JP2002148016A - Method and apparatus for detection of position of moving object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and an apparatus for the detection of the position of a moving object wherein the position of the moving object can be detected with high accuracy even in a place where many noises are generated such as inside a factory or the like. SOLUTION: A marker 30 is attached to the surface of the moving object 20 which is moved on the floor of a building such as the factory or the like. The marker 30 attached to the moving object 20 is imaged by a CCD camera 11 attached to the ceiling of the building such as the factory or the like. When the pattern of an imaged image obtained by the imaging operation of the CCD camera 11 is matched, the position inside the building of the moving object 20 is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for detecting the position of a moving object for detecting the position of an automatic guided vehicle or the like in a factory. The present invention relates to a method and an apparatus for detecting a position of a moving body, which can detect the position of the moving body with high accuracy even inside or the like.

[0002]

2. Description of the Related Art Conventionally, as a position detecting method for detecting the position of a mobile object such as an unmanned guided vehicle traveling in a factory, 1) a transmitter for transmitting a radio wave of a predetermined frequency is attached to the mobile object, and A plurality of base stations for receiving radio waves transmitted from the transmitter are provided within the base station, and a position of a mobile body is detected based on a direction of arrival of the radio waves at the plurality of base stations. Buried,
A method of detecting the position of the moving body by reading the ID of the data carrier is known.

[0003]

However, in the method 1), when an object that reflects radio waves is present in the factory, the radio wave transmitted from the moving object is reflected by the object, and the position of the moving object is thereby reduced. Is erroneously detected.

In the method 2), it may be difficult to receive a weak signal from a data carrier in a factory or the like where a lot of noise is generated. In this case, the position of the moving body is accurately detected. It is not possible.

Accordingly, the present invention provides a method and an apparatus for detecting the position of a moving body, which can detect the position of the moving body with high accuracy even in a place where a lot of noise occurs, such as in a factory. Aim.

[0006]

According to the present invention, there is provided a method for detecting the position of a moving object, comprising the steps of: detecting a position of a moving object moving on a floor in a building; Attach a marker to the moving body,
An image pickup unit attached to the ceiling of the building and taking an image of the marker attached to the moving body is provided, and the position of the image of the marker is obtained by analyzing the image taken by the image pickup unit. The position of the moving body is detected based on

Here, a building is, for example, a building such as a factory, which has a floor made of a two-dimensional plane large enough for a moving body to move. In addition, the moving object is, for example,
An unmanned carrier or the like, and the imaging means is, for example, C
This is a CD (Chage Coupled Device) camera. In the present invention, the position of a moving object such as an automatic guided vehicle in a building is detected based on an image captured by an image capturing means such as a CCD camera.

[0008] The marker attached to the moving object is a marker which can be imaged by an image pickup means attached to the ceiling of the building, and includes, for example, a marker which generates light by itself.

The analysis of the image picked up by the image pickup means includes, for example, storing the image of the marker in advance, and performing pattern matching between the stored image of the marker and the image picked up by the image pickup means. Extracting the image of the marker from the captured image, obtaining the center coordinates of the extracted image of the marker, and detecting the position of the moving body based on the obtained center coordinates of the image of the marker.

According to such a configuration, since the position of the moving body is optically detected, it is possible to detect the position of the moving body with high accuracy even in a factory where a lot of noise occurs.

Further, the marker has a shape for identifying the moving object, and the marker is identified based on the shape of the marker.

That is, by making the shape of the marker different for each moving body, a plurality of moving bodies can be identified and their positions can be detected.

Further, the marker has an asymmetric shape, and the moving direction of the moving body is identified based on the asymmetric shape of the marker.

That is, the moving direction of the moving body can be determined by forming the shape of the marker asymmetrically before and after the moving body.

The method for detecting the position of a moving object according to the present invention is the method for detecting the position of a moving object moving on a floor in a building, wherein the moving object moving on the floor in the building is marked with a marker. And a plurality of image pickup means attached to the ceiling of the building, each of which partially overlaps the image pickup range, and analyzes the images picked up by the plurality of image pickup means to respectively position the image of the marker. And detecting the position of the moving body based on the obtained position.

