Positioning device, positioning method, and program

Abstract

This positioning device for determining the position of a target used in adjustment of a vehicle, comprises: an imaging unit that generates sample images by imaging a plurality of positioning markers respectively arranged at specific positions of the vehicle, and at least one reference marker disposed inside or outside the vehicle; a processing unit that processes the sample images; a storage unit in which a target condition pertaining to the position of the target is stored; and a control unit that calculates the position of the target. The processing unit calculates, on the basis of the sample images, the relative positions of the plurality of positioning markers with respect to the reference marker. The control unit calculates the position of the target on the basis of information about the relative positions and the target condition.

Description

Positioning device, positioning method, and program

[0001] The present invention relates to a positioning device, a positioning method, and a program for determining the position of a target used in adjusting a vehicle.

[0002] Vehicles are now being used that are equipped with advanced detection devices that support safe driving. Detection devices include cameras, radars, sensors, etc. When installing detection devices in vehicles, the aiming of the detection devices is adjusted. Aiming is the function of the detection devices to aim at an object. Aiming is adjusted by having the detection devices recognize a specific target.

[0003] The target is placed at a predetermined distance from the vehicle. The position of the target is determined in advance depending on the model of the vehicle, etc. For example, the maintenance manual attached to the vehicle describes the position of the target. The worker who performs the aiming adjustment places the target at the predetermined position based on the maintenance manual.

[0004] Patent Document 1 discloses a method for determining the position of a target using a laser rangefinder. In Patent Document 1, a plate onto which a laser from the laser rangefinder is applied is placed at a reference position relative to the vehicle. The laser rangefinder is mounted on a movable platform. The position of the platform is adjusted so that the distance between the laser rangefinder and the plate becomes a predetermined distance specified in the maintenance manual. A target is then positioned based on the adjusted platform.

[0005] Patent No. 7044332

[0006] In the method of Patent Document 1, when the midpoint between two positions is to be determined, the number of work steps and the error are likely to be large.

[0007] An object of the present invention is to provide a positioning device and a positioning method that can solve these problems.

[0008] The present invention relates to the following [1] to

[12] .

[0009] [1] A positioning device for determining the position of a target used in adjusting a vehicle, comprising: an imaging unit that captures an image of a plurality of positioning markers each placed at a specific position on the vehicle and at least one reference marker placed inside or outside the vehicle to generate a sample image; a processing unit that processes the sample image; a memory unit that stores target conditions related to the position of the target; and a control unit that calculates the position of the target, wherein the processing unit calculates the relative position of each of the plurality of positioning markers with respect to the reference marker based on the sample image, and the control unit calculates the position of the target based on information related to the relative positions and the target conditions.

[0010] [2] In the positioning device described in [1], the positioning markers may include a front marker arranged on a front emblem of the vehicle and a rear marker arranged on a rear emblem of the vehicle, and the target conditions may include a first target condition that the target is positioned at a position on a central reference line a first distance away from the front marker, and the central reference line may be a straight line passing through the front marker and the rear marker.

[0011] [3] In the positioning device described in [1], the positioning markers may include a right-side front marker arranged on a right-side front wheel of the vehicle, a right-side rear marker arranged on a right-side rear wheel of the vehicle, a left-side front marker arranged on a left-side front wheel of the vehicle, and a left-side rear marker arranged on a left-side rear wheel of the vehicle, and the target condition may include a second target condition that the target is positioned at a midpoint between a position on a right-side reference line that is a second distance away from the right-side front marker and a position on a left-side reference line that is a second distance away from the left-side front marker, and the right-side reference line may be a straight line that passes through the right-side front marker and the right-side rear marker, and the left-side reference line may be a straight line that passes through the left-side front marker and the left-side rear marker.

[0012] [4] In the positioning device described in any one of [1] to [3], the photographing unit may generate a first sample image including a first positioning marker and the reference marker, and a second sample image including a second positioning marker and the reference marker.

[0013] [5] In the positioning device described in any one of [1] to [3], the photographing unit may generate a first sample image including a first positioning marker, a second positioning marker, and the reference marker, and a second sample image including a third positioning marker, a fourth positioning marker, and the reference marker.

[0014] [6] In the positioning device described in any one of [1] to [3], the photographing unit may generate a first sample image including a first positioning marker and the reference marker, and a second sample image including a second positioning marker and the first positioning marker.

[0015] [7] In the positioning device described in any one of [1] to [3], the photographing unit may generate a first sample image including a first positioning marker and the reference marker, a second sample image including a second positioning marker and the first positioning marker, and a third sample image including a third positioning marker and at least one marker included in the first sample image or the second sample image.

[0016] [8] In the positioning device according to any one of [1] to [7], the processing unit may construct a virtual plane based on the relative positions of the positioning markers with respect to the reference marker.

[0017] [9] In the positioning device described in [8], the memory unit may include data relating to a reference plane, and the control unit may compare the data relating to the reference plane with data relating to the virtual plane.

