JP2023119394A - Support device - Google Patents

Abstract

To provide a support device which can be carried by an operator and to which a photographing camera for photogrammetry can be attached.SOLUTION: A support device (100) includes: a pole (11) supported by an operator; a first plate (21) attached to the pole (11) at a height exceeding the height of the operator; a second plate (23) attached to the pole (11) above the first plate (21); at least four first mounts (31) for the photographing cameras arranged on the first plate; and at least four second mounts (33) for the photographing cameras arranged on the second plate.SELECTED DRAWING: Figure 1

Description

The present invention relates to a support device for a photographing device used for photogrammetry that analyzes parallax information from a plurality of two-dimensional photographs to generate a three-dimensional photograph. In particular, the present invention relates to a support device used in a place where an image of an outdoor landscape is required from the line of sight of a person walking outdoors.

Photogrammetry has begun to attract attention due to recent improvements in image processing technology and computer processing speed. Photogrammetry is a technology that accurately converts images and positions from photographs taken from various angles into data and reproduces realistic three-dimensional objects from them. In order to facilitate photographing for photogrammetry, for example, Patent Document 1 discloses a photographing apparatus for photogrammetry of a subject such as a person using a camera unit having a plurality of cameras. Further, Patent Document 2 discloses a camera platform on which a plurality of cameras facing different directions can be mounted.

JP 2019-32226 A Utility Model Registration No. 3216933

However, the photographing apparatus for photogrammetry disclosed in Japanese Patent Laid-Open No. 2002-200001 is an apparatus for photographing a person or the like in a large, fixed apparatus. Further, Patent Document 2 is a pan head for creating a simple three-dimensional image, and is not suitable for a pan head for photogrammetry in consideration of the reflection of an operator.

Accordingly, the present invention provides a support device that can be carried by an operator and to which a photographing camera can be attached.

The support device of this embodiment includes a pole supported by a worker, a first plate attached to the pole at a height exceeding the height of the worker, and a second plate attached to the pole above the first plate. , at least four first mounts for the photographic cameras arranged on the first plate and at least four second mounts for the photographic cameras arranged on the second plate.

The pole of the present embodiment has a first pole and a second pole, and their cross sections are circular or polygonal, and the second pole is inserted inside the first pole. It is preferable that the pole is configured with a structure that connects with the pole.
A platform for moving on the ground is preferably attached to the lower end of the pole.

The pole of this embodiment has a cross-sectional area that decreases from its lower end to its upper end, and the first plate and the second plate have holes into which the poles are inserted. and the hole of the second plate have different cross-sectional areas.
The pole has a cross-sectional area that decreases from its lower end to its upper end. The first plate has a hole into which the pole is inserted and a first ring arranged in the hole. The plate preferably has a hole into which the pole is inserted and a second ring arranged in the hole, and the first ring and the second ring are adjustable according to their cross-sectional areas.
Also, the pole preferably has a support plate that supports the first plate and the second plate.

The support device of the present invention can be attached with a photography camera to facilitate photogrammetry photography.

1 is a perspective view of a support device to which a photographing camera and the like are attached; FIG. (A) is a side view of the support device of the first embodiment, (B) is an example of a plan view of the first plate, and (C) is another example of a plan view of the first plate. (A) is an example of a plan view of a ring attached to a hole in a plate. (B) is a plan view of the spacer and the ring attached to the inner circumference of the ring, and (C) is a cross-sectional view of the spacer and the ring taken along line CC. FIG. 11 is an example (plan view) showing horizontal angles of view of six imaging cameras placed on the first plate; (A) is a side view of the support device of the second embodiment, and (B) is an example of a plan view of a first plate of the support device of the second embodiment. (C) is a plan view of a support plate that supports the first plate.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments according to the present invention will be described in detail with reference to the drawings. In the present specification and drawings, constituent elements having substantially the same functional configuration are denoted by the same reference numerals, thereby omitting redundant description. Also, in each drawing, the actual dimensions are not drawn in order to emphasize the members.

