JP2006023831A - Mobile object detection method and system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mobile object detection method and system capable of detecting positions irrespective of the shape of a ceiling on which markers are positioned, while reducing the cost of installing the markers on the ceiling. <P>SOLUTION: The method for detecting the position of a mobile object is for detecting the position of the mobile object by means of the mobile object detection system comprising an imaging means mounted on the mobile object for taking images and outputting digital image data, an image processing means for processing the image data, and the markers installed above the mobile object to indicate their respective coordinate positions using colors and shapes to indicate the absolute coordinates of the position where each of the markers is installed. The method includes an imaging process in which an imaging part images one or more of the markers in one image; a coordinate detection process in which the image processing means detects the absolute coordinates of each marker through image processing by which the colors and shapes of the markers imaged are detected and recognized; and an imaging point detection process in which the image processing means calculates the relative coordinates between the center of the image taken and the markers and detects the position of an imaging point based on the relationship between the absolute coordinates detected and the relative coordinates. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a moving body detection method and system for detecting the position of a moving body that moves on a floor in a building or the like.

2. Description of the Related Art Conventionally, in order to control traveling of a moving body that moves unattended in a factory or warehouse, various methods for detecting the position of the moving body from an image and controlling the moving direction have been performed.
In addition, when specifying the position by image, it is easier to calculate image processing for position detection when there are fewer obstacles other than the position detection marker. A moving body position detection method based on image recognition is used.

For example, in the traveling state recognition device described in Patent Document 1, when a position is detected from a ceiling image, a camera facing the ceiling is mounted on the moving body, and a ceiling joint or a passage serving as the moving body is disposed. A straight line component in the direction in which the moving body should travel is detected from the piping or the like, and the traveling direction of the moving body and the position in the lateral direction of the passage are recognized from this linear component.
And this driving | running | working state recognition apparatus is carrying out the independent driving | running | working of a mobile body by detecting the mark installed in the ceiling and recognizing the present location.
Moreover, in the absolute position acquisition method described in Patent Document 2, an infrared camera is mounted on a moving body that is an unmanned traveling vehicle, and the infrared camera displays an absolute position by a combination of infrared LEDs installed on the ceiling. It recognizes and acquires the absolute position of unmanned vehicles.
Japanese Patent Application No. 8-352610 Japanese Patent Application No. 4-238921

However, in the case of the method described in Patent Document 1, an object that indicates the traveling direction is required on the ceiling, and the accuracy of the object depends on the indoor shape.
In addition, in the case of the method described in Patent Document 2, it is necessary to provide a power source for causing the LED to emit light in order to represent the absolute position of the moving body. As a result, there is a problem that the installation cost of the marker becomes high. is there.

  The present invention has been made in view of such circumstances, and can detect a position regardless of the shape of the ceiling on which the marker is placed, and a mobile object position detection method and system with a low cost for installing the marker on the ceiling. The purpose is to provide.

  The moving object position detection method of the present invention includes an image pickup means mounted on a moving object for shooting an image and outputting digitized image data, and image processing for image processing of the image data shot in the image shooting process. The position of the moving body by means of a moving body detection system comprising means and a marker that is installed above the moving body and indicates the absolute coordinates of the installed position by indicating the respective coordinate positions by color and shape And a photographing process in which the photographing unit photographs one or more markers as one image, and the image processing means detects and recognizes the color and shape of the photographed marker. A coordinate detection process for detecting the absolute coordinates of the marker, and the image processing means calculates a relative coordinate between the center of the captured image and the marker, and a relationship between the detected absolute coordinate and the relative coordinate. And having an imaging point detection step of detecting the position of al shooting point.

  The moving body position detecting method of the present invention is characterized in that it includes a transmission process of transmitting image data captured by the imaging unit by a radio signal and a reception process of receiving the image data.

