imaging angle (θ') is stored as an outside allowable imaging angle range condition information including the outside allowable imaging angle range and the outside allowable color when the imaging angle is satisfied. a means for receiving a left-side fixed distance value (LA) and a right-side measured distance value (LB) measured by the left and right distance sensors of the stereoscopic imaging device, and calculating the average of these distances as the imaging distance (Ls); a means for calculating the imaging angle (θ') of the stereo imaging device based on the left fixed distance value (LA), the right measured distance value (LB), the imaging distance (Ls), the left and right camera information, the mount-mounted camera installation information, and the mount-mounted distance sensor installation information; a means for determining whether the calculated shooting distance (Ls) is within the allowable shooting distance range or a range other than the allowable shooting distance range; a means for determining the obtained imaging angle (θ') based on the imaging angle allowable range or the imaging angle outside the allowable range; a means for displaying the frame (Wi) in the allowable color (blue or green) when it is determined that the determined shooting distance (Ls) satisfies the allowable shooting distance range and the determined shooting angle (θ') satisfies the allowable shooting angle range; a means for displaying the frame (Wi) in the non-allowable color when it is determined that the determined shooting distance (Ls) falls within the non-allowable shooting distance range and the determined shooting angle (θ') falls within the non-allowable shooting angle range; 10. The portable terminal for a stereoscopic image pickup device according to claim 9, further comprising:

11. a means for displaying the shooting distance (Ls) and the shooting angle (θ') in a color corresponding to the determined result in an area outside the frame (Wi) displayed on a screen; 10. The portable terminal for a stereoscopic image pickup device according to claim 9, further comprising:

12. 10. The portable terminal for a stereoscopic photographing device according to claim 9, further comprising: means for displaying a display button for a previously photographed location on a screen, and, when this display button is selected, transmitting the photographing instruction signal to the stereoscopic photographing device, receiving and storing the central camera images in order, and displaying them on the screen as thumbnail images in order of most recent time.

13. means for displaying the left-side fixed distance value at the bottom left of the central camera image, the right-side measured distance value at the bottom right, and the shooting distance and shooting angle in combination at the bottom center of the frame; 11. The portable terminal for a stereoscopic image pickup device according to claim 10, further comprising:

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