According to such a configuration, it is possible to detect the position of a moving body that moves over a wide range even if the imaging range of each imaging unit is narrow.

Further, according to the present invention, there is provided a position detecting apparatus for a moving object which detects a position of a moving object moving on a floor in a building. Imaging means for capturing an image of a surface; storage means for previously storing an image of a marker attached to the moving body; and a pattern of an image captured by the imaging means and an image of the marker stored in the storage means. Image processing means for extracting an image of the marker from a captured image of the imaging means by matching, and detecting a position of the moving body based on a coordinate position of the extracted image of the marker. .

Here, the marker has a shape for identifying the moving object, and the image processing means identifies the moving object based on the shape of the marker.

Further, the marker has an asymmetric shape, and the image processing means identifies a moving direction of the moving body based on the asymmetric shape of the marker.

Further, the marker is provided with a marker slit plate having a slit formed therein, and a light source for irradiating the marker slit plate. As this light source, for example, an infrared LED or the like can be used.

A moving object position detecting device according to the present invention is a moving object position detecting device for detecting a position of a moving object moving on a floor in a building. A plurality of image pickup means overlapping in the unit, a storage means for preliminarily storing an image of a marker attached to the moving body, and a combination of the image picked up by the image pickup means and the image of the marker stored in the storage means Image processing means for extracting the image of the marker from the captured image of the imaging means by pattern matching, and detecting the position of the moving body based on the coordinate position of the extracted image of the marker. I do.

[0022] Further, according to the present invention, there is provided a moving object position detecting device for detecting the position of a moving object moving on a floor in a building, wherein the plurality of sensor devices attached to the ceiling of the building are provided. And a center device disposed remotely with the plurality of sensor devices and capable of communicating with the plurality of sensor devices, wherein the sensor device is configured to capture a floor of the building in a predetermined imaging range. A plurality of imaging means for capturing images, the imaging ranges of which partially overlap each other; a storage means for storing in advance an image of a marker attached to the moving body; a captured image taken by the imaging means and stored in the storage means The image of the marker is extracted from the captured image of the imaging unit by pattern matching with the image of the marker thus extracted, and the moving object of the moving object is extracted based on the coordinate position of the extracted image of the marker. Image processing means for detecting location information, and transmission means for transmitting the position information detected by the image processing means to the center device, wherein the center device transmits the position information transmitted by the transmission means. Receiving means for receiving, the display means for displaying the position of the moving body based on the position information received by the receiving means,
It is characterized by having.

Here, the marker has a shape for identifying the type of the moving object, the image processing means identifies the type of the moving object based on the shape of the marker, and the transmitting means includes The identification information of the identified moving body is transmitted to the center device together with the position information, and the display means displays the type of the moving body together with the position of the moving body.

Further, the marker has an asymmetric shape, the image processing means identifies the moving direction of the moving body based on the asymmetric shape of the marker, and the transmitting means determines the moving direction of the identified moving body. The moving direction information is transmitted to the center device together with the position information, and the display means displays the moving direction together with the position of the moving body.

Further, according to the present invention, there is provided a moving object position detecting device for detecting a position of a moving object moving on a floor in a building, wherein the plurality of sensor devices attached to a ceiling of the building are provided. And a center device disposed remotely with the plurality of sensor devices and capable of communicating with the plurality of sensor devices, wherein the sensor device is configured to capture a floor of the building in a predetermined imaging range. A plurality of image capturing means for capturing an image, the image capturing ranges of which partially overlap each other, and a transmitting means for transmitting image data captured by the image capturing means to the center device. Receiving means for receiving the transmitted image data,
A storage unit for storing image data of a marker attached to the moving object in advance, and an image pickup of the image pickup unit by pattern matching between the image data received by the reception unit and the image data of the marker stored in the storage unit An image processing unit that extracts an image of the marker from the image, and detects position information of the moving object based on the coordinate position of the extracted image of the marker; and performs the movement based on the position information detected by the image processing unit. Display means for displaying the position of the body.

