CN103970133A - Method and system utilizing image analysis technique to realize object movement - Google Patents
Method and system utilizing image analysis technique to realize object movement Download PDFInfo
- Publication number
- CN103970133A CN103970133A CN201310037686.7A CN201310037686A CN103970133A CN 103970133 A CN103970133 A CN 103970133A CN 201310037686 A CN201310037686 A CN 201310037686A CN 103970133 A CN103970133 A CN 103970133A
- Authority
- CN
- China
- Prior art keywords
- pilot lamp
- picture
- camera head
- moves
- image analysis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
Disclosed are a method and a system utilizing an image analysis technique to realize object movement. The method includes the steps: triggering a camera head mounted on an object to shoot all indicating lamps one by one along a set route; acquiring an image obtained by shooting each indicating lamp through the camera head; when the indicating lamp is located at the center of the image, controlling the object to move linearly along the current direction; when the indicating lamp is not located at the center of the image, analyzing that the indicating lamp deviates to the left or the right; according to the analysis that the indicating lamp in the image deviates to the left or the right, controlling the object to move leftwards or rightwards correspondingly till the indicating lamp in the shot image is located at the center of the image; when the object does not move to the destination of the set route, returning to the acquisition step; when the object moves to the destination of the set route, controlling the object to stop moving. The indicating lamps laid on the route are shot and analysis is performed so as to determine the movement direction of the object, so that automatic movement of the object is realized.
Description
Technical field
The present invention relates to a kind of image analysis technology that utilizes and realize the method and system that object moves.
Background technology
As everyone knows, trolley for hospital use is the most frequently used instrument of health service unit, modal trolley for hospital use has nursing station, doctor workstation, ward inspection chart, case history car, anesthesia vehicle, treatment center, Medicine delivery cart etc., they below a stable condition doctors and nurses's work, but they have a common shortcoming is all to need special personnel pushing away it to advance, but, at some specific environment or urgent in the situation that, doctor or nurse still need the post away from keyboard medical service activity of running back to remove to push away trolley for hospital use, this has just caused the waste of time and human resources even likely therefore to miss best occasion for the treatment and affected patients ' lives.
Summary of the invention
In view of above content, be necessary to provide a kind of image analysis technology that utilizes to realize the method and system that object moves.
Describedly utilize image analysis technology to realize the method that object moves to comprise: trigger step, in the time that multiple pilot lamp of laying on setting path are unlocked, trigger the camera head of installing on object and take one by one each pilot lamp along setting path; Obtaining step, obtains camera head and takes the picture that pilot lamp obtains; The first determining step, analyzes and judges in the picture obtaining, and whether pilot lamp is positioned at this picture middle position; Control step, in the time that pilot lamp is positioned at the middle position of picture, controls object and move linearly along current direction; Analytical procedure, in the time that pilot lamp is not positioned at the middle position of picture, the pilot lamp of analyzing in above-mentioned picture is to the left or to the right; Set-up procedure, in the above-mentioned picture obtaining according to analysis, pilot lamp is to the left or to the right, controls object and correspondingly moves to left or move to right, until pilot lamp is positioned at picture middle position in the picture that camera head is taken; The second determining step, whether judgment object moves to setting path terminal, in the time that object does not move to setting path terminal, returns to obtaining step, in the time that object moves to setting path terminal, enters and stops step; Stop step, control object and stop mobile.
Describedly utilize image analysis technology to realize the system that object moves to comprise: trigger module, in the time that multiple pilot lamp of laying on setting path are unlocked, trigger the camera head of installing on object and takes one by one each pilot lamp along setting path; Acquisition module, takes for obtaining camera head the picture that pilot lamp obtains; Judge module, for judging the picture obtaining, whether pilot lamp is positioned at this picture middle position; Control module, when being positioned at the middle position of picture when pilot lamp, controlling object and moves linearly along current direction; Analysis module, in the time that pilot lamp is not positioned at the middle position of picture, the pilot lamp of analyzing in above-mentioned picture is to the left or to the right; Adjusting module, is to the left or to the right for the above-mentioned picture pilot lamp obtaining according to analysis, controls object and correspondingly moves to left or move to right, until pilot lamp is positioned at picture middle position in the picture that camera head is taken; Stopping modular, controls object when moving to setting path terminal when object and stops mobile.
The present invention utilizes the camera head of installing on object to take multiple pilot lamp of laying on setting path, and determines the moving direction of object to taking the picture analysis of obtaining, thereby realizes the automated movement of object, has saved manpower, has facilitated use.
Brief description of the drawings
Fig. 1 is that the present invention utilizes image analysis technology to realize the running environment figure of the preferred embodiments of the system that object moves.
Fig. 2 is that the present invention utilizes image analysis technology to realize the functional block diagram of the preferred embodiments of the system that object moves.
Fig. 3 is that the present invention utilizes image analysis technology to realize the process flow diagram of the preferred embodiments of the method that object moves.
Main element symbol description
| Object | 1 |
| Pilot lamp | 2 |
| Storer | 12 |
| Processor | 14 |
| Utilize image analysis technology to realize the system that object moves | 10 |
| Motor | 16 |
| Motor controller | 18 |
| Gear | 20 |
| Camera head | 22 |
| Trigger module | 100 |
| Acquisition module | 102 |
| Judge module | 104 |
| Control module | 106 |
| Analysis module | 108 |
| Adjusting module | 110 |
| Stopping modular | 112 |
Following embodiment further illustrates the present invention in connection with above-mentioned accompanying drawing.
Embodiment
As shown in Figure 1, be that the present invention utilizes image analysis technology to realize the running environment figure of the system preferred embodiment that object moves.This utilizes image analysis technology to realize the system 10(that object moves and is designated hereinafter simply as " object mobile system 10 ") operate on an object 1.In the present embodiment, this object 1 is indoor object, and for example, this object 1 can be trolley for hospital use.
Described object 1 comprises storer 12, processor 14, motor 16, motor controller 18, gear 20 and camera head 22.
In Fig. 1, also comprise multiple pilot lamp 2, multiple pilot lamp 2 can be layed on the ceiling of indoor each route, and multiple pilot lamp 2 is adjacent one by one on ceiling, and connect into line, in the time of needs mobile object 1, in respective routes, lay multiple pilot lamp 2 be lit.
Described storer 12 is for storing the data such as the source program code of object mobile system 10.
Described motor 16 is the propulsion system of object 1, rotates for driven wheel 20, moves along setting path to realize object 1.
Described motor controller 18 is for receiving the first control signal, the second control signal and the 3rd control signal, and the first control signal, the second control signal and the 3rd control signal are carried out after Treatment Analysis, transmitted width modulated pwm signal and direction control signal control and adjustment motor 16 rotate.
Described camera head 22 at object 1 along setting path moving process, take one by one the each pilot lamp 2 being layed on this setting path along setting path.
In the present embodiment, described object mobile system 10 can be divided into one or more modules, and described one or more modules are configured to be carried out by one or more processors (the present embodiment is processor 14), to complete the present invention.For example, consult shown in Fig. 2, described object mobile system 10 is divided into trigger module 100, acquisition module 102, judge module 104, control module 106, analysis module 108, adjusting module 110 and stopping modular 112.The alleged module of the present invention has been the program segment of a specific function, is more suitable in describing the implementation of software in object 1, the description of consulting Fig. 3 about the function of each module than program.
As shown in Figure 3, be that the present invention utilizes image analysis technology to realize the process flow diagram of the preferred embodiments of the method that object moves.
Step S10, in the time that multiple pilot lamp 2 of laying on setting path are unlocked, trigger module 100 triggers camera head 22 and takes one by one each pilot lamp 2 along setting path.
Step S11, acquisition module 102 obtains camera head 22 and takes the picture that pilot lamp 2 obtains.
Step S12, judge module 104 judges, in the picture obtaining, whether pilot lamp 2 is positioned at this picture middle position.In present embodiment, can set up center line at the picture middle position obtaining, detect the pilot lamp 2 in this picture by being similar to the object detecting technology such as car plate detecting, doorplate detecting, then whether deviate from this center line and judge whether pilot lamp 2 is positioned at picture middle position by analyzing this pilot lamp 2.In addition, in present embodiment, in the picture that camera head 22 is taken, may there be multiple pilot lamp 2, because the imaging in the picture of taking of the pilot lamp 2 from object 1 close to is more larger, now above-mentioned analyzed pilot lamp 2 is the pilot lamp 2 of imaging maximum in multiple pilot lamp 2 in picture, from the nearest pilot lamp 2 of object.
Step S13, in the time that pilot lamp 2 is positioned at the middle position of picture, control module 106 is controlled object 1 and is moved linearly along current direction.In present embodiment, control module 106 sends first and controls signal to motor controller 18, the first control signal is processed to rear transmission pwm signal to motor controller 18 and direction control signal control motor 16 keeps current state to remain in operation, thereby driven gear 20 rotates, realize object 1 and move linearly along current direction.
Step S14, in the time that pilot lamp 2 is not positioned at the middle position of picture, the pilot lamp 2 that analysis module 108 is analyzed in above-mentioned picture is to the left or to the right.In present embodiment, described setting path can be straight line or curve, and in the time that setting path is curve, above-mentioned pilot lamp 2 explanation object 1 to the left needs to turn left in movement, and above-mentioned pilot lamp 2 explanation object 1 to the right needs to turn right in movement.
Step S15, in the above-mentioned picture obtaining according to analysis, pilot lamp is to the left or to the right, adjusting module 110 is controlled object 1 and is correspondingly moved to left or move to right, until in the picture that camera head 22 is taken, pilot lamp 2 is positioned at the middle position of this picture, guarantees that with this object 1 is in advance along setting path middle right-hand rotation or left-hand rotation.In present embodiment, adjusting module 110 sends second and controls signal to motor controller 18, motor controller 18 carries out sending pwm signal and direction control signal adjustment motor 16 drive manners after Treatment Analysis to the second control signal, make object 1 correspondingly move to left or move to right, until in the picture that camera head 22 is taken, pilot lamp 2 is positioned at the middle position of this picture.
Step S16, whether judge module 104 judgment objects 1 move to setting path terminal, in the time that object 1 does not move to setting path terminal, return to step S11, otherwise, enter step S17.In present embodiment, can be by judging whether whether have pilot lamp 2 to carry out judgment object 1 in the picture that camera head 22 takes moves to setting path terminal, in the time there is no pilot lamp 2 in the picture that camera head 22 is taken, illustrate that object 1 moves to setting path terminal.
Step S17, stopping modular 112 is controlled object 1 and is stopped mobile.In present embodiment, stopping modular 112 sends the 3rd and controls signal to motor controller 18, and motor controller 18 is processed rear transmission pwm signal to the 3rd control signal shuts down motor 16.
Multiple pilot lamp 2 that described step S10 utilizes camera head 22 to take to lay on setting path to step S17, and the picture analysis that shooting is obtained is determined the moving direction of object 1, thereby realize the automated movement of object 1, saved manpower, facilitated use.
In addition, the present invention also can move along the route of setting for outdoor control object 1.
Above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not depart from the spirit and scope of technical solution of the present invention.
Claims (10)
1. utilize image analysis technology to realize the method that object moves, it is characterized in that, the method comprises:
Trigger step, in the time that multiple pilot lamp of laying on setting path are unlocked, trigger the camera head of installing on object and take one by one each pilot lamp along setting path;
Obtaining step, obtains camera head and takes the picture that pilot lamp obtains;
The first determining step, analyzes and judges in the picture obtaining, and whether pilot lamp is positioned at this picture middle position;
Control step, in the time that pilot lamp is positioned at the middle position of picture, controls object and move linearly along current direction;
Analytical procedure, in the time that pilot lamp is not positioned at the middle position of picture, the pilot lamp of analyzing in above-mentioned picture is to the left or to the right;
Set-up procedure, in the above-mentioned picture obtaining according to analysis, pilot lamp is to the left or to the right, controls object and correspondingly moves to left or move to right, until pilot lamp is positioned at picture middle position in the picture that camera head is taken;
The second determining step, whether judgment object moves to setting path terminal, in the time that object does not move to setting path terminal, returns to obtaining step, in the time that object moves to setting path terminal, enters and stops step;
Stop step, control object and stop mobile.
2. the image analysis technology that utilizes according to claim 1 is realized the method that object moves, and it is characterized in that, described multiple pilot lamp are layed on the ceiling of indoor each route, and multiple pilot lamp adjacent line that connects into one by one on ceiling.
3. the image analysis technology that utilizes according to claim 1 is realized the method that object moves, and it is characterized in that, described control step comprises:
In the time that pilot lamp is positioned at the middle position of picture, transmission first controls signal to the motor controller of this object, motor controller is processed rear transmitted width modulated pwm signal and the direction control signal motor to this object to the first control signal, controlling motor keeps current operating condition to remain in operation, thereby band animal body gear rotates, and realizes object and moves linearly along current moving direction.
4. the image analysis technology that utilizes according to claim 1 is realized the method that object moves, and it is characterized in that, described the second determining step comprises:
Whether have pilot lamp to carry out judgment object whether to move to setting path terminal, in the time there is no pilot lamp in the picture that camera head is taken, judge that object has moved to setting path terminal by judging in the picture that camera head takes.
5. the image analysis technology that utilizes according to claim 1 is realized the method that object moves, and it is characterized in that, in the time having multiple pilot lamp in the picture that camera head is taken, analyzed pilot lamp is from the nearest pilot lamp of object in multiple pilot lamp.
6. utilize image analysis technology to realize the system that object moves, it is characterized in that, this system comprises:
Trigger module, in the time that multiple pilot lamp of laying on setting path are unlocked, trigger the camera head of installing on object and takes one by one each pilot lamp along setting path;
Acquisition module, takes for obtaining camera head the picture that pilot lamp obtains;
Judge module, for judging the picture obtaining, whether pilot lamp is positioned at this picture middle position;
Control module, when being positioned at the middle position of picture when pilot lamp, controlling object and moves linearly along current direction;
Analysis module, in the time that pilot lamp is not positioned at the middle position of picture, the pilot lamp of analyzing in above-mentioned picture is to the left or to the right;
Adjusting module, is to the left or to the right for the above-mentioned picture pilot lamp obtaining according to analysis, controls object and correspondingly moves to left or move to right, until pilot lamp is positioned at picture middle position in the picture that camera head is taken;
Stopping modular, controls object when moving to setting path terminal when object and stops mobile.
7. the image analysis technology that utilizes according to claim 6 is realized the system that object moves, and it is characterized in that, described multiple pilot lamp are layed on the ceiling of indoor each route, and multiple pilot lamp adjacent line that connects into one by one on ceiling.
8. the image analysis technology that utilizes according to claim 6 is realized the system that object moves, it is characterized in that, in the time that pilot lamp is positioned at the middle position of picture, described control module transmission first controls signal to the motor controller of this object, motor controller is processed rear transmitted width modulated pwm signal and the direction control signal motor to this object to the first control signal, controlling motor keeps current operating condition to remain in operation, thereby band animal body gear rotates, and realizes object and moves linearly along current moving direction.
9. the image analysis technology that utilizes according to claim 6 is realized the system that indoor object moves, it is characterized in that, whether described judge module is by having pilot lamp to carry out judgment object whether to move to setting path terminal in the picture that judges camera head and take, in the time there is no pilot lamp in the picture that camera head is taken, judge that object has moved to setting path terminal.
10. the image analysis technology that utilizes according to claim 6 is realized the system that object moves, and it is characterized in that, in the time having multiple pilot lamp in the picture that camera head is taken, analyzed pilot lamp is from the nearest pilot lamp of object in multiple pilot lamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310037686.7A CN103970133A (en) | 2013-01-31 | 2013-01-31 | Method and system utilizing image analysis technique to realize object movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310037686.7A CN103970133A (en) | 2013-01-31 | 2013-01-31 | Method and system utilizing image analysis technique to realize object movement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103970133A true CN103970133A (en) | 2014-08-06 |
Family
ID=51239759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310037686.7A Pending CN103970133A (en) | 2013-01-31 | 2013-01-31 | Method and system utilizing image analysis technique to realize object movement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103970133A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104950892A (en) * | 2015-06-29 | 2015-09-30 | 厦门狄耐克物联智慧科技有限公司 | Walking control system and method for robot |
| CN106236279A (en) * | 2016-08-25 | 2016-12-21 | 周玉梅 | A kind of can be with the novel intelligent anesthetic table of automatic running |
| CN107103492A (en) * | 2017-04-12 | 2017-08-29 | 无锡北斗星通信息科技有限公司 | A kind of supply method based on image procossing |
| CN108837258A (en) * | 2018-07-16 | 2018-11-20 | 烟台国际旅行卫生保健中心 | A kind of combination internal medicine intelligent breathing system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5051906A (en) * | 1989-06-07 | 1991-09-24 | Transitions Research Corporation | Mobile robot navigation employing retroreflective ceiling features |
| US5812267A (en) * | 1996-07-10 | 1998-09-22 | The United States Of America As Represented By The Secretary Of The Navy | Optically based position location system for an autonomous guided vehicle |
| CN1598610A (en) * | 2003-09-16 | 2005-03-23 | 三星电子株式会社 | Apparatus and method for estimating a position and an orientation of a mobile robot |
| KR100996180B1 (en) * | 2008-08-12 | 2010-11-23 | 한국생산기술연구원 | Localization system and method for mobile object using led light |
| CN102135429A (en) * | 2010-12-29 | 2011-07-27 | 东南大学 | Robot indoor positioning and navigating method based on vision |
| CN201965486U (en) * | 2010-12-16 | 2011-09-07 | 西安理工大学 | Intelligent tracking trolley |
-
2013
- 2013-01-31 CN CN201310037686.7A patent/CN103970133A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5051906A (en) * | 1989-06-07 | 1991-09-24 | Transitions Research Corporation | Mobile robot navigation employing retroreflective ceiling features |
| US5812267A (en) * | 1996-07-10 | 1998-09-22 | The United States Of America As Represented By The Secretary Of The Navy | Optically based position location system for an autonomous guided vehicle |
| CN1598610A (en) * | 2003-09-16 | 2005-03-23 | 三星电子株式会社 | Apparatus and method for estimating a position and an orientation of a mobile robot |
| KR100996180B1 (en) * | 2008-08-12 | 2010-11-23 | 한국생산기술연구원 | Localization system and method for mobile object using led light |
| CN201965486U (en) * | 2010-12-16 | 2011-09-07 | 西安理工大学 | Intelligent tracking trolley |
| CN102135429A (en) * | 2010-12-29 | 2011-07-27 | 东南大学 | Robot indoor positioning and navigating method based on vision |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104950892A (en) * | 2015-06-29 | 2015-09-30 | 厦门狄耐克物联智慧科技有限公司 | Walking control system and method for robot |
| CN104950892B (en) * | 2015-06-29 | 2017-10-31 | 厦门狄耐克物联智慧科技有限公司 | The traveling control system and method for a kind of robot |
| CN106236279A (en) * | 2016-08-25 | 2016-12-21 | 周玉梅 | A kind of can be with the novel intelligent anesthetic table of automatic running |
| CN107103492A (en) * | 2017-04-12 | 2017-08-29 | 无锡北斗星通信息科技有限公司 | A kind of supply method based on image procossing |
| CN108837258A (en) * | 2018-07-16 | 2018-11-20 | 烟台国际旅行卫生保健中心 | A kind of combination internal medicine intelligent breathing system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103970133A (en) | Method and system utilizing image analysis technique to realize object movement | |
| EP3691417B1 (en) | Automatic stage lighting tracking system and control method therefor | |
| US10660599B2 (en) | Method and device for positioning an emitter | |
| CN105593659B (en) | Improved electric machine control system for self-calibration polyphaser positioning system | |
| CN111399510A (en) | Detachable disinfection robot, robot control method and robot control system | |
| US20170129484A1 (en) | Auto-parking system | |
| EP3766306B1 (en) | Surgical lighting apparatus including surgical lighthead with moveable lighting modules | |
| US11813028B2 (en) | Active-detection self-propelled artificial intelligence surgical navigation cart | |
| CN103424416B (en) | A kind of hub detecting system based on X ray and detection method thereof | |
| CN109381210B (en) | Radiography system and method of operating the same | |
| CN1650804A (en) | Methods and system for multi-modality imaging | |
| JP2007244569A (en) | Ceiling travelling and suspending-type x-ray photographing apparatus | |
| CN105922921B (en) | The automatic monitoring car of nuclear emergency | |
| CN111053564B (en) | Medical equipment movement control method and medical equipment | |
| JP4643186B2 (en) | Apparatus and method for performing a medical process | |
| CN103970132A (en) | Method and system utilizing infrared detection technology to realize object movement | |
| CN204147051U (en) | For the device that image detector is alignd with radiographic source | |
| CN103970130A (en) | Indoor object moving method and system | |
| CN113053505A (en) | Special emergency tender system of 5G intelligent driving cerebral apoplexy | |
| CN103529849A (en) | Intelligent tracing car | |
| KR20150098569A (en) | Human-computer interactive device of ct machine and ct machine | |
| KR20170136827A (en) | System and method of lamp control for concentration lighting on mobile body | |
| CN106686858B (en) | A kind of automatic seeking lamp method of intelligent evacuation system | |
| US20220258349A1 (en) | Conveyance system, conveyance method, and computer readable medium | |
| JP2009294713A (en) | Checking system, controller, checking method, and control program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140806 |
|
| RJ01 | Rejection of invention patent application after publication |