JP2008311789A - Device and method for manufacturing mark - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mark manufacturing device for manufacturing a mark containing a positional information on a position to be stuck. <P>SOLUTION: The mark manufacturing device 10 detects a first distance from a camera 1 to a reference mark MS and a first directional information regarding the direction where the reference mark MS exists to the camera 1 on the basis of the image of the reference mark MS photographed by the camera 1 while determining the position of the camera 1 on the basis of the positional information of the reference mark MS, the first distance and the first directional information. The mark manufacturing device 10 determines the position of a dummy mark DM by the same determination method as when determining the position of the camera 1 on the basis of the image of the dummy mark photographed by the camera 1. The device 10 manufactures the mark M1 containing the position of the determined dummy mark DM as the positional information on the position to be stuck, and prints the mark M1 by a printer 5. The printed mark M1 is stuck at the position of the dummy mark DM. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a mark production apparatus and a mark production method, and more particularly to a mark production apparatus and a mark production method for producing a mark arranged in an underground shopping street and a road.

  Conventionally, a cellular phone equipped with a GPS (Global Positioning System) is known (Patent Document 1). This mobile phone detects its own position by GPS, and transmits the detected position to the management server. As described above, there is conventionally known a mobile phone that detects its own position by GPS and notifies a management server.

In addition, there is known a mobile phone that detects a position of itself by photographing a two-dimensional barcode installed in various places on a street with a camera (Patent Document 2). This two-dimensional barcode includes address information and longitude and latitude information as information indicating the exact location of the installation location. Then, the mobile phone reads the accurate location information of the installation location recorded in the photographed two-dimensional barcode, and uses the read accurate location information of the installation location as its own location information.
JP 2006-236160 A JP-A-2005-341369 Koichiro Deguchi, “Image and Space”, p. 48-p. 53.

  However, Patent Document 2 does not disclose a method for producing a two-dimensional barcode including position information.

  Accordingly, the present invention has been made to solve such a problem, and an object of the present invention is to provide a mark manufacturing apparatus for manufacturing a mark including position information of a place to be pasted.

  Another object of the present invention is to provide a mark production method for producing a mark including position information of a place to be attached.

  According to this invention, the mark production apparatus includes a photographing device, first and second position determining means, mark production means, and a printer. The photographing device photographs a reference mark in which the actual size, position and orientation / tilt information are recorded, and a dummy mark in which the actual size is recorded and arranged at a desired position. The first position determining means processes the first image, which is the image of the reference mark photographed by the photographing device, so that the first distance that is the distance from the photographing device to the reference mark and the reference mark First direction information related to the direction and inclination of the photographing device and reference mark position information are detected, and shooting is performed based on the detected first distance, first direction information, and reference mark position information. Determine the position and orientation / tilt of the instrument. The second position determining means processes the second image, which is an image of the dummy mark photographed by the photographing device, so that the second distance that is the distance from the photographing device to the dummy mark and the dummy mark are processed. Position information indicating the second distance, the second direction information, and the position of the photographing device determined by the first position determining means. Based on this, the position, direction and inclination of the dummy mark are determined. The mark producing means produces a mark in which the actual size of the dummy mark and the position and azimuth / tilt information indicating the position and azimuth / tilt of the dummy mark determined by the second position determining means are recorded. The printer prints the mark produced by the mark production means.

  Preferably, the first position determining means detects the actual size of the reference mark and the size of the first image by processing the first image, and the detected actual size and the size of the first image. The first distance is detected using the fact that the calculated size ratio matches the reduction ratio from the reference mark to the first image. The second position determining means processes the second image to detect the actual size of the dummy mark and the size of the second image, and the size between the detected actual size and the size of the second image. The ratio is calculated, and the second distance is detected by using the calculated size ratio that matches the reduction ratio from the dummy mark to the second image.

  Preferably, the mark manufacturing device further includes a direction measuring device. The direction measuring device measures an elevation angle and a horizontal angle formed by a straight line from the photographing device to the reference mark with the reference mark. Then, the first position determining means corrects the position, azimuth / tilt of the photographing device using the elevation angle and the horizontal angle measured by the direction measuring device. Further, the second position determining means determines the position of the dummy mark using the position of the photographing device corrected by the first position determining means.

  Preferably, the mark manufacturing device further includes a position measuring device. The position measuring device measures the position, azimuth and inclination of the photographing device. Then, the first position determining means corrects the first direction information using the position and the azimuth / tilt measured by the position measuring device, and uses the corrected first direction information to detect the position of the photographing device and Determine azimuth and tilt.

  Preferably, the mark manufacturing device further includes an orientation measuring device. The azimuth measuring device measures the azimuth in which the reference mark exists with respect to the photographing device. Then, the first position determining means corrects the determined position and azimuth / tilt of the photographing device using the azimuth by the azimuth measuring device. Further, the second position determining means determines the position, azimuth and inclination of the dummy mark using the position of the photographing device corrected by the first position determining means.

  Preferably, the reference mark includes a plurality of reference marks each including position and orientation / tilt information and an actual size. The photographing device photographs a plurality of reference marks. The first position determining means processes a plurality of first images, which are images of a plurality of reference marks, so that a plurality of first distances from the photographing device to the plurality of reference marks and a plurality of reference marks are obtained. On the other hand, a plurality of first direction information relating to the direction / inclination in which the photographing device exists and a plurality of position information of a plurality of reference marks are detected, and the detected plurality of first distances and a plurality of first directions are detected. Based on the information and the plurality of position information, the position and orientation / tilt of the photographing device are determined.

  Preferably, the plurality of fiducial marks further include a grade assigned in accordance with the accuracy when determining the position of the photographing device.

  According to the present invention, the mark producing method includes a first step in which the photographing device photographs a reference mark in which the actual size, position, orientation / tilt information is recorded, and the position determining means is a photographing device. By processing the first image that is the image of the photographed reference mark, the first distance that is the distance from the photographing device to the reference mark and the direction / inclination in which the photographing device exists with respect to the reference mark. The second step of detecting the direction information of 1 and the position information of the reference mark, and the position determining means, based on the detected first distance, the first direction information and the position information of the reference mark, A third step for determining the position, azimuth and inclination, a fourth step for the photographing device to photograph a dummy mark in which an actual size is recorded and arranged at a desired position, and a position determining means By processing the second image, which is the image of the dummy mark photographed by the photographing device, the second distance that is the distance from the photographing device to the dummy mark, and the direction in which the photographing device exists with respect to the dummy mark A fifth step of detecting second direction information relating to the tilt, and the position and orientation of the dummy mark based on the second distance, the second direction information and the position information of the photographing device detected by the position determining means; The sixth step for determining the inclination and the mark producing means recorded the actual size of the dummy mark and the position and the direction / inclination information indicating the position and the direction / inclination of the dummy mark determined in the sixth. A seventh step of producing the mark and a printer comprises an eighth step of printing the mark produced in the seventh step.

  Preferably, in the second step, the position determining means processes the first image to detect the actual size of the reference mark and the size of the first image, and the detected actual size and the first size are detected. A first sub-step for calculating a size ratio with respect to the size of the image, and the position determining means using the fact that the calculated size ratio matches the reduction ratio from the reference mark to the first image to determine the first distance. And detecting a second sub-step. In the fifth step, the position determining means processes the second image to detect the actual size of the dummy mark and the size of the second image, and the detected actual size and the size of the second image. And a third sub-step for calculating a size ratio between the first mark and the position determining means, wherein the position determining means detects the second distance using the fact that the calculated size ratio matches the reduction ratio from the dummy mark to the second image. 4 substeps.

  Preferably, the first to sixth steps are repeatedly executed while changing the position of the photographing device.