Here, the marker has a shape for identifying the type of the moving object, the image processing means identifies the type of the moving object based on the shape of the marker, and the display means includes The type of the identified moving object is displayed together with the position of the moving object.

The marker has an asymmetric shape, the image processing means identifies a moving direction of the moving body based on the asymmetric shape of the marker, and the display means displays the moving direction together with the position of the moving body. The moving direction of the moving object thus identified is displayed.

The transmitting means compresses the image data and transmits the compressed image data to the center device. The image processing means restores the compressed image data and then stores the restored image data and the storage means. The image of the marker is extracted from the captured image of the imaging unit by pattern matching with the image data of the marker stored in the image processing unit, and the position information of the moving body is detected based on the coordinate position of the extracted image of the marker. It is characterized by the following.

[0029]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a method and an apparatus for detecting the position of a moving object according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram showing an embodiment of a moving object position detecting apparatus according to the present invention.

The moving object position detecting apparatus shown in FIG. 1 is a moving object such as an automatic guided vehicle moving on a floor in a building such as a factory.
The marker 30 is attached to the upper surface of a moving body 20 that moves on the floor in a building such as a factory, and the marker 30 attached to the moving body 20 is attached to the ceiling of a building such as a factory. Take an image with the CCD camera 11,
The position of the moving body 20 in the building is detected by analyzing the image captured by the CCD camera 11.

The CCD camera 11 is built in the position detecting sensor device 10 attached to the ceiling of the building,
This position detection sensor device 10 includes a CCD camera 11,
Image memory 12, CPU (Central Processing Unit) 1
3, a flash memory 14, and a network I / F (network interface) 15.

Here, the CCD camera 11 is set at a predetermined viewing angle, and is attached to the moving body 20 by taking an image of the floor from the ceiling of a building such as a factory as described above. An image including the marker 30 is obtained.

The image data obtained by the imaging by the CCD camera 11 is temporarily stored in the image memory 12.

The flash memory 14 has a marker 3 attached to a moving body 20 whose position is to be detected.
Image data corresponding to image 0 is stored in advance.

When the image data corresponding to the image acquired by the CCD camera 11 is stored in the image memory 12, the CPU 13 reads out the image data and refers to the image data of the marker 30 stored in the flash memory 14. And the CCD camera 11
It is checked whether or not the image of the marker 30 of the moving object 20 to be position-detected is included in the image acquired by (1).

If the image obtained by the CCD camera 11 does not include the image of the marker 30 of the moving body 20 whose position is to be detected, the CCD camera 11
This processing is terminated assuming that the moving object 20 whose position is to be detected does not exist within the visual field of, that is, within the imaging range of the CCD camera 11.

However, when the image obtained by the CCD camera 11 by the pattern matching by the CPU 13 includes the image of the marker 30 of the moving body 20 whose position is to be detected, the image obtained by the CCD camera 11 is used. The coordinates of the center position of the image of the marker 30 of the moving body 20 extracted by the pattern matching in
The coordinates are detected as the position of the moving body 20.

Here, the coordinates of the center position of the image of the marker 30 of the moving body 20 may be coordinates fixed at the position where the CCD camera 11 is provided, or coordinates fixed at the position where the CCD camera 11 is provided. May be converted to an absolute position in the building.

The position information indicating the position of the mobile unit 20 obtained by the CPU 13 is transmitted to the network I / O.
It is transmitted to a center device (not shown) via F15.

The center device receives the position information transmitted from the position detection sensor device, and displays the position of the mobile unit 20 in the building on the display device based on the position information.

Here, the display on the display device is, for example, that the movable area of the moving object 20 of this building is displayed in advance on the display device, and the moving object 2 is displayed on the movable area.
This is performed by displaying the 0 positions in an overlapping manner.

If the position information sent from the sensor device 10 is information indicating coordinates fixed at the arrangement position of the CCD camera 11, the coordinates are converted into absolute coordinates relating to the movable area by the center device. On the display device.

In the above description, the case where one position detection sensor device 10 is provided on the ceiling of a building such as a factory has been described.
If it is not possible to acquire an image of the entire movable area of the moving body 20 at 0, a plurality of position detection sensor devices 10-1 to 10-5 are provided as shown in FIG.

FIG. 2 shows an image pickup area of each of the position detection sensor devices 10-1 to 10-5 when five position detection sensor devices 10-1 to 10-5 are provided on the ceiling of a building such as a factory. It is shown. Each configuration of the position detection sensor devices 10-1 to 10-5 shown in FIG.
This is the same as the position detection sensor device 10 shown in FIG. However, the position detection sensor devices 10-1 to 10- shown in FIG.
5, each of the position detection sensor devices 10-1 to 10-10
Each of them is connected in series by a signal line 10a in order to transmit the -5 captured images to the center device.

As shown in FIG. 2, the five position detection sensor devices 10-1 to 10-5 are arranged so that their imaging areas partially overlap each other in the adjacent imaging areas, whereby It is configured such that an image of the entire movable area of the moving body 20 of this building can be captured without generating a blind spot.

That is, the first position detecting sensor device 1
The imaging area 0-1 corresponds to the second position detection sensor device 1.
The imaging area of the second position detection sensor device 10-2 partially overlaps with the imaging area of the third position detection sensor device 10-3. The imaging area of the third position detection sensor device 10-3 partially overlaps the imaging area of the fourth position detection sensor device 10-4, and the fourth position detection sensor device 10-4.
Is the fifth position detection sensor device 10-5.
The five position detection sensor devices 10-1 to 10-5 are arranged on the ceiling of this building so that a part thereof overlaps the imaging area of the building.

FIG. 3 shows an example of the marker 30 attached to the moving body 20 shown in FIG. 1. FIG. 3 (a) is a top view and FIG. 3 (b) is a side view.

The marker 30 shown in FIG.
Is used to generate light by itself, and a marker slit plate 32 having a slit 32a as shown in FIG.
Are arranged.

In this case, the CCD camera 11 shown in FIG.
Then, the marker slit plate 3 as shown in FIG.
An image of the second slit 32a is obtained.

Here, the slit 32a of the marker slit plate 32 is formed in a vertically asymmetrical shape as shown in FIG. 3 (a). In FIG. 1A, if the direction indicated by the arrow A is attached to the moving body 20 so as to coincide with the traveling direction of the moving body 20, the position detection sensor device 10 shown in FIG.
The traveling direction of the moving body 20 can be recognized by the pattern matching processing of the PU 13.

In consideration of a case where a plurality of moving bodies move in the building, if the shape of the slit 32a formed in the marker slit plate 32 is changed for each moving body, the slits 32a are formed. By identifying the shape by the pattern matching process of the CPU 13 of the position detection sensor device 10 shown in FIG. 1, a plurality of moving objects and their types can be identified.

In this case, the position detection sensor device 10 shown in FIG. 1 or the position detection sensor device 1 shown in FIG.
By transmitting moving direction information indicating the traveling direction of the moving body 20 and identification information for identifying the moving body in addition to the position information from 0-1 to 10-5, the position of the moving body 20 is transmitted to the center device. In addition, the moving direction and the type can be displayed so as to be identifiable.

FIG. 4 is a flowchart showing the position detecting operation of the position detecting sensor device 10 shown in FIG.

In FIG. 4, first, image data is acquired by the CCD camera 11 (step 401), and the acquired image data is stored in the image memory 12 (step 40).
2).

Next, the image data stored in the image memory 12 is read, and the image data and the flash memory 1 are read.
4 is subjected to a pattern matching process with the image data of the marker 30 stored in the marker 4.

By this pattern matching processing, whether there is a pattern to be matched, that is,
It is checked whether the moving object 20 to be detected has been detected (step 404).

If it is determined that the moving object 20 to be detected has been detected (YES in step 404), the coordinates of the center position of the marker 30 are detected based on the image data of the matched marker 30 (step 40).
5).

The coordinates of the center position of the marker 30 detected in the processing of this step become the position information of the moving object 20 to be detected.

At this time, if the direction of the marker 30 is detected, moving direction information indicating the moving direction of the moving body 20 can be detected, and identification information for identifying the moving body 20 based on the shape of the marker 30 can be obtained. it can.

The position information detected in step 405 is transmitted to the center device together with the moving direction information and the identification information, and the process ends.

If no matching pattern exists in step 404 (N in step 404)
O), this process ends as it is.

The process of the flowchart shown in FIG. 4 is repeated in the cycle of detecting the position of the moving body 20.

FIG. 5 is a diagram showing an example of a format configuration of information transmitted between the position detection sensor device shown in FIG. 1 or 2 and the center device.

FIG. 5A is a diagram showing a transmission format of position information transmitted from the position detection sensor device shown in FIG. 1 or 2 to the center device.

The transmission format of the position information transmitted from the position detection sensor device to the center device is shown in FIG.
As shown in the table, “sensor ID”, “marker I”
D "," marker direction "," X coordinate ", and" Y coordinate ".

Here, the "sensor ID" is information for identifying the position detecting sensor device which has transmitted this position information. The “marker ID” is identification information of the marker, and the moving object 20 can be identified by the “marker ID”.

The "marker direction" indicates the direction of the marker, and the moving direction of the moving object can be identified by the "marker direction".

The “X coordinate” and “Y coordinate” indicate the position of the moving object, ie, “X coordinate” and “Y coordinate” where the moving object is located.
Coordinates ”.

FIG. 5B shows information transmitted from the center device to the position detecting sensor device shown in FIG. 1 or FIG.

The information shown in FIG. 5B is composed of "sensor ID", "marker ID", and "pattern data".

Here, the "pattern data" indicates the pattern of the marker attached to the moving body 20 to be detected, and the "sensor ID" indicates the position detection sensor of the destination of the "pattern data". The ID for identifying the device and the “marker ID” are IDs for identifying the “pattern data”.

That is, by transmitting the information shown in FIG. 5B from the center device, it is possible to specify the moving object whose position is to be detected. The “pattern data” transmitted as the information shown in FIG. 5B is stored as marker image data of the moving object 20 whose position is to be detected in the flash memory 14 shown in FIG.

In the above-described embodiment, the position detection sensor device detects the position information and the moving direction of the moving object, and transmits the detected position information and the moving direction of the moving object to the center device. Was constructed as follows, but C
The image data acquired by the CD camera may be transmitted to the center device as it is, and the center device may detect the position information and the moving direction of the moving object.

FIG. 6 is a block diagram showing another embodiment of the moving object position detecting apparatus according to the present invention constructed as described above.

That is, in the embodiment shown in FIG. 6, the plurality of position detecting
Only the image data is acquired by the camera, the image data acquired by the CCD camera is compressed and transmitted to the center device 50, and the detection of the position information and the moving direction of the moving object is performed by:
This is performed on the center device 50 side.

According to such a configuration, the position detection sensor device 100 only needs to transmit the image data acquired by the position detection sensor device 100 to the center device 50. It can be simplified and can be configured at low cost.

In this case, the center device 50 has a network I / F for communicating with the position detecting sensor device 100.
(Network interface) 51, network I
The compressed image data received via the / F51 is restored and stored in the image memory 53, and the image data stored in the image memory 53 and the marker image storage unit 54 are restored.
(2) a CPU 52 that performs pattern matching with the stored marker image data to detect position information and a moving direction of the moving body, and a display unit 55 that displays the position and the moving direction of the moving body based on the processing result of the CPU 52; It is composed.

FIG. 7 is a diagram showing an example of a format configuration of information transmitted from the position detection sensor device 100 to the center device 50 when the configuration shown in FIG. 6 is adopted.

In FIG. 7, this information is represented by “Sensor-I
D "and" image data ". Here, “image data” is obtained by compressing image data obtained by a CCD camera, and “sensor-ID” is the position detection sensor device 1 that is the source of the “image data”.
00 is the information for identifying 00.

[0081]

As described above, according to the present invention,
In position detection of a moving object that detects the position of the moving object that moves on the floor in the building, a marker is attached to the moving object that moves on the floor in the building, and the marker is attached to the ceiling of the building and attached to the moving object. An imaging unit for imaging the obtained marker, analyzing the image captured by the imaging unit to obtain the position of the image of the marker, and detecting the position of the moving body based on the obtained position. Therefore, there is an effect that the position of the moving body can be detected with high accuracy even in a factory or the like where much noise is generated.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of a moving object position detecting device according to the present invention.

FIG. 2 is a diagram illustrating an example of each imaging area when a plurality of position detection sensor devices are used.

FIG. 3 is a diagram illustrating an example of a marker attached to the moving body illustrated in FIG. 1;

FIG. 4 is a flowchart showing a position detecting operation of the position detecting sensor device shown in FIG.

FIG. 5 is a diagram showing an example of a format configuration of information transmitted between the position detection sensor device and the center device shown in FIG. 1 or FIG. 2;

FIG. 6 is a block diagram showing another embodiment of the moving object position detecting device according to the present invention.

FIG. 7 is a diagram showing an example of a format configuration of information transmitted from the position detection sensor device shown in FIG. 6 to the center device.

[Explanation of symbols]

Reference Signs List 10 position detecting sensor device 10-1 to 10-5 position detecting sensor device 11 CCD camera 12 image memory 13 CPU 14 flash memory 15 network I / F (network interface) 20 moving body 30 marker 31 light source 32 marker slit plate 32a slit Reference Signs List 50 center device 51 network I / F (network interface) 52 CPU 53 image memory 54 marker image storage unit 55 display unit 100 position detection sensor device

Claims (20)

[Claims] 1. A method for detecting a position of a moving object moving on a floor in a building, the method comprising: attaching a marker to the moving object moving on the floor in the building; and attaching the marker to a ceiling of the building. Image capturing means for capturing an image of a marker attached to the moving body; determining a position of the image of the marker by analyzing a captured image captured by the image capturing means; and determining a position of the moving body based on the determined position. Detecting the position of the moving object. 2. An image of the marker is stored in advance, and the image of the marker is extracted from the captured image of the imaging unit by pattern matching between the stored image of the marker and the captured image of the imaging unit. 2. The method for detecting the position of a moving object according to claim 1, wherein a center coordinate of the extracted image of the marker is obtained, and a position of the moving object is detected based on the obtained center coordinate of the image of the marker. 3. The method according to claim 1, wherein the marker has a shape for identifying the moving object, and the moving object is identified based on the shape of the marker. 4. The method according to claim 1, wherein the marker has an asymmetric shape, and the moving direction of the moving object is identified based on the asymmetric shape of the marker. 5. A method for detecting the position of a moving object moving on a floor in a building, the method comprising: attaching a marker to the moving object moving on the floor in the building; and attaching the marker to a ceiling of the building. A plurality of image pickup units each of which partially overlaps an image pickup range, a position of the image of the marker is obtained by analyzing the images picked up by the plurality of image pickup units, and the movement based on the obtained position. A method for detecting a position of a moving body, comprising detecting a position of the body. 6. An image of the marker is stored in advance, and the image of the marker is extracted from the captured image of the imaging unit by pattern matching between the stored image of the marker and the captured image of the imaging unit. 6. The method according to claim 5, wherein a center coordinate of the extracted marker image is obtained, and the position of the mobile body is detected based on the obtained center coordinate of the marker image. 7. The method according to claim 5, wherein the marker has a shape for identifying the moving object, and the moving object is identified based on the shape of the marker. 8. The method according to claim 5, wherein the marker has an asymmetric shape, and the moving direction of the moving object is identified based on the asymmetric shape of the marker. 9. A moving object position detecting device for detecting a position of a moving object moving on a floor in a building, wherein the image pickup means is attached to a ceiling of the building and images a floor surface of the building. Storage means for pre-storing an image of the marker attached to the storage means, and the marker from the captured image of the imaging means by pattern matching between the captured image captured by the imaging means and the marker image stored in the storage means Image processing means for extracting an image of the moving object and detecting a position of the moving object based on a coordinate position of the extracted image of the marker. 10. The moving object according to claim 9, wherein the marker has a shape for identifying the moving object, and the image processing means identifies the moving object based on the shape of the marker. Position detection device. 11. The moving object according to claim 9, wherein the marker has an asymmetric shape, and the image processing means identifies a moving direction of the moving object based on the asymmetric shape of the marker. Position detection device. 12. The apparatus according to claim 9, wherein the marker comprises: a marker slit plate having a slit formed therein; and a light source for irradiating the marker slit plate. . 13. A moving object position detecting device for detecting a position of a moving object moving on a floor in a building, wherein the plurality of image pickup means are attached to a ceiling of the building, and an image pickup range partially overlaps the moving object. A storage unit for storing an image of the marker attached to the body in advance; and performing a pattern matching between the captured image captured by the imaging unit and the image of the marker stored in the storage unit from the captured image of the imaging unit. An image processing means for extracting an image of a marker and detecting the position of the moving object based on the coordinate position of the extracted image of the marker, a position detecting device for the moving object. 14. A moving object position detecting device for detecting a position of a moving object moving on a floor in a building, wherein the plurality of sensor devices are mounted on a ceiling of the building, and the plurality of sensor devices are remote from the plurality of sensor devices. A center device that is provided and is capable of communicating with the plurality of sensor devices. The sensor device captures an image of a floor of the building in a predetermined imaging range, and the imaging ranges partially overlap with each other. A plurality of imaging means; a storage means for storing in advance an image of a marker attached to the moving body; and a pattern matching between the image captured by the imaging means and the image of the marker stored in the storage means. Image processing means for extracting the image of the marker from the captured image of the imaging means, and detecting position information of the moving body based on the coordinate position of the extracted image of the marker; Transmitting means for transmitting the position information detected by the image processing means to the center device; receiving means for receiving the position information transmitted by the transmitting means; and receiving means Display means for displaying the position of the moving object based on the position information received in (1), a position detecting device for the moving object. 15. The marker has a shape for identifying the type of the moving object, the image processing means identifies the type of the moving object based on the shape of the marker, and the transmitting means includes: The position detection of the moving body according to claim 14, wherein the identification information of the moving body is transmitted to the center device together with the position information, and the display unit displays the type of the moving body together with the position of the moving body. apparatus. 16. The marker has an asymmetric shape; the image processing means identifies a moving direction of the moving body based on the asymmetric shape of the marker; The moving object position detecting device according to claim 14, wherein the moving direction information is transmitted to the center device together with the position information, and the display means displays the moving direction together with the position of the moving object. 17. A position detecting apparatus for a moving object that detects a position of a moving object moving on a floor in a building, wherein the plurality of sensor devices are mounted on a ceiling of the building, and the plurality of sensor devices are remote from the plurality of sensor devices. A center device that is provided and is capable of communicating with the plurality of center devices. The sensor device captures an image of a floor of the building in a predetermined imaging range, and the imaging ranges partially overlap. A plurality of imaging means; and a transmission means for transmitting the image data imaged by the imaging means to the center device, wherein the center device receives the image data transmitted by the transmission means. Storage means for previously storing image data of a marker attached to the moving object; image data received by the reception means and an image of the marker stored in the storage means Image processing means for extracting an image of the marker from a captured image of the imaging means by pattern matching with data, and detecting positional information of the moving body based on the coordinate position of the extracted image of the marker; Display means for displaying the position of the moving object based on the position information detected by the processing means. 18. The marker has a shape for identifying the type of the moving object, the image processing means identifies the type of the moving object based on the shape of the marker, and the display means includes: 18. The moving object position detecting device according to claim 17, wherein the type of the identified moving object is displayed together with the position of the body. 19. The marker has an asymmetric shape, the image processing means identifies a moving direction of the moving body based on the asymmetric shape of the marker, and the display means has a position of the moving body together with the position of the moving body. 18. The moving object position detecting device according to claim 17, wherein the identified moving direction of the moving object is displayed. 20. The transmitting means compresses the image data and transmits the compressed image data to the center device. The image processing means restores the compressed image data, and then stores the restored image data and the storage means. The image of the marker is extracted from the captured image of the imaging unit by pattern matching with the image data of the marker stored in the image processing unit, and the position information of the moving body is detected based on the coordinate position of the extracted image of the marker. The position detecting device for a moving body according to claim 17, wherein: