Measurement system and measurement method

Abstract

To provide a measurement system and a measurement method that can save the trouble for measurement.SOLUTION: A measurement system comprises: an acquisition part which acquires captured images; a determination part which determines whether a predetermined plurality of captured images in time series including one or more markers including predetermined identification information are acquired; and a displacement quantity calculation part which calculates a displacement quantity within a predetermined range associated with the one or more markers based upon the plurality of captured images in time series when the plurality of captured images are acquired.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a measurement system and a measurement method. [Background technology]

[0002] Patent Documents 1 and 2 disclose techniques for measuring vibration and displacement based on a plurality of time-series images of a marker. In the measurement system described in Patent Document 1, velocity data between time-series marker images is analyzed using a spatiotemporal differential method. In the displacement calculation device described in Patent Document 2, a displacement calculation model is used to calculate the displacement of an observation target portion from a plurality of image data including an observation target portion to which a marker with a predetermined pattern is attached. The measurement methods described in Patent Documents 1 and 2 enable accurate measurement of vibration and displacement by attaching a predetermined marker to the measurement target. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-232780 [Patent Document 2] Japanese Patent Application Publication No. 2023-37848 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned measurements, when, for example, a plurality of markers are attached to one measurement object and the markers that need to be measured are only a portion of the plurality of markers, or when there are a plurality of measurement objects with markers attached and the measurement objects that need to be measured are only a portion of the plurality of measurement objects, there is a problem in that it can be complicated to identify the markers that should be photographed.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to provide a measurement system and a measurement method that can reduce the effort required for measurement. [Means for solving the problem]

[0006] In order to solve the above problem, the measurement system according to the present disclosure includes an acquisition unit that acquires captured images, a determination unit that determines whether a predetermined number of captured images in a time series including one or more markers each including predetermined identification information have been acquired, and a displacement amount calculation unit that, when the plurality of captured images have been acquired, calculates a displacement amount within a predetermined range associated with the one or more markers based on the plurality of captured images in the time series.

[0007] The measurement method according to the present disclosure includes the steps of acquiring captured images, determining whether a predetermined number of captured images in a time series including one or more markers each including predetermined identification information have been acquired, and, if the plurality of captured images have been acquired, calculating a displacement amount within a predetermined range associated with the one or more markers based on the plurality of captured images in the time series. [Effects of the Invention]

[0008] The measurement system and measurement method of the present disclosure can reduce the amount of work required for measurement. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram of a measurement system according to an embodiment of the present disclosure. [Figure 2] 1 is a perspective view illustrating an example of an imaging device and a measurement object according to a first embodiment of the present disclosure. [Figure 3] 4 is a flowchart showing an example of the operation of the measurement device according to the first embodiment of the present disclosure. [Figure 4] FIG. 10 is a perspective view showing another example of the imaging device and the measurement object according to the first embodiment of the present disclosure. [Figure 5]FIG. 10 is a perspective view showing another example of the imaging device and the measurement object according to the first embodiment of the present disclosure. [Figure 6] 10 is a flowchart showing another operation example of the measurement device according to the first embodiment of the present disclosure. [Figure 7] FIG. 10 is a perspective view showing an example of an imaging device and a measurement object according to a second embodiment of the present disclosure. [Figure 8] 10 is a flowchart showing an example of the operation of a displacement amount calculation unit according to the second embodiment of the present disclosure. [Figure 9] FIG. 11 is a perspective view showing an example of an imaging device and a measurement object according to a third embodiment of the present disclosure. [Figure 10] 11 is a flowchart illustrating an example of operation of a displacement amount calculation unit according to the third embodiment of the present disclosure. [Figure 11] FIG. 10 is a perspective view showing an example of an imaging device and a measurement object according to a fourth embodiment of the present disclosure. [Figure 12] FIG. 1 is a schematic block diagram illustrating the configuration of a computer according to at least one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a measurement system and a measurement method according to an embodiment of the present disclosure will be described with reference to the drawings. Note that the same or corresponding components in the drawings are designated by the same reference numerals and descriptions thereof will be omitted as appropriate.

[0011] First Embodiment FIG. 1 is a block diagram of a measurement system according to an embodiment of the present disclosure. FIG. 2 is a perspective view showing an example of an imaging device and a measurement object according to the first embodiment of the present disclosure. FIG. 3 is a flowchart showing an example of operation of the measurement device according to the first embodiment of the present disclosure. FIGS. 4 and 5 are perspective views showing other examples of an imaging device and a measurement object according to the first embodiment of the present disclosure. FIG. 6 is a flowchart showing another example of operation of the measurement device according to the first embodiment of the present disclosure.

