Position searching method and position searching device
Patent Information
- Application Number
- JP2024051666
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-03-27
- Publication Date
- 2025-10-09
Smart Images
Figure 2025150660000001_ABST
Abstract
Description
[Technical Field]
[0001] FIELD OF THE INVENTION The present invention relates to a location location method and a location location device. [Background technology]
[0002] Aircraft beacons are used in aircraft passageways such as airport taxiways and runways. An aircraft beacon includes a base that is installed so as to be embedded in the aircraft passageway, and a mounting member that is mounted on the base, and the mounting member includes a lamp. In repair work on an aircraft passageway where an aircraft beacon is installed, the mounting member including the lamp is removed from the base, and the hole where the base was installed is filled, thereby embedding the base into the roadbed. In addition, in work to construct a new aircraft passageway, a hole is formed by excavating the roadbed, and the base is installed inside the formed hole. The hole where the base was installed is then backfilled, thereby embedding the base into the roadbed.
[0003] In both aircraft passageway repair work and new construction work, the aircraft passageway is paved with bases embedded in the roadbed. After the road surface is paved, the roadbed is excavated and mounting members including lighting devices are attached to the embedded bases from above vertically. During this process, surveying or the like is conducted to locate and identify the embedded positions in the roadbed surface. Then, the roadbed is excavated at the identified embedded positions. In both aircraft passageway repair work and new construction work, there is a demand for reducing the time and labor required to locate the embedded positions where the bases are embedded. [Prior art documents] [Patent documents]
[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-85264 Summary of the Invention [Problem to be solved by the invention]
[0005] The problem to be solved by the present invention is to provide a position search method and a position search device that can reduce the time required for searching for embedded positions where bases are embedded when repairing or constructing aircraft passageways. [Means for solving the problem]
[0006] According to the position locating method of the embodiment, a first photographed image is acquired of a base installed on a roadbed or a mounting member mounted on the base, and a marking member installed on the roadbed around the base, a second photographed image is acquired of the marking member with the base embedded in the roadbed, and condition change information indicating a change in the condition of the roadbed between the first photographed image and the second photographed image. The position locating method calculates position information in real space for the embedding position where the base is embedded in the roadbed based on the condition change information and at least one of the first photographed image and the second photographed image. [Effects of the Invention]
[0007] According to the present invention, it is possible to provide a position search method and a position search device that can reduce the time required for searching for an embedded position where a base is embedded when repairing or constructing an aircraft passageway. [Brief explanation of the drawings]
[0008] [Figure 1] FIG. 1 is a cross-sectional view schematically illustrating an example of an aircraft beacon according to an embodiment. [Figure 2] FIG. 2 is a cross-sectional view schematically illustrating a situation in repair work on an aircraft passageway in an embodiment. [Figure 3] FIG. 3 is a cross-sectional view showing a schematic view of a situation subsequent to that of FIG. 2 during repair work on an aircraft aisle in an embodiment. [Figure 4] FIG. 4 is a block diagram showing an example of the configuration of a position search device that performs processing to identify the embedding positions of the bases in the embodiment. [Figure 5]FIG. 5 is a flowchart schematically illustrating an example of processing for identifying the embedding position of any one base, which is performed by the processing execution unit of the position search device in the embodiment. [Figure 6] FIG. 6 is a cross-sectional view showing a schematic diagram of a situation subsequent to that of FIG. 3 during repair work on an aircraft aisle in an embodiment. [Figure 7] FIG. 7 is a cross-sectional view schematically showing a situation in new construction work for an aircraft passageway in an embodiment. [Figure 8] FIG. 8 is a cross-sectional view that schematically illustrates a situation subsequent to the situation in FIG. 7 during new aircraft passage construction work in an embodiment. DETAILED DESCRIPTION OF THE INVENTION
[0009] According to the position locating method of the embodiment, a first photographed image (I1) is obtained by photographing a base (10) installed on a roadbed (2) or a mounting member (11) mounted on the base (10), and a marking member (18) installed on the roadbed (2) around the base (10), a second photographed image (I2) is obtained by photographing the marking member (18) in a state in which the base (10) is embedded in the roadbed (2), and condition change information indicating a change in condition of the roadbed (2) between the first photographed image (I1) and the second photographed image (I2). In the position locating method, position information in real space is calculated for the embedding position where the base (10) is embedded in the roadbed (2) based on the condition change information and at least one of the first photographed image (I1) and the second photographed image (I2). This makes it possible to reduce the time and labor required to search for the embedded position of the base (10) when repairing or constructing an aircraft passageway.