<<First Embodiment>>
<Summary of support equipment>
FIG. 1 is a perspective view of the support device 100 of the first embodiment, showing a state in which a worker supports the support device 100 with both hands. The support device 100 can be attached with a plurality of imaging cameras CA (CA1, CA2). In the following description, the ceiling side is defined as the top (+Z axis) and the ground side is defined as the bottom (−Z axis) in the basic posture when the support device 100 is carried by the worker. The direction in which the worker advances is defined as front (+X axis), and the opposite side is defined as rear (-Y axis). The operator's right hand direction is right (−Y axis), and left hand direction is left (+Y axis).

The support device 100 of the first embodiment supports a plurality of photography cameras that take photographs used for photogrammetry to generate a 3D model of its surroundings. In particular, the support device 100 of the first embodiment supports a plurality of cameras in order to create photogrammetry of the line of sight of a person walking around the cityscape of tourist spots and the appearance of historical buildings such as shrines and temples. A worker walks around with this support device 100, and takes pictures of places where images such as landscapes spreading in the horizontal direction, outer walls and the ground are required with a plurality of cameras. In addition, since the operator walks around holding or carrying the support device 100, it is preferable that the support device 100 be made of a material that is as light as possible.

The size of the support device 100 is, for example, 30 cm to 150 cm in the front-rear and left-right directions (XY-axis directions) and 250 cm to 500 cm in the height direction (Z-axis direction). This is because if the support device 100 is 30 cm or less in the front, rear, left, and right directions, there is a possibility that the worker's head and legs will be reflected in the angle of view range of the photographing camera CA. This is because the weight of the support device 100 becomes heavy and it becomes difficult to handle in a narrow alley or the like. Moreover, unless the height of the first plate 21, which will be described later, is higher than the height of the operator, the operator's head or the like will be reflected in the field angle range of the photographing camera CA1. For this reason, the height of the support device 100 must be, for example, 160 to 200 cm to the height of the first plate 21, and the second plate 23 is arranged on the first plate 21 to perform more three-dimensional photogrammetry. For manufacturing purposes, the height of the support device 100 is preferably at least 250 cm or more. On the other hand, if the height of the support device 100 is 500 cm or more, the handling of the support device 100 becomes difficult.

The support device 100 is preferably fitted with a ground-moving undercarriage 14 for supporting the weight of the support device 100 by the operator. When the worker directly carries the support device 100 without using the chassis 14, it is preferable to carry the support device 100 while wearing a harness for supporting a flag or the like. The support device 100 has a pole 11 extending from a chassis 14 and has a first plate 21 and a second plate 23 attached to the pole 11 . For example, the first plate 21 is arranged at a height of 2 m from the ground, and the second plate 23 is arranged at a height of 3 m from the ground.

The pole 11 depicted in FIG. 1 is constructed from a length of pole material. Also in FIG. 1, four first mounts 31 are attached to the first plate 21, and four second mounts 33 (see FIG. 2) are attached to the second plate 23 as well. Four photographic cameras CA1 are attached to the four first mounts 31, and four photographic cameras CA2 are attached to the four second mounts 33. As shown in FIG.

Although not shown in FIG. 1, the pole 11 may be provided with a level at the operator's line of sight to facilitate confirmation that the pole 11 is vertical. Moreover, it is preferable that a grip is provided so that the operator can easily grip the pole 11 .

<Overview of Paul>
The pole 11 shown in FIG. 2(A) consists of a plurality of poles (11p to 11s) for easy portability, unlike the pole depicted in FIG. One or more poles 11 are made of carbon, glass fiber, lightweight plastic such as polypropylene or ABS, lightweight wood, or lightweight metal such as chrome steel or aluminum alloy. The cross section of the pole 11 may be circular, elliptical, or polygonal, and preferably the cross-sectional area decreases upward (in the +Z-axis direction). Moreover, it is preferable that the pole 11 has a hollow structure for weight reduction. FIG. 2A shows an example in which a hollow plastic having a circular cross section is used. The diameter of the pole 11p shown in FIG. 2A is, for example, 6 cm to 12 cm, the diameter of the pole 11p is, for example, 6 cm to 15 cm, and the diameter of the pole 11s is, for example, 2 to 8 cm. Although there are four poles (11p to 11s) in FIG. 2(A), it may be composed of two poles or five or more poles.

