Measurement method, program, and measuring device

Abstract

To improve measurement accuracy. [Solution] The measurement method is a method for measuring at least the inside of a box containing equipment. The box has an opening. The measurement method comprises an acquisition step and a measurement step. In the acquisition step, information on the external dimensions of the box and an image with distance information added are acquired. The image is an image of the frame forming the opening and the equipment captured by an imaging device capable of measuring the distance to the object being imaged. In the measurement step, the dimension between a predetermined point on the frame and a predetermined point on the equipment is measured based on the image, and the dimensions of the equipment are measured based on the measured dimension and the information on the external dimensions.

Description

Technical Field

[0001] The present disclosure generally relates to a measurement method, a program, and a measuring device, and more particularly, to a measurement method, a program, and a measuring device for the inside of a box that houses equipment.

Background Art

[0002] Patent Document 1 discloses a wire length calculator. This wire length calculator displays electronic video data obtained by photographing the arrangement position of wiring ducts with instruments in a panel and a digital camera on a personal computer screen. The wire length calculator automatically calculates the length of the wire by cumulatively calculating the amount of change in the cursor position as the operator traces the path from the instrument at the wire connection source to the instrument at the wire connection destination on the personal computer screen with the cursor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, it is desired to improve the measurement accuracy when measuring the inside of a box that houses equipment.

[0005] The present disclosure has been made in view of the above circumstances, and an object thereof is to provide a measurement method, a program, and a measuring device capable of improving measurement accuracy.

Means for Solving the Problems

[0006] A measurement method according to one aspect of the present disclosure is a measurement method for measuring at least the interior of a box containing equipment. The box has an opening. The measurement method comprises an acquisition step and a measurement step. In the acquisition step, information on the external dimensions of the box and an image with distance information added are acquired. The image is an image of the frame forming the opening and the equipment captured by an imaging device capable of measuring the distance to an object to be imaged. In the measurement step, the dimension between a predetermined location of the frame and a predetermined location of the equipment is measured based on the image, and the dimensions of the equipment are measured based on the measured dimension and the information on the external dimensions.

[0007] One aspect of the measurement method is a method for measuring at least the interior of a box containing equipment. The box has an opening. The measurement method comprises an acquisition step and a measurement step. In the acquisition step, information on the external dimensions of the box and an image with distance information added are acquired. The image is an image taken by an imaging device capable of measuring the distance between the imaging target and a marker that serves as a reference for measurement, which is installed on the frame forming the opening, and the equipment. In the measurement step, the dimension between a predetermined location on the frame and a predetermined location on the equipment is measured based on the image, and the dimensions of the equipment are measured based on the measured dimension and the information on the external dimensions.

[0008] A program according to one aspect of this disclosure is a program for causing one or more processors to execute the measurement method.

[0009] A measuring device according to one aspect of the present disclosure is a measuring device for measuring at least the interior of a box containing equipment. The box has an opening. The measuring device comprises an acquisition unit and a measuring unit. The acquisition unit acquires information on the external dimensions of the box and an image to which distance information is added. The image is an image of the frame forming the opening and the equipment captured by an imaging device capable of measuring the distance to an object to be imaged. The measuring unit measures the dimension between a predetermined location of the frame and a predetermined location of the equipment based on the image, and measures the dimensions of the equipment based on the measured dimension and the information on the external dimensions.

[0010] A measuring device according to one embodiment is a measuring device for measuring at least the interior of a box containing equipment. The box has an opening. The measuring device comprises an acquisition unit and a measuring unit. The acquisition unit acquires information on the external dimensions of the box and an image to which distance information is added. The image is an image taken by an imaging device capable of measuring the distance between the imaging target and a marker that serves as a reference for measurement, which is installed on the frame forming the opening, and the equipment. The measuring unit measures the dimension between a predetermined location on the frame and a predetermined location on the equipment based on the image, and measures the dimensions of the equipment based on the measured dimension and the information on the external dimensions. [Effects of the Invention]

[0011] According to this disclosure, it is possible to improve measurement accuracy. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a flowchart of the measurement method according to Embodiment 1. [Figure 2] Figure 2 is a block diagram showing the configuration of the measuring device described above. [Figure 3] Figure 3 is a front view showing one aspect of the box body that is the subject of measurement using the measurement method described above. [Figure 4] Figure 4 is a front view showing another embodiment of the box body that is the subject of measurement using the same measurement method as described above. [Figure 5] Figure 5 is a schematic diagram showing the display image displayed on the display unit of the measuring device described above. [Figure 6] Figure 6 is a front view showing a part of the box body that is to be measured by the measurement method according to Embodiment 2. [Figure 7] Figure 7 is a front view showing another part of the box body that is the subject of measurement using the same measurement method as above. [Figure 8] Figure 8 is a flowchart of the measurement method according to Embodiment 2. [Modes for carrying out the invention]

[0013] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the drawings. In the embodiments described below, common elements are denoted by the same reference numerals, and redundant descriptions of common elements may be omitted. Note that the following embodiments and modification examples are only a part of various embodiments of the present disclosure. In addition, the following embodiments and modification examples can be variously changed according to design and the like as long as the object of the present disclosure can be achieved. It is also possible to appropriately combine the configurations of the modification examples.

[0014] Each figure described in the present disclosure is a schematic figure, and the ratio of the size and thickness of each component in each figure does not necessarily reflect the actual dimensional ratio. The arrows indicating the respective directions in the drawings are examples and are not intended to define the directions during the implementation of the measurement method and during the use of the measurement system 100. Also, the arrows indicating the respective directions in the drawings are merely for explanation and do not accompany an entity.

[0015] Note that "orthogonal (perpendicular)" as used in the present disclosure means not only a state where the angle between two entities is exactly 90 degrees, but also a state where the two entities intersect within a certain range of difference. That is, the angle between two orthogonal entities falls within a certain range of difference (for example, 10 degrees or less) with respect to 90 degrees. That is, "orthogonal" as used in the present disclosure includes cases where the angle formed by two entities is 80 degrees or more and 100 degrees or less. Similarly, for "parallel" as used in the present disclosure, it means not only a state where two entities do not strictly intersect, but also a state where the two entities are arranged within a certain range of difference. For example, "parallel" as used in the present disclosure includes cases where the inclination of one with respect to the other is 10 degrees or less. That is, "parallel" as used in the present disclosure includes cases where the angle formed by one and the other is -10 degrees or more and 10 degrees or less.

[0016] (Embodiment 1) (1) Overview First, the overview of the measurement method according to Embodiment 1 will be described with reference to FIGS. 1 to 4.

[0017] The measurement method of Embodiment 1 is a measurement method for measuring at least the inside of a box body 2 (see FIG. 4) that houses a device 5 (see FIG. 4). The box body 2 has an opening 25 (see FIG. 4).

[0018] As shown in FIG. 1, the measurement method of Embodiment 1 has an acquisition step (steps S1 and S9 in the example of FIG. 1) and a measurement step (step S12 in the example of FIG. 1).

[0019] In the acquisition step, information on the outer dimensions of the box body 2 and an image (second image) with distance information added are acquired. The image is an image obtained by an imaging device 14 (see FIG. 2) capable of measuring the distance to the imaging target, which images a frame portion 23 (see FIG. 4) forming the opening 25 and the device 5.

[0020] In the measurement step, the dimension between a predetermined location of the frame portion 23 and a predetermined location of the device 5 is measured based on the image (second image), and the dimension of the device 5 is measured based on the measured dimension and the information.

[0021] Conventionally, when replacing the device 5 housed in the box body 2, in order to more reliably perform the replacement of the device 5, the operator measures the internal dimensions of the box body 2 as a preparatory measure. For example, the operator manually measures the internal dimensions of the box body 2 using a measuring instrument such as a measuring tape. Manual work varies in measurement accuracy and the like depending on the skill level of the operator. Depending on the skill level of the operator, measurement omissions, incorrect measurements, etc. frequently occur. When a measurement omission or an incorrect measurement occurs, for example, the operator has to go to the site where the box body 2 is installed again and perform re-measurement. According to the measurement method of Embodiment 1, for example, since the main work of the operator is to image the inside of the box body 2 with the imaging device 14, the influence of the skill level on the measurement accuracy can be reduced. Further, according to the measurement method of Embodiment 1, since re-measurement can be easily performed as long as the image is stored, the labor required for re-measurement can be reduced.

[0022] Furthermore, if the enclosure 2 and the equipment 5 are so-called electrical control panels, it is desirable that measurements be taken while the equipment 5 remains electrically connected to a power source such as a commercial power supply. According to the measurement method of Embodiment 1, since measurements are taken non-contact using images captured by the imaging device 14, it is possible to measure the inside of the enclosure 2 while the equipment 5 remains electrically connected to a power source.

[0023] Furthermore, when measuring relatively long dimensions, measurement errors tend to be large. According to the measurement method of Embodiment 1, relatively short dimensions are measured, and relatively long dimensions are measured indirectly using the measured dimensions. This improves the measurement accuracy when measuring relatively long dimensions, and thus improves the measurement accuracy when measuring the inside of the box 2.

[0024] (2) Details The measurement method and measuring device 1 according to Embodiment 1 will be described below with reference to Figures 1 to 5.

[0025] (2.1) Box structure The measurement method and measuring device 1 of this disclosure describe the enclosure 2 that is the object of measurement. As described above, the enclosure 2 houses the equipment 5. As shown in Figure 4, the enclosure 2 in Embodiment 1 is a so-called electrical panel. However, the enclosure 2 may be a gas water heater, an engine room, a server rack or distribution board that houses servers, etc. The enclosure 2 may be wall-mounted or floor-standing.

[0026] The box body 2 is rectangular in shape. The box body 2 includes a main body 21 and a hinged door 22. Here, as shown in Figure 3, in this disclosure, the direction normal to the main surface of the hinged door 22 when the hinged door 22 is closed is defined as the front-to-back direction. In this disclosure, the box body 2 is installed in front of the wall 4. The hinged door 22 is the front of the box body 2. The direction along the vertical direction is defined as the up-and-down direction, and the direction perpendicular to both the front-to-back direction and the up-and-down direction is defined as the left-to-right direction.

[0027] The main body 21 is a rectangular box with an open front. In other words, the main body 21 has a rectangular opening 25 and a rectangular frame 23 that forms the opening 25. The frame 23 includes an upper frame 231, a left frame 232, a lower frame 233, and a right frame 234. At least a part of a support mechanism such as a hinge is provided on the right frame 234. The support mechanism supports the hinged door 22 so that it can rotate around a pivot axis.

[0028] As shown in Figure 4, the device 5 of Embodiment 1 includes a main circuit breaker 51, a branch circuit breaker section 52, a plurality of wirings 53, and a frame 54. The branch circuit breaker section 52 includes a plurality of branch circuit breakers. The frame 54 is fixed to the rear surface of the box body 2, for example. The main circuit breaker 51, the branch circuit breaker section 52, and the plurality of wirings 53 are attached to the frame 54. The frame 54 has a first rail 541 and a second rail 542. The first rail 541 and the second rail 542 are long, hollow square pipes. The longitudinal directions of the first rail 541 and the second rail 542 are aligned in the vertical direction. The longitudinal direction of the first rail 541 and the longitudinal direction of the second rail 542 are parallel.

[0029] A screw hole P1 is formed at the upper end of the first rail 541, and a screw hole P3 is formed at the lower end of the first rail 541. Furthermore, a screw hole P2 is formed at the upper end of the second rail 542, and a screw hole P4 is formed at the lower end of the second rail 542. Screw holes P1 to P4 are "predetermined locations on the device 5" in Embodiment 1. For example, higher measurement accuracy is required for measuring the spacing D22 between screw holes P1 and P2 (spacing D22 between screw holes P3 and P4), and the spacing D21 between screw holes P1 and P3 (spacing D21 between screw holes P2 and P4). Here, spacings D21 and D22 are relatively long dimensions.

[0030] (2.2) Configuration of the measurement system The measurement method described herein is performed using a measurement system 100. The measurement system 100 comprises a measurement device 1 and an imaging device 14.

[0031] (2.2.1) Configuration of the imaging device The imaging device 14 in Embodiment 1 is an imaging device that can be attached externally to the measuring device 1. However, it is not essential that the imaging device 14 can be attached externally to the measuring device 1.

[0032] The imaging device 14 has an image sensor and captures images of a subject to generate images. Here, "image" refers to an image (image data) obtained by capturing an image of a subject (or object to be captured) with the imaging device 14, and includes moving images, still images, and frame-by-frame images. The image sensor is a two-dimensional image sensor such as a CCD (Charge Coupled Devices) image sensor or a CMOS (Complementary Metal-Oxide Semiconductor) image sensor.

[0033] The imaging device 14 in Embodiment 1 has the function of, for example, a depth camera or stereo camera capable of measuring the distance to the object being imaged. In Embodiment 1, the imaging device 14 has a distance sensor such as LiDAR (Light Detection and Ranging). The image captured by the imaging device 14 is an RGBD image in which distance information (or depth information) is added to each pixel.

[0034] The imaging device 14 performs imaging in either the first imaging mode or the second imaging mode. The first imaging mode is the imaging mode that generates the first image. The second imaging mode is the imaging mode that generates the second image. The number of pixels of the imaging device 14 is the same in both the first and second imaging modes.

[0035] In Embodiment 1, the operator operates a measuring device 1 to which an imaging device 14 is attached externally, causing the imaging device 14 to generate a first image and a second image.

[0036] Embodiment 1 illustrates a case where the first image is a series of still images (RGBD images) in a time-lapse sequence. First, the operator activates the imaging device 14, which is externally attached to the measuring device 1. When capturing the first image, the imaging device 14 is set to the first imaging mode. The operator then moves the imaging device 14 so that its imaging range scans from a first location (image disclosure location) to a second location (image end location) of the box body 2. As a result, the imaging device 14 scans the entire box body 2 with the hinged door 22 open, from the first location to the second location, and generates a series of RGBD images in a time-lapse sequence. The imaging device 14 transmits the captured series of RGBD images in a time-lapse sequence to the measuring device 1.

[0037] However, the first image captured by the imaging device 14 may be a single still image (RGBD image) of the entire box body 2 with the hinged door 22 open.

[0038] The second image is a single still image (RGBD image). When the second image is captured, the imaging device 14 is set to the second imaging mode. In Embodiment 1, when an operator operates the imaging device 14, the imaging device 14 captures areas corresponding to the four corners of the box body 2, such as area A1 (see Figure 4), area A2 (see Figure 4), area A3 (see Figure 4), and area A4 (see Figure 4), and generates four second images. The four second images are images of the frame 23 of the box body 2 and the equipment 5 in areas A1 to A4.

[0039] Since the first image includes the entire box 2, the series of images will consist of, for example, several hundred images. For example, since several hundred images are captured by a person using the imaging device 14, variations will occur in shooting angle, shooting distance, etc. Furthermore, when the several hundred images are combined using a method such as Visual SLAM (Simultaneous Localization and Mapping), as described later, to generate the first 3D point cloud data described later, data combination errors may occur.

[0040] Here, the second image is a single still image containing an image of one of the regions A1 to A4. Since the second image is a single still image, there is no variation in shooting angle, shooting distance, etc., when imaging one of the regions A1 to A4. Furthermore, when generating the second 3D point cloud data, which will be described later, there is no need to combine multiple images, so no data combining error occurs. As a result, when measuring the distance between two points using the rendered image G10 (second rendering image) based on the second 3D point cloud data, the measurement accuracy can be improved.

[0041] Furthermore, the imaging device 14 in Embodiment 1 detects the orientation of the imaging device 14. The imaging device 14 includes motion sensors such as an accelerometer and a gyroscope. In Embodiment 1, the imaging device 14 has a 3-axis accelerometer and a 3-axis gyroscope as motion sensors. The 3-axis accelerometer detects acceleration for each of the three mutually orthogonal axes and outputs an electrical signal corresponding to the acceleration to the measuring device 1. The 3-axis gyroscope detects angular velocity around each of the three mutually orthogonal axes and outputs an electrical signal corresponding to the angular velocity to the measuring device 1.

[0042] When imaging the inside of the box 2 with the imaging device 14, if the imaging is taken from an oblique angle (oblique front) to the box 2, the accuracy of the distance information may decrease due to the effects of multipath imaging. Therefore, when imaging the inside of the box 2 with the imaging device 14, it is preferable for the operator to image the inside of the box 2 from directly in front of the box 2.

[0043] (2.2.2) Configuration of the measuring device The measuring device 1 is a device for measuring the inside of the box 2. In Embodiment 1, the measuring device 1 is a laptop-type personal computer (PC) carried by the worker performing the measurement inside the box 2. However, the measuring device 1 may be a tablet terminal, a smartphone, or a dedicated terminal.

[0044] As shown in Figure 1, the measuring device 1 comprises a communication unit 11, a display unit 12, an operation unit 13, a storage unit 15, and a processing unit 16. Here, the storage unit 15 may be an external component.

[0045] The communication unit 11 includes an interface that enables communication with other devices. In this disclosure, "enabled communication" means the ability to exchange information directly or indirectly via a network or relay, etc., using an appropriate communication method such as wired or wireless communication. For example, the communication unit 11 is configured to communicate with an imaging device 14 externally attached to the measuring device 1.

[0046] The display unit 12 is composed of, for example, a liquid crystal display or an organic EL (Electro-Luminescence) display. The display unit 12 may be composed of a touch panel display.

[0047] The operation unit 13 includes, for example, one or more of a mouse, keyboard, and pointing device. The operator can operate the operation unit 13 and input information while referring to the information displayed on the display unit 12.

[0048] In Embodiment 1, the display unit 12 and the operation unit 13 are implemented by a touch panel display. In other words, operations on the operation unit 13 include, for example, tapping, double-tapping, long-tapping, dragging, swiping, flicking, pinching in, and pinching out.

[0049] As shown in Figure 5, in Embodiment 1, the display unit 12 displays a display image G1 which includes a rendering image G10, described later. The display image G1 has a display area R1 and a display area R2. Display area R1 displays the dimension of the distance D21 between screw holes P1 and P3 (distance D21 between screw holes P2 and P4) measured by the measurement unit 164 based on the second image (second point cloud data). Display area R2 displays the dimension of the distance D22 between screw holes P1 and P2 (distance D22 between screw holes P3 and P4) measured by the measurement unit 164 based on the second image (second point cloud data).

[0050] Furthermore, the operation unit 13 receives operator input on the display image G1. When the operation unit 13 receives operator input on the rendered image G10, the measurement unit 164 (described later) measures the distance between two points on the rendered image G10. The operation unit 13 also receives operator input on the display image G1, allowing the operator to select a measurement mode (described later). The measurement results from the measurement unit 164 are output from the output unit 165 (described later) to the display unit 12, which then displays the measurement results on the display image G1. This allows the operator to perform measurements inside the box 2.

[0051] Furthermore, the display image G1 includes button B1. Button B1 is used to switch between the planar dimension measurement mode and the depth direction measurement mode. The display image G1 shown in Figure 5 is the display image G1 in planar dimension measurement mode. In planar dimension measurement mode, the distance between two points on the rendering image G10, which corresponds to a plan view of the box 2 as seen from the front, is measured. The depth dimension measurement mode is used to measure dimensions along the depth direction (front-to-back direction) of the box 2. In depth dimension measurement mode, when the operator specifies a location (surface) where they want to measure the depth direction, the display unit 12 displays a rendering image G10, which corresponds to a plan view of the box 2 as seen from, for example, the left-to-right direction (or up-to-down direction), for measuring the depth direction of the specified location.

[0052] The storage unit 15 is a semiconductor memory such as an electrically rewritable flash memory, ROM (Read Only Memory), RAM (Random Access Memory), or EEPROM (Electrically Erasable Programmable Read Only Memory). Note that the storage unit 15 is not limited to semiconductor memory; it may also be a hard disk drive or the like.

[0053] The processing unit 16 primarily consists of a computer system having one or more processors and memory. The functions of the processing unit 16 are realized when the processor of the computer system executes a program recorded in the memory or storage unit 15 of the computer system. The program may be recorded in the memory or storage unit 15, provided via a telecommunication line such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0054] The processing unit 16 of Embodiment 1 controls each part of the measuring device 1, such as the display unit 12. For example, when the imaging device 14 is generating a first image, which is a frame-by-frame RGBD image, the processing unit 16 causes the display unit 12 to display an image based on electrical signals corresponding to acceleration and angular velocity output from the imaging device 14. For example, when the imaging device 14 is generating the first image, if the imaging device 14 is tilted beyond a predetermined value, or if the distance between the imaging device 14 and the box body 2 changes beyond a predetermined value, the processing unit 16 displays an image on the display unit 12 to alert the worker. For example, the image to alert the worker includes a text image that alerts the worker. The text image may be, for example, black text on a yellow background.

[0055] The processing unit 16 includes an acquisition unit 161, a generation unit 162, an estimation unit 163, a measurement unit 164, and an output unit 165.

[0056] The acquisition unit 161 of Embodiment 1 acquires information on the external dimensions of the box body 2 and a second image (image) captured by the imaging device 14 of the frame portion 23 and the inside of the box body 2. Distance information is added to the second image. The acquisition unit 161 of Embodiment 1 also acquires the first image.

[0057] The external dimensions of the box body 2 are the height D11 (see Figure 3), the width D12, or the depth of the box body 2. The dimensions of the box body 2 may be measured manually by an operator, for example. Alternatively, the dimensions of the box body 2 may be measured by the measuring unit 164 based on an external image generated by the imaging device 14 capturing images of the box body 2 with the hinged door 22 closed. The external image may be a series of RGBD images or a single still image (RGBD image). Distance information is added to each pixel of the external image.

[0058] As described above, the external dimensions are either information entered by the operator by operating the control unit 13, or an external image of the box body 2 with the hinged door 22 closed, captured by the imaging device 14. Embodiment 1 illustrates a case where the operator manually measures the external dimensions and inputs the external dimensions by operating the control unit 13. Measurement accuracy can be improved by having the operator perform contact-type measurements such as with a measuring tape.

[0059] The generation unit 162 generates first 3D point cloud data based on the external dimensions information of the box body 2 acquired by the acquisition unit 161 and the first image. The generation unit 162 generates 3D point cloud data from the external dimensions information and the first image using a method such as Visual SLAM. The first 3D point cloud data includes an overall view of the box body 2 with the hinged door 22 open. In the following description, the first 3D point cloud data may be simply referred to as "first point cloud data".

[0060] Furthermore, the generation unit 162 renders the first point cloud data and displays the rendered image G10 (first rendered image), which is a 2D image on which the distance between two points on the image can be measured, on the display unit 12. The first point cloud data and the first rendered image are data based on the external dimensions of the box body 2 and the first image.

[0061] Furthermore, the generation unit 162 generates four second 3D point cloud data based on the external dimensions information of the box body 2 acquired by the acquisition unit 161 and the four second images. The four second 3D point cloud data correspond one-to-one with the four regions A1 to A4. In the following explanation, the second 3D point cloud data may be simply referred to as "second point cloud data".

[0062] Furthermore, the generation unit 162 renders the second point cloud data and displays the rendered image G10 (second rendering image), which is a 2D image on which the distance between two points on the image can be measured, on the display unit 12. The second point cloud data and the second rendering image are data based on the external dimensions of the box 2 and the second image.

[0063] The estimation unit 163 estimates the position of the end portion 24 (see Figure 4) of the box body 2 based on the external dimensions information and the first image acquired by the acquisition unit 161. When the hinged door 22 is open, the estimation unit 163 can improve the measurement accuracy of the inside of the box body 2 by estimating the position of the end portion 24 hidden by the hinged door 22. Alternatively, the estimation unit 163 may estimate the position of the end portion 24 of the box body 2 based on the external image generated by the imaging device 14 capturing images of the box body 2 when the hinged door 22 is closed. Since the external image is generated by the imaging device 14 capturing images of the box body 2 when the hinged door 22 is closed, the effect of multipath is minimal and the accuracy of the distance information is high.

[0064] The measurement unit 164 measures the distance between a predetermined location on the frame 23 and a predetermined location on the device 5 based on the image (second image) acquired by the acquisition unit 161. The measurement unit 164 also measures the dimensions of the device 5 based on the measured distance between the predetermined location on the frame 23 and the predetermined location on the device 5, and the information on the external dimensions of the box body 2.

[0065] For example, the measurement unit 164 measures the vertical dimension (first dimension) between the upper end of the upper frame 231 and the screw hole P1, and the horizontal dimension (second dimension) between the left end of the left frame 232 and the screw hole P1, based on the second image of region A1 (i.e., based on the second point cloud data corresponding to region A1). The measurement unit 164 also measures the horizontal dimension (third dimension) between the right end (end 24) of the right frame 234 and the screw hole P2, based on the second image of region A2 (i.e., based on the second point cloud data corresponding to region A2). The measurement unit 164 also measures the vertical dimension (fourth dimension) between the lower end of the lower frame 233 and the screw hole P3, based on the second image of region A3 (i.e., based on the second point cloud data corresponding to region A3). Then, the measuring unit 164 measures the spacing D22 between screw holes P1 and P2 (spacing D22 between screw holes P3 and P4), and the spacing D21 between screw holes P1 and P3 (spacing D21 between screw holes P2 and P4), based on the four measured dimensions (first to fourth dimensions) and the external dimensions of the box body 2 (height D11 and width D12).

[0066] According to the measurement method and measuring device 1 of Embodiment 1, since measurements are performed using a second image captured in the second imaging mode, it is possible to improve the measurement accuracy when measuring dimensions of the frame 54 (device 5), such as the distance between screw holes. In other words, according to the measurement method and measuring device 1 of Embodiment 1, it is possible to improve the measurement accuracy of dimensions that require higher measurement accuracy and are relatively long.

[0067] Furthermore, the measurement unit 164 measures the internal dimensions of the box 2 based on the first point cloud data generated by the generation unit 162. In other words, the measurement unit 164 measures the internal dimensions of the box 2 based on the first image.

[0068] The operator selects any two points on the rendering image G10 (first rendering image) displayed on the display unit 12 by performing operations on the rendering image G10. Depending on the location where dimensions are to be measured, the operator selects two points to measure the distance between the main breaker 51 and a part of the branch breaker section 52, two points to measure the length of the wiring 53, etc. When the operation unit 13 receives an operation on the rendering image G10, the measurement unit 164 measures the distance between the two points specified by the operator.

[0069] The measurement unit 164 of Embodiment 1 performs measurements in either a first measurement mode or a second measurement mode. The first measurement mode is a measurement mode that simply measures the distance between two points selected by the operator. The second measurement mode is a measurement mode that is selected, for example, when measuring the length of wiring 53. In the second measurement mode, the measurement unit 164 measures the distance between the specified two points based on the first point cloud data and offsets the measurement result. More specifically, in the second measurement mode, the measurement unit 164 performs an offset by subtracting a preset correction value from the measurement result. In other words, when the measurement unit 164 of Embodiment 1 measures the dimensions of the wiring 53 of the equipment 5, it subtracts a preset correction value before measuring. In Embodiment 1, the wiring 53 is connected to the equipment 5 from the top surface of the box body 2. Here, the dimensions of the wiring 53 are, for example, the dimensions between the top surface of the box body 2 and the screw portion that is the connection point to the equipment 5. This prevents measurement errors from causing the measured result to be shorter than the actual dimensions of the wiring 53, thus preventing problems such as insufficient wiring length when replacing equipment 5.

[0070] The output unit 165 outputs the measurement results from the measurement unit 164 to the display unit 12.

[0071] Furthermore, the output unit 165 stores data including the measurement results from the measurement unit 164 in the storage unit 15. Alternatively, the output unit 165 may output information indicating the measurement results to a printer, thereby printing a document from the printer. Alternatively, the output unit 165 may output a PDF file containing the measurement results from the measurement unit 164. Here, "measurement results" include the measurement results of the dimensions between predetermined locations on the frame 23 and predetermined locations on the device 5, and the measurement results of dimensions of the device 5, such as the distance between screw holes.

[0072] (2.3) Measurement method Figure 1 is a flowchart of the measurement method of Embodiment 1.

[0073] First, the worker manually measures the external dimensions of the box 2. Then, the worker operates the control unit 13 to input the external dimension information, and the acquisition unit 161 acquires the external dimension information (Step S1: Acquisition Step).

[0074] Next, the operator uses the imaging device 14 in the first imaging mode to image the entire interior of the box body 2 with the hinged door 22 open. In other words, step S2 in Embodiment 1 is also an imaging step. As a result, the acquisition unit 161 acquires the first image (step S2: acquisition step).

[0075] Next, the estimation unit 163 estimates the position of the end 24 of the box body 2 based on the external dimensions information and the first image acquired in the acquisition step (step S3: estimation step).

[0076] Next, the generation unit 162 generates first point cloud data based on the external dimensions information of the box body 2 acquired in the acquisition step and the first image (step S4: generation step).

[0077] Next, when the operator performs a predetermined operation on the operation unit 13 (step S5), the generation unit 162 renders the first point cloud data and displays the rendered image G10 (first rendered image), which is a 2D image on which the distance between two points on the image can be measured, on the display unit 12 (step S6: rendering step).

[0078] Next, when the operation unit 13 receives an operation from the operator to switch the imaging device 14 to the second imaging mode (step S7), the imaging device 14 switches from the first imaging mode to the second imaging mode (step S8).

[0079] Next, the operator uses the imaging device 14 in the second imaging mode to image the frame portion 23 of the box body 2 and the equipment 5 in each of the regions A1 to A4. In other words, step S9 in Embodiment 1 is also an imaging step. As a result, the acquisition unit 161 acquires the second image (step S9: acquisition step).

[0080] Next, the generation unit 162 generates four second point cloud data based on the external dimensions information of the box 2 acquired in the acquisition step and the four second images (step S10: generation step). Then, the generation unit 162 renders the four second point cloud data and displays four second rendered images, which are 2D images on which the distance between any two points on the image can be measured, on the display unit 12 (step S11: rendering step). In Embodiment 1, the four second rendered images are combined with the first rendered image displayed on the display unit 12 as rendered image G10.

[0081] The measurement unit 164 then measures the distance between a predetermined location on the frame 23 and a predetermined location on the device 5 based on the second point cloud data (i.e., based on the second image acquired in the acquisition step). The measurement unit 164 also measures the dimensions of the device 5 based on the measured distance between the predetermined location on the frame 23 and the predetermined location on the device 5, and the information on the external dimensions of the box body 2 (Step S12: Measurement step). The output unit 165 then outputs the measurement results of the measurement unit 164 to the display unit 12 and stores the measurement results in the storage unit 15 (Step S13: Output step). When the output step is completed, the series of processes shown in Figure 1 is terminated.

[0082] Alternatively, in the measurement method, the operation unit 13 may accept an operation by the operator to specify the distance between two points in the rendered image G10, and the internal dimensions of the box body 2 may be measured based on the first point cloud data.

[0083] Note that the flowchart shown in Figure 1 is merely an example, and the order of processes may be changed as appropriate, or processes may be added or deleted as appropriate.

[0084] In the measurement method of Embodiment 1, it is not essential to acquire a first image, generate first point cloud data based on the first image, and measure the internal dimensions of the box 2 based on the first point cloud data. In other words, in the measurement method of Embodiment 1, information on the external dimensions of the box 2 is acquired (step S1), a second image is acquired (step S9), the dimensions between a predetermined location on the frame 23 and a predetermined location on the equipment 5 are measured based on the second image (second point cloud data based on the second image), and the dimensions of the equipment 5 are measured based on the measured dimensions between the predetermined location on the frame 23 and the predetermined location on the equipment 5, and the information on the external dimensions of the box 2 (step S12).

[0085] (Embodiment 2) As shown in Figures 6 and 7, the measurement method and measuring device 1 according to Embodiment 2 differ from the measurement method and measuring device 1 of Embodiment 1 in that it measures the dimensions of the device 5 using an image of a marker 3 that serves as a reference for measurement.

[0086] Marker 3 is, for example, an AR (Augmented Reality) marker. Marker 3 is a reference marker for measurement of the device 5. Marker 3 is used as a reference plane for defining planes in the box 2 or the device 5. The measuring device 1 of Embodiment 2 corrects the measurement results by utilizing the known dimensions of marker 3 (for example, by comparing the known dimensions of marker 3 with the measurement results of the dimensions of marker 3).

[0087] Marker 3 is installed, for example, by a worker on the frame 23 or wall 4. In Embodiment 2, multiple markers 3 are installed on the frame 23 or wall 4. More specifically, two markers 3 are installed in each of the regions A1 to A4. In other words, in Embodiment 2, eight markers 3 are installed on the frame 23 or wall 4. Region A1 includes a marker 3 installed on the upper frame 231 and a marker 3 installed on the left frame 232. Region A2 includes a marker 3 installed on the upper frame 231 and a marker 3 installed on the wall 4 above the right frame 234 and along the end 24 on the rotation axis side of the hinged door 22. Region A3 includes a marker 3 installed on the left frame 232 and a marker 3 installed on the lower frame 233. Area A4 includes a marker 3 installed on the lower frame 233 and a marker 3 installed on the wall 4 at a position below the right frame 234 and along the end 24 on the pivot axis side of the hinged door 22.

[0088] In Embodiment 2, when imaging areas of the box body 2 corresponding to the four corners of the box body 2, such as areas A1 to A4, the imaging device 14 uses a second imaging mode to image the two markers 3 and the equipment 5 included in each area, generating four second images. Each of the four second images is a single still image (RGBD image), similar to Embodiment 1.

[0089] The storage unit 15 of Embodiment 2 stores marker information relating to the markers 3. The marker information may include, for example, information on the position where each marker 3 is installed, information on the dimensions of each marker 3, and information on the part of each marker 3 that serves as the reference for measurement. For example, the marker information includes information that a predetermined location of a marker 3 installed on the upper frame 231 corresponds to the center of the upper frame 231 in the vertical direction. The marker information also includes information that a predetermined location of a marker 3 installed on the left frame 232 corresponds to the center of the left frame 232 in the horizontal direction. The marker information also includes information that a predetermined location of a marker 3 installed on the lower frame 233 corresponds to the center of the lower frame 233 in the vertical direction. The marker information also includes information that a predetermined location of a marker 3 installed on the wall 4 at a position along the end 24 corresponds to the center of the right frame 234 in the horizontal direction. The marker information also includes information that the right end of a marker 3 installed on the wall 4 at a position along the end 24 corresponds to the end 24 of the box body 2.

[0090] The acquisition unit 161 of Embodiment 2 acquires information on the external dimensions of the box body 2 and a second image (image) captured by the imaging device 14 of the marker 3 and equipment 5 installed on the frame 23 or wall 4. The acquisition unit 161 of Embodiment 2 also acquires a first image.

[0091] In Embodiment 2, the estimation unit 163 estimates the position of the end 24 of the box body 2 based on the image of the marker 3 included in the second image. The estimation unit 163 in Embodiment 2 estimates that, in the left-right direction, the right end of the marker 3 installed on the wall 4 is at the same position as the end 24 of the box body 2. Note that the function of the estimation unit 163 may also be provided by the generation unit 162.

[0092] In Embodiment 2, the measuring unit 164 measures the distance between a predetermined location on the frame 23 and a predetermined location on the device 5 based on the image (second image) acquired by the acquisition unit 161. In particular, the measuring unit 164 in Embodiment 2 identifies a predetermined location on the frame 23 based on the image of the marker 3 included in the second image. In Embodiment 2, the predetermined location on the frame 23 is the central part of the frame 23.

[0093] For example, as shown in Figure 6, the measurement unit 164 measures the vertical dimension D1 between the central part C1 of the upper frame 231 and the screw hole P1, and the horizontal dimension D2 between the central part C2 of the left frame 232 and the screw hole P1, based on a second image of region A1. Also, as shown in Figure 7, the measurement unit 164 measures the vertical dimension D3 between the central part C1 of the upper frame 231 and the screw hole P2, and the horizontal dimension D4 between the central part C3 of the right frame 234 and the screw hole P1, based on a second image of region A2.

[0094] Furthermore, the measuring unit 164 measures the dimensions of the device 5 based on the dimensions between predetermined points on the frame 23 and predetermined points on the device 5, and information on the external dimensions of the box 2. For example, the measuring unit 164 measures the distance D22 between screw holes P1 and P2 based on the measured dimensions D2 and D4 and information on the external dimensions. This improves the accuracy of measuring the dimensions of the frame 54 (device 5).

[0095] At edges and other corners, touch errors are likely to occur when an operator specifies the measurement point. According to the measurement method and measuring device 1 of Embodiment 2, by measuring the dimensions of the device 5 based on the center of the frame portion 23 rather than the edges of the frame portion 23, the measurement accuracy can be further improved.

[0096] Figure 8 is a flowchart of the measurement method of Embodiment 2.

[0097] First, the worker manually measures the external dimensions of the box 2. Then, the worker operates the control unit 13 to input the external dimension information, and the acquisition unit 161 acquires the external dimension information (Step S21: Acquisition Step).

[0098] Next, the worker places the markers 3 (Step S22: Placement Step). The worker places the markers 3 at the positions to be used as the reference for measurement. In Embodiment 2, the worker places two markers 3 in each of the areas A1 to A4.

[0099] Next, the operator uses the imaging device 14 in the first imaging mode to image the entire interior of the box body 2 with the hinged door 22 open. In other words, step S13 in Embodiment 2 is also an imaging step. As a result, the acquisition unit 161 acquires the first image (step S23: acquisition step).

[0100] Next, the estimation unit 163 estimates the position of the end 24 of the box body 2 based on the external dimensions information and the first image acquired in the acquisition step (step S24: estimation step).

[0101] Next, the generation unit 162 generates first point cloud data based on the external dimensions information of the box body 2 acquired in the acquisition step and the first image (step S25: generation step).

[0102] Next, when the operator performs a predetermined operation on the operation unit 13 (step S26), the generation unit 162 renders the first point cloud data and displays the rendered image G10 (first rendered image), which is a 2D image on which the distance between two points on the image can be measured, on the display unit 12 (step S27: rendering step).

[0103] Next, when the operation unit 13 receives an operation from the operator to switch the imaging device 14 to the second imaging mode (step S28), the imaging device 14 switches from the first imaging mode to the second imaging mode (step S29).

[0104] Next, the operator uses the imaging device 14 in the second imaging mode to image the marker 3 and the equipment 5 in each region from region A1 to region A4. In other words, step S30 in Embodiment 2 is also an imaging step. As a result, the acquisition unit 161 acquires the second image (step S30: acquisition step).

[0105] Next, the generation unit 162 generates four second point cloud data based on the external dimensions information of the box 2 acquired in the acquisition step and the four second images (step S31: generation step). Then, the generation unit 162 renders the four second point cloud data and displays four second rendered images, which are 2D images on which the distance between any two points on the image can be measured, on the display unit 12 (step S32: rendering step). In Embodiment 2, the four second rendered images are combined with the first rendered image displayed on the display unit 12 as rendered image G10.

[0106] The measurement unit 164 then measures the distance between a predetermined location on the frame 23 and a predetermined location on the device 5 based on the second point cloud data (i.e., based on the second image acquired in the acquisition step). The measurement unit 164 also measures the dimensions of the device 5 based on the measured distance between the predetermined location on the frame 23 and the predetermined location on the device 5, and the information on the external dimensions of the box body 2 (step S33: measurement step). The output unit 165 then outputs the measurement results of the measurement unit 164 to the display unit 12 (for example, display area R1 and display area R2) and stores the measurement results in the storage unit 15 (step S34: output step).

[0107] Alternatively, in the measurement method, the operation unit 13 may accept an operation by the operator to specify the distance between two points in the rendered image G10, and the internal dimensions of the box body 2 may be measured based on the first point cloud data.

[0108] Note that the flowchart shown in Figure 8 is merely an example, and the order of processes may be changed as appropriate, or processes may be added or deleted as appropriate.

[0109] In the measurement method of Embodiment 2, it is not essential to acquire a first image, generate first point cloud data based on the first image, and measure the internal dimensions of the box 2 based on the first point cloud data. In other words, in the measurement method of Embodiment 2, information on the external dimensions of the box 2 is acquired (step S21), a second image capturing the marker 3 and the device 5 is acquired (step S30), the dimensions between a predetermined location on the frame 23 and a predetermined location on the device 5 are measured based on the second image (second point cloud data based on the second image), and the dimensions of the device 5 are measured based on the measured dimensions between the predetermined location on the frame 23 and the predetermined location on the device 5, and the information on the external dimensions of the box 2 (step S33).

[0110] (modified version) The following lists some modifications of the above embodiment.

[0111] Functions equivalent to those of the measuring device 1 according to the above embodiment may be embodied in a (computer) program or a non-temporary recording medium on which the program is recorded. A program according to one embodiment is a program that causes one or more processors to execute the above measurement method.

[0112] The implementing entity of the measuring device 1 or measuring method in this disclosure includes a computer system. The computer system mainly consists of a processor and memory as hardware. The processor executes a program recorded in the memory of the computer system, thereby realizing the function of the implementing entity of the measuring device 1 or measuring method in this disclosure. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by the computer system. The processor of the computer system consists of one or more electronic circuits including semiconductor integrated circuits (ICs) or large-scale integrated circuits (LSIs). The integrated circuits such as ICs or LSIs referred to here are named differently depending on the degree of integration, and include integrated circuits called system LSIs, VLSIs (Very Large Scale Integration), or ULSIs (Ultra Large Scale Integration). Furthermore, FPGAs (Field-Programmable Gate Arrays) that are programmed after the manufacture of LSIs, or logic devices that allow for the reconfiguration of junction relationships or circuit compartments within LSIs, can also be used as processors. Multiple electronic circuits may be integrated onto a single chip or distributed across multiple chips. Multiple chips may be integrated onto a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller also consists of one or more electronic circuits, including semiconductor integrated circuits or large-scale integrated circuits.

[0113] Furthermore, it is not essential that the multiple functions of the measuring device 1 be integrated into a single housing; the components of the measuring device 1 may be distributed across multiple housings. In addition, at least some of the functions of the measuring device 1 may be implemented by the cloud (cloud computing), etc.

[0114] (summary) As is clear from the embodiments and modifications described above, the measurement method according to the first embodiment is a measurement method for measuring at least the inside of a box (2) that houses the equipment (5). The box (2) has an opening (25). The measurement method comprises an acquisition step and a measurement step. In the acquisition step, information on the external dimensions of the box (2) and an image with distance information added are acquired. The image is an image of the frame portion (23) that forms the opening (25) and the equipment (5) captured by an imaging device (14) capable of measuring the distance to the object to be imaged. In the measurement step, the dimension between a predetermined location on the frame portion (23) and a predetermined location on the equipment (5) is measured based on the image, and the dimensions of the equipment (5) are measured based on the measured dimension and the information on the external dimensions.

[0115] According to this embodiment, the measurement accuracy inside the box (2) can be improved.

[0116] The second aspect of the measurement method is a method for measuring at least the interior of a box (2) that houses the equipment (5). The box (2) has an opening (25). The measurement method comprises an acquisition step and a measurement step. In the acquisition step, information on the external dimensions of the box (2) and an image with distance information added are acquired. The image is an image taken by an imaging device (14) capable of measuring the distance between the imaging target and a marker (3) and the equipment (5) that are installed on the frame (23) forming the opening (25). In the measurement step, the dimension between a predetermined location on the frame (23) and a predetermined location on the equipment (5) is measured based on the image, and the dimensions of the equipment (5) are measured based on the measured dimension and the information on the external dimensions.

[0117] According to this embodiment, the measurement accuracy inside the box (2) can be improved.

[0118] The program relating to the third aspect is a program that causes one or more processors to execute the measurement method relating to the first or second aspect.

[0119] According to this embodiment, the measurement accuracy inside the box (2) can be improved.

[0120] The measuring device (1) according to the fourth embodiment is a measuring device (1) that measures at least the inside of a box (2) that houses the equipment (5). The box (2) has an opening (25). The measuring device (1) comprises an acquisition unit (161) and a measuring unit (164). The acquisition unit (161) acquires information on the external dimensions of the box (2) and an image to which distance information has been added. The image is an image of the frame (23) that forms the opening (25) and the equipment (5) captured by an imaging device (14) capable of measuring the distance to the object being imaged. The measuring unit (164) measures the dimension between a predetermined location on the frame (23) and a predetermined location on the equipment (5) based on the image, and measures the dimensions of the equipment (5) based on the measured dimension and the information on the external dimensions.

[0121] According to this embodiment, the measurement accuracy inside the box (2) can be improved.

[0122] The fifth aspect of the measuring device (1) is a measuring device (1) that measures at least the inside of a box (2) that houses the equipment (5). The box (2) has an opening (25). The measuring device (1) comprises an acquisition unit (161) and a measuring unit (164). The acquisition unit (161) acquires information on the external dimensions of the box (2) and an image to which distance information has been added. The image is an image taken by an imaging device (14) capable of measuring the distance between the imaging target and a marker (3) and the equipment (5) that are installed on the frame (23) that forms the opening (25). The measuring unit (164) measures the dimension between a predetermined location on the frame (23) and a predetermined location on the equipment (5) based on the image, and measures the dimensions of the equipment (5) based on the measured dimension and the information on the external dimensions.

[0123] According to this embodiment, the measurement accuracy inside the box (2) can be improved. [Explanation of symbols]

[0124] 1. Measuring device 14 Imaging device 161 Acquisition Department 164 Measurement Unit 2 box body 23 Frame section 25 Aperture 3 Markers 5 Equipment 53 Wiring

Claims

1. A measurement method for measuring at least the interior of a box having an opening and housing equipment, An acquisition step to acquire information on the external dimensions of the box body and an image with distance information added, obtained by imaging the frame portion forming the opening and the equipment using an imaging device capable of measuring the distance between the imaging target and the frame body. A measurement step of measuring the dimensions between a predetermined location on the frame and a predetermined location on the device based on the aforementioned image, and measuring the dimensions of the device based on the measured dimensions and the information on the external dimensions, Having, Measurement method.

2. A measurement method for measuring at least the interior of a box having an opening and housing equipment, An acquisition step to acquire information on the external dimensions of the box body, and an image to which distance information is added, obtained by imaging a device capable of measuring the distance between the marker used as a reference for measurement and the equipment installed in the frame forming the opening and the imaging target, A measurement step of measuring the dimensions between a predetermined location on the frame and a predetermined location on the device based on the aforementioned image, and measuring the dimensions of the device based on the measured dimensions and the information on the external dimensions, Having, Measurement method.

3. To cause one or more processors to execute the measurement method described in claim 1 or 2, program.

4. A measuring device having an opening and measuring at least the inside of a box that houses equipment, An acquisition unit that acquires information on the external dimensions of the box body and an image with distance information added, obtained by an imaging device capable of measuring the distance between the box body and the object to be imaged, which includes the frame portion forming the opening and the equipment being imaged. A measuring unit measures the distance between a predetermined location on the frame and a predetermined location on the device based on the aforementioned image, and measures the dimensions of the device based on the measured dimensions and the information on the external dimensions. Equipped with, Measuring device.

5. A measuring device having an opening and measuring at least the inside of a box that houses equipment, An acquisition unit that acquires information on the external dimensions of the box body, and an image with distance information added, which is captured by an imaging device capable of measuring the distance between the marker used as a reference for measurement and the equipment installed in the frame portion forming the opening and the imaging target, A measuring unit measures the distance between a predetermined location on the frame and a predetermined location on the device based on the aforementioned image, and measures the dimensions of the device based on the measured dimensions and the information on the external dimensions. Equipped with, Measuring device.

Images