[0010] In the position search method of the embodiment, a position corresponding to the calculated position information as the embedding position is displayed in real space on the roadbed 2. This allows workers to excavate an appropriate position as the embedding position of the base 10 after the road surface 3 is paved with the base 10 embedded in the roadbed 2 in repairing or constructing an aircraft passageway.
[0011] The position search device (30) of the embodiment includes an information collection unit (36) and a position calculation unit (37). The information collection unit (36) acquires a first captured image (I1) of a base (10) installed on a roadbed (2) or a mounting member (11) mounted on the base (10), and a marking member (18) installed on the roadbed (2) around the base (10), a second captured image (I2) of the marking member (18) in a state in which the base (10) is embedded in the roadbed (2), and condition change information indicating a change in the condition of the roadbed (2) between the first captured image (I1) and the second captured image (I2). The position calculation unit (37) calculates position information in real space for the embedded position where the base (10) is embedded in the roadbed (2) based on the state change information and at least one of the first photographed image (I1) and the second photographed image (I2). This makes it possible to reduce the time and labor required to search for the embedded position where the base (10) is embedded when repairing or constructing an aircraft passageway.
[0012] Hereinafter, embodiments will be described with reference to the drawings.
[0013] FIG. 1 schematically illustrates an example of an aircraft beacon 1 according to an embodiment. FIG. 1 illustrates a cross section parallel or approximately parallel to the vertical direction. The aircraft beacon 1 is used in aircraft passageways, such as taxiways and runways, at airports. Here, in aircraft passageways, such as taxiways, a roadbed (not shown) is formed over the entire aircraft passageway. In addition, in the aircraft passageway, one or more roadbeds 2 are arranged vertically above the roadbed, and the roadbeds 2 form a road surface (passage surface) 3. In other words, the roadbed 3 is a part of the roadbed 2, and the surface of the roadbed 2 is the road surface 3. The roadbed 2 is formed from asphalt, an asphalt-concrete composite, crushed stone cement, or the like. Note that FIG. 1 illustrates only one roadbed 2.
[0014] As shown in FIG. 1, an aircraft beacon 1 includes a base 10 and a mounting member 11. In the example shown in FIG. 1, the aircraft beacon 1 includes a lamp unit 12, an adjustment ring 13, and a spacer 15 as the mounting member 11. A hole 5 is formed in the roadbed 2 of the aircraft passageway, recessed vertically downward from the road surface 3. The base 10 is installed inside the hole 5 and does not protrude vertically upward from the road surface 3. Therefore, the base 10 is installed in the hole 5 while positioned vertically below the road surface 3. The base 10 is installed, for example, at a position vertically downward from the road surface 3 by a distance equal to or greater than 50 mm and equal to or less than 500 mm.
[0015] In the aircraft beacon light 1, the mounting member 11 is attached from above vertically to the base 10 installed inside the hole 5. In the example shown in FIG. 1, the spacer 15 is attached to the base 10 from above vertically, and the adjustment ring 13 is attached to the spacer 15 from above vertically. The light unit 12 is then placed on the adjustment ring 13 from above vertically, and is attached to the base 10 with the adjustment ring 13 and spacer 15 interposed between them. In one example, the spacer 15 is not provided, and the adjustment ring 13 is attached directly to the base 10 from above vertically. In this case, the light unit 12 is attached to the base 10 with only the adjustment ring 13 interposed between them.
[0016] When the mounting member 11 is attached to the base 10 as described above, at least a portion of the lighting device 12 protrudes vertically upward from the road surface 3, and a portion of the lighting device 12 is exposed at the road surface 3. The lighting device 12 includes a light source unit (not shown). The light source unit may include a light-emitting element such as an LED (light emitting diode), or may be composed of a lamp other than an LED. When power is supplied to the light source unit, the light source unit performs a light-emitting operation and emits light such as visible light. The light from the light source unit is then irradiated to the outside of the lighting device 12. When the mounting member 11 including the lighting device 12 is attached to the base 10, light from the light source unit of the lighting device 12 is irradiated to aircraft in an aircraft passageway such as a taxiway. Note that the light from the light source unit of the lighting device 12 may also be irradiated to the ground (road surface, etc.).
[0017] A cavity 6 is formed inside the roadbed 2, and the cavity 6 is connected to the hole 5. Furthermore, inside the roadbed 2, a power line 16 is extended through the cavity 6. For this reason, in aircraft passageways such as taxiways, the power line 16 is buried in the roadbed 2, and the cavity 6 is formed as a wiring route to the air traffic beacon light 1. The power line 16 can be connected to the lighting device 12. When the power line 16 is connected to the lighting device 12, power is supplied to the lighting device 12 through the power line 16. When power is supplied through the power line 16, the light source unit of the lighting device 12 performs a light emitting operation and irradiates light as described above.
