JP2009016956A - Camera control system, camera control apparatus and camera control program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a camera control system, a camera control apparatus and a camera control program, wherein in acquiring a monitoring object image taken including part of a monitoring object image, operability can be improved while further accurately moving an imaging direction of a camera along a monitoring object. <P>SOLUTION: The camera control system for controlling the imaging direction of the camera includes an image acquisition part for acquiring the monitoring object image taken by the camera and including a part of a monitoring target image, a display part for displaying the monitoring object image acquired by the image acquisition part, a receiving part for receiving a start point coordinate value and an end point coordinate value which are input to the monitoring object image by a user, a vector acquisition part for acquiring an indication vector directed from the start point coordinate value to the end point coordinate value, and an operation part for moving the imaging direction on the basis of a direction component of the acquired indication vector. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a camera control system, a camera control device, and a camera control program for controlling an imaging direction of a camera.

  Conventionally, in order to acquire a monitoring target captured image including a monitoring target image (for example, a structure image or a person image), the user can perform remote control to capture the camera while confirming the monitoring target captured image displayed on the display unit. A camera control system that controls the direction (pan / tilt) has been proposed (see, for example, Patent Document 1). Note that such a camera control system is applied to, for example, a monitoring system for monitoring the inside of a facility, an underfloor inspection system for inspecting an underfloor of a house, and the like.

  Moreover, in the technique disclosed in Patent Document 1, areas are provided on the upper, lower, left, and right sides in the monitoring target captured image displayed on the display unit, and the user uses, for example, an upper area in the upper area. The camera's imaging direction can be moved upward simply by moving the cursor and executing a click operation.

  However, with the technique disclosed in Patent Document 1, the imaging direction of the camera can be moved only in predetermined vertical and horizontal directions. Therefore, when moving the imaging direction of the camera in an arbitrary direction that is not predetermined, for example, diagonally downward to the right, the user operates to move the imaging direction little by little in the right direction and the downward direction, It is necessary to move the image capturing direction of the camera diagonally downward to the right. In other words, the technique disclosed in Patent Document 1 has a problem that the operability is poor when the imaging direction of the camera is moved in an arbitrary direction.

  Therefore, a technique for solving this problem has been proposed (see, for example, Patent Document 2). In the technique disclosed in Patent Document 2, a monitoring target captured image is displayed on the display unit, and an icon is displayed at the center of the monitoring target captured image. Further, when the user performs an operation (drag) for moving the icon in an arbitrary direction, the imaging direction of the camera moves in an arbitrary direction operated. According to the technique disclosed in Patent Literature 2, the user can move the imaging direction of the camera in an arbitrary direction while confirming the displayed monitoring target captured image.

  By the way, when the monitoring target image does not fit in the monitoring target captured image, the user can monitor the target including a part of the monitoring target image while moving the imaging direction of the camera along the monitoring target by remote control. A captured image may be acquired. For example, in an underfloor inspection system, for example, a monitoring target including a part of the monitoring target image while moving the imaging direction of the camera along the monitoring target such as a foundation wall, piping, or gable existing under the floor. There are cases where captured images are acquired continuously. In such a case, it is preferable to move the imaging direction of the camera along the monitoring object more accurately in order to acquire a monitoring object captured image including a part of the monitoring object image more accurately and efficiently.

In such a case, in the technique disclosed in Patent Document 2, the user refers to the monitoring object image included in the monitoring target captured image, and moves the icon provided in the center along the monitoring object image. Thus, it is also possible to move the imaging direction of the camera along the monitoring object.
Japanese Patent Laid-Open No. 10-200807 Japanese Patent Laid-Open No. 10-197223

  However, in the acquired monitored object captured image, the monitored object image may be located at the end of the monitored object captured image instead of the center. In such a case, in order to move the imaging direction of the camera along the monitoring target more accurately using the technique disclosed in Patent Document 2, the user determines the position of the monitoring target image of the monitoring target captured image. It is necessary to move the image once along the monitoring object by moving the icon once in the center and overlapping the icon provided in the center with the monitoring object image and then moving the icon again.

  In other words, in the prior art, the user must move the imaging direction of the camera by performing a predetermined operation on a fixed location (for example, an icon provided in the center) provided in advance for movement in the imaging direction. Therefore, it was impossible to move the imaging direction of the camera by performing an input operation at an arbitrary location on the monitoring target captured image. Therefore, in the prior art, in order to move the imaging direction of the camera along the monitoring target more accurately, an operation of superimposing a fixed location provided in advance for movement in the imaging direction and the monitoring target image is performed. Because of this, there was a problem that the operability was poor.

  Therefore, the present invention has been made in view of the above points, and when acquiring a monitoring target captured image including a part of the monitoring target image, the camera imaging direction is more accurately moved along the monitoring target. It is an object of the present invention to provide a camera control system, a camera control device, and a camera control program that can improve operability.

  A feature of the present invention is a camera control system (e.g., an underfloor inspection system 1000) that controls an imaging direction of a camera, and includes a part of a monitoring object image (e.g., an image of a cable) captured by the camera. An image acquisition unit for acquiring a monitoring target captured image, a display unit for displaying the monitoring target captured image acquired by the image acquisition unit, and a start point coordinate value and an end point coordinate input on the monitoring target captured image A vector for acquiring an instruction vector from the value of the start point coordinate to the value of the end point coordinate based on the value of the start point coordinate and the value of the end point coordinate received by the accepting unit Based on the direction component of the instruction vector acquired by the acquisition unit and the vector acquisition unit, an operation unit (pan motor 23 for moving the imaging direction) Or it is an summarized in that and a tilting motor 233 or traction motor 25).

  According to this feature, the camera control system moves the imaging direction of the camera based on the instruction vector composed of the start point coordinate value and the end point coordinate value input on the monitoring target captured image. In the camera control system according to the present invention, the user can move the imaging direction only by inputting an instruction vector to an arbitrary position of the monitoring target captured image. Therefore, according to such a feature, in the camera control system, when acquiring a monitoring target captured image including a part of the monitoring target object image, while moving the imaging direction of the camera along the monitoring target more accurately, Operability can be improved.

  In addition, a feature of the present invention is related to the above feature, and when the operation unit moves in the imaging direction, the operation unit leaves an overlapping region where the monitoring target captured image before the movement and the monitoring target captured image after the movement overlap. As described above, the imaging direction may be moved. According to such a feature, the camera control system moves the imaging direction so that the overlapping area remains in the monitoring target captured image before the movement and the monitoring target captured image after the movement. Can get well.

  In addition, a feature of the present invention relates to the above feature, a correction vector calculation unit that calculates a correction vector in which a length component of the instruction vector is adjusted, and a point on the instruction vector from a center of the monitoring target captured image. A correction vector calculation unit that calculates a correction vector to go may further be provided, and the operation unit may move the imaging direction based on a movement vector obtained by adding the correction vector and the correction vector. According to such a feature, the camera control system calculates a correction vector in which the length component of the instruction vector is appropriately adjusted even when the length component of the input instruction vector is short or long, for example. To do. Further, the camera control system calculates a correction vector from the center on the monitored target captured image to a point on the instruction vector, and moves the imaging direction based on a movement vector obtained by adding the correction vector and the correction vector. Here, for example, the user may intentionally input the instruction vector at a specific position on the monitoring target captured image, for example, when inputting the instruction vector in accordance with the monitoring object image desired to be monitored. In such a case, in the above-described camera control system, the imaging direction can be moved so as to go to a specific position on the monitoring target captured image by a movement vector including a correction vector directed to a point (position) on the instruction vector. it can. Therefore, the operability when the user moves in the imaging direction can be improved.

  In addition, a feature of the present invention relates to the above feature, a correction vector calculation unit that calculates a correction vector in which a length component of the instruction vector is adjusted, and a point on the instruction vector from a center of the monitoring target captured image. And a correction vector calculation unit that calculates a correction vector to go. The operation unit may move the imaging direction according to the correction vector after moving the imaging direction according to the correction vector. In such a camera control system, the imaging direction is moved in accordance with the correction vector after moving the imaging direction in accordance with the correction vector directed from the center on the monitored image to the point on the instruction vector. By simply inputting an instruction vector in accordance with the image, it is possible to acquire a monitoring object captured image that more reliably includes the monitoring object image.

  According to another aspect of the present invention, there is provided a correction for calculating a correction vector in which a length component of the instruction vector is adjusted based on a direction component of the instruction vector and a constant area of the overlapping region. A vector calculation unit, and the operation unit may move the imaging direction based on the correction vector. According to this feature, the camera control system calculates an overlapping area according to the input instruction vector, and calculates a correction vector according to the overlapping area. That is, in such a camera control system, when a user inputs an instruction vector, for example, the user only performs an input operation of the instruction vector, and the monitoring target captured image before the movement and the monitoring target captured image after the movement have a certain area. As a result, it is possible to move the imaging direction while leaving only overlapping areas.

  In addition, the feature of the present invention is related to the above feature, wherein the shape of the first ellipse that fits in the monitoring target captured image before movement in the imaging direction, and the first ellipse shape that fits in the monitoring target captured image after movement in the imaging direction. Calculating the shape of two ellipses, and calculating a modified vector obtained by adjusting the length component of the instruction vector based on the first ellipse and the second ellipse determined to circumscribe the first ellipse The image processing apparatus may further include a correction vector calculation unit, and the operation unit may move the imaging direction based on the calculated correction vector. According to such a feature, in the camera control system, when the user inputs an instruction vector, the shape of the first ellipse that fits within the monitoring target captured image before movement in the imaging direction and the monitoring target captured image after movement in the imaging direction. The shape of the second ellipse that falls within is calculated. In the camera control system, the correction vector calculation unit calculates a correction vector obtained by adjusting the length component of the instruction vector based on the first ellipse and the second ellipse that is circumscribed by the first ellipse. Then, the operation unit moves the imaging direction based on the calculated correction vector. Here, since the first ellipse and the second ellipse are circumscribed, an overlapping region is formed between the monitoring target captured image before the movement and the monitoring target captured image after the movement. Therefore, in the camera control system, when the user inputs an instruction vector, the imaging direction can be moved while forming an overlapping area between the monitoring target captured image before the movement and the monitoring target captured image after the movement. . Note that the shapes of the first ellipse and the second ellipse may be fixed shapes, or may be calculated according to the length component of the instruction vector.

  A feature of the present invention is related to the above feature, wherein the operation unit may be a drive unit that is provided in a camera control robot (mobile robot 20) on which the camera is mounted and that drives a wheel or a crawler. In such a camera control system, the operation unit functions as a drive unit for the camera control robot to move on the ground using wheels or a crawler drive. Therefore, in the camera control system, for example, by moving the camera control robot by the operation unit, the imaging direction of the camera can be moved.

  A feature of the present invention is a camera control apparatus (operation terminal 10) that communicates with a camera control robot (mobile robot 20) that controls an imaging direction of a camera and instructs movement of the imaging direction of the camera. An image acquisition unit (control unit 164) that acquires a monitoring target captured image that is captured by a camera and includes a part of the monitoring target object image; and a display unit that displays the monitoring target captured image acquired by the image acquisition unit; A reception unit (input unit 15) that receives the value of the start point coordinate and the value of the end point coordinate input on the monitoring target captured image, and the value of the start point coordinate and the value of the end point coordinate received by the reception unit And a vector acquisition unit (control unit 164) for acquiring an instruction vector from the start point coordinate value toward the end point coordinate value, and the vector acquisition unit. Based on the direction component of the indicator vector is for summarized in that provision of an indicator portion and (imaging direction instruction section 169) that transmits instruction information for instructing the movement of the imaging direction to the camera control robot.