[0012] As shown in FIG. 1 , a measurement system 10 according to the first embodiment of the present disclosure includes a measurement device 1 and an imaging device 2. However, in the measurement system 10, the measurement device 1 and the imaging device 2 may be configured separately, or the measurement device 1 and the imaging device 2 may be configured integrally. For example, the measurement device 1 may be configured using a computer such as a personal computer, and the imaging device 2 may be configured using a device such as a camera. Alternatively, the measurement device 1 and the imaging device 2 may be configured integrally using a smart device such as a smartphone or tablet terminal. Furthermore, the imaging device 2 may be a digital camera, video camera, high-speed camera, mobile phone camera, drone camera, or other camera.

[0013] The imaging device 2 outputs image information representing multiple captured images in a time series of the measurement target marker 6 attached to the measurement target 3 for displacement measurement. In this embodiment, multiple captured images in a time series refer to a video or multiple still images captured at a predetermined time interval. Hereinafter, captured images may also be simply referred to as images. The imaging device 2 may or may not have a function for recognizing the measurement target marker 6. If the imaging device 2 has the function for recognizing the measurement target marker 6, it may, for example, clearly indicate the area in which the measurement target marker 6 is recognized on a predetermined display unit or automatically start recording the captured images. FIG. 2 schematically illustrates exemplary configurations of the imaging device 2, the measurement target marker 6, and the measurement target marker 6. Note that the measurement target marker 6 is an exemplary configuration of a "marker" according to the present disclosure. In the example shown in FIG. 2, the imaging device 2 is configured as a smart device, and the measurement target marker 6, etc., captured from the front, is displayed on the display screen 20 of the imaging device 2. Note that in the example shown in FIG. 2, the measurement target marker 3 includes, for example, a vibration unit or is vibrated by a vibration unit.

[0014] The measurement target marker 6 is, for example, an AR marker. An AR marker is a mark used in augmented reality technology. However, the measurement target marker 6 is not limited to an AR marker and may be any marker (mark, mark) having a predetermined size, such as a two-dimensional barcode, a logo, or a nameplate. The measurement target marker 6 includes identification information that can be recognized based on a captured image including the measurement target marker 6. Here, the identification information is information for distinguishing the measurement target marker 6 from other measurement target markers 6. The measurement target marker 6 may include the identification information, for example, as the shape of the measurement target marker 6 itself (e.g., a logo), numbers, letters, symbols, or a code represented by a pattern included in the measurement target marker 6. In the example shown in FIG. 2, the measurement target marker 6 is a mark formed by printing a black frame image 62 and a black and white pattern 63 on a white rectangle 61. In this case, the black and white pattern 63 is the identification information. As in this example, a marker with a black and white distribution in the pattern is suitable for image analysis. Furthermore, by providing the marker with recognizable identification information, it is possible to automatically link information necessary for measurement recording, such as the measurement point name, measurement location, date and time, etc. The measurement target marker 6 may be a sticker such as a piece of paper with glue or the like on the back, a printed matter or the like attached with an adhesive or magnet, or it may be printed directly on the measurement target 3. In the example shown in FIG. 2, one measurement target marker 6 is attached to the measurement target 3, but multiple measurement target markers may also be attached. In this case, the imaging device 2 can capture an image including, for example, multiple measurement target markers 6.

[0015] The measurement device 1 is configured using a computer, and includes a functional configuration formed by a combination of hardware such as a computer and software executed by the computer, including an acquisition unit 11, a determination unit 12, a displacement amount calculation unit 13, and an output unit 14. The acquisition unit 11 acquires image information representing a plurality of captured images in time series, each of which includes a measurement target marker 6 including predetermined identification information, captured by the imaging device 2. That is, the acquisition unit 11 acquires a plurality of captured images in time series, each of which includes a measurement target marker (marker) 6 including predetermined identification information.

[0016] The determination unit 12 determines whether or not a predetermined number of captured images (a predetermined number of frames) in a time series including one or more markers including predetermined identification information have been acquired by the acquisition unit 11. The determination unit 12 recognizes one or more measurement target markers 6 based on the plurality of captured images in a time series including the measurement target markers 6, and also recognizes the identification information included in the measurement target markers 6.

[0017] The determination unit 12 also determines whether the recognized identification information has already been registered in, for example, a predetermined database. If the recognized identification information has not yet been registered, the determination unit 12 registers predetermined registration information in association with the identification information. Here, the database is, for example, a group of files stored in a storage device within the measurement device 1 or in one or more storage devices of one or more computers outside the measurement device 1, in which identification information and predetermined registration information are associated and stored. The predetermined registration information is information registered in association with the identification information and may include, for example, the name of the measurement point, the measurement location, settings and conditions for whether or not to perform measurement, measurement items, measurement intervals, and other arbitrary information. The predetermined registration information can be registered, for example, by a user selecting the measurement target marker 6 to be registered from the image displayed on the display screen of the measurement device 1, recognizing the identification information, further inputting the registration information, and performing an input operation to instruct registration. The determination unit 12 may also determine whether the recognized identification information is, for example, identification information that is determined to require measurement.

[0018] Furthermore, the determination unit 12 determines whether a predetermined number of frames of time-series captured images including one or more markers each including predetermined identification information have been acquired by the acquisition unit 11. Note that in this embodiment, recognizing the identification information included in the measurement target marker 6 means, for example, extracting an area corresponding to the identification information from the image by image recognition, and decoding encoded information included in the extracted area.

[0019] When the determination unit 12 determines that the multiple captured images have been acquired, the displacement amount calculation unit 13 calculates the amount of displacement within a predetermined range associated with the measurement target marker 6 based on the multiple captured images in time series acquired by the acquisition unit 11. At this time, the displacement amount calculation unit 13 corrects the amount of displacement based on the size of the measurement target marker 6 included in the captured images or the distance between the multiple measurement target markers 6. Here, correcting the amount of displacement based on the size of the measurement target marker 6 means, for example, converting the amount of displacement in pixel units into the amount of actual displacement on the measurement target marker 3 based on the result of comparing the actual size of the measurement target marker 6 with the size in the image. Correcting the amount of displacement based on the distance between the multiple measurement target markers 6 means converting the amount of displacement in pixel units into the amount of actual displacement on the measurement target marker 3 based on the result of comparing the actual distance between the measurement target markers 6 with the distance in the image. Correction based on the distance between the measurement target markers 6 can relatively reduce errors even when the size of the measurement target markers 6 in the image is small. The actual size and distance can be set to predetermined values ​​or can be entered separately. Therefore, the measurement target marker 6 in this embodiment has a predetermined shape and size, and the distance between multiple measurement target markers 6 is a predetermined length. Note that multiple shapes and sizes of the measurement target marker 6 may be prepared. For example, the displacement amount calculation unit 13 may store data representing the shape and size of each type, or data representing the shape and size for each identification information may be registered in an external database so that the measurement device 1 can reference the registered data. The predetermined range associated with the measurement target marker 6 may correspond to the measurement target marker 6 itself, a partial range within the measurement target marker 6, a predetermined range surrounding the measurement target marker 6 and the outside of the measurement target marker 6, or a predetermined range nearby the measurement target marker 6. The method for calculating the displacement amount is not limited, and methods described in Patent Documents 1 and 2, for example, may be used. The displacement amount calculation unit 13 may further calculate the magnitude of vibration by time-differentiating the displacement amount.Furthermore, when each image includes multiple measurement target markers 6, the displacement amount calculation unit 13 may calculate, for example, the relative displacement between the measurement target markers 6. Furthermore, when constructing a three-dimensional coordinate space using multiple image capture devices 2 in an embodiment described below, the displacement amount calculation unit 13 can calculate the distance between the image capture device 2 and the measurement target marker 6 based on, for example, the size of a pixel area (an area consisting of multiple pixels corresponding to the measurement target marker 6) corresponding to the measurement target marker 6, the size of which is known and included in the captured image. In this case, the displacement amount calculation unit 13 can measure in advance the relationship between the size (e.g., the number of pixels in width or height) of the pixel area corresponding to the measurement target marker 6 and the distance between the measurement target marker 6 and the image capture device 2, and calculate the distance based on the relationship between the distance and the number of pixels.

[0020] The output unit 14 outputs predetermined information based on the calculation result of the amount of displacement by the displacement amount calculation unit 13 in association with the identification information included in the measurement target marker 6 recognized by the determination unit 12. The predetermined information based on the calculation result of the amount of displacement is, for example, the amount of displacement, values ​​(maximum, average, etc.) of acceleration based on the amount of displacement, a waveform diagram showing time changes in the values ​​of displacement, acceleration, etc., the results of frequency analysis of displacement, acceleration, etc., the results of comparison of the values ​​of displacement, acceleration, etc. with a predetermined threshold, etc. Furthermore, outputting in association with the identification information means displaying or transmitting to a predetermined server, etc., the predetermined information based on the calculation result of the amount of displacement together with, for example, the recognition result of the identification information itself (number, code, etc.), information on the measurement target 3 linked to the identification information (e.g., facility name, equipment name, product name, part name, identification number, etc.), etc.

[0021] Next, an example of the operation of the measurement device 1 will be described with reference to FIG. 3. The process shown in FIG. 3 is started manually or automatically after the imaging device 2 captures a video for a predetermined time period, the video including a measurement target marker 6 having predetermined identification information. In the process shown in FIG. 3, first, the acquisition unit 11 acquires captured images including one or more measurement target markers 6 having predetermined identification information (step S1). Next, the determination unit 12 recognizes one or more measurement target markers 6 and the identification information included in each measurement target marker 6, and determines whether each recognized identification information has been registered in a predetermined database or the like (step S2). If there is identification information that has not been registered (step S2: NO), the determination unit 12 registers the predetermined registration information in a predetermined database or the like in association with the recognized identification information (step S3). Next, the acquisition unit 11 acquires multiple captured images in time series, each including one or more measurement target markers 6 having registered identification information (step S4). Next, the displacement amount calculation unit 13 calculates a predetermined range of displacement amounts associated with one or more measurement target markers 6 based on the multiple captured images in time series (step S5). Next, the output unit 14 outputs predetermined information based on the calculation results of the displacement amounts, for example, on the display screen 20, in association with the identification information included in the measurement target markers 6 (step S6).

[0022] According to this embodiment, when the determination unit 12 determines that a predetermined number of captured images in a time series including one or more measurement target markers 6 each including predetermined identification information have been acquired, the displacement amount calculation unit 13 of the measurement system 10 calculates the amount of displacement within a predetermined range associated with the measurement target marker 6 attached to the measurement target 3. With this configuration, once the identification information or the like is registered, it is possible to automatically specify the measurement point (determine where to measure) and identify the measurement point (distinguish which measurement point that is), based on the measurement target marker 6, thereby reducing the effort required for measurement.

[0023] Furthermore, according to this embodiment, the output unit 14 of the measurement system 10 outputs predetermined information based on the calculation results of the amount of displacement within a predetermined range associated with the measurement target marker 6 attached to the measurement object 3, in association with the identification information included in the measurement target marker 6. With this configuration, it is possible to automatically specify the measurement location (determine where to measure) and identify the measurement location (distinguish which measurement location that is), based on the measurement target marker 6, thereby reducing the effort required for measurement.

[0024] The above configuration can be modified, for example, as shown in FIGS. 4 to 6. In the example shown in FIG. 4, a reference object marker 7 is provided near the measurement object marker 6. The reference object marker 7 is attached to a reference object 4 having a smaller displacement amount than the measurement object 3 to which the measurement object marker 6 is attached. In this case, the acquisition unit 11 acquires image information representing a plurality of time-series images captured by the imaging device 2 of the measurement object marker 6 attached to the measurement object 3 having a smaller displacement amount and the reference object marker 7 attached to the reference object 4 having a smaller displacement amount than the measurement object 3. Then, the displacement amount calculation unit 13 can correct the displacement calculated based on the measurement object marker 6, for example, using the pixel position of the reference object marker 7 as a reference. In the example shown in FIG. 4, the measurement object 3 and the reference object 4 are connected by a buffer member 5. In the example shown in FIG. 4, the reference object 4 is made of, for example, a rigid body or the like, and is made of a member that is not easily vibrated. The reference marker 7 is an AR marker, and is a mark in which a black frame image 72 and a black and white pattern 73 are printed on a white rectangle 71.

[0025] 5, the reference object marker 7 is attached to the surface opposite to the adhesive surface of the buffer section 51 adhered to the measurement object 3. In this case, the surface opposite to the adhesive surface of the buffer section 51 (or the peripheral portion of the opposite surface) corresponds to the reference object 4. Furthermore, a recognition mark 21 indicating that the measurement object marker 6 and the reference object marker 7 have been recognized is displayed on the display screen 20 of the imaging device 2. The photographer can start imaging after confirming that the recognition mark 21 is displayed. Alternatively, the imaging device 2 can automatically start imaging when the recognition mark 21 is displayed. Note that the imaging device 2 may be fixed using a support stand such as a tripod when imaging.

[0026] The process shown in FIG. 6 shows an example of the operation of the measurement device 1 with respect to captured images including a reference marker 7. Compared to the process shown in FIG. 3, the processes of steps S1, S2, S3, S4, S5, and S6 are the same. In the process shown in FIG. 6, the processes of steps S5A and S5B are inserted between steps S5 and S6. In step S5A, the displacement amount calculation unit 13 determines whether or not the reference marker 7 is included in the captured image. If the reference marker 7 is included (step S5A: YES), the displacement amount calculation unit 13 corrects the displacement amount based on the pixel position of the reference marker 7 included in the multiple captured images in time series (step S5B).

[0027] According to the modified example shown in FIGS. 4 to 6, by using the reference object marker 7, it is possible to clarify the coordinates and suppress the influence of vibration noise.

[0028] Second Embodiment The second embodiment is basically the same as the first embodiment in terms of the configuration shown in Fig. 1, but differs in part in the operations of the acquisition unit 11 and the displacement amount calculation unit 13. Fig. 7 is a perspective view showing an example of an imaging device 2 (shown as imaging devices 2A and 2B in Fig. 7) and a measurement object 3 according to the second embodiment of the present disclosure. Fig. 8 is a flowchart showing an example of the operation of the displacement amount calculation unit 13 according to the second embodiment of the present disclosure.

[0029] As shown in FIG. 7 , the measurement target marker 60 in the second embodiment includes a three-dimensional base 600, such as a cube, and a plurality of measurement target portion markers 601 and 602 formed on the surface of the base 600 so as to face each other in different directions. The reference object marker 70 includes a three-dimensional base 700, such as a cube, and a plurality of reference object portion markers 701 and 702 formed on the surface of the base 700 so as to face each other in different directions. In the second embodiment, one and the same imaging device 2A and one or multiple imaging devices 2B are used to capture images of the measurement target marker 60 and the reference object marker 70 from multiple different positions, either sequentially with one imaging device or simultaneously with multiple imaging devices in a synchronized manner. In this case, the measurement target portion markers 601 and 602 are formed on adjacent surfaces of the cubic base 600. The reference object portion markers 701 and 702 are formed on adjacent surfaces of the cubic base 700. Furthermore, the measurement target portion marker 601 and the reference object portion marker 701 face each other in the same direction. Furthermore, the measurement target portion marker 602 and the reference object portion marker 702 face each other in the same direction. Furthermore, the measurement target portion markers 601 and 602 have the same height direction and face each other in directions perpendicular to each other. Furthermore, the reference object portion markers 701 and 702 have the same height direction and face each other in directions perpendicular to each other. Furthermore, the imaging directions of the imaging devices 2A and 2B are perpendicular to each other, with the imaging device 2A facing the measurement target portion marker 601 and the reference object portion marker 701 directly, and the imaging device 2B facing the measurement target portion marker 602 and the reference object portion marker 702 directly. The measurement target portion marker 601, the reference object portion marker 701, etc., imaged from the front, are displayed on the display screen 20A of the imaging device 2A. The display screen 20B of the imaging device 2B displays the measurement target part marker 602, the reference object part marker 702, etc., which are imaged from the front. In this case, the amount of displacement in the X and Z directions can be measured from the imaging device 2A, and the amount of displacement in the Y and Z directions can be measured from the imaging device 2B. In this case, the amount of displacement in the X or Y direction can be corrected based on the amount of displacement in the Z direction, which can be measured from both directions.

[0030] In the second embodiment, the measurement target marker 60 includes multiple measurement target portion markers 601 and 602 facing each other in different directions, and the reference object marker 70 includes multiple reference object portion markers 701 and 702 facing each other in different directions. The acquisition unit 11 acquires image information representing multiple time-series images of the measurement target marker 60 and the reference object marker 70 captured from multiple different positions. The displacement amount calculation unit 13 calculates the displacement amounts (e.g., three-dimensional displacement amounts) of the measurement target marker 60 included in each image in multiple directions. The displacement amount calculation unit 13 corrects, for example, the three-dimensional displacement amount based on the pixel position of the reference object marker 70. Similar to the first embodiment, the reference object marker 70 may be omitted in the second embodiment.

[0031] Next, an example of the operation of the displacement amount calculation unit 13 in the second embodiment will be described with reference to FIG. 8. The process shown in FIG. 8 corresponds to the process of step S5 shown in FIG. 3. In this embodiment, prior to the process shown in FIG. 8 (similar to steps S1 and S4 in FIG. 3), the acquisition unit 11 acquires first image information representing a plurality of first captured images in time series, each including at least one of a plurality of measurement target partial markers 601 and 602 facing each other in different directions and at least one of a plurality of reference object partial markers 701 and 702 facing each other in different directions, and second image information representing a plurality of second captured images in time series captured at positions different from the first captured images. That is, the acquisition unit 11 acquires a plurality of time-series captured images in which the measurement target partial markers 601, 602, etc. are captured from a plurality of different imaging positions. Then, in the process shown in FIG. 8, the displacement amount calculation unit 13 calculates the displacement of, for example, the measurement target partial marker 601 included in each of the first captured images in time series (step S51). Next, the displacement amount calculation unit 13 calculates the displacement of, for example, the measurement target part marker 602 included in each of the second captured images in the time series (step S52). Next, the displacement amount calculation unit 13 corrects the displacement amount based on the pixel position of the reference object part marker 701 included in each of the first captured images in the time series (step S53). Next, the displacement amount calculation unit 13 corrects the displacement amount based on the pixel position of the reference object part marker 702 included in each of the second captured images in the time series (step S54). Note that the displacement amount calculation unit 13 may further calculate each three-dimensional component of the displacement amount, i.e., the three-dimensional displacement amount, based on the displacement amount calculated in step S51 and the displacement amount calculated in step S52.

[0032] According to the second embodiment, there are fewer restrictions on the imaging direction compared to the first embodiment. As with the first embodiment, the larger the marker, the better the accuracy. Alternatively, using a camera with high resolution is desirable in terms of accuracy. In the second embodiment, when measuring images from multiple directions, three-dimensional blocks are attached so that the markers can be recognized from each direction without changing their placement. It is also possible to obtain three-directional displacement by simultaneously capturing images from two directions. Furthermore, even if the images are not captured simultaneously, as long as the response is steady, images can be captured at different times and analyzed to align the phases in the common directions. According to the second embodiment, measurement points can be recognized and position information and displacement information can also be obtained, making it possible to automatically analyze even the vibration mode output.

[0033] Third Embodiment The third embodiment is basically the same as the first and second embodiments in terms of the configuration shown in Fig. 1, but is partially different in the operations of the acquisition unit 11 and the displacement amount calculation unit 13. Fig. 9 is a perspective view showing an example of an imaging device 2 (shown as imaging devices 2A and 2B in Fig. 9) and a measurement object 3 according to the third embodiment of the present disclosure. Fig. 10 is a flowchart showing an example of the operation of the displacement amount calculation unit 13 according to the third embodiment of the present disclosure.

[0034] In the third embodiment, unlike the second embodiment, a plurality of coordinate reference markers 8 serving as references for defining a three-dimensional coordinate system are provided on a floor 41 on which a reference object 4 is installed. In the third embodiment, the floor 41 is also a reference object. In this case, the coordinate reference markers 8 include three coordinate reference markers: a coordinate reference marker 81, a coordinate reference marker 82, and a coordinate reference marker 83. However, the number of coordinate reference markers 8 may be three or more. In this case, the coordinate system can be defined using three easily recognizable coordinate reference markers 8. The coordinate reference markers 8 may be the same as the measurement target marker 6 and the reference object marker 7. In the example shown in FIG. 9 , the coordinate reference markers 81 and 82 can define the X-axis, the coordinate reference markers 81 and 83 can define the Y-axis, and the direction perpendicular to a plane 84 uniquely determined by the coordinate reference markers 81, 82, and 83 can be the Z-axis.

[0035] In the third embodiment, the multiple time-series images include three or more coordinate reference markers 81, 82, and 83 attached to three or more different positions on the reference object 4. The displacement amount calculation unit 13 calculates the three-dimensional displacement amount of the measurement target marker 60 based on the coordinate reference marker 8 including the three or more coordinate reference markers 81, 82, and 83.

[0036] Next, an example of the operation of the displacement amount calculation unit 13 in the third embodiment will be described with reference to FIG. 10. The process shown in FIG. 10 corresponds to the process of step S5 shown in FIG. 3. In this embodiment, prior to the process shown in FIG. 10 (similar to steps S1 and S4 in FIG. 3), the acquisition unit 11 acquires first image information representing a plurality of first captured images in time series, each of which includes at least one of the plurality of measurement target portion markers 601 and 602 facing each other in different directions, at least one of the plurality of reference object portion markers 701 and 702 facing each other in different directions, and three or more coordinate reference markers 81, 82, and 83, and second image information representing a plurality of second captured images in time series captured at an imaging position different from that of the first captured images. That is, the acquisition unit 11 acquires a plurality of time-series captured images in multiple series, each of which includes three or more coordinate reference markers 81, 82, and 83 attached at three or more different positions. 10, the displacement amount calculation unit 13 constructs a three-dimensional coordinate space including two or more image capture devices 2A and 2B based on the three or more coordinate reference markers 81, 82, and 83 included in the first captured image and the three or more coordinate reference markers 81, 82, and 83 included in the second captured image (step S501). Next, the displacement amount calculation unit 13 calculates three-dimensional components of the displacement of the measurement target marker 60 based on the first captured image and the second captured image and using the coordinate reference markers 81, 82, and 83 as references (step S502). Next, the displacement amount calculation unit 13 corrects the three-dimensional components of the displacement based on the first captured image and the second captured image and using the reference object marker 70 as reference (step S503).

[0037] According to the third embodiment, the three-dimensional displacement amount of the measurement target marker 60 can be calculated with high accuracy using the coordinate reference marker 8 as a reference.

[0038] <Fourth embodiment> FIG. 11 is a perspective view showing an example of an imaging device 2 (imaging device 2C in FIG. 11) and a measurement target 3 according to a fourth embodiment of the present disclosure. In the fourth embodiment, the imaging device 2C is equipped with a distance measuring device 23 using LiDAR (Light Detection and Ranging) and measures the distance from the imaging position of an image to the measurement target 3 (or measurement target marker 6). In the fourth embodiment, the acquisition unit 11 further acquires distance measurement information indicating the distance from the imaging position of multiple images in time series to the measurement target (or measurement target marker 6). Furthermore, the displacement amount calculation unit 13 calculates the amount of displacement of the measurement target marker 6 included in each image based on each image and the distance measurement information.

[0039] According to this embodiment, for example, for an object that is difficult to recognize using a marker, an optical device such as Lidar or 3D scanning can be installed in addition to the camera to assist the camera in determining the distance to the image captured by the camera.

[0040] (Action and effect) As described above, in the measurement system and measurement method according to each embodiment, when it is determined that a predetermined number of captured images in a time series including one or more markers each including predetermined identification information have been acquired, the amount of displacement within a predetermined range associated with one or more measurement target markers 6 attached to the measurement target 3 is calculated. With this configuration, it is possible to automatically specify the measurement point (determine where to measure) and identify the measurement point (distinguish which measurement point that is) based on the measurement target marker 6, thereby reducing the effort required for measurement.

[0041] (Other embodiments) The above describes in detail the embodiments of the present disclosure with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes and the like are also included within the scope that does not deviate from the gist of the present disclosure. In the above embodiment, the measuring device 1 includes the acquisition unit 11, the determination unit 12, the displacement amount calculation unit 13, and the output unit 14, but is not limited to this configuration. For example, the acquisition unit 11, the determination unit 12, the displacement amount calculation unit 13, and the output unit 14 may be partially or entirely included in an external server, or may operate using functions provided by the external server.

[0042] <Computer Configuration> FIG. 12 is a schematic block diagram illustrating the configuration of a computer according to at least one embodiment. The computer 90 includes a processor 91 , a main memory 92 , a storage 93 , and an interface 94 . The above-described measuring device 1 (and the configuration combining the imaging device 2) is implemented in a computer 90. The operations of each of the above-described processing units are stored in the form of a program in a storage 93. A processor 91 reads the program from the storage 93, loads it into a main memory 92, and executes the above-described processing in accordance with the program. The processor 91 also allocates storage areas in the main memory 92 corresponding to each of the above-described storage units in accordance with the program.

[0043] The program may be for realizing some of the functions to be performed by the computer 90. For example, the program may be combined with other programs already stored in storage or other programs implemented in other devices to perform the functions. In other embodiments, the computer may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions realized by the processor may be realized by the integrated circuit.

[0044] Examples of storage 93 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read-only memory (CD-ROM), a digital versatile disc read-only memory (DVD-ROM), and a semiconductor memory. Storage 93 may be an internal medium directly connected to the bus of computer 90, or an external medium connected to computer 90 via interface 94 or a communication line. Furthermore, when this program is distributed to computer 90 via a communication line, computer 90 that receives the program may load the program into main memory 92 and execute the above-described processing. In at least one embodiment, storage 93 is a non-transitory tangible storage medium.

[0045] <Additional Notes> Each embodiment of the present disclosure can be understood, for example, as follows.