In the pole 11 shown in FIG. 2(A), four poles (11p to 11s) have a hollow structure, and the cross-sectional area decreases upward. Therefore, the pole 11q is housed in the pole 11p, the pole 11r is housed in the pole 11q, and the pole 11s is housed in the pole 11r. When the pole 11q is extended from the pole 11p, since the outer diameter of the lower end of the pole 11q is larger than the inner diameter of the upper end of the pole 11p, they are connected by fitting.

As another connection method, a structure in which a connecting portion matching the inner diameter of the pole 11q is provided at the upper end of the pole 11p and the lower end of the pole 11q is fitted into the connecting portion may be used. In the same way, the lower end of the pole 11r is fitted in the connecting portion to the upper end of the pole 11q. As another connection method, a male screw may be formed at the upper end of the pole 11p, a female screw may be formed at the lower end of the pole 11q, and the male screw and the female screw may be connected. Other connection methods may be used as long as adjacent poles are connected.

<Overview of Chassis>
The chassis 14 is a unicycle in FIGS. 1 and 2A. The weight of the support device 100 is 8 kg to 20 kg including the photographic camera CA and the like, and even the unicycle 14 can be sufficiently grasped by the operator to move the pole 11 . The unicycle may be a tubed tire, a semi-pneumatic tire or an airless tire.

<Overview of Chassis Coupling Portion 13>
A chassis coupling portion 13 is arranged at the lower end of the pole 11p. The chassis coupling portion 13 couples the chassis 14 . The chassis connecting portion 13 has a fitting portion that fits in the hollow of the lower end of the pole 11p, and an axle of a chassis 14 that is a unicycle.

<Mount structure/arrangement>
Photographing to create a digital 3D model with photogrammetry ensures that each photograph has sufficient overlap. That is, it is preferable that the first photograph and the second photograph overlap by 60% (horizontal direction) or 80% (vertical direction) or more. In order to create a more precise 3D model, it is preferable that the object to be photographed is photographed from at least three different angles.

In order to perform photogrammetry photography with a small amount of movement of the support device 100, it is preferable that the first plate 21 is provided with a first mount 31 for mounting four or more photography cameras CA, as shown in FIG. 2(C). , eight first mounts 31 may be arranged at regular intervals. Depending on the angle of view of the photographing camera CA, it is preferable to ensure sufficient overlap between the photographs photographed by the photographing camera CA.

The first mount 31 has, for example, a function equivalent to that of a tripod platform, and is configured such that at least the pitch direction can be freely set among the roll direction, pitch direction, and yaw direction. The mount of the second plate 23 is indicated as a second mount 33 (see FIG. 2(A)). The reference axes of the first mount 31 and the second mount 33 are preferably arranged at a predetermined angle.

As shown in FIG. 2A, the reference axis of the first mount 31 is arranged above the first plate 21, and the photographing camera CA1 is positioned substantially horizontally (θ1=90 degrees with respect to the first plate 21). It is preferable that the angle is such that it faces toward the That is, the vertical angle of view VA of the photographing camera CA1 is horizontal. The reference axis of the second mount 33 is arranged below the second plate 23, and is angled so that the photographing camera CA2 faces obliquely downward (θ2=30 to 45 degrees with respect to the second plate 23). is preferred. That is, the vertical angle of view VA of the photographing camera CA2 is obliquely downward. Note that the first mount 31 may be arranged below the first plate 21 .

<Outline of first plate and second plate>
Since the first plate 21 and the second plate 23 have substantially the same shape, the first plate 21 will be used in the description unless they are distinguished from each other. FIG. 2B is an example of a plan view of the first plate 21, and FIG. 2C is another example of a plan view of the first plate.

The first plate 21 is made of lightweight plastic such as polyurethane, polystyrene foam, polypropylene or ABS, lightweight wood, or lightweight metal such as chrome steel or aluminum alloy. In plan view, the first plate 21 may be circular as shown in FIG. 2(B), and the first plate 21 may be polygonal such as an octagon as shown in FIG. 2(C). good too.