  In addition, a feature of the present invention is that a computer that operates as a camera control device that communicates with a camera control robot that controls the imaging direction of the camera and instructs the camera to move in the imaging direction is imaged by the camera and monitored. An image acquisition step for acquiring a monitoring target captured image including a part of the image, a display step for displaying the monitoring target captured image acquired by the image acquisition unit, and a start point coordinate input on the monitoring target captured image And a reception step of receiving the value of the end point coordinate and the value of the end point coordinate, and from the value of the start point coordinate to the value of the end point coordinate based on the value of the start point coordinate and the value of the end point coordinate received by the reception unit Based on a vector acquisition step of acquiring an instruction vector, and a direction component of the instruction vector acquired by the vector acquisition unit It relates a camera control program to subject matter that is operated as an instruction step of transmitting the instruction information for instructing the movement of the imaging direction to the camera control robot.

 According to the features of the present invention, when acquiring a monitoring target captured image including a part of the monitoring target image, the operability is improved while moving the imaging direction of the camera along the monitoring target more accurately. It is possible to provide a camera control system, a camera control device, and a camera control program.

[First Embodiment]
A first embodiment of the present invention will be described. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. However, it should be noted that the drawings are schematic.

(Outline of the underfloor inspection system according to the first embodiment of the present invention)
An outline of the underfloor inspection system 1000 according to the first embodiment of the present invention will be described with reference to the drawings. In the present embodiment, the underfloor inspection system 1000 constitutes a camera control system. FIG. 1 shows an overall schematic configuration of an underfloor inspection system 1000 according to the present embodiment. As shown in FIG. 1, the underfloor inspection system 1000 according to the present embodiment includes an operation terminal 10 and a mobile robot 20.

  The operation terminal 10 exists on the floor of a building, and the mobile robot 20 exists under the floor. In addition, wireless communication is performed between the operation terminal 10 and the mobile robot 20. Communication between the operation terminal 10 and the mobile robot 20 may use a wireless line or a wired line.

  The operation terminal 10 transmits a remote operation command for operating the mobile robot 20 to the mobile robot 20 in response to a user input, thereby operating the mobile robot 20 remotely. This remote operation command includes a command related to movement, a command related to imaging, and the like. The operation terminal 10 can use, for example, a notebook computer.

  Although FIG. 1 illustrates the case where the mobile robot 20 and the operation terminal 10 exist in the building, the operation terminal 10 can also remotely operate the mobile robot 20 from outside the building. is there.

(Example of underfloor environment)
Next, an example of an underfloor environment will be described. FIG. 2 is a diagram illustrating an example of an underfloor environment. The floor is a space with a height of about 32 cm to 37 cm, and is divided into rectangular sections by a foundation. The contents to be confirmed by the mobile robot 20 at the time of underfloor inspection include cracks in the foundation wall, water leakage from the piping, cable breakage, and the like.

  Furthermore, there are thin pillars called bundles everywhere near the foundation. There is a concrete stand with a height of about 5 cm called a bundle foundation for fixing the bundle. In addition, when the floor base surface is concrete, the bundle is directly fixed to the floor base surface, and the bundle foundation may not exist.

  Under the control of the operation terminal 10, the mobile robot 20 moves on the floor base surface under the floor, images the underfloor, and acquires a monitoring target captured image. Specifically, the mobile robot 20 images a base wall, an underfloor ceiling, a pipe, a cable, and the like provided under the floor as a monitoring target, and an image of the monitoring target (monitoring target) obtained by the imaging. The monitoring target captured image (image information) including the image) is transmitted to the operation terminal 10. In addition, the operation terminal 10 displays the monitoring target captured image received from the mobile robot 20 in real time.

(Configuration of the underfloor inspection system according to the first embodiment of the present invention)
Next, the configuration of the underfloor inspection system 1000 will be specifically described with reference to FIG. Hereinafter, portions related to the present invention will be mainly described. Therefore, it should be noted that the underfloor inspection system 1000 may include functional blocks (such as a power supply unit) that are not shown in the drawing or that are omitted in order to realize the function as the underfloor inspection system. As described above, the underfloor inspection system 1000 according to this embodiment includes the operation terminal 10 and the mobile robot 20.

(Configuration of operation terminal according to the first embodiment)
First, the configuration of the operation terminal 10 will be specifically described with reference to FIG. As illustrated in FIG. 3, the operation terminal 10 includes a communication unit 12, a display unit 14, an input unit 15, and an operation control unit 16.

  The communication unit 12 transmits / receives various information to / from the mobile robot 20. Specifically, the communication unit 12 receives a monitoring target captured image transmitted from the mobile robot 20. In addition, the communication unit 12 transmits a remote operation command or the like to the mobile robot 20. In the present embodiment, the communication unit 12 constitutes an image acquisition unit that acquires a monitoring target captured image including a part of the monitoring target image captured by the camera of the mobile robot 20.

  The display unit 14 displays a monitoring target captured image including a part of the monitoring target object image received by the communication unit 12. The display unit 14 displays the instruction vector on the monitoring target captured image when the user inputs the instruction vector on the monitoring target captured image using the input unit 15. Details of the instruction vector will be described later (see FIG. 4).

  The input unit 15 receives input from the user. The input unit 15 receives a remote operation command input by the user. The input unit 15 outputs this information to the operation control unit 16 when an instruction vector is input on the monitoring target captured image by the user who refers to the monitoring target captured image displayed on the display unit 14.

  Here, FIG. 4 shows an example of the instruction vector r input to the image displayed on the display unit 14 by the user using the input unit 15. As illustrated in FIG. 4, the user uses the input unit 15 (for example, a mouse) to click down on the cursor displayed on the display unit 14 at the start point coordinate P1 of the instruction vector r, and drags the instruction vector r. Is clicked up at the end point coordinate P2, and the instruction vector r is input. Further, when the instruction vector r is input, the input unit 15 sets the coordinate value of the start point coordinate P1 (the value of the start point coordinate according to the present invention) and the coordinate value of the end point coordinate P2 with the center of the monitoring target captured image F as the origin. Instruction vector information including (end point coordinate value according to the present invention) is output to the operation control unit 16. The instruction vector information is information used to move the imaging direction of the camera 231 of the mobile robot 20. In the present embodiment, the input unit 15 constitutes a receiving unit that receives the start point coordinates P1 and the end point coordinates P2 input on the monitoring target captured image by the user.

  In the underfloor inspection system 1000 according to the present embodiment, as a method of moving the imaging direction of the camera 231, the first mode in which the imaging direction is moved based on the direction component of the instruction vector r and the instruction vector r are input. It is possible to use the second to third modes in which the imaging direction is moved in consideration of the position on the monitoring target captured image. Details of the first to third modes will be described later. The input unit 15 receives an instruction from the user as to which of the first to third modes is used, and outputs mode information indicating the mode to the operation control unit 16.

  The operation control unit 16 controls various functions of the operation terminal 10. Specifically, the operation control unit 16 causes the display unit 14 to display a monitoring target captured image including a part of the monitoring target object image received by the communication unit 12. In addition, the operation control unit 16 sends imaging direction instruction information for instructing movement of the imaging direction of the camera to the mobile robot 20 via the communication unit 12 based on the instruction vector information and mode information output from the input unit 15. Send.

(Configuration of operation control unit of operation terminal according to first embodiment)
Next, the configuration of the operation control unit 16 according to the present embodiment will be described with reference to the drawings. As illustrated in FIG. 5, the operation control unit 16 includes a transmission / reception unit 162, a storage unit 163, a control unit 164, an overlapping region calculation unit 165, a correction vector calculation unit 166, and a correction vector calculation unit 167. .

  The transmission / reception unit 162 receives various types of information received by the input unit 15. Further, the transmission / reception unit 162 receives the instruction vector information transmitted from the input unit 15. Further, when receiving the mode information from the input unit 15, the transmission / reception unit 162 stores the mode information in the storage unit 163.

  The storage unit 163 stores various setting information such as a monitoring target captured image received by the communication unit 12 and a remote operation command for remotely operating the mobile robot 20. Further, when the transmission / reception unit 162 receives the mode information, the storage unit 163 stores the first to third modes included in the mode information. For example, when the mode information includes information indicating the first mode, the storage unit 163 sets the first mode to “use” and sets the other second to third modes to “use” as illustrated in FIG. Store as “unused”.

  The control unit 164 controls various functions in the operation control unit 16. In addition, when receiving the monitoring target captured image from the communication unit 12, the control unit 164 outputs the monitoring target captured image to the display unit 14 and causes the display unit 14 to display the monitoring target captured image. Further, when the instruction vector information is received by the transmission / reception unit 162, the control unit 164, based on the start point coordinates P1 and the end point coordinates P2 included in the instruction vector information, from the coordinate value of the start point coordinates P1 to the end point coordinates P2 An instruction vector r toward the coordinate value of is obtained.

  In addition, when acquiring the instruction vector r, the control unit 164 refers to the storage unit 163 and determines which of the first to third modes is “use”. For example, when the first mode is “use” when referring to the storage unit 163, the control unit 164 outputs the instruction vector information to the correction vector calculation unit 166.

  Further, when the second mode is “use” when referring to the storage unit 163, the control unit 164 outputs the instruction vector information to the correction vector calculation unit 166 and the correction vector calculation unit 167.

  In addition, when the third mode is “use” when the storage unit 163 is referred to, the control unit 164 outputs the instruction vector information to the correction vector calculation unit 167 and the movement vector calculation unit 168. In the present embodiment, the control unit 164 constitutes a vector acquisition unit.

  The overlapping area calculation unit 165 acquires the area of the overlapping area between the monitoring target captured image before the movement and the monitoring target captured image after the movement based on the direction component of the instruction vector r. In the present embodiment, the overlapping area calculation unit 165 acquires an overlapping area having a predetermined area S stored in advance. In addition, the overlapping region calculation unit 165 outputs the area S of the overlapping region to the correction vector calculation unit 166 and the movement vector calculation unit 168.

  The correction vector calculation unit 166 calculates a correction vector r1 obtained by adjusting the length component of the instruction vector r. Further, the correction vector calculation unit 166 adjusts the length component of the correction vector r1 based on the direction component of the instruction vector r and the overlapping area of the constant area S. Specifically, the correction vector calculation unit 166 calculates the coordinates of the center of the monitored target captured image after movement so that there is an overlapping area between the monitored target captured image before movement and the monitored target captured image after movement. . Further, in the present embodiment, the correction vector calculation unit 166 calculates the coordinates of the center of the monitoring target captured image after movement so that the overlapping area becomes the constant area S input from the overlapping area calculation unit 165.

  Here, in FIG. 7, the instruction vector r input to the monitoring target captured image F, the monitoring target captured image F before the movement, the monitoring target captured image Fm after the movement, and the image of the calculated correction vector r1. It is shown. Further, as shown in the figure, in this embodiment, the horizontal interval between the monitored images is H, and the vertical interval is V. In the present embodiment, the overlapping area RA is represented by an area S = a × b by a horizontal interval a and a vertical interval b.

  Specifically, a method in which the correction vector calculation unit 166 calculates the correction vector r1 will be described. When the instruction vector information is input from the control unit 164, the correction vector calculation unit 166 acquires the instruction vector r from the coordinate value of the start point coordinate P1 to the coordinate value of the end point coordinate P2 included in the instruction vector information. The correction vector calculation unit 166 calculates the angle θ of the instruction vector r based on the start point coordinates P1 and the end point coordinates P2 of the instruction vector r included in the instruction vector information.

Here, assuming that the center of the monitoring target captured image F before the movement is the origin (0, 0) and the coordinates of the center of the monitoring target captured image Fm after the movement are (x, y), the coordinates (x, y) are It is shown by the relational expression of the following expression (1).

Further, for example, if the angle θ of the instruction vector r is the angle in the first quadrant (0 degree to 90 degrees), the coordinate “x” of the center of the monitoring target captured image Fm after the movement is expressed by the following equation (2) It is shown by the relational expression.

Therefore, the correction vector calculation unit 166 calculates the coordinates (x, y) of the center of the monitored captured image Fm after movement based on the above-described equations (1) to (2) according to the following equation (3). To do.

When the angle θ of the instruction vector r is (I) 0 degrees, (II) 90 degrees, (III) 180 degrees, and (IV) 270 degrees, the correction vector calculation unit 166 calculates the equation as shown below. Based on the equations (4) to (7), the coordinates (x, y) of the center of the monitoring target captured image Fm after movement are calculated.

(I) When θ = 0 (zero) degrees

(II) When θ = 90 degrees

(III) When θ = 180 degrees

(IV) When θ = 270 degrees

In this way, as shown in FIG. 7, the correction vector calculation unit 166 uses the origin coordinates (0, 0) as the starting point, and calculates the calculated coordinates (x, y) of the center of the monitored image Fm after the movement. A correction vector r1 as the end point is calculated. The correction vector calculation unit 166 outputs the calculated correction vector r1 to the imaging direction instruction unit 169.

The correction vector calculation unit 167 calculates a correction vector r2 from the center of the monitoring target captured image F before movement toward a point on the instruction vector r. Specifically, when the instruction vector information is input from the control unit 164, the correction vector calculation unit 167 calculates the instruction vector r from the coordinate value of the start point coordinate P1 to the coordinate value of the end point coordinate P2 included in the instruction vector information. get. Further, the correction vector calculation unit 167 calculates a first straight line connecting the start point coordinates P1 and the end point coordinates P2 of the instruction vector r included in the instruction vector information. Further, the correction vector calculation unit 167 calculates a second straight line that passes through the center (origin) of the monitoring target captured image F and is orthogonal to the calculated first straight line. Further, as shown in FIG. 8, the correction vector calculation unit 167 calculates the coordinates (x ₂ , y ₂ ) of the intersection P3 with the intersection of the first straight line and the second straight line as P3. Further, the correction vector calculation unit 167 uses the calculated intersection point P3 coordinates (x ₂ , y ₂ ) as the start point coordinates of the monitoring target captured image F before movement, and the correction vector r2 having the intersection point P3 as the end point coordinates. Is calculated. In addition, the correction vector calculation unit 167 outputs the calculated correction vector r2 to the movement vector calculation unit 168 and the imaging direction instruction unit 169.

  The movement vector calculation unit 168 calculates a movement vector r3 obtained by adding the correction vector r2 and the correction vector r1 from the center of the monitoring target captured image. At this time, the movement vector calculation unit 168 adjusts the length component of the correction vector r1 so as to have an overlapping area between the monitoring target captured image before the movement and the monitoring target captured image after the movement, and after the movement. The center of the monitoring target captured image is calculated. Further, in the present embodiment, the movement vector calculation unit 168 calculates the center of the monitoring target captured image after movement so that the overlapping area becomes the constant area S input from the overlapping area calculation unit 165.

  Here, FIG. 9 shows images of the movement vector r3 obtained by adding the correction vector r2 and the correction vector r1, the monitoring target captured image F before the movement, and the monitoring target captured image Fma after the movement. . The overlapping area RA is represented by an area S = a × b by a horizontal interval a and a vertical interval b.

  In addition, when the instruction vector information is input from the control unit 164, the movement vector calculation unit 168 acquires the instruction vector r from the coordinate value of the start point coordinate P1 to the coordinate value of the end point coordinate P2 included in the instruction vector information. . Further, the movement vector calculation unit 168 calculates the angle θ of the instruction vector r based on the start point coordinates P1 and the end point coordinates P2 of the instruction vector r included in the instruction vector information.

Here, as shown in FIG. 9, if the coordinates of the center of the monitoring target captured image F before movement are (0, 0) and the coordinates of the center of the monitoring target captured image Fm after movement are (x, y). The movement vector r3 (x, y) is represented by the following relational expressions (8) to (10).

In the equations (9) to (10), “a” indicates a horizontal interval in the area S of the overlapping region RA, and “b” indicates a vertical interval in the area S of the overlapping region RA. In the equations (9) to (10), the signs “+” and “−” are changed depending on which angle θ of the instruction vector r is in the first to fourth quadrants. For example, if the angle θ of the instruction vector r is the angle in the first quadrant (0 degree to 90 degrees), the signs in the expressions (9) to (10) are both “+” signs.

FIG. 10 shows a relationship diagram between the correction vector r2, the correction vector r1, and the movement vector r3. In FIG. 10, “θ” is an angle indicated by the correction vector r1, and is the same as the angle indicated by the instruction vector r. “Φ” is an angle indicated by the movement vector r3. As shown in FIG. 10, since the correction vector r2 and the correction vector r1 are orthogonal to each other, multiplying the correction vector r2 as (x ₂ , y ₂ ) and the correction vector r1 as (x ₁ , y ₁ ) results in an inner product. Is 0, and is represented by the following relational expression (11).

The movement vector r3 (x, y) is a vector obtained by adding the correction vector r2 and the correction vector r1, and is represented by the following equation (12).

Here, the correction vector r2 (x ₂ , y ₂ ) is calculated by the correction vector calculation unit 167, and since the area S of the overlapping region RA is constant, the correction vector r2 (x ₂ , y ₂ ) and The area S is a known value. Therefore, the following equation (13) is obtained by substituting equation (12) into equation (11).

In Expression (13), “A” and “B” are expressed by Expression (14).

Since the above formulas (9) to (10), (13) to (14), and the constant area S are represented by S = a × b, the movement vector r3 (x, y) can be calculated. Further, the movement vector calculation unit 168 outputs the calculated movement vector r3 to the imaging direction instruction unit 169.

  The imaging direction instruction unit 169 transmits imaging direction instruction information (instruction information) for instructing movement in the imaging direction to the mobile robot 20 via the communication unit 12 based on the direction component of the acquired instruction vector r. In addition, when transmitting the imaging direction instruction information, the imaging direction instruction unit 169 moves the imaging direction according to the correction vector r1 after moving the imaging direction according to the first mode that moves the imaging direction according to the correction vector r1 and the correction vector r2. The second mode is switched to the third mode in which the imaging direction is moved according to the movement vector r3, and imaging direction instruction information corresponding to each of the first to third modes is transmitted to the mobile robot 20. Note that switching between the first to third modes is switched according to which of the first to third modes stored in the storage unit 163 is “use” in response to an instruction from the user.

  Specifically, the imaging direction instruction unit 169 inputs the correction vector r1 calculated by the correction vector calculation unit 166 when the first mode stored in the storage unit 163 is “use”. Further, the imaging direction instruction unit 169 calculates a pan / tilt angle indicating an angle when moving in the imaging direction of the camera based on the correction vector r1. In addition, the imaging direction instruction unit 169 transmits imaging direction instruction information including the calculated pan / tilt angle to the mobile robot 20 as imaging direction instruction information corresponding to the first mode.

  When the second mode stored in the storage unit 163 is “use”, the imaging direction instruction unit 169 includes the correction vector r1 calculated by the correction vector calculation unit 166 and the correction vector calculated by the correction vector calculation unit 167. Enter r2. Further, the imaging direction instruction unit 169 calculates a first pan / tilt angle indicating an angle when moving in the imaging direction of the camera based on the correction vector r2. Further, the imaging direction instruction unit 169 calculates a second pan / tilt angle indicating an angle when moving in the imaging direction of the camera, based on the correction vector r1. In addition, the imaging direction instruction unit 169 transmits imaging direction instruction information including the calculated first to second pan / tilt angles to the mobile robot 20 as imaging direction instruction information corresponding to the second mode.

  When the third mode stored in the storage unit 163 is “use”, the imaging direction instruction unit 169 inputs the movement vector r3 calculated by the movement vector calculation unit 168. Further, the imaging direction instruction unit 169 calculates a pan / tilt angle indicating an angle when moving in the imaging direction of the camera based on the movement vector r3. In addition, the imaging direction instruction unit 169 transmits imaging direction instruction information including the calculated pan / tilt angle to the mobile robot 20 as imaging direction instruction information corresponding to the third mode. In the present embodiment, the imaging direction instruction unit 169 constitutes an instruction unit.

(Configuration of mobile robot according to the first embodiment)
Next, the configuration of the mobile robot 20 will be specifically described. Hereinafter, portions related to the present invention will be mainly described. The mobile robot 20 includes a communication unit 22, a camera unit 23, a robot control unit 24, a travel motor 25, and various sensors 26.

  The communication unit 22 transmits and receives various information to and from the operation terminal 10. Specifically, the communication unit 22 transmits the monitoring target captured image output from the camera unit 23 to the operation terminal 10. The communication unit 22 also receives a remote operation command transmitted from the operation terminal 10 and imaging direction instruction information for instructing movement of the camera in the imaging direction.

  The camera unit 23 includes a camera 231 that captures images under the floor and obtains a monitoring target captured image, a pan motor 232 that performs panning (horizontal angle control) of the camera 231, and a tilt (vertical angle) of the camera 231. Control) and a camera control unit 234 for controlling various functions in the camera unit 23. When the communication unit 22 receives the imaging direction instruction information, the camera control unit 234 controls the pan motor 232 and the tilt motor 233 based on the pan / tilt angle included in the imaging direction instruction information. Then, the imaging direction of the camera 231 is moved. In the present embodiment, at least one or both of the pan motor 232 and the tilt motor 233 constitute an operation unit that controls the imaging direction of the camera. That is, in the camera unit 23, the panning / tilting operation is executed by the panning motor 232 and the tilting motor 233, thereby moving the imaging direction of the camera 231.

  When the communication unit 22 receives a remote operation command, the robot control unit 24 controls the traveling motor 25 to move the position of the mobile robot 20 on the ground. The traveling motor 25 is a drive unit that drives a wheel or a crawler, and moves the mobile robot 20. In the present embodiment, the operating unit can also be configured by the traveling motor 25. That is, in the mobile robot 20, the imaging direction of the camera 231 can be moved by moving the mobile robot 20 by the traveling motor 25. At this time, the mobile robot 20 may move the imaging direction in combination with the pan motor 232 and the tilt motor 233.

  The various sensors 26 include an orientation sensor that detects the orientation of the mobile robot 20, a distance detection sensor that detects a travel distance using a rotary encoder, and the like.