[0018] In an aircraft passageway at an airport or the like, a plurality of the above-described aircraft beacons 1 are installed and arranged in an array. In the aircraft passageway, the plurality of aircraft beacons 1 may be arranged along the aircraft passageway or in a direction intersecting the aircraft passageway. Furthermore, each of the plurality of aircraft beacons 1 is installed with a gap between it and the adjacent aircraft beacons 1.
[0019] As described above, in the aircraft passageway where the plurality of navigation beacons 1 are installed, repair work is periodically carried out to repair the road surface 3. Hereinafter, the repair work of the aircraft passageway carried out in the embodiment will be described.
[0020] FIG. 2 schematically illustrates a situation during aircraft passageway repair work in an embodiment. As shown in FIG. 2, during aircraft passageway repair, marking members 18, such as stakes, are installed around each of a plurality of aircraft beacons 1. One marking member 18 is installed for each of the aircraft beacons 1, and one marking member 18 is installed for each of the bases 10. Each of the marking members 18 is installed around the hole 5 in which the corresponding one of the bases 10 is located, and is installed on the roadbed 2 outside the hole 5. Each of the marking members 18 is installed around the corresponding one of the holes 5, exposed to the road surface 3. The marking members 18 are not limited to stakes, as long as they are components that can serve as markers.
[0021] In repairing an aircraft passageway, the aircraft passageway is photographed with marking members 18 installed around each of the aviation beacons 1 (bases 10). In one example, such as Fig. 2, a photographing device 21 such as a camera is attached to an aircraft 20 such as a drone, and while the aircraft 20 is moving (arrow A1), the photographing device 21 photographs the aircraft passageway from vertically above (arrow B1).
[0022] By taking photographs as described above, a photographed image (first photographed image) I1 is taken. In the photographed image I1, the aircraft beacon 1 and the marking members 18 installed around each of the aircraft beacons 1 are photographed as subjects. Also, as described above, in each of the aircraft beacons 1, at least a portion of the lamp unit 12 constituting the mounting member 11 is exposed at the road surface 3. Therefore, in the photographed image I1, the exposed portion of the mounting member 11 (lamp unit 12) of each of the aircraft beacons 1 is photographed as a subject.
[0023] 2, the photographed image I1 is captured by the photographing device 21 attached to the aircraft 20, but the present invention is not limited to this. In one example, the photographing device 21 is attached to a vehicle used at the airport, and the photographed image I1 is captured by the photographing device 21 attached to the vehicle. In another example, another aircraft to which a photographing device is attached is used, separate from the aircraft 20 that captures the photographed image I1. In this case, while the aircraft 20 is photographing an air traffic beacon 1, the other aircraft uses the attached photographing device to search for the next air traffic beacon 1 to be photographed.
[0024] FIG. 3 schematically illustrates a situation subsequent to the situation illustrated in FIG. 2 during aircraft passageway repair work in an embodiment. For example, assume work to repair or renew a road surface 3 (roadbed 2). As illustrated in FIG. 3 , during aircraft passageway repair work, after a photographed image (first photographed image) I1 is captured, the mounting member 11 including the lamp unit 12 of each of the aviation beacons 1 is removed from the base 10. Then, with each base 10 installed in a corresponding one of the holes 5, each of the holes 5 is filled. Thus, each of the bases 10 is embedded in the roadbed 2. When filling each of the holes 5, a cover member 17 is attached vertically above the base 10 installed in the hole 5. Then, with the cover member 17 attached to the base 10, each of the holes 5 is filled with a material for forming the roadbed 2, such as asphalt concrete or crushed stone cement.
[0025] In repairing the aircraft passageway, the bases 10 are embedded in the roadbed 2 as described above, and then the road surface 3 of the aircraft passageway is paved with each of the bases 10 embedded. Then, after the road surface 3 is paved, the aircraft passageway is photographed. In one example such as FIG. 3, the aircraft passageway is photographed from vertically above (arrow B2) by the photographing device 21 attached to the aircraft 20 while the aircraft 20 is moving (arrow A2), similar to the photographing of the photographed image I1.