  In the present invention, the reference mark is photographed, the first distance from the photographing device to the reference mark based on the photographed reference mark image, and the first direction and inclination relating to the existence of the reference mark with respect to the photographing device. Direction information is detected. Then, based on the first distance, the first direction information, and the reference mark position information, the position, azimuth and inclination of the photographing device are determined. In addition, a dummy mark placed at a desired position is photographed, the second distance from the photographing device to the dummy mark based on the photographed dummy mark image, and the direction in which the dummy mark exists with respect to the photographing device. Second direction information about the tilt is detected. Based on the second distance, the second direction information, and the position information of the photographing device, the position, azimuth and inclination of the dummy mark are determined. Then, a mark including the determined position and azimuth / tilt as the position and azimuth / tilt information of the place to be pasted is produced and printed.

  Therefore, according to the present invention, it is possible to produce a mark including position information of a place to be pasted.

  Embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated.

  FIG. 1 is a schematic block diagram showing a configuration of a mark manufacturing apparatus according to an embodiment of the present invention. Referring to FIG. 1, a mark production apparatus 10 according to an embodiment of the present invention includes a camera 1, a position determination unit 2, a storage unit 3, a mark production unit 4, and a printer 5.

Camera 1 receives the imaging instruction PHG from the position determining unit 2, taking the reference mark and the dummy marks which will be described later, the shot reference mark image G _S and the dummy mark image G _D and the position determining means 2 Output to.

  The position determination means 2 generates a shooting instruction PHG and outputs it to the camera 1 when the mark producing apparatus 10 is activated.

The position determining means 2 receives the images G _S and G _D from the camera 1 and determines whether or not the received images G _S and G _D are mark images. When the position determining means 2 determines that the images G _S and G _D are mark images, the position determining unit 2 processes the image G _S and performs a method described later on the distance L1 from the camera 1 to the reference mark and the reference mark. Then, direction information IFHK1 relating to the direction / tilt in which the camera 1 exists is detected. Thereafter, the position determination means 2 obtains the position and orientation / inclination Pc of the camera 1 based on the position and orientation / inclination information of the reference mark, the distance L1 and the direction information IFHK1, and the obtained position and orientation / inclination Pc are obtained. Store in the storage means 3.

Furthermore, the position determining unit 2 processes the image G _D, by a method described later, to detect the direction information IFHK2 about orientation, tilt the camera 1 exists for the distance L2 and the dummy marks from the camera 1 to the dummy mark . Then, the position determining means 2 determines the position and azimuth / tilt Pt of the dummy mark based on the position and azimuth / tilt information of the camera 1, the distance L2 and the direction information IFHK2.

  Then, the position determining means 2 outputs the actual size ADS and position and orientation / inclination Pt of the dummy mark to the mark producing means 4.

  The storage unit 3 stores various types of information and outputs various types of information in response to a read request from the position determination unit 2.

  The mark preparation means 4 receives the actual size ADS and the position and azimuth / inclination Pt from the position determination means 2, prepares a mark in which the received actual size ADS, position and azimuth / inclination Pt are written, and produces the mark. The mark is output to the printer 5.

  The printer 5 prints the mark received from the mark preparation means 4.

  FIG. 2 is a functional block diagram showing the configuration of the position determining means 2 shown in FIG. Referring to FIG. 2, the position determination unit 2 includes a control unit 21, an image processing unit 22, a distance determination unit 23, and a detection unit 24.

  When the mark producing apparatus 10 is activated, the control unit 21 generates a shooting instruction PHG and outputs it to the camera 1. When the control unit 21 receives the actual size GDS of the dummy mark from the image processing unit 22 and receives the position and orientation / tilt Pt of the dummy mark from the detection unit 24, the control unit 21 receives the actual size GDS, position, and orientation received. Output the inclination Pt to the mark production means 4.

The image processing means 22 receives the images G _S and G _D from the camera 1 and determines whether the images G _S and G _D are mark images by a method described later based on the received images G _S and G _D. Determine whether. Then, the image processing unit 22 shows an image G _S, if it is determined that G _D is an image of the mark, on the basis of the image G _S, and the actual size ASS recorded in the reference mark, the position of the reference mark The position and azimuth / tilt information PSS is read out. Further, the image processing unit 22 detects the size GSS image _{G S.}

Further, the image processing unit 22, based on the image G _D, reads the actual size ADS recorded on the dummy marks, to detect the size GDS image G _D.

Then, the image processing means 22 outputs the position and azimuth / tilt information PSS to the detection means 24, and the distance determination means for the image G _S , the actual size ASS, the size GSS, the image G _D , the actual size ADS and the size GDS. To 23.

The distance determining unit 23 determines the distance L1 from the camera 1 to the reference mark, and the direction / inclination in which the camera 1 exists with respect to the reference mark by a method described later based on the image G _S , the actual size ASS, and the size GSS. Direction information IFHK1 is detected.

In addition, the distance determining unit 23 determines the distance L2 from the camera 1 to the dummy mark and the direction in which the camera 2 exists with respect to the dummy mark by a method described later based on the image G _D , the actual size ADS, and the size GDS. Detect direction information IFHK2 regarding the tilt.

  When the distance determining unit 23 detects the distance L1 and the direction information IFHK1, the distance determining unit 23 outputs the detected distance L1 and the direction information IFHK1 to the detecting unit 24. When the distance determining unit 23 detects the distance L2 and the direction information IFHK2, the detected distance L2 is detected. And direction information IFHK2 is output to the detecting means 24.

  The detection unit 24 receives the position and azimuth / tilt information PSS from the image processing unit 22 and the distance L1 and the direction information IFHK1 from the distance determination unit 23. Then, the detecting means 24 obtains the position and azimuth / inclination Pc of the camera 1 based on the position and azimuth / inclination information PSS, the distance L1 and the direction IFHK1, and the obtained position, azimuth / inclination Pc. Is stored in the storage means 3.

  After that, when receiving the distance L2 and the direction information IFHK2 from the distance determining unit 23, the detecting unit 24 reads the position and orientation / inclination Pc from the storage unit 3, and based on the distance L2, the direction information IFHK2, and the position and orientation / inclination Pc. Thus, the position and azimuth / inclination Pt of the dummy mark are obtained by the method described later. Then, the detection unit 24 outputs the obtained position and azimuth / inclination Pt to the control unit 21.

FIG. 3 is a diagram for explaining an image processing method. Referring to FIG. 3, the image processing unit 22 receives the image G _S from the camera 1 performs grayscale conversion on the received image G _S, adaptive thresholding the image subjected to the gray-scale transformation To binarize and obtain the image G1. In this case, adaptive thresholding, in which the dots pattern in the image G _S which has been subjected to gray-scale conversion processes the image G _S determines the threshold to allow identification.

  Then, the image processing means 22 performs connected component processing on the binarized image G1. More specifically, the image processing means 22 extracts, as a connected component, a region REG1 in which pixels having the same value are connected to each other to form one lump (see FIG. 3A). As a result, the connected component REG1 is extracted as a reference mark candidate region.

  The image processing means 22 has a built-in edge extraction filter, and extracts the contour PRF1 of the connected component REG1 from the connected component processed image G1 using the edge extraction filter. More specifically, the image processing means 22 uses the edge extraction filter to subtract the density values of adjacent pixels to extract the contour PRF1 of the connected component REG1 (see FIG. 3B). In FIG. 3B, the result of subtracting the density value inside the connected component REG1 is omitted in order to make the outline PRF1 easier to see.

  Then, when the contour PRF1 is extracted, the image processing means 22 tries to fit straight lines constituting the four sides of the contour PRF1, and when the fitting is successful, the image processing unit 22 determines that the region surrounded by the contour PRF1 is the image of the reference mark. . On the other hand, when the fitting fails, the image processing unit 22 determines that the region surrounded by the contour PRF1 is not the image of the reference mark.

The image processing means 22 determines whether the fitting has succeeded or failed depending on whether or not four straight lines can be arranged along the contour PRF1. Reference mark, since the square, when the image G _S is an image obtained by photographing the reference mark should four straight can be arranged along the contour PRF1. Therefore, whether or not the fitting is successful is determined based on whether or not four straight lines can be arranged along the contour PRF1.

The image processing unit 22, even for an image G _D obtained by photographing a dummy mark, performs the same processing as the processing performed on the image G _S.

  Next, a method for obtaining the distance from the camera 1 to the reference mark or dummy mark will be described. FIG. 4 is a diagram showing an image when a quadrangular figure is photographed. Referring to FIG. 4, when a square figure is photographed, an image g1 is obtained.

If the coordinates of the four vertices of the image g1 on the image plane are (x ₁ , y ₁ ), (x ₂ , y ₂ ), (x ₃ , y ₃ ), (x ₄ , y ₄ ), two points A straight line passing through (x ₁ , y ₁ ) and (x ₂ , y ₂ ) is represented by a ₁ x + b ₁ y = c ₁ , and a ₁ , b ₁ , and c ₁ are represented by the following equations.

A straight line passing through two points (x ₃ , y ₃ ) and (x ₄ , y ₄ ) is represented by a ₂ x + b ₂ y = c ₂ , and a ₂ , b ₂ , and c ₂ are expressed by the following equations: expressed.

  In this case, since the intersection of the two straight lines is a vanishing point formed by a pair of parallel extension lines, if the point is (U1, V1), U1 and V1 are expressed by the following equations. .

  Similarly, from another set of parallel opposite sides, another vanishing point (U2, V2) is expressed by the following equation.

And a vanishing line is calculated | required using the coordinate of two vanishing points (U1, V1) and (U2, V2). Thereafter, the coordinates of the center of gravity G of the image g1 are obtained by drawing two diagonal lines of the image g1. Hereinafter, it is assumed that the center of gravity G coincides with the center _{IO of the} image g1.

Subsequently, the coordinates of the vertical leg V _L drawn from the center I _{O of the} image g1 to the disappearance line are obtained, and a straight line passing through the center I _O (= G) and the point V _L is obtained. Then, the length of the line segment I _O V _L is obtained.

  The image g1 is decoded to detect the actual size of the graphic that is the basis of the image g1, and the detected actual size is set as the area Sr of the graphic that is the source of the image g1. In the present invention, the actual size is written in the figure as the area of the figure from which the image g1 is based.

  Further, the area Si of the image g1 is obtained by counting the number of pixels in the region where the image g1 exists.

FIG. 5 is a diagram for explaining a method for obtaining the distance from the camera 1 to the mark. The view shown in FIG. 5 is a cross-sectional view taken along the center of gravity G and the point V _L in FIG. 4 and cut perpendicularly to the paper surface of FIG. In FIG. 5, the point O is the viewpoint of the camera 1.

  Referring to FIG. 5, when the focal length of camera 1 is f and the angle formed by the image plane with the target plane is σ, the following equation is established.

  Further, the reduction ratio s (α) of the area from the graphic that is the basis of the image g1 to the image g1 is expressed by the following equation (Non-Patent Document 1).

  In Expression (6), d is a distance from the viewpoint O to the target surface, and α is an angle formed by the line segment OP and the z axis.

Focal length f are known, the distance between the center I _O and the point V _L of the image, because it can be determined from the coordinates of the center I _O and the point V _L, be determined angle σ by the formula (5) it can.

At the center I _O of the image, α = 0, and the left side of the equation (6) is equal to Si / Sr. Therefore, the obtained angle σ, focal length f, α = 0, and s (α) = Si / The distance d can be obtained by substituting Sr into equation (6).

  As a result, the distance from the viewpoint O to the center of gravity of the figure on the target surface can be obtained by d / cos σ. As described above, in the present invention, the size ratio (= area ratio) between the actual figure size (= area) and the image size (= area) matches the reduction ratio from the actual figure to the image g1. Is used to determine the distance from the viewpoint O of the camera 1 to the figure.

Referring to FIG. 4 again, the foot of the perpendicular line from the center of gravity G when a perpendicular is drawn from one vertex of the image g1, for example, the point (x ₂ , y ₂ ) to the straight line passing through the center of gravity G and the point _VL. Where s and t are the lengths from the center of gravity G to the point (x ₂ , y ₂ ), and s and t are expressed by equations (7) and (8), respectively, on the target surface. Is done.

  When α = 0 is substituted and equation (8) is divided by equation (7), and the result of the division (= t / (s · cosσ)) is used, the orientation of the figure viewed from the camera 1 on the target surface The following equation is established, where θ is the angular rotation angle.

  As a result, the azimuth angle θ is expressed by the following equation.

  Since the angle σ is an angle formed by the image plane and the target plane as described above, it corresponds to an elevation angle when a figure on the target plane is viewed from the viewpoint O. Therefore, by obtaining the elevation angle σ and the azimuth angle θ by the above-described method, the direction information IFHK (= [σ, θ]) regarding the direction / inclination where the figure exists with respect to the camera 1 can be acquired.

Distance determining means 23 of the position determination means 2, based on the image _{G S} of the reference mark, the method described above, to determine the distance from the camera 1 to the reference mark _{L1 (= d 1 / cosσ 1} ), the camera 1 On the other hand, direction information IFHK1 (= [σ ₁ , θ ₁ ]) regarding the direction / inclination in which the reference mark exists is acquired.

The distance determining means 23 based on the image _{G D} of the dummy mark, by the method described above, to determine the distance from the camera 1 to the dummy mark _{L2 (= d 2 / cosθ 2} ), the dummy to the camera 1 Direction information IFHK2 (= [σ ₂ , θ ₂ ]) regarding the direction and inclination in which the mark exists is acquired.

  When the distance determination unit 23 acquires the distance L1 and the direction information IFHK1, the distance determination unit 23 outputs the acquired distance L1 and direction information IFHK1 to the detection unit 24, and when the distance determination unit 23 acquires the distance L2 and direction information IFHK2, the acquired distance L2 and direction Information IFHK2 is output to detection means 24.

  Upon receiving the position and azimuth / tilt information PSS from the image processing unit 22 and the distance L1 and direction information IFHK1 from the distance determining unit 23, the detection unit 24 receives the received position and azimuth / tilt information PSS, distance L1 and direction. Based on the information IFHK1, the position and azimuth / inclination Pc of the camera 1 are detected.

FIG. 6 is a diagram for explaining a method of detecting the position and azimuth / tilt of the camera 1. Referring to FIG. 6, detection means 24 takes one point A indicated by position and orientation / tilt information PSS in xyz space, and has a straight line SL1 having a length L1 from the one point A in the positive direction of the x-axis. pull. Then, the detection unit 24 rotates the straight line SL1 by an angle σ _{1 in the} xz plane while maintaining the coordinates of one point A of the drawn straight line SL1 to obtain a straight line SL2. Thereafter, the detection means 24, the linear SL2 is rotated by an angle theta ₁ in the x-y plane while maintaining the coordinates of the point A of the straight line SL2, obtain a straight line SL3. The detecting unit 24 detects the coordinates of the point B at the other end of the straight line SL3 as a position and an azimuth / inclination Pc, and stores the detected position and azimuth / inclination Pc in the storage unit 3.

  Further, when receiving the distance L2 and the direction information IFHK2 from the distance determining unit 23, the detecting unit 24 reads the position and the azimuth / inclination Pc from the storage unit 3, and based on the position and the azimuth / inclination Pc, the distance L2 and the direction information IFHK2. Then, the position and azimuth / inclination Pt of the dummy mark are detected by the same method as when the position and azimuth / inclination Pc are detected.

  FIG. 7 is a plan view showing an example of a mark. Referring to FIG. 7, fiducial mark MS is formed of a two-dimensional barcode having a square shape, and its own actual size ASS (= area), the position at which self is arranged, and azimuth / tilt information PSS are dot patterns. Recorded by. The position and azimuth / tilt information PSS consists of coordinates [x, y, z] (see (a) of FIG. 7). The position and azimuth / tilt information PSS includes absolute position information or relative position information.

  Therefore, when the image processing means 22 determines that the image g1 is the reference mark MS by the above-described method, the image processing means 22 detects the dot pattern of the image g1 and records the actual size ASS, position, orientation, and inclination recorded on the reference mark MS. Read information PSS.

  The dummy mark DM is formed of a two-dimensional barcode having a square shape, and its actual size ADS is recorded by a dot pattern (see FIG. 7B).

  Therefore, when the image processing unit 22 determines that the image g1 is the dummy mark DM by the above-described method, the image processing unit 22 detects the dot pattern of the image g1 and reads the actual size ADS recorded on the dummy mark DM.

  FIGS. 8 to 10 are first to third conceptual diagrams for explaining a method of producing a mark including actual size and position, and azimuth / tilt information, respectively. Referring to FIG. 8, the reference mark MS is arranged in the passage 50 in the underground shopping street. As described above, the reference mark MS is recorded with the position of the arrangement position, the azimuth / inclination information PSS, and the actual size ASS in a dot pattern. In the underground shopping area, for example, a bookstore 70 is arranged facing the passage 50.

  When the position and azimuth / tilt information PSS is a relative position, the position and azimuth / tilt information PSS is composed of, for example, xyz coordinates with the point 71A of the entrance 71 of the bookstore 70 as the origin.

Mark manufacturing apparatus 10 is installed in an underground mall passage 50, the camera 1 captures reference marks MS disposed in the path 50, and outputs the image G _S of the reference mark MS that has the photographed to the position determining unit 2.

Then, the image processing unit 22 of the position determination means 2, an image G _S received from the camera 1 to image processing, by the method described above, the image G _S is determined to be the image of the reference mark MS, the image G _S The written actual size ASS and position and orientation / tilt information PSS are read out. Further, the image processing unit 22, by the method described above, to detect the size GSS image _{G S.} Then, the image processing unit 22 outputs the position and orientation, inclination information PSS to the detection means 24, and outputs the actual size ASS, the size of the image _{G S} GSS, and the image _{G S} to the distance determining means 23.

Distance determining means 23, the actual size ASS, size GSS image _{G S,} and the image _{G S} received from the image processing unit 22, the actual size ASS received them, the size of the image _{G S} GSS, and the image _{G S} Based on the above-described method, the distance L1 from the camera 1 to the reference mark MS is determined, and the direction information IFHK1 related to the direction / inclination where the reference mark MS exists is detected with respect to the camera 1. Then, the distance determination unit 23 outputs the distance L1 and the direction information IFHK1 to the detection unit 24.

  The detection unit 24 receives the position and azimuth / tilt information PSS from the image processing unit 22 and the distance L1 and the direction information IFHK1 from the distance determination unit 23. Then, the detecting means 24 detects the position and azimuth / tilt Pc of the camera 1 by the above-described method based on the position and azimuth / tilt information PSS, the distance L1 and the direction information IFHK1, and the detected position and azimuth / tilt are detected. Pc is stored in the storage means 3.

Thereafter, referring to FIG. 9, dummy mark DM is arranged at a desired position in passage 50 in the underground shopping street. Then, region lines RL1 to RL4 are written at the four corners of the region where the dummy mark DM is arranged. Then, the camera 1 of the mark manufacturing apparatus 10 is directed toward the dummy mark DM and photographs the dummy mark DM. Then, the camera 1 outputs the image G _D of the photographed dummy mark DM to the position determining unit 2.

Image processing means 22 of the position determination means 2, an image G _D received from the camera 1 to image processing, by the method described above, the image G _D is determined to be an image of a dummy mark DM, written in the image G _D The actual size ADS is read out. Further, the image processing unit 22, by the method described above, to detect the size GDS image _{G D.} Then, the image processing unit 22, the actual size ADS, and outputs the size of the image _{G D} GDS, and the image _{G D} to the distance determining means 23, and outputs the actual size ADS to the control means 21.

Distance determining means 23, the actual size ADS, the size of the image _{G D} GDS, and the image _{G D} received from the image processing unit 22, the received actual size ADS, the size of the image _{G D} GDS, and the image _{G D} Based on this, the distance L2 from the camera 1 to the dummy mark DM is determined by the above-described method, and the direction information IFHK2 regarding the direction / inclination where the dummy mark DM exists is detected with respect to the camera 1. Then, the distance determination unit 23 outputs the distance L2 and the direction information IFHK2 to the detection unit 24.

  Upon receiving the distance L2 and the direction information IFHK2 from the distance determining means 23, the detecting means 24 reads the position and azimuth / inclination Pc from the storage means 3, and based on the position and azimuth / inclination Pc, the distance L2 and the direction information IFHK2, The position and azimuth / inclination Pt of the dummy mark DM are detected by the method described above, and the detected position and azimuth / inclination Pt are output to the control means 21.

  The control unit 21 receives the actual size ADS from the image processing unit 22, and receives the position and orientation / inclination Pt from the detection unit 24. Then, the control means 21 outputs the actual size ADS, position, orientation and inclination Pt to the mark preparation means 4.

  When the mark preparation means 4 receives the actual size ADS and the position and orientation / inclination Pt from the position determination means 2 (= control means 21), the mark preparation means 4 converts the received actual size ADS, position and orientation / inclination Pt into a dot pattern. The mark M1 is produced by writing, and the produced mark M1 is output to the printing note 5. Then, the printer 5 prints the mark M1 received from the mark preparation means 4. As a result, a mark M1 made of a two-dimensional barcode is produced.

  Referring to FIG. 10, when mark M1 is manufactured, dummy mark DM is peeled off, and mark M1 is attached to the region surrounded by region lines RL1 to RL4. Thereafter, the mark manufacturing apparatus 10 repeatedly executes the above-described operation to generate the marks M2 to M7, and the manufactured marks M2 to M7 are pasted at desired positions in the passage 50.

  When the position and azimuth / tilt information PSS of the reference mark MS are composed of absolute position information, the position and azimuth / tilt Pt of the dummy mark DM are composed of absolute positions, and the position and azimuth / tilt information PSS of the reference mark MS are In the case of the relative position information, the position and the azimuth / inclination Pt of the dummy mark DM are made of relative positions.

  FIG. 11 is a flowchart for explaining a method of producing a mark. When a series of operations is started, the control means 21 of the mark manufacturing apparatus 10 sets n = 1 (step S1), and determines whether n = N (N is the number of marks to be manufactured). (Step S2).

If it is determined in step S <b> 2 that n = N is not satisfied, the control unit 21 generates a shooting instruction PHG and outputs it to the camera 1. The camera 1 shoots the reference mark MS (step S3), and outputs the image G _S of the reference mark MS that has the photographed to the position determining unit 2.

Then, the position determination means 2, the image G _S by the above-described method is determined to be an image of the reference mark MS, based on the image G _S, acquires the position and orientation, tilt Pt reference mark MS (step S4 ). Then, the position determination means 2, based on the image G _S of the reference mark MS, by the method described above, detects the distance L1 from the camera 1 to the reference mark MS, the reference mark MS is present with respect to the camera 1 Direction information IFHK1 related to the direction / tilt is acquired (step S5).

  Subsequently, the position determining means 2 detects the position and azimuth / tilt Pc of the camera 1 by the above-described method based on the position and azimuth / tilt information PSS of the reference mark MS, the distance L1 and the direction information IFHK1 (step S6) The detected position and orientation / inclination Pc are stored in the storage means 3.

Thereafter, the dummy marks DM are disposed in the desired position, the camera 1 captures a dummy mark DM (step S7), and outputs the image G _D of the photographed dummy mark DM to the position determining unit 2.

Then, the position determination means 2, an image G _D by the method described above If it is determined that the image of the dummy mark DM, based on the image G _D, and acquires the actual size ADS dummy mark DM (step S8). Then, the position determination means 2, based on the image G _D of the dummy mark DM, by the method described above, and detects the distance L2 from the camera 1 to the dummy mark DM, a dummy mark DM is present with respect to the camera 1 Direction information IFHK2 related to the direction / tilt is acquired (step S9).

  When the position determination means 2 acquires the distance L2 and the direction information IFHK2, the position determination means 2 reads the position and the azimuth / inclination Pc from the storage means 3, and based on the position and azimuth / inclination Pc, the distance L2 and the direction information IFHK2, according to the method described above. Then, the position and azimuth / inclination Pt of the dummy mark DM are detected (step S10).

  Then, the position determining means 2 outputs the actual size ADS and position and azimuth / inclination Pt of the dummy mark DM to the mark preparation means 4, and the mark preparation means 4 outputs the actual size ADS and position and azimuth / inclination Pt. A mark composed of a two-dimensional barcode is produced by writing with a dot pattern, and the produced mark is output to the printer 5. The printer 5 prints the mark received from the mark preparation means 4 (step S11).

  Then, the control means 21 sets n = n + 1 (step S12). Thereafter, the series of operations returns to step S2, and step S2 to step S12 described above are repeatedly executed until it is determined in step S2 that n = N. If it is determined in step S2 that n = N, the series of operations ends.

As described above, the mark forming device 10, based on the image G _S of the reference mark MS, the direction information about directions-slope reference mark MS with respect to the distance L1 and the camera 1 from the camera 1 to the reference mark MS is present detecting a IFHK1, determining the position and orientation, tilt Pc of the camera 1 on the basis the position and orientation, tilt Pt reference marks MS written in the image _{G S,} the distance L1 and the direction information IFHK1. Further, the mark forming device 10, based on the image G _D of the dummy mark DM arranged in a desired position, orientation, the dummy marks DM are present with respect to the distance L2 and the camera 1 from the camera 1 to the dummy mark DM The direction information IFHK2 regarding the tilt and the actual size ADS of the dummy mark DM are detected, and the position and direction / inclination Pt of the dummy mark DM are determined based on the position and direction / inclination Pc of the camera 1, the distance L2, and the direction information IFHK2. decide. Then, the mark production apparatus 10 produces a mark in which the actual size ADS and position and orientation / inclination Pt of the dummy mark DM (= position information on the place to be pasted) are written.

  Therefore, according to the present invention, it is possible to produce a mark including position information of a place to be pasted.

  FIG. 12 is a schematic block diagram showing the configuration of another mark manufacturing apparatus according to the embodiment of the present invention. The mark manufacturing apparatus according to the embodiment of the present invention may be a mark manufacturing apparatus 10A shown in FIG. Referring to FIG. 12, mark production apparatus 10 </ b> A is obtained by replacing position determination means 2 of mark production apparatus 10 shown in FIG. 1 with position determination means 2 </ b> A and adding a GPS (Global Positioning System) receiver 6. Others are the same as the mark manufacturing apparatus 10.

  The GPS receiver 6 receives the longitude and latitude of the mark preparation device 10 from a GPS satellite, calculates the position information PSFG of the mark preparation device 10 by a known method based on the received longitude and latitude, and calculates the calculated position information. PSFG is output to the position determining means 2A.

  Position determining means 2A receives position information PSFG from GPS receiver 6, and corrects direction information IFHK1 using the received position information PSFG. Then, the position determining means 2A determines the position and azimuth / tilt Pc of the camera 1 by the method described above based on the corrected direction information IFHK1_H, the distance L1, and the position and azimuth / tilt information PSS.

  FIG. 13 is a functional block diagram showing the configuration of the position determining means 2A shown in FIG. Referring to FIG. 13, position determining means 2A is the same as position determining means 2 except that detection means 24 of position determining means 2 shown in FIG.

  The detection means 24A receives the position information PSFG from the GPS receiver 6. When the detecting unit 24A receives the position and azimuth / tilt information PSS from the image processing unit 22 and receives the distance L1 and the direction information IFHK1 from the distance determining unit 23, the position and azimuth / tilt information PSS, the position information PSFG, and the distance Based on L1, direction information IFHK1 is corrected to obtain direction information IFHK1_H. More specifically, the detecting unit 24A draws a straight line having a length L1 with a point determined by the position and orientation / tilt information PSS as a start point, a point determined by the position information PSFG as an end point, and the subtraction. The direction information from the start point to the end point of the straight line is detected as direction information IFHK1_H.

  Then, the detection unit 24A detects the position and azimuth / tilt Pc of the camera 1 by the above-described method based on the position and azimuth / tilt information PSS, the direction information IFHK1_H, and the distance L1. The detection unit 24A performs the same operation as the detection unit 24 except for the above.

  FIG. 14 is a flowchart for explaining a mark manufacturing method in the mark manufacturing apparatus 10A shown in FIG. The flowchart shown in FIG. 14 is the same as the flowchart shown in FIG. 11 except that step S6 of the flowchart shown in FIG. 11 is replaced with step S6A.

  Referring to FIG. 14, after step S1 to step S6 described above are sequentially executed, position determination means 2A uses direction information PSFG received from GPS receiver 6 to transmit direction information IFHK1 in the direction described above. The position is corrected to the information IFHK1_H, and the position and azimuth / tilt Pc of the camera 1 are detected by the method described above based on the position and azimuth / tilt information PSS of the reference mark MS, the distance L1, and the direction information IFHK1_H (step S6A).

  Thereafter, the above-described steps S7 to S12 are sequentially executed, and a series of operations is completed.

  As described above, the mark manufacturing apparatus 10A corrects the direction information IFHK1 related to the direction / inclination in which the reference mark MS exists with respect to the camera 1 using the actually measured position information PSFG, and the corrected direction information IFHK1_H. Is used to determine the position and azimuth / inclination Pc of the camera 1, so that the position and azimuth / inclination Pt of the dummy mark DM can be determined more accurately.

  FIG. 15 is a schematic block diagram showing the configuration of still another mark manufacturing apparatus according to the embodiment of the present invention. The mark manufacturing apparatus according to the embodiment of the present invention may be a mark manufacturing apparatus 10B shown in FIG. Referring to FIG. 15, mark production apparatus 10 </ b> B is obtained by replacing level determination means 2 of mark production apparatus 10 shown in FIG. 1 with position determination means 2 </ b> B and adding level 7. 10 is the same.

  The level 7 measures the direction information IFHK_M related to the direction / inclination in which the reference mark MS exists with respect to the camera 1 and outputs the measured direction information IFHK_M to the position determination unit 2B.

  The position determination means 2B receives the direction information IFHK_M from the level 7, corrects the position and azimuth / tilt information Pc of the camera 1 using the received direction information IFHK_M, and uses the corrected position and azimuth / tilt information Pc_H. Store in the storage means 3. When the position determination unit 2B acquires the distance L2 and the direction information IFHK2, the position determination unit 2B reads the position and azimuth / tilt information Pc_H from the storage unit 3 and reads the position and azimuth / tilt information Pc_H, the distance L2 and the direction information IFHK2. Based on the above, the position and orientation / inclination Pt of the dummy mark DM are determined by the method described above.

  FIG. 16 is a functional block diagram showing the configuration of the position determining means 2B shown in FIG. Referring to FIG. 16, position determining means 2B is the same as position determining means 2 except that detection means 24 of position determining means 2 shown in FIG.

  When the detecting unit 24B receives the position and azimuth / tilt information PSS from the image processing unit 22 and receives the distance L1 and the direction information IFHK1 from the distance determining unit 23, the detecting unit 24B receives the position and azimuth / tilt information PSS, the distance L1 and the direction information IFHK1. Based on the above-described method, the position and orientation / inclination Pc of the camera 1 are determined. The detecting unit 24B receives the direction information IFHK_M from the level 7 and corrects the position and the direction / inclination Pc to the position and the direction / inclination Pc_H using the received direction information IFHK_M. More specifically, the detecting unit 24B detects the position and azimuth / tilt Pc_H of the camera 1 detected by the above-described method based on the position and azimuth / tilt information PSS, the distance L1 and the direction information IFHK_M. Detect as.

  Then, the detecting unit 24B stores the detected position and azimuth / tilt information Pc_H in the storage unit 3. After that, when receiving the distance L2 and the direction information IFHK2 from the distance determining unit 23, the detecting unit 24B reads the position and azimuth / tilt information Pc_H from the storage unit 3, and the position and azimuth / tilt information Pc_H, the distance L2 and the direction information IFHK2 Based on the above, the position and azimuth / inclination Pt of the dummy mark DM are detected by the method described above.

  FIG. 17 is a flowchart for explaining a mark manufacturing method in the mark manufacturing apparatus 10B shown in FIG. The flowchart shown in FIG. 17 is the same as the flowchart shown in FIG. 11 except that step S6 of the flowchart shown in FIG. 11 is replaced with step S6B.

  Referring to FIG. 17, after step S1 to step S6 described above are sequentially executed, position determination unit 2B described above is based on the position and orientation / tilt Pt of reference mark MS, distance L1, and direction information IFHK1. The position and azimuth / tilt Pc of the camera 1 are detected by the method, and the detected position and azimuth / tilt Pc are corrected to the position and azimuth / tilt Pc_H using the direction information IFHK_M measured by the level 7 (step S6B). .

  Thereafter, the above-described steps S7 to S12 are sequentially executed, and a series of operations is completed. In step S10 of the flowchart shown in FIG. 17, the position and azimuth / inclination Pt of the dummy mark DM are detected using the position and azimuth / inclination Pc_H.

  As described above, the mark manufacturing apparatus 10B corrects the position and azimuth / inclination Pc of the camera 1 using the direction information IFHK_M in the direction from the measured self to the reference mark MS, and the corrected position and azimuth / inclination. Since the position and orientation / inclination Pt of the dummy mark DM are determined using Pc_H, the position and orientation / inclination Pt of the dummy mark DM can be determined more accurately.

  FIG. 18 is a schematic block diagram showing the configuration of still another mark manufacturing apparatus according to the embodiment of the present invention. The mark manufacturing apparatus according to the embodiment of the present invention may be a mark manufacturing apparatus 10C shown in FIG. Referring to FIG. 18, mark production apparatus 10 </ b> C is obtained by replacing position determination means 2 of mark production apparatus 10 shown in FIG. 1 with position determination means 2 </ b> C and adding direction sensor 8. 10 is the same.

  The azimuth sensor 8 measures the azimuth information IFDR_M regarding the azimuth in which the reference mark MS exists with respect to the camera 1 and outputs the measured azimuth information IFDR_M to the position determination unit 2C.

  The position determination means 2C receives the azimuth information IFDR_M from the azimuth sensor 8, corrects the position and azimuth / tilt information Pc of the camera 1 using the received azimuth information IFDR_M, and uses the corrected position and azimuth / tilt information Pc_H. Store in the storage means 3. When the position determination unit 2C acquires the distance L2 and the direction information IFHK2, the position determination unit 2C reads the position and azimuth / inclination information Pc_H from the storage unit 3 and reads the position and azimuth / inclination information Pc_H, the distance L2 and the direction information IFHK2. Based on the above, the position and orientation / inclination Pt of the dummy mark DM are determined by the method described above.

  FIG. 19 is a functional block diagram showing the configuration of the position determining means 2C shown in FIG. Referring to FIG. 19, position determination means 2C is the same as position determination means 2 except that detection means 24 of position determination means 2 shown in FIG. 2 is replaced with detection means 24C.

  Upon receiving the position and azimuth / tilt information PSS from the image processing unit 22 and the distance L1 and direction information IFHK1 from the distance determining unit 23, the detection unit 24C receives the position and azimuth / tilt information PSS, the distance L1 and the direction information IFHK1. Based on the above-described method, the position and orientation / inclination Pc of the camera 1 are determined. Then, the detecting unit 24C receives the direction information IFDR_M from the direction sensor 8, and corrects the position and the direction / inclination Pc to the position and the direction / inclination Pc_H using the received direction information IFDR_M. More specifically, the detection unit 24C changes the coordinates of the point B so that the azimuth from the point B to the point A coincides with the azimuth information IFDR_M while holding the coordinates of the point A on the straight line SL3 shown in FIG. The coordinates of the point B when the azimuth from the point B to the point A coincides with the azimuth information IFDR_M are detected as position and azimuth / tilt information Pc_H.

  The detection unit 24C stores the detected position and azimuth / tilt information Pc_H in the storage unit 3. Thereafter, when receiving the distance L2 and the direction information IFHK2 from the distance determining unit 23, the detecting unit 24C reads the position and azimuth / tilt information Pc_H from the storage unit 3, and reads the position and azimuth / tilt information Pc_H, the distance L2 and the direction information IFHK2. Based on the above, the position and azimuth / inclination Pt of the dummy mark DM are detected by the method described above.

  FIG. 20 is a flowchart for explaining a mark manufacturing method in the mark manufacturing apparatus 10C shown in FIG. The flowchart shown in FIG. 20 is the same as the flowchart shown in FIG. 11 except that step S6 of the flowchart shown in FIG. 11 is replaced with step S6C.

  Referring to FIG. 20, after step S1 to step S6 described above are sequentially executed, position determination unit 2C performs the above-described processing based on the position and azimuth / inclination Pt of reference mark MS, distance L1, and direction information IFHK1. The position and azimuth / tilt Pc of the camera 1 are detected by the method, and the detected position and azimuth / tilt Pc are corrected to the position and azimuth / tilt Pc_H using the azimuth information IFDR_M measured by the azimuth sensor 8 (step S6C). .

  Thereafter, the above-described steps S7 to S12 are sequentially executed, and a series of operations is completed. In step S10 of the flowchart shown in FIG. 20, the position and azimuth / inclination Pt of the dummy mark DM are detected using the position and azimuth / inclination Pc_H.

  As described above, the mark manufacturing apparatus 10C corrects the position and azimuth / inclination Pc of the camera 1 using the azimuth direction information IFDR_M from the measured self toward the reference mark MS, and the corrected position and azimuth / inclination. Since the position and orientation / inclination Pt of the dummy mark DM are determined using Pc_H, the position and orientation / inclination Pt of the dummy mark DM can be determined more accurately.

  FIG. 21 is a schematic block diagram showing the configuration of still another mark manufacturing apparatus according to the embodiment of the present invention. The mark manufacturing apparatus according to the embodiment of the present invention may be a mark manufacturing apparatus 10D shown in FIG.

  Referring to FIG. 21, a mark production apparatus 10D is obtained by replacing the position determination means 2 of the mark production apparatus 10 shown in FIG. The same as the manufacturing apparatus 10.

  The laser distance measuring device 9 measures the distances LA1 to LA4 from the mark producing device 10D to the four vertices of the reference mark MS or the dummy mark DM, and outputs the measured distances LA1 to LA4 to the position determining means 2D.

Position determining means 2D is an image G _S received from the camera 1, based on the distance LA1~LA4 received from the laser distance measuring instrument 9, by a method described later, the distance L1 and the direction from the camera 1 to the reference mark MS Information IFHK1 is detected. Then, the position determining means 2D detects the position and azimuth / tilt Pc of the camera 1 by the method described above based on the position and azimuth / tilt information PSS, the distance L1 and the direction information IFHK1.

Then, the position determination unit 2D includes an image _{G D} received from the camera 1, based on the distance LA1~LA4 received from the laser distance measuring instrument 9, by a method described later, the distance from the camera 1 to the dummy mark MS L2 And direction information IFHK2 is detected. Then, the position determining means 2D detects the position and azimuth / tilt Pt of the dummy mark DM by the above-described method based on the position and azimuth / tilt information Pc, the distance L2, and the direction information IFHK2.

  FIG. 22 is a functional block diagram showing the configuration of the position determining means 2D shown in FIG. Referring to FIG. 22, position determining means 2D is obtained by replacing image processing means 22 of position determining means 2 shown in FIG. 2 with image processing means 22A and distance determining means 23 with distance determining means 23A. Others are the same as the position determination means 2.

The image processing unit 22A, when an image G _S by the above-described method is determined to be an image of the reference mark MS, based on the image G _S, reads the position and orientation, tilt information PSS and actual size ASS, the read-out position and with the orientation-tilt information PSS outputs the detection unit 24, outputs the image _{G S} and actual size ASS to the distance determining means 23A.

The image processing unit 22A, when an image G _D by the above-described method is determined to be an image of a dummy mark DM, reads the actual size ADS on the basis of the image G _D, the distance image G _D and actual size ADS It outputs to the determination means 23A.

The distance determining unit 23A receives the actual sizes ASS and ADS and the images G _S and G _D from the image processing unit 22A. Further, the distance determining unit 23A receives the distances LAS1 to LAS4 to the four vertices of the reference mark MS and the distances LAD1 to LAD4 to the four vertices of the dummy mark DM from the laser distance measuring device 9.

  FIG. 23 is a diagram for explaining a method of determining the direction information IFHK1 and IFHK2 regarding the distances L1 and L2 to the reference mark MS or the dummy mark DM and the direction / inclination where the reference mark MS or the dummy mark DM exists with respect to the camera 1. FIG.

Referring to FIG. 23, the distance determining means 23A is an image _{G S,} receives the actual size ASS and distance LAS1～LAS4, from the position O of the laser distance measuring instrument 9 to 4 vertices a~d image _{G S} 4 The straight lines SL4 to SL7 are drawn (see (a) of FIG. 23). The straight lines SL4 to SL7 have lengths equal to the distances LAS1 to LAS4, respectively.

  The distance determining unit 23A sets the midpoint between the vertex a and the vertex b as a point p, the midpoint between the vertex b and the vertex d as a point q, and the midpoint between the vertex d and the vertex c as a point r, Assuming that the midpoint between the vertex c and the vertex a is s and the straight lines from the position O of the laser distance measuring device 9 to the points p, q, r, and s are straight lines SL8 to SL11, respectively, the length LAS5 of the straight lines SL8 to SL11 Each of ˜LAS8 is represented by the following equation.

Then, a straight line SL13 connecting the point p and the point r intersect a straight line SL14 and the midpoint connecting the point q and the point s, the intersection of two straight lines SL13, SL14 is the center G of the image _{G S.}

  Then, the length LAS9 of the straight line SL12 from the position O to the center G of the laser distance measuring device 9 is expressed by the following equation (see FIG. 23B).

  Therefore, the distance determination means 23A calculates the distance LAS9 from the position O of the laser distance measuring instrument 9 to the center of gravity G by using the distances LAS1 to LAS4 received from the laser distance measuring instrument 9 according to the equations (11) and (12). Then, the calculated distance LAS9 is determined as the distance L1 from the camera 1 to the reference mark MS.

If the lengths of the two straight lines SL13 and SL14 are equal, and the length is LAS10, the reference mark MS is a square, so LAS10 = (actual size ASS) ^1/2 .

  Therefore, the distance determination unit 23A calculates the length LAS10 by calculating the square root of the actual size ASS received from the image processing unit 22A.

  A sectional view of the drawing shown in FIG. 23B in a plane passing through the points O, q, and s is a drawing shown in FIG. The lengths of the line segment Oq, the line segment Os, and the line segment sq are LAS6, LAS8, and LAS10, respectively. The length of the line segment s-t, where t is the foot of a perpendicular line extending from the point q to the extended line O-s, and σ is the angle at which the line segment q-t is the line segment q-s. Becomes LAS10 × sinσ. And the following formula is established.

  When formula (13) is rearranged, the angle σ is expressed by the following formula.

  Further, a cross-sectional view of the drawing shown in FIG. 23B in a plane passing through the points O, r, and p is a drawing shown in FIG. The lengths of the line segment Or, the line segment Op, and the line segment rp are LAS7, LAS5, and LAS10, respectively. The length of the line segment pu is defined as u where the vertical leg extending from the point r to the extension of the line segment Op is u and the angle at which the line segment rp becomes the line segment rp is θ. Is LAS10 × sin θ. And the following formula is established.

  When formula (15) is arranged, angle θ is expressed by the following formula.

Therefore, the distance determination means 23A determines the angles σ and θ using the distances LAS1 to LAS4 and the length LAS10 (= (actual size ASS) ^1/2 ) and the equations (11) and (13) to (16). Calculate. The angle σ is an elevation angle when the reference mark MS is viewed from the camera 1, and the angle θ is a horizontal angle when the reference mark MS is viewed from the camera 1.

  As a result, the distance determining unit 23A can detect the direction information IFHF1 based on the distances LAS1 to LAS4 and the actual size ASS.

  The distance determining unit 23A detects the distance L2 and the direction information IFHK2 by the above-described method based on the distances LAD1 to LAD4 and the actual size ADS.

  FIG. 24 is a flowchart for explaining a mark manufacturing method in the mark manufacturing apparatus 10D shown in FIG. The flowchart shown in FIG. 24 is the same as the flowchart shown in FIG. 11 except that steps S5 and S9 in the flowchart shown in FIG. 11 are replaced with steps S5A and S9A, respectively.

  Referring to FIG. 24, after step S1 to step S4 described above are sequentially executed, position determining means 2D uses distances LAS1 to LAS4 up to the four vertices of reference mark MS measured by laser distance measuring device 9. The distance L1 and the direction information IFHK1 are acquired by the method described above (step S5A).

  And after step S6-step S8 mentioned above are performed sequentially, position determination means 2D uses distance LAD1-LAD4 to the four vertices of dummy mark DM which the laser distance measuring device 9 measured by the method mentioned above. The distance L2 and the direction information IFHK2 are acquired (step S9A).

  Thereafter, the above-described steps S10 to S12 are sequentially executed, and a series of operations is completed.

  As described above, the mark manufacturing apparatus 10D measures the distances LAS1 to LAS4 and LAD1 to LAD4 from itself to the four vertices of the reference mark MS or the dummy mark DM, and calculates the distance L1 by calculation using the measured distances LAS1 to LAS4. And the direction information IFHK1 are obtained, and the distance L2 and the direction information IFHK2 are obtained by calculation using the measured distances LAD1 to LAD4.

  Therefore, the position and orientation / inclination Pt of the dummy mark DM can be easily determined.

  In the above description, the mark manufacturing apparatuses 10, 10A, 10C, and 10D have been described as determining the position and azimuth / inclination Pc of the camera 1 based on one reference mark MS. Not limited to this, the mark manufacturing apparatuses 10, 10A, 10C, and 10D may determine the position and azimuth / inclination Pc of the camera 1 based on a plurality of reference marks. The plurality of reference marks include a grade assigned in accordance with the accuracy in determining the position and orientation / inclination Pc of the camera 1 by a dot pattern.

  Therefore, the mark manufacturing apparatuses 10, 10A, 10C, and 10D select a reference mark from a plurality of reference marks according to the accuracy of the position of the camera 1 and the orientation / inclination Pc, and the position, orientation, and inclination of the camera 1. Pc can be determined.

  In the present invention, the mark manufacturing apparatuses 10, 10A, 10C, and 10D may determine the position and azimuth / inclination Pt of the dummy mark DM by changing the position of the camera 1 to a plurality of positions. In this case, the flowcharts shown in FIGS. 11, 14, 17, 20, and 24 are repeatedly executed as many times as the position of the camera 1 is changed, and the position and azimuth / inclination Pt of the dummy mark DM are determined. Thereby, the position and azimuth / inclination Pt of the dummy mark DM can be determined with high accuracy.

Note that the camera 1 constitutes the "imaging device", the image G _S constitutes the "first image", the image G _D constitutes a "second image".

  The position determining means 2, 2A, 2B, 2C, 2D for determining the position and azimuth / inclination Pc of the camera 1 constitute “first position determining means”, and the position and azimuth / inclination Pt of the dummy mark DM. The position determining means 2, 2A, 2B, 2C and 2D for determining the “second position determining means”.

  Further, the GPS receiver 6 forms a “position measuring device”, the level 7 forms a “direction measuring device”, and the direction sensor 8 forms a “direction measuring device”.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiment but by the scope of claims for patent, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims for patent.

  The present invention is applied to a mark producing apparatus for producing a mark including position information of a place to be pasted. The present invention is also applied to a mark production method for producing a mark including position information of a place to be pasted.

It is a schematic block diagram which shows the structure of the mark production apparatus by embodiment of this invention. It is a functional block diagram which shows the structure of the position determination means shown in FIG. It is a figure for demonstrating the method of an image processing. It is a figure which shows an image when a square figure is image | photographed. It is a figure for demonstrating the method of calculating | requiring the distance from a camera to a mark. It is a figure for demonstrating the method to detect the position of a camera, an azimuth | direction, and inclination. It is a top view which shows the example of a mark. It is the 1st conceptual diagram for demonstrating the method of producing the mark containing actual size, a position, and azimuth | direction / inclination information. It is the 2nd conceptual diagram for demonstrating the method of producing the mark containing actual size, a position, and azimuth | direction / inclination information. It is a 3rd conceptual diagram for demonstrating the method of producing the mark containing actual size, a position, and azimuth | direction / tilt information. It is a flowchart for demonstrating the method of producing a mark. It is a schematic block diagram which shows the structure of the other mark production apparatus by embodiment of this invention. It is a functional block diagram which shows the structure of the position determination means shown in FIG. It is a flowchart for demonstrating the production method of the mark in the mark production apparatus shown in FIG. It is a schematic block diagram which shows the structure of the other mark production apparatus by embodiment of this invention. It is a functional block diagram which shows the structure of the position determination means shown in FIG. It is a flowchart for demonstrating the production method of the mark in the mark production apparatus shown in FIG. It is a schematic block diagram which shows the structure of the other mark production apparatus by embodiment of this invention. It is a functional block diagram which shows the structure of the position determination means shown in FIG. It is a flowchart for demonstrating the manufacturing method of the mark in the mark manufacturing apparatus shown in FIG. It is a schematic block diagram which shows the structure of the other mark production apparatus by embodiment of this invention. It is a functional block diagram which shows the structure of the position determination means shown in FIG. It is a figure for demonstrating the method to determine the distance to a reference mark or a dummy mark, and the direction information regarding the direction and inclination in which a reference mark or a dummy mark exists with respect to a camera. It is a flowchart for demonstrating the production method of the mark in the mark production apparatus shown in FIG.

Explanation of symbols

  1 camera, 2, 2A, 2B, 2C, 2D position determination means, 3 storage means, 4 mark preparation means, 5 printer, 6 GPS receiver, 7 level, 8 azimuth sensor, 9 laser distance measuring instrument, 10 , 10A, 10B, 10C, 10D Mark production device, 21 control means, 22, 22A image processing means, 23, 23A distance determination means, 24, 24A, 24B, 24C detection means, 50 passages, 70 stores, 71 entrances.

Claims (10)

A photographing device for photographing a reference mark in which actual size and position and orientation / tilt information are recorded, and a dummy mark in which the actual size is recorded and arranged at a desired position;
By processing a first image that is an image of the fiducial mark photographed by the photographing device, a first distance that is a distance from the photographing device to the fiducial mark and the photographing with respect to the fiducial mark. First direction information regarding the direction / inclination in which the vessel exists and position information of the reference mark are detected, and based on the detected first distance, the first direction information, and the position information of the reference mark First position determining means for determining the position and azimuth / tilt of the photographing device;
By processing a second image which is an image of the dummy mark photographed by the photographing device, a second distance which is a distance from the photographing device to the dummy mark and the photographing with respect to the dummy mark Position indicating the position of the photographing device determined by the second distance, the second direction information, and the first position determining means. Second position determining means for determining the position and orientation / tilt of the dummy mark based on the information;
Mark producing means for producing a mark recording the actual size of the dummy mark and the position and azimuth / tilt information indicating the position and azimuth / tilt of the dummy mark determined by the second position deciding means;
A mark production apparatus comprising: a printer for printing the mark produced by the mark production means. The first position determination means processes the first image to detect an actual size of the reference mark and a size of the first image, and detects the detected actual size and the first image. Calculating a size ratio with the size, and detecting the first distance by using the calculated size ratio to match a reduction ratio from the reference mark to the first image;
The second position determining means processes the second image to detect an actual size of the dummy mark and a size of the second image, and detects the detected actual size and the second image. 2. The second distance is detected according to claim 1, wherein a size ratio with a size is calculated, and the calculated size ratio matches a reduction ratio from the dummy mark to the second image. Mark production device. A direction measuring device for measuring an elevation angle and a horizontal angle formed by a straight line from the photographing device to the reference mark and the reference mark;
The first position determining means corrects the position and azimuth / tilt of the photographing device using the elevation angle and the horizontal angle measured by the direction measuring device,
The mark manufacturing apparatus according to claim 1, wherein the second position determining unit determines the position of the dummy mark using the corrected position of the photographing device. A position measuring device for measuring the position and azimuth / tilt of the photographing device;
The first position determining means corrects the first direction information using the position and the azimuth / tilt measured by the position measuring device, and uses the corrected first direction information to The mark production apparatus according to claim 1, wherein the position and the azimuth / inclination are determined. Further comprising an azimuth measuring device for measuring an azimuth in which the reference mark exists with respect to the photographing device;
The first position determination means corrects the determined position and azimuth / tilt of the photographing device using the azimuth by the azimuth measuring device,
3. The mark manufacturing apparatus according to claim 1, wherein the second position determining unit determines the position and the azimuth / inclination of the dummy mark using the corrected position and azimuth / inclination of the photographing device. . The reference mark is composed of a plurality of reference marks each including position and orientation / tilt information and an actual size,
The photographing device photographs the plurality of reference marks,
The first position determining means processes a plurality of first images, which are images of the plurality of reference marks, so that a plurality of first distances from the photographing device to the plurality of reference marks, A plurality of first direction information related to the direction and inclination of the photographing device with respect to a plurality of reference marks and a plurality of position information of the plurality of reference marks are detected, and the detected first distances are detected. The mark manufacturing apparatus according to claim 1, wherein a position, an azimuth / inclination of the photographing device is determined based on the plurality of first direction information and the plurality of position information. .   The mark producing apparatus according to claim 6, wherein the plurality of reference marks further include a grade assigned in accordance with accuracy when determining the position of the photographing device. A first step of photographing a reference mark in which an actual size and position and orientation / tilt information are recorded;
The position determination means processes a first image that is an image of a reference mark photographed by the photographing device, so that a first distance that is a distance from the photographing device to the reference mark and a reference mark are obtained. On the other hand, a second step of detecting first direction information relating to a direction / inclination in which the photographing device exists and position information of the reference mark;
A third step in which the position determining means determines the position and azimuth / tilt of the photographing device based on the detected first distance, the first direction information, and the position information of the reference mark;
A fourth step in which the photographing device photographs a dummy mark in which an actual size is recorded and arranged at a desired position;
The position determining means processes a second image which is an image of a dummy mark photographed by the photographing device, so that a second distance which is a distance from the photographing device to the dummy mark, and the dummy mark And a second step of detecting second direction information relating to the direction and inclination of the photographing device,
A sixth step in which the position determining means determines the position and azimuth / inclination of the dummy mark based on the detected second distance, the second direction information, and the position information of the photographing device;
A seventh step in which the mark producing means produces a mark in which the actual size of the dummy mark and the position and azimuth / tilt information indicating the position and azimuth / tilt determined in the sixth are recorded When,
A mark producing method comprising: an eighth step in which the printer prints the mark produced in the seventh step. The second step includes
The position determining means detects the actual size of the reference mark and the size of the first image by processing the first image, and calculates the detected actual size and the size of the first image. A first sub-step for calculating a size ratio;
The position determining means includes a second sub-step of detecting the first distance using the calculated size ratio matching the reduction ratio from the reference mark to the first image;
The fifth step includes
The position determining means processes the second image to detect the actual size of the dummy mark and the size of the second image, and calculates the detected actual size and the size of the second image. A third sub-step for calculating the size ratio;
A fourth sub-step for detecting the second distance by using the position determining means using the calculated size ratio matching a reduction ratio from the dummy mark to the second image; Item 9. A mark manufacturing method according to Item 8.   The mark manufacturing method according to claim 8 or 9, wherein the first step to the sixth step are repeatedly executed while changing the position of the photographing device.

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