[0046] (1) A measurement system 10 according to a first aspect includes an acquisition unit 11 that acquires captured images, a determination unit 12 that determines whether a predetermined number of captured images in a time series including one or more markers (measurement target markers 6, 60) containing predetermined identification information have been acquired, and a displacement amount calculation unit 13 that, when the plurality of captured images have been acquired, calculates a displacement amount within a predetermined range associated with the one or more markers based on the plurality of captured images in the time series.

[0047] (2) The measurement system 10 according to the second aspect is the measurement system 10 of (1), further comprising an output unit 14 that outputs predetermined information based on the calculation result of the displacement amount in association with the identification information.

[0048] (3) The measurement system 10 according to the third aspect is the measurement system 10 of (1) or (2), in which the determination unit determines whether the identification information has been registered, and if not, registers predetermined registration information in association with the identification information.

[0049] (4) The measurement system 10 according to the fourth aspect is the measurement system 10 of (1) to (3), wherein the displacement amount calculation unit corrects the displacement amount based on the size of the marker included in the captured image or the distance between multiple markers.

[0050] (5) The measurement system 10 according to the fifth aspect is the measurement system 10 of (1) to (4), wherein the markers include a plurality of partial markers (measurement target partial markers 601, 602) facing each other in a plurality of different directions, the acquisition unit acquires a plurality of time-series captured images of the partial markers captured from a plurality of different imaging positions, and the displacement amount calculation unit calculates the three-dimensional displacement amount based on the plurality of time-series captured images.

[0051] (6) The measurement system 10 according to the sixth aspect is the measurement system 10 of (5), wherein the plurality of time-series captured images include three or more coordinate reference markers (coordinate reference markers 81, 82, and 83) attached at three or more different positions, and the displacement amount calculation unit calculates the three-dimensional displacement amount based on the three or more coordinate reference markers.

[0052] (7) The measurement system 10 according to the seventh aspect is the measurement system 10 of (1) to (6), wherein the captured image includes a reference object marker 7, 70 attached to a reference object 4 having a smaller displacement amount than the object to which the marker is attached, and the displacement amount calculation unit corrects the displacement amount based on the pixel position of the reference object marker.

[0053] (8) A measurement method according to an eighth aspect includes the steps of acquiring captured images (step S1), determining whether a predetermined number of captured images in a time series including one or more markers containing predetermined identification information have been acquired (step S2), and, if the plurality of captured images have been acquired, calculating a displacement amount within a predetermined range associated with the one or more markers based on the plurality of captured images in the time series (step S5). [Explanation of symbols]

[0054] 1. Measuring equipment 2...Imaging device 10...Measurement system 11…Acquisition part 12...Judgment section 13...Displacement calculation unit 14...Output section

Claims

1. an acquisition unit that acquires a captured image; a determination unit that determines whether a predetermined number of captured images in time series including one or more markers each including predetermined identification information have been acquired; a displacement amount calculation unit that calculates a displacement amount within a predetermined range associated with the one or more markers based on the plurality of captured images in time series when the plurality of captured images are acquired; A measurement system comprising:

2. an output unit that outputs predetermined information based on the calculation result of the displacement amount in association with the identification information; The measurement system of claim 1 further comprising:

3. The determination unit determines whether the identification information has been registered, and if it has not been registered, registers predetermined registration information in association with the identification information. The measurement system of claim 2 .

4. The displacement amount calculation unit corrects the displacement amount based on the size of the marker included in the captured image or the distance between the plurality of markers. The measurement system according to claim 3 .

5. the marker includes a plurality of partial markers facing each other in a plurality of different directions; the acquisition unit acquires a plurality of time-series captured images of the partial marker from a plurality of imaging positions different from each other, The displacement amount calculation unit calculates the three-dimensional displacement amount based on the plurality of captured images in the plurality of time series. The measurement system according to claim 4 .

6. the plurality of time-series captured images include three or more coordinate reference markers attached at three or more different positions; The displacement amount calculation unit calculates the three-dimensional displacement amount using three or more of the coordinate reference markers as references. The measurement system according to claim 5 .

7. the captured image includes a reference object marker attached to a reference object having a smaller displacement amount than the object to which the marker is attached, The displacement amount calculation unit corrects the displacement amount based on the pixel position of the reference object marker. The measurement system according to any one of claims 1 to 6.

8. acquiring a captured image; determining whether a predetermined number of captured images in time series including one or more markers each including predetermined identification information have been acquired; When the plurality of captured images are acquired, calculating a displacement amount within a predetermined range associated with the one or more markers based on the plurality of captured images in time series; Measurement methods including.

Images