[0026] By taking photographs as described above, a photographed image (second photographed image) I2 is taken. When photographed image I2 is taken, each of the marking members 18 is installed in the aircraft passageway, which is real space, at the same position as when photographed image I1 was taken. Therefore, in photographed image I2, the marking members 18 installed around each of the bases 10 are photographed as subjects. Also, when photographed image I2 is taken, each of the bases 10 is embedded in the roadbed 2. Therefore, the bases 10 are not photographed in photographed image I2. As described above, in photographed image I2, each of the marking members 18 is photographed with the bases 10 embedded in the roadbed 2 after photographed image I1.
[0027] In addition, when capturing the photographed image I2, the manner of capturing the photograph can be changed as appropriate, similar to the photographing of the photographed image I1. In one example, a photographing device 21 is attached to a vehicle used at the airport, and the photographed image I2 is captured by the photographing device 21 attached to the vehicle. In another example, an aircraft to which a photographing device is attached is used, separate from the aircraft 20 that captures the photographed image I2. In this case, while the aircraft 20 is photographing the marking member 18, the other aircraft uses the attached photographing device to search for the marking member 18 to be the next photographed target.
[0028] In repairing an aircraft passageway, when a photographed image (second photographed image) I2 is captured, the embedded positions of the bases 10 in the road surface 3 of the roadbed 2 are searched for, and the embedded positions of each base 10 are identified. In the embodiment and the like, the process of identifying the embedded positions of each base 10 is performed by a position search device. FIG. 4 is a block diagram illustrating an example of the configuration of a position search device 30 that performs the process of identifying the embedded positions of each base 10 in the embodiment. As shown in FIG. 4, the position search device 30 includes a process execution unit 31, a storage unit 32, a communication unit 33, and a user interface 35, and the process execution unit 31 includes an information collection unit 36 and a position calculation unit 37. The information collection unit 36 and the position calculation unit 37 execute part of the process performed by the process execution unit 31.
[0029] The position search device 30 is, for example, a processing device such as a terminal or a server, and the processing execution unit 31 is configured from a processor or integrated circuit mounted on the terminal or server. The processor or integrated circuit configuring the processing execution unit 31 includes any of a CPU (Central Processing Unit), ASIC (Application Specific Integrated Circuit), microcomputer, FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), etc. The processing execution unit 31 may be configured from one integrated circuit, etc., or may be configured from multiple integrated circuits, etc.
[0030] The storage unit 32 is composed of a storage medium such as a memory. The storage unit 32 may be composed of one storage medium or multiple storage media. The storage unit 32 stores processing programs and the like executed by the processing execution unit 31. The storage unit 32 may also store data, relational expressions, tables, and the like used in the processing of the processing execution unit 31.
[0031] The communication unit 33 is composed of a communication circuit and the like, and the position search device 30 communicates with external devices through the communication unit 33. The communication unit 33 performs communication by wire or wirelessly. The communication unit 33 receives information from the outside and transmits information to the outside.
[0032] The user interface 35 allows an operator or the like to input appropriate operations. The user interface 35 is provided with, for example, a touch panel, buttons, switches, etc. as operation members that can input operations. The user interface 35 can also notify the operator or the like of information. The user interface 35 notifies the operator or the like of information by, for example, displaying on a screen or by voice. The user interface 35 may be provided separately from the processing device that serves as the position search device 30.
[0033] In one example, the location search device 30 is configured by a plurality of processing devices such as a plurality of servers. In this case, integrated circuits of the plurality of processing devices cooperate with each other to perform the processing described below by the processing execution unit 31. Storage media of the plurality of processing devices function as the memory unit 32. In another example, the location search device 30 is configured by a server in a cloud environment. In this case, a virtual processor such as a virtual CPU performs the processing described below by the processing execution unit 31. Cloud memory functions as the memory unit 32.
[0034] The following describes a process for identifying the embedding position of any one of the bases 10. For each of the multiple bases 10, the embedding position in the road surface 3 is identified by a process similar to that described below. Figure 5 is a flowchart that schematically illustrates an example of a process for identifying the embedding position of any one of the bases 10, which is performed by the process execution unit 31 of the position search device 30 in the embodiment.
[0035] When the example of FIG. 5 is started, the information collection unit 36 of the process execution unit 31 acquires the above-mentioned captured images I1 and I2 (S101). At this time, the information collection unit 36 acquires, for example, image data of the captured image (first captured image) I1 and image data of the captured image (second captured image) I2 received by the communication unit 33. Then, the information collection unit 36 acquires state change information indicating a state change of the roadbed 2 between the two captured images I1 and I2 (S102). The state change information includes information indicating a state change of the road surface 3 between the captured images I1 and I2. Note that the captured images I1 and I2 may be stored in the storage unit 32, and the information collection unit 36 may acquire the captured images I1 and I2 from the storage unit 32.