(Control operation of underfloor inspection system)
Next, the control operation of the underfloor inspection system 1000 will be described. More specifically, a control operation when the instruction vector r is input by the operation terminal 10 and a control operation when moving the imaging direction of the camera 231 in the underfloor inspection system 1000 will be described.

(Control action when instruction vector is input)
First, the control operation when the instruction vector r is input by the operation terminal 10 will be described. As shown in FIG. 11, in step S <b> 11, on the operation terminal 10, the display unit 14 displays the monitoring target captured image F captured by the camera 231 of the mobile robot 20.

  In step S <b> 12, in the operation terminal 10, the control unit 164 of the operation control unit 16 determines whether or not the mouse is down by the user in the input unit 15. If the mouse is not down, the operation is terminated.

  In step S <b> 13, when the control unit 164 of the operation control unit 16 determines that the mouse down is performed in the input unit 15, it detects that the drag operation and the mouse up are performed. Further, the instruction vector r is displayed on the display unit 14 with the coordinate where the mouse is down as the start point coordinate P1 and the coordinate where the mouse is up as the end point coordinate P2. Note that the control unit 164 causes the display unit 14 to display a vector from the coordinate P1 where the mouse is down to the cursor K operated by the user even during a drag operation (during mouse down).

  In step S14, in the operation terminal 10, the input unit 15 receives the start point coordinate P1 as the coordinate where the mouse is down and the end point coordinate P2 as the coordinate where the mouse is up, and the start point P1 and the end point coordinate P2. Is output to the operation control unit 16.

  In step S15, when the instruction vector information is input, the control unit 164 of the operation control unit 16 acquires the instruction vector r from the start point coordinates P1 and the end point coordinates P2 included in the instruction vector information. In this way, the instruction vector r is acquired at the operation terminal 10.

(Control action when moving the imaging direction of the camera)
Next, with reference to FIG. 12, the control operation when moving the imaging direction of the camera 231 in the underfloor inspection system 1000 will be described. More specifically, the operation control unit 16 of the operation terminal 10 instructs the movement of the imaging direction of the camera 231, and the control operation when the control unit 234 of the camera unit 23 moves the imaging direction of the camera 231. explain.

  As illustrated in FIG. 12, in step S <b> 101, in the operation control unit 16 of the operation terminal 10, the control unit 164 acquires instruction vector information related to the instruction vector r from the input unit 15 via the transmission / reception unit 162.

  In step S <b> 102, the control unit 164 refers to the storage unit 163 and determines whether “use” is stored in association with the third mode.

In step S <b> 103, when determining that “use” is stored in association with the third mode, the control unit 164 outputs the instruction vector information to the correction vector calculation unit 167 and the movement vector calculation unit 168. Further, when the instruction vector information is input, the correction vector calculation unit 167 calculates a first straight line connecting the start point coordinates P1 and the end point coordinates P2 of the instruction vector included in the instruction vector information. Further, the correction vector calculation unit 167 calculates a second straight line that passes through the center (origin) of the monitoring target captured image F and is orthogonal to the calculated first straight line. The correction vector calculation unit 167 calculates an intersection P3 coordinate (x ₂ , y ₂ ) as an intersection P3 between the first straight line and the second straight line. Further, the correction vector calculation unit 167 sets the origin of the monitoring target captured image F before (current) as the start point coordinates (0, 0) and the calculated intersection point P3 as the end point coordinates (x ₂ , y ₂ ). r2 is calculated. In addition, the correction vector calculation unit 167 outputs the calculated correction vector r2 to the movement vector calculation unit 168.

  In step S104, the movement vector calculation unit 168 receives the instruction vector information from the control unit 164, and acquires the instruction vector r. The movement vector calculation unit 168 receives the correction vector r2 from the correction vector calculation unit 167. In addition, the movement vector calculation unit 168 acquires the area S of the overlap region from the overlap region calculation unit 165. Further, the movement vector calculation unit 168 calculates a movement vector r3 obtained by adding the correction vector r2 and the correction vector r1 from the center of the monitoring target captured image based on the acquired information. At this time, the movement vector calculation unit 168 adjusts the length component of the correction vector r1 so as to have an overlapping area between the monitoring target captured image before the movement and the monitoring target captured image after the movement, and after the movement. The coordinates (x, y) of the center of the monitoring target captured image are calculated. In addition, the movement vector calculation unit 168 uses the coordinates (x, y) of the center of the monitoring target captured image F before the movement as the start point and the coordinates (x, y) of the center of the monitoring target captured image Fm after the movement as the end point. The movement vector r3 (x, y) is calculated. Further, the movement vector calculation unit 168 outputs the calculated movement vector r3 to the imaging direction instruction unit 169.

  In step S105, when the imaging direction instruction unit 169 receives the movement vector r3, the imaging direction instruction unit 169 calculates a pan / tilt angle indicating an angle when the imaging direction of the camera 231 is moved based on the movement vector r3. The imaging direction instruction unit 169 transmits imaging direction instruction information including the calculated pan / tilt angle to the mobile robot 20 via the communication unit 12. The imaging direction instruction information transmitted at this time is imaging direction instruction information including a pan / tilt angle corresponding to the third mode.

  In step S <b> 106, in the mobile robot 20, the camera control unit 234 receives imaging direction instruction information via the communication unit 22. Further, the camera control unit 234 controls the pan motor 232 and the tilt motor 233 based on the pan / tilt angle included in the imaging direction instruction information, and moves the imaging direction of the camera 231. Further, when moving in the imaging direction, the camera control unit 234 leaves an overlapping area RA where the monitoring target captured image F before the movement and the monitoring target captured image Fma after the movement overlap as shown in FIG. Move the imaging direction.

  In step S <b> 111, when determining that “use” is not stored in association with the third mode, the control unit 164 outputs instruction vector information to the correction vector calculation unit 166 and the correction vector calculation unit 167.

  Further, when the correction vector calculation unit 166 receives the instruction vector information from the control unit 164, the correction vector calculation unit 166 receives the start point coordinates P1 and the end point coordinates P2 of the instruction vector r included in the instruction vector information, and the overlap region calculation unit 165 from the overlap region area S. To get. Further, the correction vector calculation unit 166 sets the center of the monitoring target captured image F before the movement as the starting point coordinates (0, 0) based on the starting point coordinates P1, the end point coordinates P2, and the constant area S, and the monitoring target after the movement. A correction vector r1 having the coordinates (x, y) of the center of the captured image Fm as the end point coordinates is calculated.

  In step S112, the correction vector calculation unit 167 calculates the correction vector r2 when the instruction vector information is input from the control unit 164. Note that the operation in step S112 is the same as the operation in step S103 described above, and a description thereof will be omitted here. In addition, the correction vector calculation unit 167 outputs the calculated correction vector r2 to the imaging direction instruction unit 169.

  In step S113, the imaging direction instruction unit 169 refers to the storage unit 163 and determines whether or not “use” is stored in association with the first mode.

  In step S114, when the imaging direction instruction unit 169 determines that “use” is stored in association with the first mode, the panning motor 232 is based on the correction vector r1 calculated by the correction vector calculation unit 166. And an angle for controlling the tilt motor 233 is calculated. The imaging direction instruction unit 169 transmits imaging direction instruction information including the calculated pan / tilt angle to the mobile robot 20 via the communication unit 12. Note that the imaging direction instruction information transmitted at this time is imaging direction instruction information including a pan / tilt angle corresponding to the first mode.

  In step S 115, in the mobile robot 20, the camera control unit 234 receives imaging direction instruction information via the communication unit 22. Further, the camera control unit 234 controls the pan motor 232 and the tilt motor 233 based on the pan / tilt angle included in the imaging direction instruction information, and moves the imaging direction of the camera 231. Further, when moving the imaging direction, the camera control unit 234 leaves an overlapping region RA where the monitoring target captured image F before the movement and the monitoring target captured image Fm after the movement overlap as shown in FIG. Move the imaging direction.

  In step S121, when the imaging direction instruction unit 169 determines that “use” is not stored in association with the first mode, that is, determines that “use” is stored in association with the second mode, the correction is performed. The correction vector r1 calculated by the vector calculation unit 166 and the correction vector r2 calculated by the correction vector calculation unit 167 are input. Further, the imaging direction instruction unit 169 calculates a first pan / tilt angle indicating an angle when the imaging direction of the camera 231 is moved based on the correction vector r2. Further, the imaging direction instruction unit 169 transmits imaging direction instruction information including the calculated first pan / tilt angle to the mobile robot 20.

  In step S <b> 122, in the mobile robot 20, the camera control unit 234 receives imaging direction instruction information via the communication unit 22. Further, the camera control unit 234 controls the pan motor 232 and the tilt motor 233 based on the first pan / tilt angle included in the imaging direction instruction information, and moves the imaging direction of the camera 231.

  In step S123, the imaging direction instruction unit 169 calculates a second pan / tilt angle indicating an angle when the imaging direction of the camera is moved based on the correction vector r1. Further, the imaging direction instruction unit 169 transmits imaging direction instruction information including the calculated second pan / tilt angle to the mobile robot 20.

  In step S <b> 124, the imaging direction instruction unit 169 transmits imaging direction instruction information including the calculated second pan / tilt angle to the mobile robot 20. In the mobile robot 20, the camera control unit 234 receives imaging direction instruction information via the communication unit 22. Further, the camera control unit 234 controls the pan motor 232 and the tilt motor 233 based on the second pan / tilt angle included in the imaging direction instruction information, and moves the imaging direction of the camera 231. Note that the imaging direction instruction information transmitted in steps S121 and S123 described above is imaging direction instruction information including a pan / tilt angle corresponding to the second mode. Therefore, in the second mode, when the camera control unit 234 moves the imaging direction in the operations of steps S122 and S124, as shown in FIG. 13, after moving the imaging direction according to the correction vector r2, the camera control unit 234 follows the correction vector r1. Move the imaging direction.

  As described above, in the underfloor inspection system 1000, when the imaging direction instruction unit 169 moves the imaging direction of the camera 231, the camera control unit 234 displays imaging direction instruction information corresponding to one of the first to third modes. The camera control unit 234 moves the imaging direction in accordance with the received imaging direction instruction information. The operation terminal 10 functions as a computer, and the communication unit 12, the display unit 14, the input unit 15, the storage unit 163, the control unit 164, the overlapping area calculation unit 165, and the installed program (camera control program). Various functions of the correction vector calculation unit 166, the correction vector calculation unit 167, the movement vector calculation unit 168, and the imaging direction instruction unit 169 may be executed.

(Operation and effect of the underfloor inspection system according to the first embodiment)
According to the underfloor inspection system 1000 according to the present embodiment, the imaging direction of the camera 231 is based on an instruction vector r input in an arbitrary direction on the monitoring target captured image F by a user who refers to the monitoring target captured image F. To move. Here, in the related art, when moving the imaging direction of the camera 231, the user performs a predetermined operation (for example, the icon of the icon) at a position (for example, an icon provided in the center) provided at a fixed position on the screen. Unless dragging is performed, the imaging direction of the camera 231 cannot be moved. In this case, the operability when moving the imaging direction of the camera 231 more accurately along the monitoring object image is poor. However, in the underfloor inspection system 1000 according to the present invention, the user inputs the instruction vector r to an arbitrary location on the monitoring target captured image and moves the imaging direction. That is, in the underfloor inspection system 1000, the instruction vector r can be input at a position directly along the displayed monitoring target object image, and the imaging direction of the camera 231 can be captured more accurately and easily. The direction can be moved. Therefore, according to the underfloor inspection system 1000, when acquiring a monitoring target captured image including a part of the monitoring target object image, the operability is improved while moving the imaging direction of the camera along the monitoring target more accurately. Can be improved.