As shown in FIG. 2B, the first plate 21 is provided with a hole 21h into which the pole 11 is inserted. As described above, in the first embodiment, since the cross section of the pole 11 is circular, a circular hole 21h is formed. If the cross section of the pole 11 is square, it is preferable to form the square hole 21h. When the cross section of the pole 11 decreases upward (in the +Z-axis direction), the diameter of the hole 21h of the first plate 21 and the diameter of the hole 23h of the second plate 23 are different. there is

As shown in FIG. 2C, a ring 29 that can adjust the cross-sectional area of the hole according to the cross-sectional area of the pole 11 may be provided in the hole 21 h provided in the first plate 21 . When the ring 29 is used, the diameter of the hole 21h of the first plate 21 and the diameter of the hole 23h of the second plate 23 may be the same. The ring 29 is made of lightweight plastic, lightweight metal, or the like. The hole 21 h of the first plate 21 may not have the ring 29 and the hole 23 h of the second plate 23 may have the ring 29 .

3A shows an example of the ring 29, and FIGS. 3B and 3C show another example of the ring 29. FIG. One or more adjusting bolts 29a are attached to the inner diameter 29i of the ring 29 shown in FIG. 3(A). A screw is formed on the adjusting bolt 29a, and the head of the adjusting bolt 29a moves in and out by rotating the adjusting bolt 29a. That is, the inner diameter of the ring 29 is reduced or increased.

Another example of the ring 29 shown in FIG. 3B is not provided with the adjusting bolt 29a. Instead, a spacer 29b that can be inserted into and removed from the inner diameter 29i of the ring 29 is prepared. The spacer 29b is circular in plan view, and has an upper portion 29bu in contact with the upper surface of the ring 29 and a thick portion 29bi in contact with the inner diameter 29i of the ring 29, as shown in FIG. 3(C). When the cross section of the pole 11 decreases upward (in the +Z-axis direction), a plurality of spacers 29b with different thicknesses 29bi may be prepared to allow the pole 11 to reach an arbitrary height. Either the first plate 21 or the second plate 23 can be arranged on the side.

<Shooting range>
As shown in FIG. 2A, it is preferable that the vertical angle of view VA of the lower photographing camera CA1 is oriented substantially horizontally, and that the vertical angle of view VA of the photographing camera CA2 is oriented obliquely downward. In order to create an accurate 3D model, the object is preferably photographed from at least 3 or more different angles.

FIG. 4 is a diagram showing how the photographing ranges overlap in the horizontal direction (XY plane) when the horizontal angle of view HA of the photographing camera CA is 87 degrees. The first plate 21 shown in FIG. 4 has six mounts 31 and shows a state in which six photographing cameras CA1 are arranged.

As shown in FIG. 4, a sufficient overlap is ensured in the horizontal angle of view HA photographed by the photographing camera CA1. Until now, photogrammetry has been performed by photographing one location from multiple angles with a hand-held camera. However, if at least four cameras CA are attached to the support device 100 of the first embodiment, the operator can take a photograph of the 3D model for photogrammetry simply by moving in one direction (for example, the +Y-axis direction). .

<<Second Embodiment>>
<Support Device of Second Embodiment>
FIG. 5A is a side view of the support device 100A of the second embodiment. In the support device 100 of the first embodiment, two plates, the first plate 21 and the second plate 23 , are attached to the pole 11 . Three plates, a first plate 21, a second plate 23 and a third plate 25, are attached to the support device 100A of the second embodiment. Also different from the first embodiment is that these plates are attached by a support plate 19 . In the first embodiment, the pole 11 is attached with a unicycle chassis 14, but in the second embodiment, a carriage type chassis 15 is attached to the pole 11 instead.

<Overview of poles and plates>
The pole 11 of the second embodiment has substantially the same material and structure as the pole of the first embodiment, and has a length of 500 cm or less. As shown in FIG. 5A, the first plate 21 is arranged at a height of, for example, 1.8 m from the ground, the second plate 23 is arranged at a height of, for example, 3.5 m from the ground, and the third plate 25 is placed at a height of, for example, 4.5 m from the ground. The vertical angle of view VA of the photographing camera CA1 is an angle facing the horizontal direction (θ1=90 degrees with respect to the first plate 21). The vertical angle of view VA of the photographing camera CA2 is an angle directed obliquely downward (θ2=30 to 45 degrees with respect to the second plate 23). The vertical angle of view VA of the photographing camera CA3 becomes an angle directed further obliquely downward (θ3=45 to 60 degrees with respect to the third plate 25). Accordingly, photogrammetry of a precise 3D model can be created based on the photographs taken by the camera CA1, the camera CA2, and the camera CA3.

The first plate 21, the second plate 23 and the third plate 25 of the second embodiment are similar in material and structure to the plates of the first embodiment, but the holes formed in each plate are shown in FIG. It is preferably slightly larger in diameter than the hole 21h shown in B). The hole 21h of the first plate 21, the hole 23h of the second plate 23, and the hole 25h of the third plate 25 may all have the same diameter. Further, as shown in FIG. 5(B), the first plate 21 (the same applies to the second plate 23 and the third plate 25) of the second embodiment is provided with iron or the like at one or a plurality of locations around the hole 21h. or a hard magnetic material 28 such as a permanent magnet.

The first plate 21, the second plate 23 and the third plate 25 shown in FIG. 5A are attached by a support plate 19 arranged on the lower side. FIG. 5(C) is an example of the lower support plate 19 . The lower support plate 19 is made of lightweight plastic, lightweight metal, or the like. A hole 19h is formed in the lower support plate 19, and the hole 19h has a larger cross-sectional area than the pole 11 of the second embodiment. One or more fixing bolts 19a are attached so as to penetrate from the outer periphery of the lower support plate 19 through the hole portions 19h. A screw is formed on the fixing bolt 19a, and when the fixing bolt 19a is rotated, the tip of the fixing bolt 19a moves in and out. By pressing the tip of the fixing bolt 19 against the outer periphery of the pole 11, the lower support plate 19 is fixed to the pole.

The support plate 19 has a hard magnetic material 18 or a soft magnetic material 18 at one or more locations. The position of the hard magnetic material 18 or soft magnetic material 18 is preferably a position corresponding to the soft magnetic material 28 or hard magnetic material 28 provided on the plate. For example, the hard magnetic material 18 of the support plate 19 is arranged at a position facing the soft magnetic material 28 of the plate. Therefore, when the three support plates 19 are fixed at positions 2m, 3m and 4m of the pole 11, the first plate 21, second plate 23 and third plate 25 are mounted at positions 2m, 3m and 4m. will be

<Overview of Chassis>
The chassis 15 may be a commercially available chassis. A plurality of portions of the pole 11 are fixed with a band 16 to a handle of a carriage 15 held by an operator. By moving the cart 15, the operator can take a photograph for photogrammetry.

In the first and second embodiments, the battery power source for the photographing camera is not illustrated, but the support device 100 may be provided with a battery power source. Also, in the first and second embodiments, illumination lights are not depicted. However, when taking photos for photogrammetry in the early morning, evening, or at night, an illumination light is attached to the pole 11 or the first plate 21 or the second plate 23 to illuminate the object to be shot. is preferred.

DESCRIPTION OF SYMBOLS 100 (100A)... Support apparatus 11 (11p, 11q, 11r, 11s)... Pole 21, 23, 25... Plate 14, 15... Chassis 18, 28... Soft magnetic material or hard magnetic material 19... Support plate 29... Ring 31 , 33, 35... Shooting mount CA... Shooting camera VA... Vertical angle of view HA... Horizontal angle of view

Claims (6)

a pole supported by the worker;
a first plate attached to the pole at a height exceeding the height of the operator;
a second plate attached to the pole above the first plate;
at least four first mounts for photographic cameras arranged on the first plate;
at least four second mounts for photographic cameras located on the second plate;
A support device comprising: The poles have a first pole and a second pole, and their cross sections are circular or polygonal,
2. The support device according to claim 1, wherein said pole is constructed with a structure in which said second pole enters inside said first pole, or a structure in which said first pole and said second pole are connected. A ground-moving chassis is attached to the lower end of the pole.
The support device according to claim 1 or 2. The pole is formed such that its cross-sectional area decreases from its lower end toward its upper end,
The first plate and the second plate have holes into which the poles are inserted,
The cross-sectional area of the hole of the first plate and the hole of the second plate are different,
The support device according to any one of claims 1 to 3. The pole is formed such that its cross-sectional area decreases from its lower end toward its upper end,
The first plate has a hole into which the pole is inserted and a first ring arranged in the hole,
The second plate has a hole into which the pole is inserted and a second ring arranged in the hole,
The first ring and the second ring are adjustable according to the cross-sectional area.
The support device according to any one of claims 1 to 3. The support device according to any one of claims 1 to 3, wherein the pole has a support plate that supports the first plate and the second plate.