[0018]

[10] In the positioning device described in any one of [1] to [9], the photographing unit may photograph the reference marker and the target marker to generate a confirmation image, and the control unit may determine whether the position of the target marker matches the calculated position of the target based on information in the confirmation image.

[0019]

[11] A positioning method for determining the position of a target used in adjusting a vehicle, comprising: a first photographing step of photographing a plurality of positioning markers each placed at a specific position on the vehicle and at least one reference marker placed inside or outside the vehicle to generate a sample image; a processing step of calculating the relative positions of each of the plurality of positioning markers with respect to the reference marker based on the sample image; and a first calculation step of calculating the position of the target based on information on the relative positions and target conditions related to the position of the target.

[0020]

[12] A program for causing a computer to function as the processing unit, the storage unit, and the control unit of the positioning device according to any one of [1] to

[10] .

[0021] According to the present invention, the position of the target used in vehicle adjustment can be easily determined.

[0022] FIG. 1 is a diagram showing an example of the configuration of a positioning device. FIG. 1 is a diagram showing a preparatory step for placing a marker in a first embodiment. FIG. 2 is a diagram showing a first photographing step for photographing a marker. FIG. 3 is a diagram showing a processing step for calculating the position of a marker. FIG. 4 is a diagram showing a step for calculating a target position. FIG. 5 is a diagram showing a second photographing step for photographing a target marker. FIG. 6 is a diagram showing a step for placing a target at a target position. FIG. 7 is a diagram showing a preparatory step for placing a marker in a second embodiment. FIG. 8 is a diagram showing a first photographing step for photographing a marker. FIG. 9 is a diagram showing a processing step for calculating the position of a marker. FIG. 10 is a diagram showing a step for calculating a target position. FIG. 11 is a diagram showing a preparatory step for placing a marker in a third embodiment. FIG. 12 is a diagram showing a preparatory step for placing a marker in a fourth embodiment. FIG. 13 is a diagram showing a preparatory step for placing a marker in a fifth embodiment. FIG. 14 is a diagram showing a step for calculating a target position in a seventh embodiment.

[0023] The present invention relates to a positioning device and a positioning method for determining the position of a target used in vehicle adjustment. The target is used to adjust the aiming of detection devices such as cameras, radars, and sensors mounted on the vehicle. The detection devices recognize the situation outside the vehicle, thereby improving vehicle safety.

[0024] [First embodiment] A first embodiment of the present invention will be described with reference to the drawings. In the drawings accompanying this specification, the scale and aspect ratios have been appropriately changed and exaggerated from those of the actual objects for ease of understanding.

[0025] 1 is a diagram showing an example of the configuration of a positioning device 10 for determining the position of a target. The positioning device 10 includes, for example, an imaging unit 11, a processing unit 12, a control unit 13, a storage unit 14, and a display unit 15.

[0026] The photographing unit 11 photographs markers such as positioning markers and reference markers to generate an image. The image of the positioning markers and reference markers is also referred to as a sample image. The photographing unit 11 may photograph the vehicle 1 together with the positioning markers and reference markers. The photographing unit 11 is, for example, a camera.

[0027] The processing unit 12 processes the sample image. For example, the processing unit 12 calculates the relative position of the positioning marker with respect to the reference marker based on the sample image. The control unit 13 calculates the position of the target based on information on the relative position of the positioning marker and the target conditions. The memory unit 14 stores the target conditions. The processing unit 12, the control unit 13, and the memory unit 14 are configured by a computer including, for example, a logic IC and a memory IC. The target conditions are conditions related to the position where the target should be placed.

[0028] The display unit 15 displays information such as the relative positions of the positioning markers calculated by the processing unit 12 and the positions of the targets calculated by the control unit 13. The information about the positions may be displayed as text information such as coordinates. The display unit 15 may display images such as sample images captured by the imaging unit 11. The display unit 15 may display the information about the positions as a diagram.

[0029] The positioning device 10 may be configured by a single device. For example, the positioning device 10 may be configured by a single tablet PC or a single notebook PC including the imaging unit 11 and the display unit 15. The positioning device 10 may be configured by a plurality of devices. For example, the positioning device 10 may include a camera that constitutes the imaging unit 11, and a computer that constitutes the processing unit 12, the control unit 13, the storage unit 14, and the display unit 15. The computer may receive information from the camera via a wired or wireless connection.

[0030] (Positioning Method) A positioning method for determining the position of a target using the positioning device 10 will be described.

[0031] 2 is a diagram showing a preparation process. In the preparation process, a worker places markers such as a plurality of positioning markers and a reference marker 31. Each of the plurality of positioning markers is placed at a specific position on the vehicle. In the example shown in FIG. 2, a front marker 21 is placed on the front emblem of the vehicle 1, and a rear marker 22 is placed on the rear emblem of the vehicle 1.

[0032] The reference marker 31 is a marker that indicates a reference position for the multiple positioning markers. As will be described later, the positions of the multiple positioning markers are calculated relative to the position of the reference marker 31. The reference marker 31 is placed, for example, on the floor outside the vehicle 1. Although not shown, the reference marker 31 may also be placed inside the vehicle 1.

[0033] The reference marker 31 may be placed at a specific position on the vehicle, similar to the positioning marker. As will be described later, one of a plurality of positioning markers may be determined as the reference marker.

[0034] 2, the reference marker 31 may include a plate 3 placed on the floor and a film 4 attached to the plate 3. The film 4 includes, for example, a printed marker.

[0035] Although not shown, the positioning markers such as the front marker 21 and rear marker 22 may be made of a film including a printed marker. For example, the front marker 21 may be made of a film attached to the front emblem. Alternatively, the positioning marker may include a plate and a film, similar to the reference marker 31 shown in FIG. 2. For example, the front marker 21 may be made of a plate with a film attached to the front emblem.

[0036] 3 is a diagram showing the first photographing step, in which the photographing unit 11 photographs a plurality of positioning markers and the reference markers 31 to generate a sample image.

[0037] In the first photographing process, the photographing unit 11 photographs the front marker 21 and the reference marker 31 from a first photographing position 41. The first photographing position 41 is, for example, a position on the front right of the vehicle 1. A first angle of view 41R of the photographing unit 11 at the first photographing position 41 is set so that the front marker 21 and the reference marker 31 are included in the sample image. Also, in the first photographing process, the photographing unit 11 photographs the rear marker 22 and the reference marker 31 from a second photographing position 42. The second photographing position 42 is, for example, a position on the rear right of the vehicle 1. A second angle of view 42R of the photographing unit 11 at the second photographing position 42 is set so that the rear marker 22 and the reference marker 31 are included in the sample image. In this way, at least two sample images are generated.

[0038] In this embodiment, the sample image generated by shooting at the first shooting position 41 is also referred to as the first sample image, and the sample image generated by shooting at the second shooting position 42 is also referred to as the second sample image. In this embodiment, the positioning marker included in the first sample image is also referred to as the first positioning marker, and the positioning marker included in the second sample image is also referred to as the second positioning marker. In this embodiment, all of the sample images, such as the first sample image and the second sample image, include the reference marker 31.

[0039] 4 is a diagram showing a processing step for processing a sample image. In the processing step, the processing unit 12 calculates the relative positions of each of a plurality of positioning markers with respect to the reference marker 31 based on the sample image. For example, the processing unit 12 calculates the relative coordinates (X1, Y1, Z1) of the front marker 21 with respect to the reference marker 31, and the relative coordinates (X2, Y2, Z2) of the rear marker 22 with respect to the reference marker 31.

[0040] The position of the reference marker 31 is a reference position in the X, Y, and Z directions. The X and Y directions may be parallel to the floor, and the Z direction may be perpendicular to the floor. The X direction may be the direction in which a straight line passing through the front marker 21 and the rear marker 22 extends.

[0041] In the first photographing step described above, multiple images may be photographed at each photographing position. In this case, the relative coordinates of each positioning marker may be calculated based on each of the multiple images. For example, multiple relative coordinates of the front marker 21 with respect to the reference marker 31 may be calculated. A single coordinate may be finally calculated based on an approximation or average value of the multiple relative coordinates. As a result, processing accuracy is improved.

[0042] 5 is a diagram showing a first calculation step for calculating the target position. In the first calculation step, the control unit 13 calculates the position of the target based on information about the relative positions of the multiple positioning markers and a target condition. The target condition is, for example, a condition that "the target is positioned on the central reference line at a position a first distance away from the front marker." The target condition in this embodiment is also referred to as a first target condition.

[0043] For example, the control unit 13 calculates a center reference line L1, which is a straight line passing through the front marker 21 and the rear marker 22, based on the coordinates of the front marker 21 and the rear marker 22. Next, the control unit 13 calculates the coordinates (Xt1, Yt1, Zt1) of a target position t1 on the center reference line L1 that is a first distance K1 away from the front marker 21. The first distance K1 is, for example, 160 cm.

[0044] The Z coordinate Zt1 of the target position t1 may be calculated based on information about the height from the floor of the position where the first target (described later) is placed. The position of the reference marker 31 may be the floor position, i.e., the zero point of the Z coordinate. In this case, the height from the floor of the position where the first target is placed is used as the Z coordinate Zt1 of the target position t1.

[0045] The control unit 13 may display information about the target position t1 on the display unit 15. For example, the control unit 13 may display position information such as the positions of the multiple positioning markers, the position of the reference marker 31, and the position of the target marker 51 as a diagram in an XY coordinate system.

[0046] 6, a second photographing step may be performed. In the second photographing step, the photographing unit 11 photographs the target marker 51 and the reference marker 31 arranged at the target position t1 to generate an image. The image including the target marker 51 and the reference marker 31 generated in the second photographing step is also referred to as a confirmation image.

[0047] In the second photographing step, the photographing unit 11 photographs the target marker 51 and the reference marker 31 from the third photographing position 43. A third angle of view 43R of the photographing unit 11 at the third photographing position 43 is set so that the target marker 51 and the reference marker 31 are included in the image.

[0048] Next, a step of determining whether the position of the target marker 51 matches the calculated target position t1 is performed based on information from the confirmation image. For example, the processing unit 12 performs a second calculation step of calculating coordinates (Xt1', Yt1', Zt1') of the position t1' of the target marker 51 relative to the reference marker 31. Next, the control unit 13 performs a determination step. In the determination step, the coordinates (Xt1', Yt1', Zt1') of the position t1' of the target marker 51 are compared with the coordinates (Xt1, Yt1, Zt1) of the target position t1. If the difference between the coordinates of the two positions is equal to or less than a threshold, the control unit 13 determines that the position t1' of the target marker 51 matches the target position t1. In other words, a pass determination is made. In the determination step, only the difference between the X and Y coordinates of the two positions may be taken into consideration. The determination result may be displayed on the display unit 15.

[0049] The target marker 51 may include a plate placed on the floor and a film attached to the plate, similar to the reference marker 31. Alternatively, the target marker 51 may include a plate standing vertically on the floor and a film attached to the plate.

[0050] 7, an installation step is performed in which the first target 61 is installed at the target position t1. The first target 61 can function as a target to be detected by a detection device mounted on the vehicle 1.

[0051] The first target 61 may be placed at the position of the target marker 51 that has been determined to be acceptable in the determination step. Alternatively, the first target 61 may be placed at the target position t1 calculated in the first calculation step. In the latter case, the second photographing step, the second calculation step, and the determination step may not be performed.

[0052] 7, other targets may be placed at other target positions located around target position t1. For example, a second target 62 may be placed at second target position t2, and a third target 63 may be placed at third target position t3. Similar to target position t1, the second target position t2 and the third target position t3 may be calculated by the control unit 13 based on information about the positions of the multiple positioning markers and the target conditions.

[0053] The second target position t2 may be a distance K18 away from the target position t1 in a direction perpendicular to the central reference line L1. The third target position t3 may also be a distance K18 away from the target position t1 in a direction perpendicular to the central reference line L1, opposite to the second target position t2. The distance K18 is, for example, 50 cm.

[0054] According to the first embodiment described above, the position of the target marker 51 is calculated by photographing a plurality of positioning markers and the reference marker 31 using the positioning device 10. This makes it easy to determine the position of the first target 61. For example, a single worker can determine the position of the first target 61. Compared to conventional methods, the number of work steps is reduced, thereby reducing the cost required for the work. Furthermore, compared to conventional methods, the amount of work that depends on the skill of the worker is reduced, thereby improving the accuracy of positioning the first target 61.

[0055] The above-described processing step, first calculation step, second calculation step, and determination step may be executed by a computer constituting the positioning device 10. For example, a program for causing the computer to function as the processing unit 12, the control unit 13, and the storage unit 14 may be installed in the computer.

[0056] The program may be pre-installed on the computer when the computer is shipped, or may be installed on the computer after the computer is shipped by using a computer-readable, non-transitory recording medium on which the program is recorded. The type of recording medium is not particularly limited, and various types are possible, such as portable recording media such as magnetic disks and optical disks, and fixed recording media such as hard disk drives and memories. The program may also be distributed via a communication line such as the Internet. When the program is distributed via a communication line, a recording medium on which the program according to this embodiment is stored is present, at least temporarily, on a distribution server.

[0057] [Second Embodiment] A second embodiment of the present invention will be described with reference to the drawings. In the following description and the drawings used in the following description, parts that can be configured similarly to the first embodiment described above will be designated by the same reference numerals as those used for the corresponding parts in the first embodiment described above, and duplicated explanations will be omitted. Furthermore, if it is clear that the effects obtained in the first embodiment described above can also be obtained in the second embodiment, the explanations of those effects may be omitted.

[0058] (Positioning Method) A positioning method for determining the position of a target using the positioning device 10 will be described.

[0059] 8 is a diagram showing the preparation process. In this embodiment, too, a worker places a plurality of positioning markers and markers such as a reference marker 31. In the example shown in FIG. 8, a right-side front marker 23 is placed on the right-side front wheel of the vehicle 1, a right-side rear marker 24 is placed on the right-side rear wheel, a left-side front marker 25 is placed on the left-side front wheel, and a left-side rear marker 26 is placed on the left-side rear wheel.

[0060] FIG. 9 is a diagram showing the first photographing process. In the first photographing process, the photographing unit 11 photographs the right front marker 23, the right rear marker 24, and the reference marker 31 from a first photographing position 46. The first photographing position 46 is, for example, a position on the right front of the vehicle 1. A first angle of view 46R of the photographing unit 11 at the first photographing position 46 is set so that the right front marker 23, the right rear marker 24, and the reference marker 31 are included in the sample image. Also, in the first photographing process, the photographing unit 11 photographs the left front marker 25, the left rear marker 26, and the reference marker 31 from a second photographing position 47. The second photographing position 47 is, for example, a position on the left front of the vehicle 1. A second angle of view 47R of the photographing unit 11 at the second photographing position 47 is set so that the left front marker 25, the left rear marker 26, and the reference marker 31 are included in the sample image. In this manner, at least two sample images are generated.

[0061] In this embodiment, the sample image generated by shooting at the first shooting position 46 is also referred to as the first sample image, and the sample image generated by shooting at the second shooting position 47 is also referred to as the second sample image. In this embodiment, the two positioning markers included in the first sample image are also referred to as the first positioning marker and the second positioning marker, and the two positioning markers included in the second sample image are also referred to as the third positioning marker and the fourth positioning marker. In this embodiment, all of the sample images such as the first sample image and the second sample image include the reference marker 31.

[0062] 10 is a diagram showing a processing step for processing a sample image. In the processing step, the processing unit 12 calculates, based on the sample image, the relative positions of each of a plurality of positioning markers with respect to the reference marker 31. For example, the processing unit 12 calculates the relative coordinates of the right front marker 23, the right rear marker 24, the left front marker 25, and the left rear marker 26 with respect to the reference marker 31.

[0063] 11 is a diagram showing a first calculation step for calculating the target position. In the first calculation step, the control unit 13 calculates the position of the target based on information regarding the relative positions of the multiple positioning markers and a target condition. The target condition is, for example, a condition that "the target is positioned at the midpoint between a position on the right reference line that is a second distance away from the right front marker and a position on the left reference line that is a second distance away from the left front marker." The target condition in this embodiment is also referred to as a second target condition.

[0064] For example, the control unit 13 calculates a right-side reference line L2, which is a straight line passing through the right-side front marker 23 and the right-side rear marker 24, based on the coordinates of the right-side front marker 23 and the right-side rear marker 24. Next, the control unit 13 calculates the coordinates (Xp1, Yp1, Zp1) of a first position p1 on the right-side reference line L2, which is a second distance K2 away from the right-side front marker 23. Furthermore, the control unit 13 calculates a left-side reference line L3, which is a straight line passing through the left-side front marker 25 and the left-side rear marker 26, based on the coordinates of the left-side front marker 25 and the left-side rear marker 26. Next, the control unit 13 calculates the coordinates (Xp2, Yp2, Zp2) of a second position p2 on the left-side reference line L3, which is the second distance K2 away from the left-side front marker 25. Next, the control unit 13 calculates the coordinates (Xt1, Yt1, Zt1) of a target position t1, which is located at the midpoint between the first position p1 and the second position p2.

[0065] Subsequently, similarly to the first embodiment described above, the second photographing step, the second calculation step, and the determination step may be performed. After the determination step, the first target 61 may be placed at the position of the target marker 51. Alternatively, the first target 61 may be placed at the target position t1 without performing the second photographing step, the second calculation step, and the determination step.

[0066] In the second embodiment, too, the position of the target marker 51 is calculated by photographing a plurality of positioning markers and the reference marker 31 using the positioning device 10. This makes it easy to determine the position of the first target 61. For example, a single worker can determine the position of the first target 61. Compared to conventional methods, the number of work steps is reduced, which reduces the cost required for the work. Furthermore, compared to conventional methods, the amount of work that depends on the skill of the worker is reduced, which improves the accuracy of positioning the first target 61.

[0067] [Third Embodiment] A third embodiment of the present invention will be described with reference to the drawings. In the following description and the drawings used in the following description, parts that can be configured similarly to the above-mentioned embodiments will be designated by the same reference numerals as those used for the corresponding parts in the above-mentioned embodiments, and duplicated descriptions will be omitted. Furthermore, if it is clear that the effects obtained in the above-mentioned embodiments can also be obtained in the third embodiment, the description of those effects may be omitted.

[0068] (Positioning Method) A positioning method for determining the position of a target using the positioning device 10 will be described.

[0069] 12 is a diagram showing the preparation process. In this embodiment, at least three positioning markers are placed by an operator. In the example shown in FIG. 12, a front marker 21 is placed on the front emblem of the vehicle 1, a right front marker 23 is placed on the right front wheel, and a left front marker 25 is placed on the left front wheel.

[0070] Next, as shown in Figure 12, a first photographing process is carried out. In the first photographing process, the photographing unit 11 photographs the front marker 21 and the right front marker 23 from a first photographing position 71. The first photographing position 71 is, for example, a position on the right front of the vehicle 1. In addition, in the first photographing process, the photographing unit 11 photographs the front marker 21 and the left front marker 25 from a second photographing position 72. The second photographing position 72 is, for example, a position on the left front of the vehicle 1. In this way, at least two sample images are generated.

[0071] In this embodiment, the sample image generated by shooting at the first shooting position 71 is also referred to as the first sample image, and the sample image generated by shooting at the second shooting position 72 is also referred to as the second sample image. In this embodiment, one of the multiple positioning markers included in the first sample image functions as a reference marker. For example, the right front marker 23 functions as the reference marker. The front marker 21, which is another positioning marker included in the first sample image, is also referred to as the first positioning marker. The first positioning marker is also included in the second sample image. The left front marker 25, which is another positioning marker included in the second sample image, is also referred to as the second positioning marker.

[0072] In the processing step, the processing unit 12 calculates the relative positions of each of the multiple positioning markers with respect to the reference marker based on the sample images. Specifically, the relative position of the first positioning marker with respect to the reference marker is calculated based on the first sample image. Furthermore, the relative position of the second positioning marker with respect to the first positioning marker is calculated based on the second sample image. Subsequently, the relative position of the second positioning marker with respect to the reference marker is calculated based on information on the relative position of the first positioning marker with respect to the reference marker. In this way, since the two sample images include a common positioning marker, the relative positions of each of the multiple positioning markers with respect to the reference marker can be calculated.

[0073] Thereafter, the first calculation step, the second photographing step, the second calculation step, and the determination step may be performed in the same manner as in the first or second embodiment described above.

[0074] [Fourth embodiment] A fourth embodiment of the present invention will be described with reference to the drawings. In the following description and the drawings used in the following description, parts that can be configured similarly to the above-mentioned embodiments will be designated by the same reference numerals as those used for the corresponding parts in the above-mentioned embodiments, and duplicated explanations will be omitted. Furthermore, if it is clear that the effects obtained in the above-mentioned embodiments can also be obtained in the fourth embodiment, the explanation of those effects may be omitted.

[0075] 13 is a diagram showing a preparation process. In this embodiment, in addition to the three positioning markers described in the third embodiment, a rear marker 22 is arranged on the rear emblem of the vehicle 1.

[0076] Next, as shown in Fig. 13, a first photographing step is carried out. In this embodiment, in addition to photographing at the first photographing position 71 and the second photographing position 72 described in the third embodiment, photographing is also carried out at a third photographing position 73. At the third photographing position 73, the left front marker 25, the rear emblem, and the rear marker 22 are photographed. The third photographing position 73 is, for example, a position at the left rear of the vehicle 1. In this manner, three sample images are generated.

[0077] In this embodiment, in addition to the first and second sample images described in the third embodiment, a third sample image is generated by capturing an image at a third capturing position 73. The third sample image includes at least one marker included in the first sample image or the second sample image. For example, the left front marker 25, which is the second positioning marker included in the second sample image, is also included in the third sample image. The rear marker 22, which is another positioning marker included in the third sample image, is also referred to as the third positioning marker.

[0078] In the processing step, similarly to the third embodiment, the processing unit 12 calculates the relative positions of each of the multiple positioning markers with respect to the reference marker based on the sample image. In this embodiment, the relative position of the third positioning marker with respect to the second positioning marker is calculated based on the third sample image. Subsequently, the relative position of the third positioning marker with respect to the reference marker is calculated based on information on the relative position of the second positioning marker with respect to the reference marker. Because each sample image includes a positioning marker that is common to other sample images, the relative positions of each of the multiple positioning markers with respect to the reference marker can be calculated.

[0079] Thereafter, the first calculation step, the second photographing step, the second calculation step, and the determination step may be performed in the same manner as in the first or second embodiment described above.

[0080] Fifth Embodiment A fifth embodiment of the present invention will be described with reference to the drawings. In the following description and the drawings used in the following description, parts that can be configured similarly to the above-mentioned embodiments will be designated by the same reference numerals as those used for the corresponding parts in the above-mentioned embodiments, and duplicated explanations will be omitted. Furthermore, if it is clear that the effects obtained in the above-mentioned embodiments can also be obtained in the fifth embodiment, the explanations of those effects may be omitted.

[0081] 14 is a diagram showing the preparation process. In this embodiment, in addition to the four positioning markers described in the fourth embodiment, a right rear marker 24 is placed on the right rear wheel of the vehicle 1, and a left rear marker 26 is placed on the left rear wheel.

[0082] 14, a first photographing step is carried out. In the first photographing step, the photographing unit 11 photographs the front marker 21 and the right-side front marker 23 from a first photographing position 81, photographs the right-side front marker 23 and the right-side rear marker 24 from a second photographing position 82, photographs the right-side rear marker 24 and the rear marker 22 from a third photographing position 83, photographs the rear marker 22 and the left-side rear marker 26 from a fourth photographing position 84, photographs the left-side rear marker 26 and the left-side front marker 25 from a fifth photographing position 85, and photographs the left-side front marker 25 and the front marker 21 from a sixth photographing position 86. In this manner, six sample images are generated.

[0083] In this embodiment, the sample images generated by photographing at the first photographing position 81 to the sixth photographing position 86 are also referred to as the first sample image to the sixth sample image, respectively. In this embodiment, one of the multiple positioning markers included in the first sample image functions as a reference marker. For example, the front marker 21 functions as a reference marker. The right-side front marker 23, the right-side rear marker 24, the rear marker 22, the left-side rear marker 26, and the left-side front marker 25 are also referred to as the first positioning marker, the second positioning marker, the third positioning marker, the fourth positioning marker, and the fifth positioning marker, respectively.

[0084] Each sample image includes a common positioning marker with the other sample images. For example, the nth positioning marker is included in the nth sample image and the n+1th sample image. In this embodiment, n is a positive integer between 1 and 6. When n is the maximum, 6 in this example, the seventh positioning marker included in the sixth sample image may be a positioning marker that functions as a reference marker.

[0085] In the processing step, similarly to the third embodiment, the processing unit 12 calculates the relative positions of each of the plurality of positioning markers with respect to the reference marker based on the sample image. In this embodiment as well, since each sample image includes a positioning marker that is common to other sample images, the relative positions of each of the plurality of positioning markers with respect to the reference marker can be calculated.

[0086] Thereafter, the first calculation step, the second photographing step, the second calculation step, and the determination step may be performed in the same manner as in the first or second embodiment described above.

[0087] [Sixth Embodiment] A sixth embodiment of the present invention will be described. In the following description, parts that can be configured similarly to the above-described embodiments will be designated by the same reference numerals as those used for the corresponding parts in the above-described embodiments, and duplicated descriptions will be omitted. Furthermore, if it is clear that the effects obtained in the above-described embodiments can also be obtained in the sixth embodiment, the description of those effects may be omitted.

[0088] As described in the above embodiments, in the first imaging step, at least three markers are imaged. As a result, the relative positions of at least two positioning markers with respect to the reference marker are calculated. That is, the positions of at least three markers are calculated. In the processing step, the processing unit 12 may construct a virtual plane based on information regarding the positions of the at least three markers. For example, a virtual plane passing through the position coordinates of the at least three markers may be constructed.

[0089] When the positions of four or more markers are calculated in the first imaging step, the processing unit 12 may construct two or more virtual planes based on information regarding the positions of the four or more markers. For example, the processing unit 12 may construct a first virtual plane based on information regarding the positions of the first to third markers, and a second virtual plane based on information regarding the positions of the second to fourth markers. The processing unit 12 may finally construct one virtual plane based on two or more virtual planes. For example, one virtual plane may finally be constructed based on an approximation value, average value, or the like of the first virtual plane and the second virtual plane. Accuracy can be improved by finally constructing one virtual plane based on multiple virtual planes.

[0090] The working surface of the work place where the aiming adjustment is performed may be inclined with respect to the horizontal plane. When the working surface is inclined, the attitude of the vehicle may also be inclined. In this modified example, by constructing a virtual plane, the target position can be calculated more accurately by taking into account the inclination of the working surface or the attitude of the vehicle.

[0091] The control unit 13 may compare the data regarding the reference plane with the data regarding the virtual plane. The data regarding the reference plane includes, for example, information regarding the target position. The data regarding the reference plane is stored in the storage unit 14. The control unit 13 may calculate the target position, etc. based on the comparison result.

[0092] Thereafter, the second photographing step, the second calculation step, and the determination step may be performed in the same manner as in the first or second embodiment described above.

[0093] [Seventh embodiment] A seventh embodiment of the present invention will be described with reference to the drawings. In the following description and the drawings used in the following description, parts that can be configured similarly to the above-mentioned embodiments will be designated by the same reference numerals as those used for the corresponding parts in the above-mentioned embodiments, and duplicated explanations will be omitted. Furthermore, if it is clear that the effects obtained in the above-mentioned embodiments can also be obtained in the seventh embodiment, the explanation of those effects may be omitted.

[0094] In the above-described first embodiment, an example has been described in which the target position is set in front of the vehicle 1. In the present embodiment, an example will be described in which the target position is set to the side of the vehicle 1.

[0095] 15 , the control unit 13 calculates a center reference line L1, which is a straight line passing through the front marker 21 and the rear marker 22, based on the coordinates of the front marker 21 and the rear marker 22. Next, the control unit 13 calculates an eleventh reference line L11 that extends parallel to the center reference line L1 and is spaced a distance K27 from the center reference line L1 in a direction perpendicular to the center reference line L1. The control unit 13 also calculates a twelfth reference line L12 that extends parallel to the center reference line L1 and is spaced a distance K27 from the center reference line L1 in a direction perpendicular to the center reference line L1 but opposite the eleventh reference line L11. The distance K27 is, for example, 1.25 m or more and 1.50 m or less.

[0096] Next, the control unit 13 calculates the coordinates of the first target position t1, the second target position t2, the third target position t3, and the fourth target position t4. The first target position t1 is located at the intersection of the eleventh reference line L11 and a line that is perpendicular to the eleventh reference line L11 and passes through the front marker 21. The second target position t2 is located at the intersection of the eleventh reference line L11 and a line that is perpendicular to the eleventh reference line L11 and passes through the rear marker 22. The third target position t3 is located at the intersection of the twelfth reference line L12 and a line that is perpendicular to the twelfth reference line L12 and passes through the front marker 21. The fourth target position t4 is located at the intersection of the twelfth reference line L12 and a line that is perpendicular to the twelfth reference line L12 and passes through the rear marker 22.

[0097] As shown in FIG. 15 , targets 64 may be arranged at a first target position t1, a second target position t2, a third target position t3, and a fourth target position t4. The four targets 64 may be used, for example, to adjust the aiming of a surround view monitor. Each of the four targets 64 may extend a distance K24 outward from the target position and a distance K24 inward from the target position. "Outward" refers to a direction parallel to the center reference line L1 and away from the center of the vehicle 1. "Inward" refers to a direction parallel to the center reference line L1 and toward the center of the vehicle 1. The distance K24 may be 0.8 m or more. The distance K25 may be 0.2 m or more. The thickness of each of the four targets 64 may be 20 mm or more and 30 mm or less.

[0098] REFERENCE SIGNS LIST 1 vehicle 10 positioning device 11 photography unit 12 processing unit 13 control unit 14 memory unit 15 display unit 21 front marker 22 rear marker 23 right front marker 24 right rear marker 25 left front marker 26 left rear marker 31 reference marker 51 target marker 61 first target L1 center reference line L2 right reference line L3 left reference line K1 first distance K2 second distance

Claims

1. A positioning device for determining the position of a target used in vehicle adjustment, comprising: an imaging unit that captures images of a plurality of positioning markers each placed at a specific position on the vehicle and at least one reference marker placed inside or outside the vehicle to generate at least one sample image; a processing unit that processes the sample image; a memory unit that stores target conditions related to the position of the target; and a control unit that calculates the position of the target, wherein the processing unit calculates the relative positions of each of the plurality of positioning markers with respect to the reference marker based on the sample image, and the control unit calculates the position of the target based on information related to the relative positions and the target conditions.

2. The positioning device described in claim 1, wherein the positioning markers include a front marker arranged on a front emblem of the vehicle and a rear marker arranged on a rear emblem of the vehicle, the target conditions include a first target condition that the target is positioned at a position on a central reference line a first distance away from the front marker, and the central reference line is a straight line passing through the front marker and the rear marker.

3. The positioning device described in claim 1, wherein the positioning markers include a right-side front marker arranged on the right-side front wheel of the vehicle, a right-side rear marker arranged on the right-side rear wheel of the vehicle, a left-side front marker arranged on the left-side front wheel of the vehicle, and a left-side rear marker arranged on the left-side rear wheel of the vehicle; the target conditions include a second target condition that the target is positioned at a midpoint between a position on the right-side reference line that is a second distance away from the right-side front marker and a position on the left-side reference line that is a second distance away from the left-side front marker; the right-side reference line is a straight line that passes through the right-side front marker and the right-side rear marker; and the left-side reference line is a straight line that passes through the left-side front marker and the left-side rear marker.

4. The positioning device described in claim 1, wherein the photographing unit generates a first sample image including a first positioning marker and the reference marker, and a second sample image including a second positioning marker and the reference marker.

5. The positioning device described in claim 1, wherein the photographing unit generates a first sample image including a first positioning marker, a second positioning marker, and the reference marker, and a second sample image including a third positioning marker, a fourth positioning marker, and the reference marker.

6. The positioning device described in claim 1, wherein the photographing unit generates a first sample image including a first positioning marker and the reference marker, and a second sample image including a second positioning marker and the first positioning marker.

7. The positioning device described in claim 1, wherein the photographing unit generates a first sample image including a first positioning marker and the reference marker, a second sample image including a second positioning marker and the first positioning marker, and a third sample image including a third positioning marker and at least one marker included in the first sample image or the second sample image.

8. A positioning device according to any one of claims 1 to 7, wherein the processing unit constructs a virtual plane based on the relative positions of the positioning markers with respect to the reference marker.

9. The positioning device according to claim 8, wherein the memory unit includes data relating to a reference plane, and the control unit compares the data relating to the reference plane with data relating to the virtual plane.

10. A positioning device as described in any one of claims 1 to 7, wherein the photographing unit photographs the reference marker and the target marker to generate a confirmation image, and the control unit determines whether the position of the target marker matches the calculated position of the target based on information from the confirmation image.

11. A positioning method for determining the position of a target used in vehicle adjustment, comprising: a first photographing step of photographing a plurality of positioning markers each placed at a specific position on the vehicle and at least one reference marker placed inside or outside the vehicle to generate a sample image; a processing step of calculating the relative positions of each of the plurality of positioning markers with respect to the reference marker based on the sample image; and a first calculation step of calculating the position of the target based on information regarding the relative positions and target conditions related to the position of the target.

12. A program for causing a computer to function as the processing unit, the memory unit, and the control unit of the positioning device according to any one of claims 1 to 7.

Images