  Furthermore, according to the underfloor inspection system 1000, since the imaging direction is moved so that the overlapping area RA of a certain area S remains in the monitoring target captured image F before movement and the monitoring target captured image Fm after movement, the overlapping area It is possible to efficiently acquire two images having

  Further, in the underfloor inspection system 1000 according to the present embodiment, a correction vector r2 directed to a position on the monitoring target captured image F to which the instruction vector r is input is calculated, and a movement vector obtained by adding the correction vector r2 and the correction vector r1. The imaging direction can be moved based on r3. That is, in the underfloor inspection system 1000 according to the present embodiment, if the user inputs the instruction vector r in accordance with the monitoring object image desired to be monitored, the correction vector r2 directed to the input position of the instruction vector r is also used. Since the imaging direction is moved, the imaging direction can be moved so as to be closer to the position on the monitoring target object image.

  Moreover, in the underfloor inspection system 1000 according to the present embodiment, when moving in the imaging direction, the first to third modes having different moving methods can be switched according to an instruction from the user. In the underfloor inspection system 1000 according to the present embodiment, the imaging direction of the camera 231 is moved along the correction vector r1 in the first mode. This first mode is effective when the monitoring target object image is included in an appropriate position on the current monitoring target captured image. For example, when the user wants to acquire a monitoring target captured image including a part of the base wall as a monitoring target, the base wall in contact with the floor under the ceiling, as shown in FIG. It is possible to move the imaging direction of the camera 231 toward the monitoring target captured image Fm after the movement only by inputting the instruction vector r along the line where the underfloor ceiling and the base wall on the screen are in contact with the image F. it can.

  Further, in the underfloor inspection system 1000 according to the present embodiment, in the second mode, the imaging direction is moved according to the correction vector r1 after the imaging direction is moved according to the correction vector r2. Therefore, it is possible to acquire a monitored object captured image including the monitored object image more reliably by simply inputting the instruction vector r. This second mode is effective when the monitoring target object image is not included in an appropriate position on the monitoring target captured image F before (current) movement. For example, when a user wants to acquire a monitoring target captured image using a cable as a monitoring target, as shown in FIG. 15, the monitoring target image is located at the upper end or the like of the monitoring target captured image F before movement (current). May be included. In such a case, just by inputting the instruction vector r along the cable, the cable is included in the center of the monitoring target captured image via the monitoring target captured image F ′, and then moved toward the monitored target captured image Fma. The imaging direction of the camera 231 can be moved.

  In the underfloor inspection system 1000 according to the present embodiment, the imaging direction is moved according to the movement vector r3 in the third mode. The third mode is effective when it is desired to monitor the tip of the monitoring object image included in the monitoring target captured image F before (current) movement earlier. For example, when a user wants to acquire a monitoring target captured image using a cable as a monitoring target, the user simply inputs an instruction vector r along the cable as shown in FIG. The imaging direction of the camera 231 can be moved faster toward the monitoring target captured image Fma.

  As described above, in the underfloor inspection system 1000 according to the present embodiment, the first to third modes are switched according to the position of the monitoring object image on the monitoring target captured image F before (current), and after the movement. The imaging direction of the camera 231 can be moved toward the monitoring target captured image Fm (or Fma).

[Second Embodiment]
The second embodiment of the present invention will be described by paying attention to differences from the first embodiment. In the present embodiment, the operation terminal 10 is the same as the first embodiment except for the configuration of the overlapping area calculation unit 165 of the operation control unit 16. Therefore, the configuration of the overlapping area calculation unit 165 according to the present embodiment will be described.

(Configuration of Operation Control Unit According to Second Embodiment of the Present Invention)
In the first embodiment described above, the overlapping region calculation unit 165 calculates the area S of the overlapping region as the constant area S. However, the overlapping region calculation unit 165 according to the present embodiment calculates the length component of the instruction vector r. Based on the above, the area S of the overlapping region RA is calculated. Specifically, when the overlapping area calculation unit 165 receives the instruction vector information from the control unit 164, the overlapping area calculation unit 165 determines the length of the instruction vector r based on the start point coordinates P1 and the end point coordinates P2 of the instruction vector r included in the instruction vector information. The thickness component D is calculated. In addition, the overlapping area calculation unit 165 calculates the area S of the overlapping area RA to be smaller as the calculated length component D is larger.

Here, when the horizontal interval of the monitoring target captured image is H and the vertical interval is V, the length component in which the instruction vector r is the longest on the monitoring target captured image F displayed on the display unit 14. D is represented by the following equation (15). In addition, the area S of the largest overlapping region RA is expressed by equation (16).

Further, the overlapping region calculation unit 165 calculates the area S of the overlapping region RA based on the length component D based on the following equation (17). Further, the overlapping area calculation unit 165 outputs the area S calculated based on the equation (17) to the correction vector calculation unit 166.

The correction vector calculation unit 166 adjusts the length component of the correction vector r1 according to the area S of the overlapping region RA calculated by the overlapping region calculation unit 165.

  Here, FIG. 16A shows the overlapping area RA and the correction vector r1 when the length component of the instruction vector r is DL. FIG. 16B shows an overlapping area RA and a correction vector r1 when the instruction vector r is DS whose length component is smaller than the length component DL.

  As shown in FIGS. 16A and 16B, the overlapping area calculation unit 165 calculates the area S of the overlapping area RA to be smaller as the length component D of the instruction vector r is longer. Thus, the correction vector calculation unit 166 calculates a correction vector r1 corresponding to the length component D of the instruction vector r.

(Operation and effect of the underfloor inspection system according to the second embodiment)
According to the underfloor inspection system 1000 according to the present embodiment, the overlapping region calculation unit 165 of the operation control unit 16 calculates the area S of the overlapping region RA according to the length component D of the instruction vector r input by the user. . The correction vector calculation unit 166 calculates the length component of the correction vector r1 according to the area S of the overlap region RA. That is, according to the underfloor inspection system 1000, when the user inputs the instruction vector r, for example, the user simply performs an operation such as adding or subtracting the length component D of the instruction vector r. It is possible to move the imaging direction by adjusting the area S of the overlapping region where F and the monitoring target captured image Fm after the movement overlap.

(Modification according to the second embodiment)
A modification according to the second embodiment will be described by focusing on the differences from the above-described embodiment. In the second embodiment described above, the correction vector calculation unit 166 is configured to calculate the correction vector r1 in which the length component is adjusted according to the area S calculated by the overlapping region calculation unit 165. In the present embodiment, the movement vector calculation unit 168 calculates a correction vector r1 in which the length component is adjusted according to the area S calculated by the overlapping region calculation unit 165, and moves based on the correction vector r1. Vector r3 is calculated.

  Specifically, the movement vector calculation unit 168 inputs the area S calculated by the overlapping region calculation unit 165 based on the above equation (17). The movement vector calculation unit 168 calculates the movement vector r3 (x, y) based on the input area S, the expressions (9) to (10), and the expressions (13) to (14).

  Thus, according to the underfloor inspection system 1000 according to the present embodiment, the overlapping region calculation unit 165 calculates the area S of the overlapping region RA according to the length component D of the instruction vector r, and the movement vector calculation unit 168. However, the movement vector r3 in which the length component is adjusted is calculated according to the calculated area S. Therefore, the underfloor inspection system 1000 according to the present embodiment can achieve the same effects as those of the second embodiment described above.

[Third Embodiment]
Hereinafter, the configuration of the underfloor inspection system 1000 according to the third embodiment of the present invention will be described by focusing on differences from the above-described embodiments. Here, the underfloor inspection system 1000 according to the third embodiment of the present invention has the same configuration as that of the above-described embodiment except for the configurations of the overlapping region calculation unit 165 and the correction vector calculation unit 166 described above. Therefore, the configuration of the overlapping area calculation unit 165 and the correction vector calculation unit 166 will be described below.

  In the second embodiment described above, the overlapping region calculation unit 165 is configured to calculate the area S of the overlapping region RA in accordance with the length component D of the instruction vector r, but the overlapping region according to the present embodiment. Instead of calculating the area, the region calculation unit 165 uses the instruction vector r to calculate the first ellipse shape that fits in the monitoring target captured image F before moving and the first ellipse shape that fits in the monitoring target captured image Fm after moving. A coefficient that identifies the shape of the two ellipses is calculated. Details of these coefficients will be described later. Further, the correction vector calculation unit 166 is based on the coefficient calculated by the overlapping region calculation unit 165 so as to circumscribe the shape of the first ellipse C1L and the first ellipse C1L as shown in FIG. And the shape of the second ellipse C2L determined in (1). The correction vector calculation unit 166 calculates a correction vector r1 in which the length component of the instruction vector r is adjusted based on the calculated first ellipse C1L and second ellipse C2L. Thereby, the overlapping area RA is formed in the monitoring target captured image F before the movement and the monitoring target captured image Fm after the movement.

  Below, the structure of the overlap area | region calculation part 165 and the correction vector calculation part 166 which concern on this embodiment is demonstrated concretely. In the present embodiment, the first ellipse C1L and the second ellipse C2L are ellipses having the same shape. In addition, the center of the first ellipse C1L and the center of the monitoring target captured image F before the movement match, and the center of the second ellipse C2L and the center of the monitoring target captured image Fm after the movement match.

In this case, assuming that the center of the monitoring target captured image F before movement is the origin coordinate (0, 0) and the central coordinate of the monitoring target captured image Fm after movement is (x, y), the monitoring target captured image after movement is taken. The coordinates (x, y) of the center of Fm are expressed by the following equation (18). In the following equation (18), “a” represents the major axis radius of the first ellipse C1L and the second ellipse C2L, and “b” represents the minor axis radius of the first ellipse C1L and the second ellipse C2L. Show.

In this embodiment, in the above equation (18), “a” and “b” are represented by the following equation (19). In equation (19), “k” is a coefficient that is changed according to the length component D of the instruction vector r, and the overlapping region calculation unit 165 calculates the coefficient “k” using equation (20) shown below. To do.

Specifically, when the overlapping area calculation unit 165 receives the instruction vector information from the control unit 164, the overlapping area calculation unit 165 determines the length of the instruction vector r based on the start point coordinates P1 and the end point coordinates P2 of the instruction vector r included in the instruction vector information. The thickness component D is calculated. Further, the overlapping area calculation unit 165 calculates the coefficient “k” by substituting the calculated length component D into the equation (20). The coefficient “k” is a value that increases as the length component D increases, and is calculated as a value within a range of 0 <k <1. That is, the overlapping area calculation unit 165 calculates the coefficient “k” to be larger as the length of the length component D of the instruction vector r is larger.

Here, the calculated coefficient “k” is substituted into the equation (19), so that the major axis radius “a” of the first ellipse C1L and the second ellipse C2L and the short ellipse C1L and the second ellipse C2L are short. A shaft radius “b” is determined. That is, the overlapping region calculation unit 165 calculates the major axis radius “a” and the minor axis radius “b” of the first ellipse C1L and the second ellipse C2L according to the length component D of the instruction vector r. “K” is calculated. In addition, the overlapping area calculation unit 165 outputs the calculated coefficient “k” to the correction vector calculation unit 166.

When the correction vector calculation unit 166 inputs the instruction vector information from the control unit 164 and also inputs the coefficient “k” from the overlapping region calculation unit 165, the coordinates (x, y) of the center of the monitored target captured image Fm after the movement are input. Is calculated. Here, the center coordinates (x, y) of the monitoring target captured image Fm after the movement are expressed by the following equation (21) based on the equations (18) to (19) described above. In the equation (21), the angle θ is an angle indicating the direction component of the instruction vector r. Therefore, the angle θ is calculated by the correction vector calculation unit 166 from the start point coordinates P1 and the end point coordinates P2 included in the instruction vector information. In the equation (21), the signs “+” and “−” are changed according to the angle θ of the instruction vector r according to the angles of the first to fourth quadrants. For example, if the angle θ of the instruction vector r is the angle in the first quadrant (0 degree to 90 degrees), in the equation (21), the sign is “+” for both “x” and “y”.

Here, FIG. 17A shows the overlapping area RA and the correction vector r1 when the length component of the instruction vector r is DL. FIG. 17B shows an overlapping area RA and a correction vector r1 when the instruction vector r is a length component DS smaller than the length component DL.

  As shown in FIGS. 17A and 17B, the overlapping area calculation unit 165 increases the major axis radii “a” of the first ellipse C1L and the second ellipse C2L as the length component D of the instruction vector r increases. Since the coefficient “k” is calculated so that the minor axis radius “b” is increased, the area S of the overlapping region RA is decreased. As a result, the correction vector calculation unit 166 uses the first ellipse C1L and the second ellipse C2L in which the major axis radius “a” and the minor axis radius “b” are adjusted to move the monitored captured image Fm after the movement. The coordinate (x, y) of the center is calculated, and a correction vector r1 corresponding to the length component D of the instruction vector r is calculated.

  In this way, in the underfloor inspection system 1000 according to the present embodiment, when the correction vector calculation unit 166 inputs the coefficient “k” from the overlapping region calculation unit 165, the correction vector calculation unit 166 falls within the monitoring target captured image before moving in the imaging direction. The shape of the first ellipse C1L and the shape of the second ellipse C2L that fits in the monitoring target captured image after movement in the imaging direction are calculated. The correction vector calculation unit 166 also corrects the length vector of the instruction vector r based on the first ellipse C1L and the second ellipse C2L circumscribed by the first ellipse C1L. Is calculated. Therefore, the underfloor inspection system 1000 according to the present embodiment can achieve the same effects as those of the second embodiment described above. That is, when the user inputs the instruction vector r, for example, the user simply performs an operation such as adding or subtracting the length component D of the instruction vector r, and the monitoring target captured image F before the movement and the monitoring target captured image after the movement. The imaging direction can be moved by adjusting the area S of the overlapping region RA where Fm overlaps.

  Note that the overlapping region calculation unit 165 stores a constant coefficient “k (for example, 0.8)” in advance regardless of the magnitude of the length component D of the instruction vector r, and corrects the coefficient “k”. You may output to the vector calculation part 166. FIG. Further, the correction vector calculation unit 166 calculates the major axis radius “a” and the minor axis radius “b” based on the constant coefficient “k”, and calculates the major axis radius “a” and the minor axis radius “b”. From the first ellipse C1L and the second ellipse C2L of b ″, the coordinates (x, y) of the center of the monitoring target captured image Fm after movement may be calculated. That is, the correction vector calculation unit 166 calculates the first ellipse C1L and the second ellipse C2L having the constant major axis radius “a” and the constant minor axis radius “b” based on the constant coefficient “k”. The correction vector r1 may be calculated.

(Modification according to the third embodiment)
A modified example according to the third embodiment will be described by focusing on differences from the above-described embodiment. In the third embodiment described above, the correction vector calculation unit 166 is configured to calculate the correction vector r1 in which the length component is adjusted in accordance with the coefficient “k” calculated by the overlapping region calculation unit 165. However, in the present embodiment, the movement vector calculation unit 168 calculates the correction vector r1 in which the length component is adjusted according to the coefficient “k” calculated by the overlapping region calculation unit 165, and sets the correction vector r1 to the correction vector r1. Based on this, the movement vector r3 is calculated.

Specifically, when the coefficient “k” is input from the overlapping region calculation unit 165, the movement vector calculation unit 168 receives the major axis radii “a” of the first ellipse C1L and the second ellipse C2L based on the equation (18) and The minor axis radius “b” is calculated. Further, the movement vector calculation unit 168 is based on the calculated major axis radius “a” and minor axis radius “b” and the correction vector r2 (x ₂ , y ₂ ) input from the correction vector calculation unit 167 ( The movement vector r3 (x, y) is calculated from the equations (11) to (14) and the equation (18). At this time, the movement vector calculation unit 168 moves the movement vector r3 (x, y) based on the following conditions (I) to (II) according to the value of the correction vector r2 (x ₂ , y ₂ ). Is calculated.

(I) When x ₂ ≠ 0 and y ₂ ≠ 0 For example, when neither of the correction vectors r2 (x ₂ , y ₂ ) is 0 (zero), the movement vector calculation unit 168 is based on the equation (22). After calculating the value of “x”, the value of “y” is calculated based on the equations (13) to (14).

(II) When x ₂ = 0 and y ₂ ≠ 0 In addition, the movement vector calculation unit 168 determines that (23) when “x ₂ ” is 0 (zero) in the correction vector r2 (x ₂ , y ₂ ). ) To calculate the movement vector r3 (x, y).

(III) When x ₂ ≠ 0 and y ₂ = 0 Also, the movement vector calculation unit 168 determines that (24) when “y ₂ ” is 0 (zero) in the correction vector r2 (x ₂ , y ₂ ). ) To calculate the movement vector r3 (x, y).

(IV) When x ₂ = 0 and y ₂ = 0 In addition, the movement vector calculation unit 168 determines that both “x ₂ ” and “y ₂ ” are 0 in the correction vector r2 (x ₂ , y ₂ ). If zero), the movement vector r3 (x, y) is calculated based on the equation (21). That is, since the correction vector r2 is 0 (zero), the movement vector r3 and the correction vector r1 are equal.

  Thus, according to the underfloor inspection system 1000 according to the present embodiment, the overlapping area calculation unit 165 calculates the coefficient “k” according to the length component D of the instruction vector r, and the movement vector calculation unit 168 In accordance with the calculated coefficient “k”, a movement vector r3 with the length component adjusted is calculated. Therefore, the underfloor inspection system 1000 according to the present embodiment can achieve the same effects as those of the third embodiment described above.

  Note that the overlapping region calculation unit 165 stores a constant coefficient “k (for example, 0.8)” in advance regardless of the length component D of the instruction vector r, and moves the coefficient “k”. You may output to the vector calculation part 168. Further, the movement vector calculation unit 168 calculates the major axis radius “a” and the minor axis radius “b” based on the constant coefficient “k”, and calculates the major axis radius “a” and the minor axis radius “b”. From the first ellipse C1L and the second ellipse C2L of b ″, the coordinates (x, y) of the center of the monitoring target captured image Fma after movement may be calculated. That is, the movement vector calculation unit 168 calculates the first ellipse C1L and the second ellipse C2L having the constant major axis radius “a” and the constant minor axis radius “b” based on the constant coefficient “k”. The movement vector r3 may be calculated.

[Fourth Embodiment]
An underfloor inspection system 1000 according to a fourth embodiment of the present invention will be described by focusing on differences from the above-described embodiment. In the underfloor inspection system 1000 according to the present embodiment, the camera control unit 234 includes various functions provided in the operation control unit 16 according to the first embodiment.

  Specifically, when the instruction vector r is input, the input unit 15 of the operation terminal 10 includes an instruction including the coordinate value of the start point coordinate P1 and the coordinate value of the end point coordinate P2 with the center of the monitoring target captured image F as the origin. Vector information is output to the operation control unit 16. Further, the input unit 15 receives an instruction from the user as to which of the first to third modes is used, and outputs mode information indicating the mode to the operation control unit 16.

  The operation control unit 16 transmits the instruction vector information and the mode information output from the input unit 15 to the mobile robot 20 via the communication unit 12.

(Configuration of Camera Control Unit According to Fourth Embodiment of the Present Invention)
The camera control unit 234 according to the present embodiment includes an image acquisition unit 2341, a transmission / reception unit 2342, a storage unit 2343, a control unit 2344, an overlap region calculation unit 2345, a correction vector calculation unit 2346, and a correction vector calculation unit. 2347, a movement vector calculation unit 2348, and an imaging direction instruction unit 2349.

  The image acquisition unit 2341 acquires a monitoring target captured image including a part of the monitoring target object image captured by the camera 231. Further, the acquired monitoring object image is output to the transmission / reception unit 2342.

  The transmission / reception unit 2342 outputs the monitoring target captured image acquired by the captured image acquisition unit 2341 to the communication unit 22. In addition, the transmission / reception unit 2342 receives instruction vector information including the start point coordinate value and the end point coordinate value input on the monitoring target captured image by the user from the operation terminal 10 via the communication unit 22. In addition, the transmission / reception unit 2342 acquires the instruction vector r from the start point coordinate P1 toward the end point coordinate P2 based on the start point coordinate P1 and the end point coordinate P2 included in the received instruction vector information. Further, the transmission / reception unit 2342 outputs the instruction vector information to the control unit 2344. In the present embodiment, the transmission / reception unit 2342 constitutes a reception unit and a vector acquisition unit.

  The storage unit 2343 has the same configuration as the storage unit 163 according to the first embodiment. Therefore, the description is omitted here.

  The control unit 2344 controls various functions in the camera control unit 234. In addition, when the instruction vector information is input to the transmission / reception unit 2342 and the instruction vector r is acquired, the control unit 2344 refers to the storage unit 2343 and determines which of the first to third modes is “use”. Determine whether or not. That is, the control unit 2344, when referring to the storage unit 2343, similarly to the control unit 234 according to the first embodiment, if the first mode is “use”, the instruction vector information is sent to the correction vector calculation unit 2346. When the second mode is “use”, the instruction vector information is output to the correction vector calculation unit 2346 and the correction vector calculation unit 2347. When the third mode is “use”, the instruction vector information is And output to the correction vector calculation unit 2347 and the movement vector calculation unit 2348.

  In the present embodiment, each of the various configurations of the overlapping area calculation unit 2345, the correction vector calculation unit 2346, the correction vector calculation unit 2347, the movement vector calculation unit 2348, and the imaging direction instruction unit 2349 is The configuration is the same as that of the overlapping area calculation unit 165, the correction vector calculation unit 166, the correction vector calculation unit 167, and the movement vector calculation unit 168 according to the embodiment. Therefore, the description is omitted here.

  The imaging direction instruction unit 2349 is connected to the pan motor 232 and the tilt motor 233 and moves the imaging direction of the camera 231. In addition, when the imaging direction of the camera 231 is moved, the imaging direction instruction unit 2349 moves the imaging direction so as to leave an overlapping region where the monitoring target captured image before the movement and the monitoring target captured image after the movement overlap. In the present embodiment, the imaging direction instruction unit 2349 constitutes an operation unit.

  In addition, when transmitting imaging direction instruction information, the imaging direction instruction unit 2349 moves the imaging direction according to the correction vector r1 after moving the imaging direction according to the first mode in which the imaging direction is moved according to the correction vector r1 and the correction vector r2. The second mode is switched to the third mode in which the imaging direction is moved according to the movement vector r3, and imaging direction instruction information corresponding to each of the first to third modes is transmitted to the mobile robot 20. Note that switching between the first to third modes is switched according to which of the first to third modes stored in the storage unit 2343 is “use” in response to an instruction from the user.

  Specifically, the imaging direction instruction unit 2349 refers to the storage unit 2343 and inputs the correction vector r1 calculated by the correction vector calculation unit 2346 when the first mode stored in the storage unit 2343 is “use”. To do. In addition, the imaging direction instruction unit 2349 calculates a pan / tilt angle indicating an angle when the imaging direction of the camera is moved based on the correction vector r1. Further, the imaging direction instruction unit 2349 controls the pan motor 232 and the tilt motor 233 based on the calculated pan / tilt angle, and moves the imaging direction of the camera 231.

  When the second mode stored in the storage unit 2343 is “use”, the imaging direction instruction unit 2349 includes the correction vector r1 calculated by the correction vector calculation unit 2346 and the correction vector calculated by the correction vector calculation unit 2346. Enter r2. Further, the imaging direction instruction unit 2349 calculates a first pan / tilt angle indicating an angle when moving in the imaging direction of the camera based on the correction vector r2. Further, the imaging direction instruction unit 2349 calculates a second pan / tilt angle indicating an angle when moving in the imaging direction of the camera based on the correction vector r1. The imaging direction instruction unit 2349 controls the pan motor 232 and the tilt motor 233 based on the first pan / tilt angle to move the imaging direction of the camera 231. Thereafter, the imaging direction instruction unit 2349 moves the imaging direction of the camera 231 by controlling the pan motor 232 and the tilt motor 233 based on the second pan / tilt angle.

  When the third mode stored in the storage unit 2343 is “use”, the imaging direction instruction unit 2349 receives the movement vector r3 calculated by the correction vector calculation unit 2346. Further, the imaging direction instruction unit 2349 calculates a pan / tilt angle indicating an angle when moving in the imaging direction of the camera based on the movement vector r3. Further, the imaging direction instruction unit 2349 controls the pan motor 232 and the tilt motor 233 based on the calculated pan / tilt angle, and moves the imaging direction of the camera 231.

(Operation and effect of the underfloor inspection system according to the fourth embodiment)
According to the underfloor inspection system 1000 according to the present embodiment, the camera control unit 234 of the mobile robot 20 acquires the instruction vector r, and the correction vector calculation unit 2346 calculates the correction vector r1 based on the instruction vector r. To do. Further, the correction vector calculation unit 2347 calculates the correction vector r2. Further, the movement vector calculation unit 2348 calculates a movement vector r3. Also, pan / tilt indicating an angle when the imaging direction instruction unit 2349 moves the imaging direction of the camera 231 using the correction vector r1, the correction vector r2, and the movement vector r3 according to the first to third modes. The angle is calculated, and the pan motor 232 and the tilt motor 233 are controlled based on the calculated pan / tilt angle to move the imaging direction of the camera 231.

  That is, in the underfloor inspection system 1000 according to the present embodiment, the function of the operation control unit 16 in the underfloor inspection system 1000 according to the first embodiment can be executed by the camera control unit 234. Therefore, the underfloor inspection system 1000 according to the present embodiment can achieve the same effects as those of the first embodiment.

[Fifth Embodiment]
The fifth embodiment of the present invention will be described by paying attention to differences from the above-described embodiments. The underfloor inspection system 1000 according to the present embodiment is the same as the underfloor inspection system 1000 according to the first embodiment described above, except for the configuration of the imaging direction instruction unit 169. Therefore, the configuration of the imaging direction instruction unit 169 will be described below.

(Configuration of the imaging direction instruction unit according to the fifth embodiment of the present invention)
In step S106, step S115, and step S124 of FIG. 12, the imaging direction instruction unit 169 according to the present embodiment captures an image of the monitoring target captured image Fm after movement based on the correction vector r1, the correction vector r2, and the movement vector r3. When moving in the direction, if a predetermined movement amount stored in advance is reached, the mobile robot 20 is instructed to move the position. Here, the predetermined movement amount may be a pan / tilt limit angle, or a pan / tilt angle that is a blind spot in the structure of the mobile robot 20 when the camera 231 moves in the imaging direction. There may be. In the present embodiment, the case where the predetermined movement amount is the panning limit angle will be described as an example. Here, the case where the current camera 231 has a limit angle of angle Φ and the imaging direction instruction unit 169 moves the imaging direction of the camera 231 by an angle ω (ω = Φ + α) will be described as an example.

  Specifically, when the movement amount reaches the panning limit angle Φ, the imaging direction instruction unit 169 according to the present embodiment turns the direction of the mobile robot 20 to the panning limit angle Φ to the robot control unit 24. To instruct. Receiving this instruction, the robot controller 24 controls the traveling motor 25 to turn the direction of the mobile robot 20 to the limit angle Φ. At the same time, the imaging direction instruction unit 169 instructs the camera control unit 234 of the mobile robot 20 to return the imaging direction of the camera 231 by the turning angle Φ. That is, the imaging direction instruction unit 169 The control unit 234 is instructed to move the imaging direction of the camera 231 by an angle −Φ. Upon receiving this instruction, the camera control unit 234 controls the pan motor 232 and moves the imaging direction of the camera 231 by an angle −Φ.

  When the above operation is completed, the imaging direction instruction unit 169 instructs the camera control unit 234 to move the imaging direction by an insufficient amount of movement (hereinafter, insufficient angle α). Upon receiving this instruction, the camera control unit 234 controls the pan motor 232 and moves the imaging direction of the camera 231 by the insufficient angle α.

(Operation of the underfloor inspection system 1000 according to the fifth embodiment)
The operation of the underfloor inspection system 1000 having the above configuration will be described with reference to FIGS. Here, a case where the amount of pan movement reaches the limit angle when moving in the imaging direction of the camera 231 will be described as an example.

  In step S201, in the underfloor inspection system 1000, the imaging direction instruction unit 169 provides the camera control unit 234 with imaging direction instruction information including a pan / tilt angle calculated based on the correction vector r1, the correction vector r2, and the movement vector r3. Send. Further, the camera control unit 234 controls the pan motor 232 based on the pan / tilt angle included in the received imaging direction instruction information, and moves the imaging direction of the camera 231. For example, as shown in FIGS. 21A to 21B, in the mobile robot 20, the imaging direction of the camera 231 is moved by the angle Φ.

  In step S202, the imaging direction instruction unit 169 determines whether the pan movement amount is equal to or greater than the limit angle.

  In step S203, when the imaging direction instruction unit 169 determines that the amount of pan movement is not greater than or equal to the limit angle, the imaging direction instruction unit 169 continues to control the pan motor 232 to move the imaging direction of the camera 231.

  In step S204, when the imaging direction instruction unit 169 determines that the pan movement amount is equal to or larger than the limit angle (for example, the angle Φ), the current pan movement amount (angle Φ) is stored and insufficient. The deficient angle α is calculated.

  In step S205, the imaging direction instruction unit 169 instructs the robot control unit 24 to turn the direction of the mobile robot 20 to the angle Φ. Receiving this instruction, the robot control unit 24 controls the traveling motor 25 to turn the mobile robot 20 to the angle Φ as shown in FIG. At the same time, the imaging direction instruction unit 169 transmits imaging direction instruction information including a pan angle indicating the angle −Φ to the camera control unit 234 so as to return the imaging direction of the camera 231 by the angle Φ that has been turned. Further, the camera control unit 234 controls the pan motor 232 based on the received image capturing direction instruction information, and moves the image capturing direction of the camera 231 by the pan angle of angle −Φ. That is, as shown in FIG. 22A, the mobile robot 20 controls to turn to the angle Φ, but does not move the imaging direction (absolute direction) of the camera 231.

  In step S <b> 206, the imaging direction instruction unit 169 transmits imaging direction instruction information including a pan angle indicating the pan insufficient angle α to the camera control unit 234. When the camera control unit 234 receives the imaging direction instruction information, as shown in FIG. 22B, the camera control unit 234 changes the imaging direction of the camera 231 by the pan angle indicating the insufficient angle α included in the imaging direction instruction information. Moving.

  In this way, in the underfloor inspection system 1000, the imaging direction instruction unit 169 moves the imaging direction of the camera 231 by the angle ω (ω = Φ + α). In the above-described example, when the imaging direction instruction unit 169 determines that the pan movement amount is equal to or greater than the limit angle (for example, the angle Φ), the imaging direction instruction unit 169 moves the mobile robot 20 to the robot control unit 24 with the limit angle Φ. However, it is only necessary to instruct to turn at least an angle greater than the insufficient angle α.

(Operation and effect of the underfloor inspection system according to the fifth embodiment)
According to the underfloor inspection system 1000 according to the present embodiment, the imaging direction instruction unit 169 instructs the mobile robot to move the robot control unit 24 when the movement amount (for example, the movement amount of bread) exceeds a predetermined movement amount. 20 is instructed to turn to a predetermined amount of movement, and at the same time, the camera control unit 234 is instructed to return the imaging direction of the camera 231 to the amount of the turn. In addition, when the turning movement of the mobile robot 20 is completed, the imaging direction instruction unit 169 continues to move in the imaging direction of the camera 231 by an insufficient amount of movement. Therefore, in the underfloor inspection system 1000, for example, even when the movement amount of the camera 231 in the imaging direction reaches a predetermined movement amount (for example, a limit angle), the mobile robot is swung to continue the imaging direction. Can be moved. Therefore, in the underfloor inspection system 1000, the imaging direction of the camera 231 can be moved more reliably with respect to the movement amount (angle) calculated based on the correction vector r1, the correction vector r2, and the movement vector r3.

(Modification according to the fifth embodiment)
A modified example according to the fifth embodiment will be described by focusing on differences from the above-described embodiment. In the above-described embodiment, the imaging direction instruction unit 169 instructs the robot control unit 24 to turn the mobile robot 20 after the imaging direction of the camera 231 reaches the limit angle Φ. When the imaging direction instruction unit 169 according to the present embodiment calculates the pan / tilt angle ω that moves in the imaging direction, when the angle ω reaches a predetermined movement amount stored in advance, it can be recognized in advance. In consideration of reaching a predetermined movement amount, the camera controller 234 is instructed to move in the imaging direction of the camera 231 and to turn the mobile robot 20 relative to the robot controller 24.

  Specifically, when calculating the pan / tilt angle ω, the imaging direction instruction unit 169 determines whether or not the calculated pan / tilt angle ω is greater than or equal to the limit angle Φ. In addition, when it is determined that the calculated pan / tilt angle ω is equal to or larger than the limit angle Φ, the imaging direction instruction unit 169 calculates a pan angle β1 that is larger than the insufficient angle α and smaller than the limit angle Φ.

  Then, the imaging direction instruction unit 169 instructs the robot control unit 24 to turn the direction of the mobile robot 20 to the angle β1. Receiving this instruction, the robot controller 24 controls the traveling motor 25 to turn the mobile robot 20 to the angle β1. At the same time, the imaging direction instruction unit 169 transmits imaging direction instruction information including a pan angle indicating the angle −β1 to the camera control unit 234 so as to return the imaging direction of the camera 231 by the angle β1 that has been turned. Further, the camera control unit 234 controls the pan motor 232 based on the received imaging direction instruction information, and moves the imaging direction of the camera 231 by the pan angle of the angle −β1 that the mobile robot 20 turns. To do.

  Thereafter, the imaging direction instruction unit 169 transmits the imaging direction instruction information including the pan angle β2 so as to move the imaging direction by the remaining pan angle β2 (β2 = ω−β1) up to the angle ω. Send to. In addition, the camera control unit 234 moves the imaging direction of the camera 231 by the pan angle indicating the angle β2 included in the received imaging direction instruction information.

  As described above, the imaging direction instruction unit 169 according to the present embodiment can achieve the same effects as those of the fifth embodiment described above.

(Other embodiments)
As described above, the content of the present invention has been disclosed through one embodiment of the present invention. However, it should not be understood that the description and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments will be apparent to those skilled in the art.

For example, in the above-described embodiment, the correction vector calculation unit 2347 calculates the coordinates (x ₂ , y ₂ ) of the intersection point P3 between the first straight line on the instruction vector r and the second straight line orthogonal to the first straight line. Although it is configured to calculate as the end point of r2, it may be configured to calculate the start point P1, end point P2, etc. of the instruction vector r as the end point of the correction vector r2.

  In the above-described embodiment, the storage unit 13 of the operation terminal 10 may be configured to store the correction vector r1, the correction vector r2, and the movement vector r3. For example, these vectors r1 to r3 are a record of the imaging trajectory. Then, using the stored vectors r1 to r3 as the imaging trajectory at the previous inspection, the mobile robot 20 is arranged at the same position as the previous time, and the monitored objects are stored using the stored vectors r1 to r3. If an object is imaged, it is possible to obtain a monitoring target captured image including the monitoring target object including the same angle as the previous time. That is, when comparing the monitored object images captured in the previous time and the next time, it is possible to easily perform a comparison operation of changes in inspection contents (for example, cracks and water leakage).

  Moreover, although embodiment mentioned above demonstrated and demonstrated the underfloor inspection system 1000 as an example, it is not limited to this. For example, the present invention may be applied to a monitoring system including a monitoring camera that monitors a predetermined place (inside a building or an urban area). That is, the present invention can be applied to various systems that execute camera control for imaging a specific monitoring object.

  In addition, the configuration of each embodiment and the configuration of each modified example can be combined. In addition, the operation and effect of each embodiment and each modification are merely a list of the most preferable operations and effects resulting from the present invention, and the operation and effect according to the present invention are described in each embodiment and each modification. It is not limited to the ones. As described above, the present invention naturally includes various embodiments that are not described herein. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.

It is an image figure which shows the image of the underfloor inspection system which concerns on 1st Embodiment of this invention. It is a figure which shows an example of the underfloor environment inspected by the underfloor inspection system which concerns on 1st Embodiment. It is a block block diagram of the underfloor inspection system which concerns on 1st Embodiment of this invention. It is an image of an image when an instruction vector is input to the operation terminal according to the first embodiment of the present invention. It is a block block diagram of the operation control part of the operating terminal which concerns on 1st Embodiment of this invention. It is a figure which shows the mode information memorize | stored in the memory | storage part of the camera control part which concerns on 1st Embodiment of this invention. In 1st Embodiment of this invention, it is an image figure which shows the monitoring target captured image F before a movement, the monitoring target captured image Fm after a movement, an overlapping area | region, an instruction | indication vector, and a correction vector. It is an image figure which shows an instruction | indication vector and a correction vector in 1st Embodiment of this invention. In 1st Embodiment of this invention, it is an image figure which shows the monitoring target captured image F before a movement, the monitoring target captured image Fm after a movement, an overlap area | region, a correction vector, a correction vector, and a movement vector. It is an image figure which shows a correction vector, a correction vector, and a movement vector in 1st Embodiment of this invention. It is a flowchart figure which shows operation | movement of the operating terminal which concerns on 1st Embodiment of this invention. It is a flowchart figure which shows the operation | movement at the time of controlling the imaging direction of a camera in the underfloor inspection system which concerns on 1st Embodiment of this invention. It is an image figure which shows a correction vector and a correction vector in 1st Embodiment of this invention. In 1st Embodiment of this invention, it is an image of the image which shows the monitoring object captured image before a movement, and the monitoring object captured image Fm after a movement. In 1st Embodiment of this invention, it is an image of the image which shows the monitoring object picked-up image F before a movement, the monitoring target picked-up image F 'in movement, and the monitoring target picked-up image Fma after a movement. (A) In 2nd Embodiment of this invention, it is a figure which shows instruction | indication vector rL with a long length component, an overlap area | region, and a correction vector. (B) In 2nd Embodiment of this invention, it is a figure which shows instruction | indication vector rS with a short length component, an overlap area | region, and a correction vector. (A) In 3rd Embodiment of this invention, it is a figure which shows instruction | indication vector rL with a long length component, an overlapping area | region, and a correction vector. (B) In 3rd Embodiment of this invention, it is a figure which shows instruction | indication vector rS with a short length component, an overlap area | region, and a correction vector. It is an image figure which shows a correction vector, a correction vector, and a movement vector in the modification of 3rd Embodiment of this invention. It is a block block diagram which shows the structure of the camera control part which concerns on 4th Embodiment of this invention. It is a flowchart figure which shows operation | movement of the underfloor inspection system which concerns on 5th Embodiment of this invention. (A) It is an image figure which shows the imaging direction of the mobile robot which concerns on 5th Embodiment of this invention. (B) It is an image figure which shows the movement of the imaging direction of the mobile robot which concerns on 5th Embodiment of this invention. (A) It is an image figure which shows the movement of the imaging direction of the mobile robot which concerns on 5th Embodiment of this invention. (B) It is an image figure which shows the movement of the imaging direction of the mobile robot which concerns on 5th Embodiment of this invention.

Explanation of symbols

1000: Underfloor inspection system, 10: Operation terminal, 12: Communication unit, 13 ... Storage unit, 14 ... Display unit, 15 ... Input unit, 16 ... Operation control unit, 20 ... Mobile robot, 22 ... Communication unit, 23 ... Camera Unit: 24 ... Robot control unit, 25 ... Running motor, 26 ... Species sensor, 162 ... Transmission / reception unit, 163 ... Storage unit, 164 ... Control unit, 165 ... Overlapping area calculation unit, 166 ... Modification vector calculation unit, 167 ... Correction vector calculation unit, 168 ... movement vector calculation unit, 169 ... imaging direction instruction unit, 231 ... camera, 232 ... pan motor, 233 ... tilt motor, 234 ... camera control unit, 1000 ... underfloor inspection system, 2341 ... image Acquisition unit, 2342 ... transmission / reception unit, 2343 ... storage unit, 2344 ... control unit, 2345 ... overlapping region calculation unit, 2346 ... correction vector calculation unit, 234 ... correction vector calculation unit, 2348 ... movement vector calculation unit, 2349 ... imaging direction instruction unit, C1L ... first ellipse, C2L ... second ellipse, F ... monitoring target captured image, Fm ... monitoring target captured image, Fma ... monitoring target Captured image, K ... cursor, P1 ... start point coordinate, P2 ... start point coordinate, RA ... overlapping area, S11 to S15 ... step, S101 to S124 ... step, S201 to S205 ... step, r ... instruction vector, r1 ... correction vector, r2 ... correction vector, r3 ... movement vector,

Claims (9)

A camera control system for controlling the imaging direction of a camera,
An image acquisition unit that acquires a monitoring target captured image that is captured by the camera and includes a part of the monitoring target image;
A display unit for displaying the monitoring target captured image acquired by the image acquisition unit;
A reception unit that receives a value of a start point coordinate and a value of an end point coordinate input on the monitoring target captured image;
A vector acquisition unit that acquires an instruction vector from the value of the start point coordinate toward the value of the end point coordinate based on the value of the start point coordinate and the value of the end point coordinate received by the reception unit;
A camera control system comprising: an operation unit that moves the imaging direction based on a direction component of the instruction vector acquired by the vector acquisition unit. The operation unit moves the imaging direction so as to leave an overlapping region where the monitoring target captured image before the movement and the monitored target captured image after the movement overlap when moving in the imaging direction. The camera control system according to claim 1. A correction vector calculation unit for calculating a correction vector obtained by adjusting the length component of the instruction vector;
A correction vector calculation unit that calculates a correction vector from the center of the monitoring target captured image toward a point on the instruction vector;
The camera control system according to claim 1, wherein the operation unit moves the imaging direction based on a movement vector obtained by adding the correction vector and the correction vector. A correction vector calculation unit for calculating a correction vector obtained by adjusting the length component of the instruction vector;
A correction vector calculation unit that calculates a correction vector from the center of the monitoring target captured image toward a point on the instruction vector;
The camera control system according to claim 1, wherein the operation unit moves the imaging direction according to the correction vector after moving the imaging direction according to the correction vector. A correction vector calculation unit that calculates a correction vector obtained by adjusting a length component of the instruction vector based on a direction component of the instruction vector and a constant area of the overlapping region;
The camera control system according to claim 2, wherein the operation unit moves the imaging direction based on the calculated correction vector. The shape of the first ellipse that fits in the monitored target captured image before movement in the imaging direction and the shape of the second ellipse that fits in the monitored target captured image after movement in the imaging direction are calculated, and the first ellipse And a correction vector calculation unit for calculating a correction vector in which the length component of the instruction vector is adjusted based on the second ellipse determined to circumscribe the first ellipse,
The camera control system according to claim 1, wherein the operation unit moves the imaging direction based on the calculated correction vector. The camera control system according to claim 1, wherein the operation unit is a drive unit that is provided in a camera control robot on which the camera is mounted and that drives a wheel or a crawler. A camera control apparatus that communicates with a camera control robot that controls an imaging direction of a camera and instructs movement of the imaging direction of the camera,
An image acquisition unit that acquires a monitoring target captured image that is captured by the camera and includes a part of the monitoring target image;
A display unit for displaying the monitoring target captured image acquired by the image acquisition unit;
A reception unit that receives a value of a start point coordinate and a value of an end point coordinate input on the monitoring target captured image;
A vector acquisition unit that acquires an instruction vector from the value of the start point coordinate toward the value of the end point coordinate based on the value of the start point coordinate and the value of the end point coordinate received by the reception unit;
A camera control apparatus comprising: an instruction unit that transmits instruction information for instructing movement in the imaging direction to the camera control robot based on a direction component of the instruction vector acquired by the vector acquisition unit. A computer that communicates with a camera control robot that controls the imaging direction of the camera, and that operates as a camera control device that instructs movement of the imaging direction of the camera.
An image acquisition step of acquiring a monitoring target captured image including a part of the monitoring target image captured by the camera; and
A display step for displaying the monitoring target captured image acquired by the image acquisition unit;
A reception step of receiving a value of a start point coordinate and a value of an end point coordinate input on the monitoring target captured image;
A vector acquisition step of acquiring an instruction vector from the value of the start point coordinate toward the value of the end point coordinate based on the value of the start point coordinate and the end point coordinate value received by the reception unit;
A camera control program that operates as an instruction step for transmitting instruction information for instructing movement in the imaging direction to the camera control robot based on a direction component of the instruction vector acquired by the vector acquisition unit.

Images