  The moving body position detection system of the present invention is a system for detecting the position of a moving body, and is mounted on the moving body, digitizing a captured image, and image processing of image data captured by the capturing section And an image processing unit that is installed above the movable body and a marker that indicates the absolute coordinates of the installed position, and the marker indicates each coordinate position by color and shape, and the imaging unit Captures one or more markers in one image, and the image processing unit detects the absolute coordinates of the marker position by image processing for detecting and recognizing the color and shape of the captured marker, Relative coordinates between the center of the image and the marker are calculated, and the position of the photographing point is detected from the relationship between the detected absolute coordinates and relative coordinates.

  The moving body position detection system of the present invention includes a transmission unit that is mounted on the moving body and transmits image data captured by the imaging unit using a radio signal, and a reception unit that receives the image data.

  The moving body position detection system of the present invention is characterized in that the marker includes a coordinate signal unit that indicates coordinates by color and shape, and a reference signal unit that indicates the direction of the coordinate system by color and shape. And

  The moving body position detection system of the present invention is characterized in that the marker is printed on a printed matter.

  The moving body position detection system of the present invention is characterized in that the marker is installed on an indoor ceiling surface.

  According to the present invention, it is possible to detect the position of a moving body without being affected by the shape of the ceiling on which the marker is installed, by using a marker on which a graphic indicating the coordinates set by color and shape is printed. In addition, the marker has a simple configuration that only prints graphics, and it is not necessary to supply drive energy such as a power supply. Therefore, the degree of freedom of installation can be improved and installation can be performed at low cost, reducing the cost of the entire system. It becomes possible.

The configuration of this embodiment will be described with reference to the drawings. FIG. 1 is a conceptual diagram illustrating a configuration example of a moving object position detection system according to the present embodiment.
The moving body position detection system according to the present invention includes a camera unit 2 and an image processing unit 3 mounted on a moving body 1, and a marker 5 installed on a ceiling 4.
The camera unit 2 is a CCD camera or the like, and is arranged at a location where a ceiling image can be captured in the moving body 1. The captured image is digitized and output to the image processing unit 3 as image data.

The marker 5 is a printed matter that indicates the absolute coordinates of the position on the ceiling 4 using color and shape.
In addition, the marker 5 is installed on the ceiling 4 so that the imaging range S captured by the camera unit 2 of the moving body 1 always includes a plurality of markers 5 at the same time.
The image processing unit 3 uses image data obtained by capturing a plurality of markers 5 taken by the camera unit 2, detects the color, shape, and arrangement state of the markers 5 from the image data, and performs image processing based on the information. By performing the above, the position where the moving body 1 exists is detected.

Next, FIG. 2 shows a system configuration example in the case where the mobile unit position detection system of FIG. 1 includes communication means.
FIG. 2 shows a case where the moving body 1 has wireless communication means capable of communicating with an external device 6 outside such as a control device that performs movement control.
In this case, the image processing unit 3 does not need to be mounted on the moving body 1. That is, the camera unit 2 outputs the captured image data to the wireless communication unit 7 mounted on the moving body 1.
The wireless communication unit 7 transmits the input image data to the external device 6. The wireless communication unit 8 mounted on the external device 6 receives the image data and outputs it to the image processing unit 3. The image processing unit 3 performs image processing on the input image data as described in the description of FIG. 1 and detects the position of the moving body 1.

<First embodiment>
A flow of position detection in the image processing unit 3 of the moving body position detection system described above will be described with reference to the drawings. FIG. 3 is a flowchart showing the flow of the process of detecting the moving body position in the first embodiment.
In the image data input from the camera unit 2, the image processing unit 3 determines the color and shape of the area where the marker 5 is installed from the image data when a plurality of markers 5 appear in a specific color and indicate a specific shape. (Step S1).
At this stage, the image processing unit 3 can recognize (determine) the relative coordinates on the image of each marker 5.

Next, the image processing unit 3 decodes the coordinate information indicated by each marker 5 (step S2). For example, when the marker 5 has a barcode shape, the image processing unit 3 can decode the coordinate information from the position data by recognizing (reading) the position data indicated by the barcode.
When the coordinate information indicates absolute coordinates, the image processing unit 3 can recognize the absolute coordinates of the marker 5 at this stage (step S3).

Next, the image processing unit 3 detects the inclination of the captured image with respect to the absolute coordinate system from the inclination of the marker 5 in the image.
For example, when the information portion of the marker 5 is a barcode, the inclination of the image in the height direction (for example, the y-axis direction) is detected by detecting the inclination in the longitudinal direction of the barcode, and the horizontal direction ( For example, it is possible to detect the inclination in the x-axis direction (step S4).

Next, the image processing unit 3 calculates the absolute coordinates of the shooting point (that is, the position at which the moving body 1 was shot) from the above information (steps S5 and S6).
Here, a calculation example in the image processing unit 3 for obtaining the absolute coordinates of the photographing point is shown below.
First, FIG. 4 shows an example of a coordinate system used in the calculation.
A coordinate system XYZ indicates the absolute coordinate system of the object in space. A coordinate system xyz represents a coordinate system in image data captured by the camera unit 2 that captures an image, that is, a relative coordinate system.

The coordinates, O (Xo, Yo, Zo) indicate the center of the image captured by the camera unit 2 on the absolute coordinate system (the origin: the center of the lens of the camera unit 2), and P (X, Y, Z) is the target. The coordinates on the absolute coordinate system of the object (moving body 1) are shown.
The coordinates in the relative coordinate system of the object in the image data are p (x, y, −c), and the coordinates on the absolute coordinate system are (Xp, Yp, Zp).

In this coordinate system, the image data photographed by the camera unit 2 is usually behind the origin (that is, O (Xo, Yo, Zo)) that is the center of the lens of the camera unit 2, that is, positive on the z axis. Although the image is reversed and mapped to the area, it is set not to be reversed to the negative area for easy understanding of the calculation. “C” in the coordinate p indicates the focal length of the lens of the camera unit 2.
In the image measurement technique, the center of the lens (the origin of the image data captured by the camera unit 2, coordinates O), the point on the absolute coordinate of the object (coordinate P), the point on the relative coordinate of the image data (coordinate p) ) Is a collinear conditional expression indicating that it exists on a straight line. Thus, the following equation (1) is established in the coordinate system of FIG.
The relationship between the vector components between the above points is as follows when the real number λ is used.

  From the equation (1) and the coordinate conversion equation, the following equation (2) is obtained.

  Further, when (Xp, Yp, Zp) is deleted from the above equation (2), the following equation (3) is obtained.

  The matrix “M” in the above equation (3) has a configuration shown in the following equation (4).

In the above equation (4), ω represents the rotation angle of the x axis with respect to the X axis, φ represents the rotation angle of the y axis with respect to the Y axis, and κ represents the rotation angle of the z axis with respect to the Z axis. ing.
Here, in order to simplify the calculation, if the surface of the ceiling 4 to be imaged and the imaging surface of the camera unit 2 are installed in parallel,
ω = 0, φ = 0
Therefore, the equation (4) has the shape of the following equation (5).

  Thereby, each element in (3) Formula is represented by (6) Formula shown below.

  Then, when solving the simultaneous equations of the equation (6) for Xo and Yo, the result of the equation (7) is obtained.

That is, if λ (the Z coordinate of the marker installation position, the focal length of the camera, and the Z coordinate of the camera installation position) is known, one point (x, y) in the relative coordinate system of the image captured by the camera unit 2 And a single point (X, Y) in the absolute coordinate system of the target space, that is, when even one marker is photographed in the photographed image, the rotation angle κ is obtained. The photographing point (Xo, Yo) on the object space coordinate system can be derived.
Even if λ is unknown, if a marker indicating two or more absolute coordinates is photographed in an image, Xo, It is possible to calculate Yo, λ.

Next, FIG. 5 shows an example of image data taken by the camera unit 2 in the first embodiment of the present invention.
FIG. 5 shows that the z-axis of the relative coordinate system is rotated at the rotation angle κ (the rotation angles of the y-axis and the x-axis) with respect to the Z-axis of the absolute coordinate system.
Thus, when three markers 5 are captured in the image data, the focal length (−c) of the captured camera unit 2 and the Z on the absolute coordinate system of the ceiling 4 and the camera unit 2 are displayed. Even if the coordinates are unknown, the coordinates of the photographing point (Xo, Yo) of the camera unit 2 on the absolute coordinate system can be obtained from the above method (calculation method when a plurality of markers 5 are present in the same image data). It is possible to calculate.
Further, when ω and φ are unknown, the following equation (8) is established from the collinear condition equation.

In the above equation (8), when the value of [XYZxy] is recognized from the captured image data including the marker 5, the unknown is [XoYoZoc ω φ].
Since there are five unknowns, it is possible to detect the position of the photographing point by storing seven or more markers 5 in the image data to be photographed and applying the least square method or the like.
In this case, the rotation angle κ determined from the image data due to the inclination of the marker 5 in the longitudinal direction can be used as an initial value when solving the equation.

<Second embodiment>
Next, a second embodiment will be described with reference to FIG. FIG. 6 shows an example of the configuration of the marker 5. As the moving body position detection system, the configuration shown in FIGS. 1 and 2 is used.
Here, the marker 5 includes a reference signal unit 9 and a coordinate signal unit 10. Each signal part is composed of a square shape with a constant area and red and blue color components.
In the information in the marker 5, one square indicates 2 bits, a red square indicates “1”, and a blue square indicates “0”. The characters written in () next to the square indicate the color of the square.

The reference signal section 9 is composed of 6 bits, and the axis of the square array is arranged in parallel with the axis indicating the north and south (Y axis).
Further, in the reference signal unit 9, the order of the color of the squares to be configured is fixed as “red”, “blue”, “red”, and “blue” from the north.
Thus, by fixing the order of the axial direction and the color of the reference signal unit 9, the reference signal of the marker 5 can be recognized, and the inclination of the relative coordinate system with respect to the absolute coordinate system can be detected.

Further, in the reference signal unit 9, since the colors of the squares that are formed are not continuous, it is easy to determine the area of one square.
By using this square area, even when colors are continuous in the signal of the coordinate signal unit 10, the number of continuous squares is obtained by dividing the area by one area of the reference signal exterior 9. (Calculate).
In FIG. 6, the coordinate signal unit 10 indicates both the coordinate values of the X coordinate and the Y coordinate by an 8-bit information amount.

In the coordinate signal 10, as in the case of the reference signal unit 9, the central axis of the array of squares is also arranged in parallel with the axis indicating the north-south direction, and six of the squares closest to the north are followed by X coordinate information. Six squares are used as Y coordinate information.
The center Q of the straight line connecting the center of gravity of the reference signal unit 9 and the coordinate signal unit 10 is the coordinate indicated by the marker 5.
That is, the arrangement of each signal unit is such that a straight line connecting the centroids of the reference signal unit 9 and the coordinate signal unit 10 is parallel to the east-west direction (X axis), and the center is a coordinate value indicated by the marker 5.

Furthermore, the distance between the centroids of the coordinate signal unit 10 and the reference signal unit 9 is set to be larger than “the maximum distance between the centroids of the coordinate signal unit indicating one coordinate (one coordinate value shown for each mark)”. .
The “maximum distance between the centroids of the coordinate signal unit 10 indicating one coordinate” is a distance in which squares having the same color are connected and regarded as one rectangle and the centroids of the rectangles are maximized.
For example, as shown in FIG. 7, when the X coordinate and the Y coordinate are each represented by 8 bits, when the 14 bits in between are the same color (one square at the top of the X coordinate is red and the other 15 squares) Are all blue), the distance between the center of gravity of red and the center of gravity of blue (the eighth square from the bottom) is the maximum distance between the centers of gravity, and the maximum distance between the centers of gravity is 8 squares.
Further, the minimum distance between the markers 5 is set to be equal to or greater than “the maximum distance between the reference signal unit 9 and the coordinate signal unit 10 in the same mark”.

By adopting the above configuration, the distance between the centroids of rectangles (including squares) for each color is smaller than “the maximum distance between the centroids of the coordinate signal unit 10 indicating one coordinate”. Alternatively, it can be determined that the component constitutes the reference signal unit 9.
Also, those that are larger than the “maximum distance between the center of gravity of the coordinate signal part indicating one coordinate” and within the maximum distance between the reference signal part 9 and the coordinate signal part 10 ”are the coordinate signal part 10 and the reference signal part of the same mark 5 It can be determined that it is 9.
In addition, it is possible to determine that a component having a distance equal to or greater than the maximum distance “between the reference signal portion and the coordinate signal portion is a constituent element of another marker.

In the configuration example of FIG. 6, one bit is a signal indicated by one square. However, as shown in FIG. 8, the square is divided into two areas as shown in Manchester code, and one bit is divided into two shapes. It does not matter if it is indicated by.
In this case, data “1” is shown in the order of “red” / “blue” from the top, and data “0” is shown in the order of “blue” / “red”, thereby representing 1/0 data. It is possible.
When the marker 5 having the shape shown in FIG. 8 is used, the number of rectangles increases, but the continuous color can be limited to two rectangles, and the signal sequence of the coordinate signal unit 10 is detected from the unit area of the reference signal unit 9. It is possible to improve the accuracy.

Next, with reference to FIG. 9, the recognition process of the marker 5 when the configuration example of the marker 5 of FIG. 6 is used will be described. FIG. 9 is a flowchart illustrating an operation example of the marker 5 recognition processing in the image processing unit 3.
When the captured image data is input, the image processing unit 3 identifies “red” and “blue” from the image data, and extracts a shape (square or rectangle) for each color (step S11).
At this time, if necessary, the image processing unit 3 performs a reduction process and / or an expansion process by image processing to remove noise components included in the image data.

Next, the image processing unit 3 obtains the barycentric position of the continuous region for each “red” and “blue” component (by color) extracted from the image data (step S12).
Then, the image processing unit 3 searches for a distance between the obtained centroids within the “maximum distance between the centroids of the coordinate signal unit 10 indicating one coordinate” and collects the blocks of the coordinate signal unit 10 or the reference signal unit 9 (each A region as a signal portion) is detected (step S13).
Next, the image processing unit 3 determines whether or not the order and the number of the arrangement of “red” and “blue” in the detected block are the same as those of the reference signal unit 9, and further, The region (block) is compared with a square (square) unit area set as a reference, and the reference signal unit 9 is extracted (detected) (step S14).

  Further, the image processing unit 3 detects the coordinate signal unit 10 that is paired with each reference signal unit 9 from the chunks other than the reference signal unit 9, that is, the distance between the center of gravity coordinates of each of the chunks is “the reference signal unit 9 and the coordinate It is determined whether or not it is shorter than the “maximum distance of the signal unit 10”, and when it is detected that it is long, it is determined that it is included in a different mark 5. Extracted as a pair with the signal 10 (step S15).

Next, the image processing unit 3 obtains the axis of the reference signal unit 9 from the center of gravity of each region of the reference signal unit 9, and detects the inclination of the captured image data as already described (step S16).
Then, the image processing unit 3 decodes the coordinate signal unit 10 and detects the coordinates (X coordinate value and Y coordinate value) indicated by the marker 5.
Here, the coordinate indicated by the marker 5 may be an index indicating each absolute coordinate in addition to the method indicating the absolute coordinate of the X and Y axes.

In the case of indicating this index, the image processing unit 3 detects a coordinate value in the absolute coordinate system at the position where each marker 5 is installed by managing a correspondence table between the index and the coordinate value in the absolute coordinate. It is possible.
As described above, in the second embodiment of the present invention, by using the marker 5 on which the graphic indicating the coordinate value is printed by the color and the shape, it is not influenced by the shape of the ceiling and is low in cost. The marker 5 can be installed on the ceiling and the position of the moving body 1 can be detected.

<Third embodiment>
A third embodiment of the present invention will be described with reference to FIG. FIG. 10 is a method of finding the search object 11 from the mobile 1 using the mobile location detection method described in the first and second embodiments of the present invention and wireless communication.
The mobile unit 1 includes a camera unit 2 that captures an image of the ceiling 4, a wireless communication unit 13 that transfers the captured image data image to the mobile unit position detection unit 12, and a search signal transmission unit that transmits a search signal. 14, a central processing unit 15 for controlling each is implemented.
A search signal receiving unit 16 for receiving a search signal and a response unit 17 responding to the search signal are mounted on the search object.
The wireless communication unit 13 that receives the image data captured from the moving body 1 includes the moving body position detection unit 12, and coordinates for the moving body 1 based on the position of the moving body 1 detected by the moving body position detection unit 12. The mobile unit position control unit 18 that performs control to move to a position is connected to the mobile unit position control unit 18 via a wireless communication unit 20 in one external device 19 or via an NW (network).

The position of the moving body 1 is detected by the method according to the third embodiment of the present invention.
In the moving object position detection unit 12, the position of the search object 11 searched by the moving object 1 is known, and the moving object 1 is compared with the position of the moving object 1 by comparing the position of the search object 11 with the position of the moving object 1. Detect the direction to go toward.
The moving direction detected by the moving body position detection unit 12 can be notified to the moving body 1 using a communication line for transmitting image data. The moving body position detecting unit 12 detects the position of the moving body 1 by the same operation as the image processing unit 3 in the first and second embodiments.
To detect the position of the search object 11, a search signal in which the ID of the search object 11 is inserted is transmitted from the search signal transmission unit 14.

As a communication medium in this case, electromagnetic waves (radio waves, light), sound waves (including ultrasonic waves), and the like can be applied.
For example, when detecting the position of the search object 11 that is close to the mobile body 1 to some extent, it is possible to limit the search object 11 that reacts to the search signal by applying a medium having a short communication distance.
When the search object 11 receives a search signal in which its own ID is inserted from the search signal receiving unit 16, the search unit 11 emits light at the response unit 17, and determines the location where it exists to the surroundings. Notice.
When the response unit 17 emits light to identify itself, when similar search objects 11 are stacked and the two-dimensional positions are equal, when one search object 11 is detected therefrom It is effective for.

  Normally, the visible range is limited, and therefore, the navigation of the mobile body 1 in a wide space (the mobile body position to the position near the search object 11 while the mobile body position detection unit 12 detects the position of the mobile body 1 is detected. The control unit 18 guides the mobile object 1 to the vicinity of the search object 11 using the first and second embodiments of the present invention described above, and the detection of the search object 11 is performed as described above. By using a short-range wireless device (search signal transmitting unit 14 and search signal receiving unit 16) and a light emitter (response unit 17), a system for finding the search object 11 from a wide range can be constructed at low cost. It becomes possible.

For example, when applied to detection of the search object 11 in a warehouse where things are densely packed in a wide space, the mobile object 1 is a forklift or the like, and the search object 11 is a stacked pallet.
The forklift advances to the vicinity of the target pallet while comparing the position of the self position and the search object 11.
When arriving near the target pallet, a search signal is transmitted to the target pallet.
The palette that has received the search signal transmits light from the response unit 17.
The driver can visually observe this light and take out the target pallet from the pallet pile.

  Note that a program for realizing the function of detecting the position of the moving body in FIG. 1 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed. You may perform the process of position detection of a moving body. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer system” includes a WWW system provided with a homepage providing environment (or display environment). The “computer-readable recording medium” refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, and a CD-ROM, and a storage device such as a hard disk built in the computer system. Further, the “computer-readable recording medium” refers to a volatile memory (RAM) in a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those holding programs for a certain period of time are also included.

  The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

It is a conceptual diagram which shows the structural example of the mobile body position detection system by the 1st, 2nd, 3rd Example of this invention. It is a conceptual diagram which shows the structural example which mounts the image process part 3 in the moving body position detection system of FIG. 1 in the external device. 3 is a flowchart showing an example of position detection operation of the image processing unit 3 in FIGS. 1 and 2. 3 is a conceptual diagram illustrating a coordinate system used for position detection calculation of the image processing unit 3. FIG. It is a conceptual diagram explaining the structure of the picked-up image (image data) image | photographed in the 1st and 2nd Example. It is a conceptual diagram which shows the structural example of the mark 5 used with the mobile body position detection system by the 2nd, 3rd Example of this invention. It is a conceptual diagram which shows the structural example of the mark 5 used with the mobile body position detection system by the 2nd, 3rd Example of this invention. It is a conceptual diagram which shows the structural example of the mark 5 used with the mobile body position detection system by the 2nd, 3rd Example of this invention. It is a flowchart which shows the operation example of the position detection of the image process part 3 in 2nd Example of this invention. It is a conceptual diagram which shows the structural example of the 3rd Example of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Moving body 2 ... Camera part 3 ... Image processing part 4 ... Ceiling 5 ... Marker 6, 19 ... External device 7, 8, 13, 20 ... Wireless communication part 9 ... Reference signal part 10 ... Coordinate signal part 11 ... Search object DESCRIPTION OF SYMBOLS 12 ... Mobile body position detection part 14 ... Search signal transmission part 15 ... Central processing part 16 ... Search signal reception part 17 ... Response part 18 ... Mobile body position control part

Claims (7)

Mounted on a moving body, a photographing means for photographing an image and outputting digitized image data, an image processing means for performing image processing on the image data photographed in the image photographing process, and installed above the moving body The position of the moving body is detected by the moving body detection system configured by the marker unit indicating the absolute coordinates of the installed position by indicating each coordinate position by color and shape,
An imaging process in which the imaging means captures one or more markers in one image;
A coordinate detection process in which the image processing means detects the absolute coordinates of the marker by image processing for detecting and recognizing the color and shape of the photographed marker;
The image processing means includes a photographing point detection process for calculating a relative coordinate between the center on the photographed image and the marker and detecting a position of the photographing point from the relationship between the detected absolute coordinate and the relative coordinate. A moving body position detecting method characterized by the above. A transmission process of transmitting image data captured by the imaging means by radio signals;
The moving body position detecting method according to claim 1, further comprising: a receiving process of receiving the image data. A system for detecting the position of a moving object,
A shooting unit that is mounted on a moving body and digitizes the shot image;
An image processing unit that performs image processing of image data captured by the imaging unit;
It is installed above the moving body, and is composed of a marker indicating the absolute coordinates of the installed position,
The marker indicates each coordinate position by color and shape,
The photographing unit photographs one or more markers in one image,
The image processing unit detects absolute coordinates of the marker position by image processing that detects and recognizes the color and shape of the photographed marker, and further calculates and detects the relative coordinates of the center on the image and the marker. A moving body position detection system that detects the position of a shooting point from the relationship between absolute coordinates and relative coordinates. A transmission unit that is mounted on the mobile body and transmits image data captured by the imaging unit using a wireless signal;
The moving body position detection system according to claim 3, further comprising: a receiving unit that receives the image data. The marker is
A coordinate signal part indicating coordinates by color and shape;
The moving body position detection system according to claim 3 or 4, further comprising: a reference signal section that indicates a direction of a coordinate system by color and shape.   6. The moving body position detection system according to claim 3, wherein the marker is printed on a printed material. The said marker is installed in an indoor ceiling surface, The mobile body position detection system in any one of Claims 3-6 characterized by the above-mentioned.

Images