[0036] Here, in photographed image I1, the lighting device 12 of the mounting member 11 is exposed on the road surface 3, and the exposed portion of the lighting device 12 is shown. On the other hand, in photographed image I2, the base 10 is embedded in the roadbed 2, so only the road surface 3 is shown at the embedded position where the base 10 is embedded. Furthermore, because the road surface 3 is paved between the time photographed image I1 and the time photographed image I2, the position of the road surface 3 in real space may be shifted in the vertical direction when photographed image I2 is taken compared to the time photographed image I1. For this reason, the road surface 3 photographed in photographed image I2 is shifted in the vertical direction in real space relative to the mounting member 11 photographed in photographed image I1. Therefore, if the position of the base 10 is estimated using only photographed image I1 before the road surface 3 was paved, there is a risk of an incorrect location being estimated.
[0037] In the process of identifying the embedding position of the base 10, the information collecting unit 36 of the process executing unit 31 acquires, for example, a deviation amount ε1 in the vertical direction in real space of the road surface 3 shown in the photographed image I2 relative to the mounting member 11 shown in the photographed image I1 as state change information. The deviation amount ε1 is expressed in units of, for example, mm, cm, or m. In one example, the deviation amount ε1 is grasped by a worker or the like, and the worker or the like inputs the deviation amount ε1 using the user interface 35. Then, the information collecting unit 36 of the process executing unit 31 acquires the input deviation amount ε1 as state change information.
[0038] In another example, the position search device 30 can communicate with a GPS (Global Positioning System) satellite through the communication unit 33. The information collection unit 36 of the processing execution unit 31 communicates with the GPS satellite to acquire GPS-based position information, i.e., position information indicated by absolute position, for the shooting range captured in each of the captured images I1 and I2. The information collection unit 36 of the processing execution unit 31 then calculates the aforementioned deviation amount ε1 by, for example, comparing the absolute positions of the shooting ranges between the two captured images I1 and I2.
[0039] In another example, the information collection unit 36 of the processing execution unit 31 communicates with a GPS satellite to acquire satellite images of the shooting ranges of the captured images I1 and I2 captured by the GPS satellite. The information collection unit 36 then performs image processing using the satellite image showing the shooting range of the captured image I1 and the satellite image showing the shooting range of the captured image I2, thereby calculating the aforementioned deviation amount ε1. Note that in these examples, a geographic information system may be used together with (or instead of) the GPS satellite. In another example, the deviation amount ε1 may be calculated based on the difference in the exposure length of the marking member 18 between the captured images I1 and I2.
[0040] When the state change information is acquired as described above, the position calculation unit 37 of the processing execution unit 31 calculates position information in real space for the embedding position where the base 10 is embedded in the road surface 3, based on the captured images I1 and I2 and the state change information (S103). The position information calculated in S103 may be, for example, information on absolute position (latitude, longitude) or information on relative position (x coordinate, y coordinate). The relative position here refers to a relative position based on an arbitrary location within or near the airport. In addition to the absolute position and relative position information, depth information may also be calculated. In this case, the position calculation unit 37 of the processing execution unit 31 calculates the relationship of the position in real space with respect to the position in the captured image I1, based on information related to the capture of the captured image I1, and calculates the relationship of the position in real space with respect to the position in the captured image I2, based on information related to the capture of the captured image I2, for example. Information regarding the capture of the captured image I1 includes the position of the camera equipment 21 at the time of capturing the captured image I1 and the angle of view of the camera equipment 21, etc., and information regarding the capture of the captured image I2 includes the position of the camera equipment 21 at the time of capturing the captured image I2 and the angle of view of the camera equipment 21, etc.
[0041] As described above, when the photographed image I2 is captured, the marking member 18 is placed in the same position in real space as when the photographed image I1 was captured. Therefore, the position calculation unit 37 of the processing execution unit 31 calculates the relationship of the position in the photographed image I2 relative to the position in the photographed image I1 by, for example, comparing the positions of the marking member 18 between the two photographed images I1 and I2. In one example, the position calculation unit 37 calculates position information in the photographed image I2 regarding the embedding position where the base 10 is embedded in the road surface 3, based on the relationship of the position in the photographed image I2 relative to the position in the photographed image I1 and status change information such as the deviation amount ε1. Then, the position calculation unit 37 calculates position information in real space regarding the embedding position where the base 10 is embedded in the road surface 3, based on the position information of the embedding position in the photographed image I2 and the relationship of the position in real space relative to the position in the photographed image I2.
[0042] After calculating the position information of the embedding position in real space, the position calculation unit 37 notifies the calculated position information in real space (S104). In one example, the position calculation unit 37 notifies the calculated position information by either a screen display or a voice in the user interface 35. In another example, the position calculation unit 37 causes the communication unit 33 to transmit a signal indicating the calculated position information. Then, the calculated position information is notified using a device external to the position search device 30.
[0043] The position information of the embedding position in real space is displayed, for example, as a numerical value. In this case, either a position based on GPS (absolute position) or a relative position based on the marking member 18 is displayed as a numerical value as the position information of the embedding position in real space. In other words, either a position coordinate in the GPS coordinate system or a position coordinate in a coordinate system based on the marking member 18 is displayed as the position information of the embedding position in real space.
[0044] In one example, the location search device 30 can communicate with a radio wave transmitter located in an airport through the communication unit 33. The radio wave transmitter is, for example, a component of a location information system in the airport. In this example, the relative position based on the radio wave transmitter is displayed as a numerical value as the location information of the embedded position in real space. In other words, the location information of the embedded position in real space is displayed as a position coordinate in a coordinate system based on the radio wave transmitter located in the airport.
[0045] In one example, in addition to the position information in the real space, the position information in the photographed image I2 is notified regarding the embedding position of the base 10. In this case, the position information of the embedding position in the photographed image I2 is notified by, for example, superimposing and displaying a position corresponding to the position information of the embedding position on the photographed image I2.
[0046] In repairing the aircraft passageway, once position information in real space is identified for each embedded position of the base 10 as described above, the roadbed 2 is excavated at each of the positions corresponding to the identified position information, and the above-mentioned holes 5 are formed. At this time, the roadbed 2 is excavated by, for example, boring. The embedded positions where the bases 10 are embedded in the road surface 3 are identified as excavation positions in real space where the roadbed 2 will be excavated. Once each hole 5 is formed, each marking member 18 is removed from the roadbed 2. Then, in each of the formed holes 5, a mounting member 11 including a lighting device 12 is attached vertically from above to the embedded base 10. This completes the repair work for the aircraft passageway.
[0047] In one example, the worker or the like is notified of the specified position information in real space as a numerical value for each embedded position of the base 10. In this case, the worker or the like excavates the roadbed 2 at each position in the aircraft passageway, which is the real space, that corresponds to the numerical value indicated as the position information. As a result, holes 5 are formed in the road surface 3 at each position that corresponds to the numerical value indicated as the position information.
[0048] FIG. 6 schematically illustrates a situation subsequent to the situation in FIG. 3 during repair work on an aircraft passageway in an embodiment. In the situation in FIG. 6, position information in real space for each embedded position of the bases 10 is calculated by the above-described processing or the like. In the example in FIG. 6, positions corresponding to the calculated position information for each embedded position of the bases 10 are displayed on the road surface in the aircraft passageway in real space. In the example in FIG. 6, a projection device 22 is attached to an aircraft 20 such as a drone, and positions corresponding to the calculated position information are displayed in real space by projection using the projection device 22. In the situation in FIG. 6, position C1 corresponding to the calculated position information for the embedded position of base 10a, one of the bases 10, is displayed by the projection device 22.
[0049] In another example, when a worker or the like wears VR (virtual reality) goggles or AR (augmented reality) goggles in real space, positions corresponding to position information calculated as the embedding positions of the bases 10 are displayed on the road surface 3. This allows the worker or the like wearing the VR goggles or AR goggles to recognize the embedding positions in the road surface 3 where the bases 10 are embedded.
[0050] As described above, in the embodiment, in repairing an aircraft passageway, a photographed image I1 of the mounting members mounted on the base 10 and the marking members 18 installed around the base 10, a photographed image I2 of the marking members 18 in a state in which the base 10 is embedded in the roadbed 2 after photographing the photographed image I1, and condition change information showing changes in the condition of the roadbed 2 between the photographed images I1 and I2, such as the amount of deviation ε1, are acquired. Then, based on the two photographed images I1 and I2 and the condition change information, position information in real space is calculated for the embedding position where the base 10 is embedded in the road surface 3.
[0051] When repairing an aircraft passageway, the embedding position where the base 10 is embedded is searched for as described above, and therefore the time required to search for the embedding position of the base 10 is reduced compared to searching for the embedding position of the base 10 by surveying, etc. Furthermore, in this embodiment, the effort required to search for the embedding position of the base 10 is reduced compared to searching for the embedding position of the base 10 by surveying, etc.
[0052] In one embodiment, a position corresponding to the position information calculated as the embedding position is displayed in real space on the road surface 3. This allows workers to excavate an appropriate position as the embedding position of the base 10 after the road surface 3 is paved with the base 10 embedded in the roadbed 2 during repair work of an aircraft passageway.
[0053] The above-described method of searching for the embedded position where the base 10 is embedded can also be used in the construction of a new aircraft aisle. Figure 7 shows a schematic diagram of a situation in the construction of a new aircraft aisle in an embodiment.
[0054] As shown in FIG. 7 , when constructing a new aircraft passageway, a plurality of holes 5 are formed in the roadbed 2 by, for example, excavating the roadbed 2. Then, a base 10 is installed inside each of the holes 5. When constructing a new aircraft passageway, marking members 18 such as stakes are installed around each of the plurality of holes 5, i.e., around each of the bases 10. One marking member 18 is installed for each of the bases 10. Each of the marking members 18 is installed around the hole 5 in which the corresponding one of the bases 10 is located, and is installed on the roadbed 2 outside the hole 5. Then, each of the marking members 18 is installed around the corresponding one of the holes 5, with the marking members 18 exposed to the road surface 3.
[0055] When a new aircraft passageway is constructed, the aircraft passageway is photographed with marking members 18 installed around each periphery of the base 10. In one example such as Fig. 7, while the aircraft 20 is moving (arrow A3), the aircraft passageway is photographed from vertically above by the photographing device 21 attached to the aircraft 20 (arrow B3). As a result, a photographed image (first photographed image) I1 is also captured when the new aircraft passageway is constructed.
[0056] When constructing a new aircraft aisle, each of the marking members 18 is also photographed as a subject in the photographed image I1. However, unlike photographing when repairing an aircraft aisle, when constructing a new aircraft aisle, the photographed image I1 is taken when the mounting members 11 are not attached to each of the bases 10. Therefore, in the photographed image I1, the mounting members 11 are not photographed, and the bases 10 are photographed instead of the mounting members 11. Note that when constructing a new aircraft aisle, it is possible to appropriately change the manner in which the photographed image I1 is photographed, as described above in the case of repairing an aircraft aisle.
[0057] Figure 8 schematically shows a situation subsequent to the situation in Figure 7 during the construction of a new aircraft passageway in an embodiment. As shown in Figure 8, during the construction of a new aircraft passageway, when a photographed image (first photographed image) I1 is taken, each of the holes 5 is backfilled with the bases 10 installed in a corresponding one of the holes 5. As a result, each of the bases 10 is buried in the roadbed 2. When filling each of the holes 5, a cover member 17 is attached vertically from above to the base 10 installed in the hole 5, as in the case of repairing an aircraft passageway, and each of the holes 5 is backfilled.
[0058] When constructing a new aircraft passageway, the bases 10 are embedded in the roadbed 2 as described above, and then the road surface 3 of the aircraft passageway is paved with each of the bases 10 embedded. Then, after the road surface 3 is paved, the aircraft passageway is photographed. In one example such as FIG. 8, while the aircraft 20 is moving (arrow A4), the aircraft passageway is photographed from vertically above by the photographing device 21 attached to the aircraft 20 (arrow B4). As a result, a photographed image (second photographed image) I2 is also taken when constructing a new aircraft passageway.
[0059] Even in the construction of a new aircraft passageway, when the photographed images I1 and I2 are taken, each of the marking members 18 is installed in the same position in the aircraft passageway, which is the real space. Therefore, in the photographed image I2, the marking members 18 installed around each of the bases 10 are photographed as the subject. Furthermore, when the photographed image I2 is taken, each of the bases 10 is embedded in the roadbed 2, so the bases 10 are not photographed in the photographed image I2. Note that even in the construction of a new aircraft passageway, the manner in which the photographed image I2 is photographed can be changed as appropriate, as described above in the case of repairing the aircraft passageway.
[0060] When constructing a new aircraft passageway, when a photographed image (second photographed image) I2 is taken, the embedded positions of the bases 10 are searched for on the road surface 3 of the roadbed 2, and the embedded positions of each of the bases 10 are identified. At this time, similar to the case of repairing an aircraft passageway, a process of identifying the embedded positions of each of the bases 10 is performed by the position search device 30. Then, for example, by performing a process similar to the example of FIG. 5, position information in real space of the embedded position of any one of the bases 10 is calculated. Then, the calculated position information of the embedded position in real space is notified.
[0061] In the construction of a new aircraft passageway, position information in real space of the embedding position of the base 10 is calculated as described above based on the photographed images I1 and I2 and the condition change information indicating the change in the condition of the roadbed 2 between the two photographed images I1 and I2. However, in the construction of a new aircraft passageway, instead of the aforementioned deviation amount ε1, the deviation amount ε2 in the vertical direction in real space of the road surface 3 shown in photographed image I2 relative to the base 10 shown in photographed image I1 is acquired as the condition change information. The deviation amount ε2 can be acquired in the same manner as the deviation amount ε1. That is, the deviation amount ε2 may be input by an operator or the like using the user interface 35, or may be calculated based on information from a GPS satellite.
[0062] In the construction of a new aircraft passageway, once position information in real space is identified for each embedded position of the base 10 as described above, the roadbed 2 is excavated at each of the positions corresponding to the identified position information, and the above-mentioned holes 5 are formed. Once each hole 5 is formed, each marking member 18 is removed from the roadbed 2. Then, in each of the formed holes 5, the mounting member 11 including the lighting device 12 is attached vertically from above to the embedded base 10. This completes the construction work for the new aircraft passageway.
[0063] In the embodiments etc., even when a new aircraft passage is being constructed, position information in real space is calculated for the embedded position where the base 10 is embedded in the road surface 3 based on the two captured images I1 and I2 and the state change information. Therefore, in the embodiments etc., even when a new aircraft passage is being constructed, the time required to search for the embedded position of the base 10 is reduced compared to when the embedded position of the base 10 is searched for by surveying or the like. Furthermore, in the embodiments etc., even when a new aircraft passage is being constructed, the effort required to search for the embedded position of the base 10 is reduced compared to when the embedded position of the base 10 is searched for by surveying or the like.
[0064] In the above-described embodiment, during repair of an aircraft passageway, a photographed image (first photographed image) I1 is taken with the mounting members 11 attached to each of the bases 10. However, in a modified example, the photographed image I1 may be taken after the mounting members 11 are removed from each of the bases 10. In this case, the photographed image I1 captures the bases 10 and the marking members 18 installed around each of the bases 10 as subjects. In this modified example, a photographed image I2 is taken in the same manner as in the above-described embodiment. Then, in the same manner as in the above-described embodiment, position information in real space is calculated for the embedding position where the bases 10 are embedded in the road surface 3 based on the two photographed images I1 and I2 and the state change information. Therefore, this modified example also achieves the same functions and effects as the above-described embodiment.
[0065] According to at least one of these embodiments, a first photographed image is acquired of a base installed on a roadbed or a mounting member mounted on the base, and a marking member installed on the roadbed around the base, a second photographed image is acquired of the marking member with the base embedded in the roadbed, and condition change information indicating a change in the condition of the roadbed between the first photographed image and the second photographed image. Then, based on the condition change information and at least one of the first photographed image and the second photographed image, position information in real space for the embedded position where the base is embedded in the roadbed is calculated. This makes it possible to provide a position detection method and a position detection device that can reduce the time required to search for the embedded position where the base is embedded in the repair and construction of aircraft passageways.
[0066] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]
[0067] 1...aviation beacon light, 2...roadbed, 3...road surface, 5...hole, 10...base, 11...mounting component, 12...light unit, 18...marking component, 20...aircraft, 21...photographing equipment, 22...projection equipment, 30...position search device, 31...processing execution unit, 36...information collection unit, 37...position calculation unit, I1...photographed image (first photographed image), I2...photographed image (second photographed image).
Claims
1. Acquiring a first photographed image of a base installed on a roadbed or a mounting member mounted on the base, and a marking member installed on the roadbed around the base, a second photographed image of the marking member in a state where the base is embedded in the roadbed, and condition change information indicating a change in the condition of the roadbed between the first photographed image and the second photographed image; Calculating position information in real space regarding an embedding position where the base is embedded in the roadbed based on the state change information and at least one of the first photographed image and the second photographed image; A location detection method comprising:
2. The position search method of claim 1 , further comprising displaying a position corresponding to the position information calculated as the embedding position on the roadbed in the real space.
3. an information collection unit that acquires a first photographed image of a base installed on a roadbed or a mounting member mounted on the base, and a marking member installed on the roadbed around the base, a second photographed image of the marking member in a state where the base is embedded in the roadbed, and condition change information that indicates a change in the condition of the roadbed between the first photographed image and the second photographed image; a position calculation unit that calculates position information in real space regarding an embedding position where the base is embedded in the roadbed based on the state change information and at least one of the first photographed image and the second photographed image; A location search device comprising: