JP2013038489A - Information transmission system, mobile body position detection device, transmission device and receiving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information transmission system capable of surely tacking a mobile body without missing.SOLUTION: An information transmission system 401 includes a transmission device 403 with a light emitting part 421 and a receiving device 405 with an imaging part 431 having a two-dimensional light receiving surface and transmits transmission object information including identification information on a side of the transmission device 403 to the light receiving device 405 provided in a mobile body W from the transmission device 403. The transmission device 403 includes: an encoding part 417 which encodes the transmission object information and trace information 415 for tracking the mobile body W into a compound light emitting pattern which lights the light emitting part 421 at all time and changes intensity of light at the time of lighting at all time in a time-series manner in encoding sections 601, 901; and a light emission control part 419 which performs light emission control of the light emitting part 421 in accordance with the compound light emitting pattern encoded by the encoding part 417.

Description

  The present invention relates to an information transmission system used when information is transmitted using a light emission pattern based on a change in intensity of light arranged in time series as a transmission medium.

  2. Description of the Related Art Conventionally, an information transmission system that transmits information using a light emission pattern based on a change in light intensity arranged in time series as a transmission medium is known. This information transmission system includes a transmitting device having a light emitting unit such as an LED and a receiving device having an imaging unit such as a video camera. The transmitting device is attached to the moving body side, while the receiving device is attached to the fixed side.

  In the information transmission system configured as described above, a light emission pattern based on a change in light intensity arranged in time series in order emitted by the light emitting unit of the transmitting device is imaged using the imaging unit of the receiving device. For example, mobile object identification information is encoded in the light emission pattern by using a predetermined encoding procedure. In the receiving device, the time-series information related to the light emission pattern of the captured light is decoded using a predetermined decoding procedure to restore the moving body identification information. As a result, it is possible to transmit information relating to which mobile unit is currently located from the transmitting device to the receiving device.

  By the way, in the above-mentioned conventional information transmission system, it is required to track a mobile object without losing sight. In order to satisfy this problem, a technique has been proposed in which a motion vector related to a moving object is detected and the detected motion vector is used for tracking the moving object (see, for example, Patent Document 1). According to the technique according to Patent Document 1, it can be tracked without losing sight of the moving object.

JP 2004-056343 A

  However, in the technique according to Patent Document 1, for example, during the period in which the light emitting unit on the moving body is turned off (the bit information represented by the turn-off is transmitted), nothing appears in the imaging unit of the receiving device. . If this extinguishing period continues for a long time, and the mobile body (transmitting device) moves greatly during this extinguishing period, the moving body is positioned on the two-dimensional image captured by the imaging unit in the receiving apparatus. It was difficult to predict whether it was. At this time, if another moving object is present near the point where the moving object is lost, the other moving object may be confused with the target moving object.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to enable reliable tracking without losing sight of a moving object.

  The present invention includes a transmitting device including a light emitting unit, and a receiving device including an imaging unit having a two-dimensional light receiving surface, wherein either the transmitting device or the receiving device is provided on a moving body, and the transmitting device side An information transmission system for transmitting transmission target information including identification information from the transmitting device to the receiving device is assumed.

  In the encoding section where encoding using a predetermined encoding procedure is performed, the transmission device always lights the light emitting unit with the transmission target information and tracking information for tracking the mobile object. And an encoding unit that encodes a composite light emission pattern that changes the intensity of light during continuous lighting in time series, and light emission of the light emitting unit according to the composite light emission pattern encoded by the encoding unit And a light emission control unit that performs control. The receiving device includes a separation unit that separates the composite light emission pattern projected on the two-dimensional light receiving surface of the imaging unit into a light emission pattern related to the tracking information and a light emission pattern related to the transmission target information, and A restoration unit that restores the tracking information and the transmission target information, respectively, using a decoding procedure that unencodes the light emission patterns related to the tracking information and the transmission target information separated by the separation unit; Is further provided.

  According to the information transmission system of the present invention, it is possible to reliably track a mobile object without losing sight.

It is an information transmission system which concerns on a comparative example, Comprising: It is explanatory drawing showing a mode that the image of a light emission part is imaged using the imaging part attached to the operator's W head. It is an information transmission system which concerns on a comparative example, Comprising: It is explanatory drawing of the light emission pattern used when transmitting apparatus identification information is transmitted to the receiving apparatus 109 side using blink of the light emission part. It is an information transmission system concerning a comparative example, Comprising: It is explanatory drawing which represents typically the time-sequential movement of the operator's W head. It is a functional block diagram showing the outline | summary of the information transmission system which concerns on 1st Embodiment of this invention. It is a circuit diagram of the composite light emission pattern production | generation circuit contained in the light emission part. It is explanatory drawing showing the composite light emission pattern encoded with the encoding part of the transmitter which concerns on 1st Embodiment. It is a flowchart figure showing the flow of a process of the transmitter which concerns on 1st Embodiment. It is a flowchart figure showing the flow of a process of the receiver which concerns on 1st Embodiment. A plurality of frame images captured using the imaging unit according to the first embodiment and arranged in chronological order, and a light emitting region obtained by superimposing binarized frame images using a tracking information threshold value FIG. It is explanatory drawing showing the image which binarized the light emission area | region shown in FIG. 9 using the threshold value for transmission object information. It is explanatory drawing showing the compound light emission pattern encoded by the encoding part of the information transmission system which concerns on the modification of 1st Embodiment. In the information transmission system which concerns on 2nd Embodiment, it is explanatory drawing showing the structural example of a light emission part. FIGS. 13A to 13E are explanatory diagrams illustrating setting examples of a composite light emission pattern used in the information transmission system according to the second embodiment. It is a functional block diagram of the mobile body position detection apparatus containing the structure of a peripheral part. It is explanatory drawing which concerns on the position detection principle of the mobile body (operator) in a mobile body position detection apparatus. It is explanatory drawing showing the outline | summary of the mobile body position detection apparatus which concerns on a modification.

  Hereinafter, an information transmission system, a moving body position detection device, a transmission device, and a reception device according to embodiments of the present invention will be described in detail with reference to the drawings as appropriate.

(Outline of information transmission system 101 according to comparative example)
First, prior to description of an information transmission system according to an embodiment of the present invention, an overview of an information transmission system 101 according to a comparative example will be described with reference to FIGS. FIG. 1 is an explanatory diagram illustrating a state in which an image of the light emitting unit 103 is captured using the imaging unit 107 attached to the head of the worker W in the information transmission system 101 according to the comparative example. FIG. 2 is an explanatory diagram of a light emission pattern used when transmitting the transmitting device ID to the receiving device 109 side using blinking of the light emitting unit 103.

  As shown in FIG. 1, the information transmission system 101 according to the comparative example includes a transmission device 105 including a light emitting unit 103 such as an incandescent lamp or a fluorescent lamp, and an imaging unit 107 such as a moving image camera having a two-dimensional light receiving surface. And a receiving device 109. The emission color in the light emitting unit 103 is a single color. The transmission device 105 is attached to, for example, a wall surface in the work space of the worker W. The receiving device 109 is attached to a helmet (not shown) or the like that the worker W wears on the head. That is, the receiving device 109 is provided on the moving body side.

  The information transmission system 101 according to the comparative example configured as described above operates to transmit transmission target information including transmission device identification information on the transmission device 105 side from the transmission device 105 to the reception device 109. Specifically, in the information transmission system 101 according to the comparative example, the imaging unit 107 is used to capture an image of the light emitting unit 103 in which transmission target information is encoded using a light emission pattern related to blinking light as a transmission medium. Then, the information transmission is performed by decoding the light emission pattern related to the blinking of the time-series captured light and restoring the transmission target information.

  As described above, since the imaging unit 107 of the receiving device 109 is attached to the head (helmet) of the worker W, light emission on the two-dimensional light receiving surface of the imaging unit 107 is assumed on the assumption that the worker W is stationary. The projection position of the part 103 does not change. Therefore, when the projection position of the light emitting unit 103 on the two-dimensional light receiving surface of the imaging unit 107 is extracted and the light intensity of the extracted part is arranged in time series, the light emission pattern of the light emitting unit 103 is changed as shown in FIG. Can be restored.

  The horizontal axis in FIG. 2 represents the elapsed time t, and the vertical axis represents the light emission intensity of the light emitting unit 103. This also applies to FIGS. 6, 11, and 13 described later. In FIG. 2, the light emission intensity at the time of lighting is indicated by “High”, and the light emission intensity at the time of turning off is indicated by “Low”. The lighting state means a state in which the light intensity of the light emitting unit 103 emits light exceeding a threshold value TH0 related to encoding as shown in FIG. When the light is turned off, the light emitting unit 103 does not emit light at all. In the example shown in FIG. 2, in the encoding section 201 in which encoding is performed using a predetermined encoding procedure for transmitting target information, information of 14 bits whose bit string numbers are A01 to A14 is transmitted as a light emitting unit. 103 is encoded into a light emission pattern relating to a change in light intensity.

  In this encoding section 201, the code “1” is assigned to the lighting state of the light emitting unit 103 (High; see, for example, reference numeral 203 in FIG. 2), while the light-off state (Low; see, for example, reference numeral 205 in FIG. 2). By assigning the code “0”, the transmission device identification information as the transmission target information is encoded. In the example shown in FIG. 2, encoded bit string data related to “11110100011001” is transmitted as transmission target information (transmitting device identification information).

  Therefore, the reception apparatus 109 can restore the transmission target information by binarizing the encoded bit string data related to the intensity change of the light arranged in time series using the threshold TH0 related to encoding. it can.

  Incidentally, in the information transmission system 101 according to the comparative example, as described above, the imaging unit 107 of the reception device 109 is attached to the head (helmet) of the worker W. For this reason, when the worker W walks and moves in the direction indicated by the straight line 111 with an arrow in FIG. 1, the imaging unit 107 draws a movement locus that shakes in the vertical direction as indicated by the curved line 113 with an arrow in FIG. 1. In addition, with the movement of the worker W's head, the orientation of the imaging unit 107 also varies in the pitch direction (up and down direction) 115 and the yaw direction (left and right direction) 117. Therefore, the position of the light emitting unit 103 on the two-dimensional light receiving surface of the imaging unit 107 is not projected on the same place and tends to vary greatly.

FIG. 3 is an explanatory diagram schematically illustrating the displacement of the projection position of the light emitting unit 103 in time series on the two-dimensional light receiving surface of the imaging unit 107 (time series movement of the head of the worker W). The projection position of the light emitting unit 103 on the two-dimensional light receiving surface 301 of the imaging unit 107 is changed from the projection position 303 related to the bit string number A01 to the bit string number A14 as shown in FIG. To this projection position 305, a movement trajectory that is shaken in the vertical direction as shown by a curve 307 with an arrow in FIG. 3 is drawn.
Note that, on the two-dimensional light receiving surface 301 of the imaging unit 107 shown in FIG. 3, only the projection position when the light emitting unit 103 is in the on state is shown, and the projection position when the light emitting unit 103 is in the off state. Is not represented. This is because the light emitting unit 103 is not projected onto the two-dimensional light receiving surface 301 of the imaging unit 107 when the light emitting unit 103 is in the off state.

  Here, in order to track the light emitting unit 103 on the moving body side that changes its position every moment, the light intensity at the projection position (time) of the light emitting unit 103 must be detected. When the light emitting unit 103 continues to be lit (see, for example, the projection positions related to the bit string numbers A01 to A04 connected on the two-dimensional light receiving surface 301 of the imaging unit 107 shown in FIG. 3), Projection positions related to each other are adjacent to each other. Therefore, for example, the position of the light emitting unit 103 can be tracked by setting the light emitting point existing in the vicinity of the projection position related to the bit string number A01 in the traveling direction as the projection position related to the bit string number A02.

  However, in the information transmission system 101 according to the comparative example that predicts the position of the light emitting unit 103 using the motion vector, the period during which the light emitting unit 103 is off (transmits bit information represented by the off state) Nothing is shown on the imaging unit 107 of the receiving device 109. If this extinction period (for example, refer to the blank period 309 between the bit string numbers A06 and A10 on the two-dimensional light receiving surface 301 of the imaging unit 107 shown in FIG. 3) continues for a long time, the position of the receiving device 109 Is greatly moved, it is difficult for the receiving apparatus 109 to predict where the light emitting unit 103 is located on the two-dimensional image captured by the imaging unit 107.

  Here, it is difficult for the receiving device 109 to predict the position of the light emitting unit 103 means that the operator W as a moving object is lost in the information transmission system 101 according to the comparative example. At this time, if another worker W (moving body) exists near the point where the worker W (moving body) is lost, the other worker W (moving body) becomes the target worker W. There was a possibility of being confused with (moving body).

(Outline of the information transmission system 401 according to the first embodiment of the present invention)
Next, an information transmission system 401 according to the first embodiment of the present invention that solves the problems of the information transmission system 101 according to the comparative example described above will be described with reference to FIGS.
FIG. 4 is a functional block diagram showing an overview of the information transmission system 401 according to the first embodiment of the present invention. As shown in FIG. 4, the information transmission system 401 according to the first embodiment includes a transmission device 403 that transmits transmission target information using a light emission pattern based on a change in light intensity arranged in time series as a transmission medium 407, and a transmission device And a receiving device 405 for receiving the light emission pattern transmitted from 403 and restoring the original transmission target information. The transmission device 403 is attached to, for example, a wall surface in the work space of the worker W. The receiving device 405 is attached to, for example, a helmet worn by the operator W on the head. That is, the receiving device 405 is provided on the moving body (worker W) side.

[Outline of Transmitting Device 403 According to First Embodiment]
As shown in FIG. 4, the transmission device 403 according to the first embodiment includes an identification information storage unit 411, an encoding unit 417, a light emission control unit 419, and a light emission unit 421.
The transmitter 403 according to the first embodiment includes a microcomputer (not shown) (hereinafter referred to as “microcomputer”) including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. Consists of. This microcomputer functions to read and execute a program stored in the ROM and to control execution of various functional units such as the encoding unit 417 and the light emission control unit 419.

  The identification information storage unit 411 has a function of storing identification information on the transmission device 403 side. As the identification information on the transmission device 403 side, for example, transmission device identification information for uniquely identifying the transmission device 403 (hereinafter, may be abbreviated as “transmission device ID”), or unique to the transmission device 403. Various information such as broadcast information can be appropriately employed. In the first embodiment, for the sake of simplicity of explanation, a case in which a transmission device ID is used as identification information on the transmission device 403 side will be described as an example.

  The transmission target information 413 to be encoded may be stored in advance in the identification information storage unit 411 or may be input from an external device (not shown) via the communication line 414. The transmission target information 413 may be a combination of identification information stored in advance in the identification information storage unit 411 and information input from an external device via the communication line 414.

  The encoding unit 417 emits the transmission target information 413 and the tracking information 415 for tracking the receiving device 405 as a moving object in an encoding section where encoding using a predetermined encoding procedure is performed. The unit 421 is always lit and has a function of encoding into a composite light emission pattern that changes the intensity of light during the constant lighting in a time series.

  As the tracking information 415, for example, various light emission patterns for always lighting a light source (for example, see the light emitting diode (LED) 507 in FIG. 5) included in the light emitting unit 421 can be appropriately employed. In the first embodiment, for simplification of description, a case in which a constant light emission pattern related to a dark lamp, which will be described later, is used as the tracking information 415 will be described as an example.

  The light emission control unit 419 has a function of performing light emission control of the light emitting unit 421 according to the composite light emission pattern encoded by the encoding unit 417. The light emitting unit 421 includes, for example, a composite light emission pattern generation circuit 501 (see FIG. 5), and in accordance with a light emission control command related to the composite light emission pattern by the light emission control unit 419, as described later, It operates to repeat lighting or extinguishing by either.

  Here, the configuration of the composite light emission pattern generation circuit 501 included in the light emitting unit 421 will be described with reference to FIG. FIG. 5 is a circuit diagram of the composite light emission pattern generation circuit 501 included in the light emitting unit 421. As shown in FIG. 5, the composite light emission pattern generation circuit 501 includes a first resistor R1, an LED (Light Emitting Diode) 507, a first switch SW1, and a second resistor R2 between a DC power supply 503 and a ground terminal 505. The parallel circuit 509 and the second switch SW2 are sequentially connected in series.

  According to the composite light emission pattern generation circuit 501 shown in FIG. 5, by combining the on / off states of the first and second switches SW1 and SW2, a bright lighting state (bright light), a dark lighting state (dark light), and a light off state The following three patterns can be generated.

[Outline of Receiving Device 405 According to First Embodiment]
As illustrated in FIG. 4, the reception device 405 according to the first embodiment includes an imaging unit 431, a light emission pattern separation unit 433, a first light emission pattern acquisition unit 435, a second light emission pattern acquisition unit 437, and a restoration unit. 439 and a transmission target information output unit 441.
Note that the receiving device 405 according to the first embodiment is configured by a microcomputer including a CPU, a ROM, a RAM, and the like, similar to the transmitting device 403 according to the first embodiment. This microcomputer functions to read and execute a program stored in the ROM and to control execution of various functional units such as the light emission pattern separation unit 433 and the restoration unit 439.

  The imaging unit 431 is configured by an image sensor having a two-dimensional light receiving surface such as a CCD (Charge-Coupled Devices) or a CMOS (Complementary Metal-Oxide Semiconductor). The imaging unit 431 converts the two-dimensional image including the light emitting unit 421 of the transmission device 403 captured at a predetermined cycle (for example, 480 frames per second) through the two-dimensional light receiving surface into a frame signal, and converts the converted time series. The frame signal is stored in a frame memory (not shown).

  The light emission pattern separation unit 433 has a function of separating the composite light emission pattern projected on the two-dimensional light receiving surface of the imaging unit 431 into a light emission pattern related to tracking information and a light emission pattern related to transmission target information. The first light emission pattern acquisition unit 435 has a function of acquiring a light emission pattern related to the tracking information separated by the light emission pattern separation unit 433. The second light emission pattern acquisition unit 437 has a function of acquiring the light emission pattern related to the transmission target information separated by the light emission pattern separation unit 433.

  The restoration unit 439 applies the code to each of the light emission pattern related to the transmission target information acquired by the second light emission pattern acquisition unit 437 and the light emission pattern related to the tracking information acquired by the first light emission pattern acquisition unit 435. It has a function of restoring tracking information and transmission target information using a decryption procedure that solves the problem. The transmission target information restored by the restoration unit 439 is sent to the transmission target information output unit 441. The transmission target information output unit 441 outputs the transmission target information restored by the restoration unit 439 to an external device or the like via the communication line 443.

[Operation of Transmitting Device 403 According to First Embodiment]
Next, operation | movement of the transmission device 403 which concerns on 1st Embodiment is demonstrated with reference to FIGS. FIG. 6 is an explanatory diagram illustrating the composite light emission pattern encoded by the encoding unit 417 of the transmission device 403 according to the first embodiment.
Note that the transmission target information (see FIG. 6) of the transmission device 403 according to the first embodiment is the same as the transmission target information (see FIG. 2) of the transmission device 105 according to the comparative example (14-bit length related to “11110100011001”). Encoded bit string data). Moreover, in the composite light emission pattern of the transmission device 403 according to the first embodiment, the emission color in the light emitting unit 421 is a single color, as in the light emission pattern of the transmission device 105 according to the comparative example.

  In the light emission pattern of the transmission device 105 according to the comparative example, in the encoding section 201 illustrated in FIG. 2, the code “1” is assigned to the lighting state (High) of the light emitting unit 103, while the light emission pattern is low (Low). The transmitter ID was encoded by assigning the code “0”.

  On the other hand, in the composite light emission pattern of the transmission device 403 according to the first embodiment, the light emitting unit 421 is brightly lit (bright light; see, for example, reference numeral 603 in FIG. 6) in the encoding section 601 shown in FIG. A code “1” is assigned to the state, while a code “0” is assigned to a dark light state in which the light emitting unit 421 is lit dark (dark light; see, for example, reference numeral 605 in FIG. 6). In the section excluding the encoding section 601, the light emitting unit 421 is turned off.

In short, in the composite light emission pattern of the transmitting device 403 according to the first embodiment, as shown in FIG. 6, at least in the dark section in the encoding section 601 that causes trouble in tracking of the receiving device 405 on the moving body side when turned off. By keeping the constant lighting state, the moving object can be traced reliably.
Note that the light intensity related to the dark lamp is set so as not to hinder the tracking of the receiving device 405 on the moving body side. This is because, although a constant lighting state with a tracking light is provided, if it is not useful for tracking a moving object, it falls to the end.

  Next, a processing flow of the transmission device 403 according to the first embodiment will be described with reference to FIG. FIG. 7 is a flowchart showing a process flow of the transmission device 403 according to the first embodiment. The transmission process of FIG. 7 is performed when, for example, an operator W enters the reactor building in order to start the inspection work of the reactor (not shown) in the reactor building (not shown) of the nuclear power plant. Be started.

  In step S701 illustrated in FIG. 7, the encoding unit 417 reads the transmission target information 413 and the tracking information 415.

In step S702, the encoding unit 417 initializes the value n of the encoding counter indicating that the bit string number being processed when encoding the transmission target information 413 is the nth bit to “0”.
In the following description, as shown in FIG. 6, the bit string number of the nth bit is expressed as “An”.

  In step S703, the encoding unit 417 increments the value n of the encoding counter.

  In step S704, the encoding unit 417 determines whether or not the bit string number (An) of the nth bit when the transmission target information 413 is encoded is “1”.

  As a result of the determination in step S704, if it is determined that the bit string number (An) of the n-th bit is “1” (“Yes” in step S704), the light emission control unit 419 performs the light emission shown in FIG. Operation control is performed such that the first switch SW1 of the composite light emission pattern generation circuit 501 included in the unit 421 is turned on and the second switch SW2 is turned on. In the state where this operation control is performed, the magnitude of the current flowing through the LED 507 is limited only by the voltage drop of the first resistor R1. This is the bright light state.

  On the other hand, if it is determined that the bit string number (An) of the n-th bit is “0” as a result of the determination in step S704 (“No” in step S704), the light emission control unit 419 returns to FIG. The operation control is performed so that the first switch SW1 of the composite light emission pattern generation circuit 501 included in the light emitting unit 421 shown in the figure is turned off and the second switch SW2 is turned on. In the state where this operation control is performed, the magnitude of the current flowing through the LED 507 is limited by the voltage drop across the first resistor R1 and the second resistor R2. This is a dark light state.

  In step S707, the encoding unit 417 and the light emission control unit 419 wait for a predetermined time. By this standby, the lighting state of step S705 or S706 is held for a predetermined time set in advance.

  In step S708, the encoding unit 417 checks the value n of the encoding counter and determines whether n has reached the last bit (n = 14).

  As a result of the determination in step S708, a determination is made that n has not reached the final bit (the bit length determined in advance for transmission target information and n = 14 in the first embodiment) ( In step S708, “No”), the transmitting device 403 returns the process flow to step S703, and sequentially performs the following processes.

  On the other hand, if it is determined in step S708 that n has reached the final bit (n = 14) (“Yes” in step S708), in step S709, the light emission control unit 419 Operation control is performed to turn off the second switch SW2 of the composite light emission pattern generation circuit 501 included in the light emitting unit 421 shown in FIG. In this state of operation control, no current flows through the LED 507. This is a light-off state.

In step S710, the encoding unit 417 and the light emission control unit 419 wait for a predetermined time. By this standby, the extinguished state in step S709 is held until the predetermined time has elapsed.
After the elapse of this standby time, the transmission device 403 returns the processing flow to step S702, and sequentially performs the following processing in order to retransmit the transmission target information (transmission device ID) 413 repeatedly.

[Operation of Receiving Device 405 According to First Embodiment]
Next, the operation of the receiving device 405 according to the first embodiment will be described with reference to FIG. FIG. 8 is a flowchart illustrating a process flow of the reception device 405 according to the first embodiment. The reception process of FIG. 8 is started when an operator W enters the reactor building in the reactor building of the nuclear power plant to start the inspection work of the reactor in the same manner as the transmission process of FIG. Is done.

In step S801 illustrated in FIG. 8, the light emission pattern separation unit 433 monitors the presence or absence of a light emission region. In this monitoring, the light emission pattern separation unit 433 detects the light intensity of the image of the first frame read from the frame memory of the imaging unit 431, and uses the tracking information threshold TH- for detecting the presence or absence of the light emission pattern related to the tracking information. This is performed by binarizing using L (see FIG. 6). Specifically, the light emission pattern separation unit 433 extracts an image area in which the light intensity of the first frame image exceeds the tracking information threshold TH-L as the light emission area.
When the light emitting area is extracted, the light emitting pattern separation unit 433 labels the extracted light emitting area using a labeling process, and registers the labeled light emitting area in association with the label identification number.
The monitoring in step S801 is repeated until the presence of the light emitting region is detected as long as the worker W exists in the reactor building.

  If a light emitting area in which the light intensity in the first frame image exceeds the tracking information threshold TH-L is extracted during the monitoring in step S801, the restoration unit 439 restores the transmission target information 413 in step S802. The value m of the restoration counter indicating the bit string number being processed is initialized to “1”. In addition, the light emission pattern separation unit 433 sends the data related to the light emission region extracted in step S801 (light emission pattern related to the tracking information) to the second light emission pattern acquisition unit 437. Thereby, the 2nd light emission pattern acquisition part 437 can acquire the data of the light emission pattern which concerns on tracking information.

In step S803, the light emission pattern separation unit 433 uses the transmission target information threshold value TH-H (see FIG. 6) as a binary value for the image of the light emitting area extracted and registered in step S801. Process. The transmission target information threshold TH-H is used to detect whether the lighting state of the light emitting unit 421 corresponding to the light emitting region is a bright light or a dark light. By the processing in step S803, the light emission pattern separation unit 433 determines whether the lighting state of the light emitting unit 421 corresponding to the light emitting area extracted in step S801 (the light emission pattern related to the transmission target information) is a bright light or a dark light. Can be detected.
Note that this is information that is detected momentarily by the binarization processing in step S803 and relates to whether the lighting state of the light emitting unit 421 corresponding to the light emitting area extracted in step S801 is a bright light or a dark light. The information is sent from the light emission pattern separation unit 433 to the second light emission pattern acquisition unit 437 as transmission target information.

In step S804, the restoration unit 439 restores the transmission target information using the decoding procedure for unencoding the light emission pattern related to the transmission target information acquired by the second light emission pattern acquisition unit 437.
Specifically, after the binarization process in step S803, the restoration unit 439 has the light intensity related to the image of the light emitting area extracted and registered in step S801 exceeding the transmission target information threshold TH-H. In this case, the signal related to the transmission target information of the (m = 1) bit is determined to be “1” (A1 = 1; where “Am” means the bit string number of the mth bit, and the same shall apply hereinafter). On the other hand, when the light intensity related to the image of the light emitting area is equal to or lower than the transmission target information threshold TH-H, the signal related to the transmission target information of the (m = 1) bit is “0” (A1 = 0). Is determined. The transmission target information restored in this way is stored in a transmission target information memory (not shown) included in the restoration unit 439.
Note that the restoration unit 439 restores the tracking information by using a decoding procedure for decoding the light emission pattern related to the tracking information acquired by the first light emission pattern acquisition unit 435. In the case of the example illustrated in FIG. 6, the restoration unit 439 restores at least that the dark lamp always emits light as tracking information.

In step S <b> 805, the light emission pattern separation unit 433 reads the image of the next frame connected in time series to the first frame from the frame memory of the imaging unit 431. Further, the restoration unit 439 increments the value m of the restoration counter.

In step S806, the light emission pattern separation unit 433 binarizes the light intensity of the next frame image read in step S805 using the tracking information detection threshold TH-L. Specifically, the light emission pattern separation unit 433 extracts an image area in which the light intensity of the image of the next frame exceeds the tracking information detection threshold TH-L as a light emission area.
When the light emitting area is extracted, the light emitting pattern separation unit 433 labels the extracted light emitting area using a labeling process, and registers the labeled light emitting area in association with the label identification number.

  In step S806, the light emission pattern separation unit 433 checks whether there is another light emission region in the vicinity of the light emission region extracted in the previous frame in the image of the next frame. In this investigation, for example, a composite image is generated by superimposing the image of the previous frame and the image of the next frame, and the composite image is used, and the light emission area extracted in the previous frame is used as a center within a predetermined range. This is done by extracting other light emitting areas that exist.

  As a result of the investigation in step S806, if it is found in the image of the next frame that there is another light emission area in the vicinity of the light emission area extracted in the previous frame, in step S807, the light emission is performed. The pattern separation unit 433 further performs binarization processing using the transmission target information threshold value TH-H. Through the processing in step S807, the light emission pattern separation unit 433 determines whether the lighting state of the light emitting unit 421 corresponding to the other light emission area extracted and registered in step S806 (the light emission pattern related to the transmission target information) is a bright light or a dark light. Can be detected.

In step S808, after the binarization process in step S807, the restoration unit 439 sets the transmission target information threshold TH-H to the light intensity related to the image of the other light emitting area extracted and registered in step S806. If it exceeds, the signal related to the transmission target information of the (m = m + 1) -th bit is determined to be “1” (Am = 1), while the light intensity related to the image in the other light emitting area is the threshold value for transmission target information If TH-H or less, the signal related to the transmission target information of the (m = 1) -th bit is determined as “0” (Am = 0).

  In step S809, the restoration unit 439 checks the value m of the restoration counter and determines whether m has reached the last bit (m = 14).

  As a result of the determination in step S809, if it is determined that m has not reached the final bit (the bit length determined in advance for the transmission target information and m = 14 in the first embodiment) ( In step S809, “No”), the receiving apparatus 405 returns the process flow to step S805, and sequentially performs the following processes.

On the other hand, if it is determined in step S809 that m has reached the final bit (m = 14) (“Yes” in step S809), the light emission pattern separation unit 433 determines in step S810. The light intensity of the image of the next frame is binarized using the tracking information detection threshold TH-L. Specifically, the light emission pattern separation unit 433 extracts an image area in which the light intensity of the image of the next frame exceeds the tracking information detection threshold TH-L as a light emission area.
When the light emitting area is extracted, the light emitting pattern separation unit 433 labels the extracted light emitting area using a labeling process, and registers the labeled light emitting area in association with the label identification number.

  In step S810, the light emission pattern separation unit 433 checks whether there is another light emission region in the vicinity of the light emission region extracted in the previous frame in the image of the next frame. Similar to step S806, this investigation generates a composite image obtained by superimposing the image of the previous frame and the image of the next frame, and uses this composite image to center on the light emitting area extracted in the previous frame. This can be done by extracting other light emitting regions existing within the range of.

As a result of the investigation in step S810, if an investigation result indicating that no other light emitting area exists in the vicinity of the light emitting area extracted in the previous frame in the image of the next frame is obtained, that is, the encoding section If the light emitting area has converged normally within the range of 601, in step S811, the transmission target information output unit 441 reads out and reads the transmission target information stored in the transmission target information memory included in the restoration unit 439. The transmission target information is output to an external device or the like via the communication line 443.
After that, the receiving device 405 returns the processing flow to the first step S801, and sequentially performs the following processing.

On the other hand, as a result of the investigation in step S810, if an investigation result indicating that another light emitting area exists in the vicinity of the light emitting area extracted in the previous frame in the image of the next frame, that is, the code In the case where the light emitting area exists outside the range of the conversion interval 601, in step S812, the receiving device 405 transmits data having a bit length exceeding the bit length (14 bits) defined in the first embodiment. An erroneous reception error output is performed on the assumption that an image of a light emitting unit that has been turned on or an image of a light emitting unit that is always lit is erroneously received.
After that, the receiving device 405 returns the processing flow to the first step S801, and sequentially performs the following processing.

Then, as a result of the investigation in step S806, if an investigation result indicating that no other light emitting area exists in the vicinity of the light emitting area extracted in the previous frame in the image of the next frame is obtained, that is, step The light emitting area extracted and registered in step S801 is regarded as an area that is erroneously extracted due to, for example, a binarization error, and a light emitting area erroneous extraction error is output.
After that, the receiving device 405 returns the processing flow to the first step S801, and sequentially performs the following processing.

(Operational effect of the information transmission system 401 according to the first embodiment of the present invention)
Next, the effect which the information transmission system 401 which concerns on 1st Embodiment of this invention show | plays is demonstrated with reference to FIG. 9, FIG. FIG. 9 shows a plurality of frame images captured using the imaging unit 431 according to the first embodiment and arranged in time series, and the frames after binarization using the tracking information threshold TH-L. It is explanatory drawing showing the light emission area which overlapped the image. FIG. 10 is an explanatory diagram illustrating an image obtained by binarizing the light emitting area illustrated in FIG. 9 using the transmission target information threshold TH-H.

  In the information transmission system 101 according to the comparative example, as shown in FIG. 3, when the encoded bit string data related to the intensity change of light arranged in time series is binarized using the threshold value TH0 related to encoding, Since the images related to the bit string numbers A05, A07, A08, A09, A12, and A13 having the light intensity (light extinction) equal to or lower than the threshold value TH0 disappear from the encoded bit string data image, the light emitting unit 103 It was difficult to keep track of.

  In the information transmission system 401 according to the first embodiment, the transmission device 403 includes the transmission target information and the reception device (work as a mobile object) in an encoding section where encoding using a predetermined encoding procedure is performed. A code for encoding tracking information for tracking 405 (provided by the person W) into a composite light emission pattern in which the light emitting unit 421 is always turned on and the intensity of light at the time of constant lighting is changed in time series. The configuration is provided that includes a conversion unit 417 and a light emission control unit 419 that performs light emission control of the light emitting unit 421 in accordance with the composite light emission pattern encoded by the encoding unit 417.

  According to the information transmission system 401 according to the first embodiment, as illustrated in FIG. 9, in the encoding section 901 in which encoding is performed, the bit string numbers A01 to A14 that are continuous on the two-dimensional light receiving surface 903 of the imaging unit 431 are assigned. Since the image of the light emitting unit 421 that is constantly lit is continuously projected at such a position 905, the light emitting unit 421 can be reliably traced without losing sight.

Note that the receiving device 405 can reliably track the light emitting unit 421 without losing sight of the light emitting unit 421 when viewed from the transmitting device 403 side in the information transmission system 401 according to the first embodiment. This means that it is possible to reliably track without losing sight of the receiving device 405 provided in W.
Therefore, according to the information transmission system 401 concerning 1st Embodiment, it can track reliably, without losing a mobile body.

  Also, as shown in FIG. 10, among the positions related to bit string numbers A01 to A14 connected on the two-dimensional light receiving surface 1003 of the imaging unit 431 in the encoding section 1001 where encoding is performed, the solid line circle in FIG. Since the image of the light emitting unit 421 in the bright light state is projected at the position 1005 indicated by, the image of the light emitting unit 421 in the dark light state is projected at the position 1007 indicated by the broken line circle in FIG. The mobile object can be reliably traced without losing sight, and the transmission target information can be reliably transmitted.

  In the information transmission system 401 according to the first embodiment, the LED 507 is employed as a light source included in the light emitting unit 421. In the example illustrated in FIG. 6, the LED 507 included in the light emitting unit 421 is turned off in the section excluding the encoding section 601. Therefore, there is a possibility of causing a decrease in illuminance or flickering as a problem inherent to LEDs.

  Therefore, as a modification of the first embodiment, the composite light emission pattern encoded by the encoding unit 417 may be improved to take into account the reduction in illuminance and the improvement of flicker as shown in FIG. FIG. 11 is an explanatory diagram illustrating a composite light emission pattern encoded by the encoding unit of the information transmission system according to the modification of the first embodiment.

  In the composite light emission pattern 401 according to the modification of the first embodiment, as shown in FIG. 11, the delimiter positions of the encoded bit string data related to the encoded section 1101 are expressed before and after the time axis sandwiching the encoded section 1101. For this purpose, there are provided extinguishing sections (for example, 1 bit length) 1103 and 1105. On the front side on the time axis in the unlit section 1103 and on the rear side on the time axis in the unlit section 1105, bright lamp sections 1107 and 1109 are provided, respectively. In the restoration, when the first extinction section 1103 is detected, the next frame image is related to the first bit string number, and thereafter, the same processing as the processing flow on the receiving device 405 side shown in FIG. 8 may be performed. .

  According to the information transmission system 401 according to the modification of the first embodiment, even when the light emitting unit 421 includes the LED 507, it is possible to suppress a decrease in illumination and flicker.

In addition, it is preferable to adopt a frame rate that represents a period at which the imaging unit 431 captures a frame image, such as about 480 frames per second, as compared with about 30 frames per second that are commonly used in moving images. When such a high frame rate imaging unit 431 is employed, even if the blinking cycle of the light emitting unit 421 is shortened (for example, about 200 times per second), the blinking of the light emitting unit 421 can be accurately detected.
Since the human eye flicker detection limit is approximately 50 Hz to 60 Hz, when the blinking cycle of the light emitting unit 421 is shortened (for example, about 200 times per second) as described above, illumination that does not feel flickering is performed. An information transmission system can be realized.

(Outline of the information transmission system 401 according to the second embodiment of the present invention)
Next, an information transmission system 401 according to the second embodiment of the present invention will be described with reference to FIG. 12 and FIG.
In the information transmission system 401 according to the first embodiment, as illustrated in FIGS. 4 and 6, the encoding unit 417 performs transmission target information in an encoding section 601 in which encoding using a predetermined encoding procedure is performed. A configuration is adopted in which 413 and tracking information 415 are encoded into a composite light emission pattern in which the light emitting unit 421 is always lit and the light intensity at the time of the constant lighting is changed in time series.

  On the other hand, in the information transmission system 401 according to the second embodiment, the light emitting unit 421 has a function of emitting light of a plurality of colors different from each other, and the imaging unit 431 has each of the plurality of colors of light. As shown in FIG. 13, the encoding unit 417 stores the transmission target information 413 and the tracking information 415 in the encoding section 1301 in which encoding using a predetermined encoding procedure is performed. A configuration is adopted in which the light emitting unit 421 is always turned on and the light emission unit 421 is encoded into a composite light emission pattern in which the combination of light intensity and color at the time of constant lighting is changed in time series.

  In short, in the information transmission system 401 according to the second embodiment, the light emitting unit 421 has a function of emitting light of a plurality of different colors, and the imaging unit 431 emits light of a plurality of different colors. The point of having the function of identifying and receiving light, and the point of changing the combination of light intensity and color in time series when encoding the transmission target information 413 and the tracking information 415 into a composite light emission pattern, This is different from the information transmission system 401 according to the first embodiment.

  However, parts other than the above-described differences (such as the functional block configuration of the information transmission system shown in FIG. 4) are common between the first and second embodiments. Therefore, the reference numeral “401” of the information transmission system according to the first embodiment is shared as the reference numeral attached to the information transmission system according to the second embodiment, and the description will be focused on the above differences.

FIG. 12 is an explanatory diagram illustrating a configuration example of the light emitting unit 421 in the information transmission system 401 according to the second embodiment.
In the information transmission system 401 according to the second embodiment, the light emitting unit 421 includes an LED package 1201 as shown in FIG. As shown in FIG. 12, the LED package 1201 includes LEDs of three primary colors, LED_R 1203 that emits red light, LED_G 1205 that emits green light, and LED_B 1207 that emits blue light, at the apexes of an equilateral triangle. Arranged and provided.

  These three colors LED_R 1203, LED_G 1205, and LED_B 1207 are on / off controlled in accordance with a light emission control signal from the light emission control unit 419. Accordingly, the LED package 1201 emits light of a color corresponding to the combination related to the on / off control of the three colors LED_R 1203, LED_G 1205, and LED_B 1207 (white light when all of the LED_R 1203, LED_G 1205, and LED_B 1207 are on). It is configured.

  In the information transmission system 401 according to the second embodiment, the imaging unit 431 is configured by three sets of imaging elements each having a sensitivity specific to red R, green G, and blue B. For convenience of explanation, these are called R plane, G plane, and B plane. The imaging unit 431 can determine which color LED is lit by extracting an image portion relating to the light source for each of the R, G, and B planes of each color.

FIGS. 13A to 13E are explanatory diagrams illustrating setting examples of a composite light emission pattern used in the information transmission system 401 according to the second embodiment. 13A is a light emission pattern of LED_R 1203, FIG. 13B is a light emission pattern of LED_G 1205, FIG. 13C is a light emission pattern of LED_B 1207, and FIG. 13D is a three-color LED_R 1203, LED_G 1205. The composite light emission pattern after the OR operation on the light emission pattern of LED_B 1207, FIG. 13E shows the composite light emission pattern after the AND operation on the light emission patterns of the three colors LED_R 1203, LED_G 1205, and LED_B 1207.
As transmission target information, as shown in FIG. 13, encoded bit string data having a 14-bit length according to “00011101010101” is used.

[Operation of Information Transmission System 401 According to Second Embodiment]
First, encoding and transmission of transmission target information will be described. In the information transmission system 401 according to the second embodiment, encoding and transmission of transmission target information by the transmission device 403 is performed by using LED_R 1203, LED_G 1205, and LED_B 1207 for each color as indicated by arrows in FIGS. Used in order.

  In the first bit string number “A01”, the code “0” related to the transmission target information is transmitted by the composite light emission pattern relating to the LED_R 1203 being turned off (LED_G 1205 and LED_B 1207 are turned on).

  Next, in the bit string number “A02”, the code “0” related to the transmission target information is transmitted by the composite light emission pattern related to the turn-off of the LED_G 1205 (LED_R 1203 and LED_B 1207 are turned on).

  Next, in the bit string number “A03”, the code “0” related to the transmission target information is transmitted by the composite light emission pattern related to the turn-off of LED_B 1207 (LED_R 1203 and LED_G 1205 are turned on).

  Next, in the bit string number “A04”, the code “1” related to the transmission target information is transmitted by the composite light emission pattern related to lighting of the LED_R 1203 (LED_G 1205 and LED_B 1207 are also turned on).

  Next, in the bit string number “A05”, the code “1” related to the transmission target information is transmitted by the composite light emission pattern related to the lighting of the LED_G 1205 (LED_R 1203 and LED_B 1207 are also lighted).

  Next, in the bit string number “A06”, the code “1” related to the transmission target information is transmitted by the composite light emission pattern related to lighting of LED_B 1207 (LED_R 1203 and LED_G 1205 are also turned on).

  Thereafter, using the same procedure as described above, the transmission target information is repeatedly encoded and transmitted. This procedure is repeated until the transmission of the code “1” related to the transmission target information in the final bit string number “A14” is completed by the composite light emission pattern related to the lighting of the LED_G 1205 (LED_R 1203 and LED_B 1207 are also lighted).

  Next, encoding and transmission of tracking information will be described. In the information transmission system 401 according to the second embodiment, as shown in FIGS. 13A to 13C, the tracking information is encoded and transmitted in three colors with respect to timings related to all bit string numbers ranging from A01 to A14. LED_R1203, LED_G1205, and LED_B1207 are turned on by lighting at least one LED.

  On the other hand, on the tracking information receiving device 405 side, the image pickup unit 431 includes an LED package (light source) so as to include at least one frame (preferably a plurality of frames) of timings related to all bit string numbers ranging from A01 to A14. ) 1201 frame image is taken. Next, the imaging unit 431 extracts an image portion related to the light source for each of the R, G, and B planes, and performs binarization processing on the extracted portion, thereby selecting which color light source of R, G, and B A determination is made as to whether or not is lit. Next, at each timing related to all bit string numbers ranging from A01 to A14, the first pattern acquisition unit 435 performs a logical OR operation (OR) on the lighting determination results of the light sources related to R, G, and B. The calculation result is shown in FIG.

  On the receiving side of the tracking information 405, the light intensity of the light source relating to R, G, and B is subjected to a logical sum operation (OR) to obtain the light intensity relating to the dark light in FIG. 6 and FIG. As shown in comparison with the light intensity after the OR operation, all the values of the encoded bit string data in the encoding section are “1”. Therefore, according to the receiving device 405 according to the second embodiment, the light emission pattern related to the tracking information can be faithfully restored as in the first embodiment.

  In addition, on the reception target information 405 side of the transmission target information, the image pickup unit 431 includes an LED package (including an LED package) so as to include at least one frame (preferably a plurality of frames) of timings related to all bit string numbers ranging from A01 to A14. A frame image of the light source 1201 is captured. Next, the imaging unit 431 extracts an image portion related to the light source for each of the R, G, and B planes, and performs binarization processing on the extracted portion, thereby selecting which color light source of R, G, and B A determination is made as to whether or not is lit. Next, at each timing related to all bit string numbers ranging from A01 to A14, the first pattern acquisition unit 435 performs a logical product operation (AND) on the lighting determination results of the light sources related to R, G, and B. The calculation result is shown in FIG.

  On the receiving device 405 side of the transmission target information, by performing a logical product operation (AND) on the lighting determination result of the light sources related to R, G, and B, the light intensity related to the bright light of FIG. As shown in comparison with the light intensity after the AND operation, the value of the encoded bit string data related to the encoded section follows the transmission target information. Therefore, according to the receiving device 405 according to the second embodiment, the light emission pattern related to the transmission target information can be faithfully restored as in the first embodiment.

In the second embodiment, the LED package 1201 in which R / G / B three-color LEDs are integrally provided is described as an example of the configuration of the light emitting unit 421 that emits light of a plurality of different colors. However, the present invention is not limited to this example.
As a configuration of the light emitting unit 421, a light emitting body such as an LED of at least two colors (color types are arbitrary) or more is adopted. For example, a light emitting body of two colors or more is sequentially used as a light source for information transmission and received. On the device 405 side, the light emission determination result of each light source is subjected to a logical sum operation (OR) to restore a tracking light emission pattern, and a logical product operation (AND) to perform information transmission. The light emission pattern can be restored.
If comprised in this way, tracking of a light source and restoration of transmission object information can be performed reliably.

  As a modification of the second embodiment, the tracking information is encoded / transmitted / restored by always lighting the light emitter (for example, red) according to the first color, and the light emission according to the second color. A configuration in which transmission target information is encoded / transmitted / restored by blinking a body (for example, blue) may be employed.

  In addition, when LED is employ | adopted as a structure of the light emission part 421 which concerns on this 2nd Embodiment, for example, tracking information and transmission object information are encoded and transmitted using the light emission pattern shown in FIG. As in the example shown, the illuminance decreases or flickering occurs. Therefore, similarly to FIG. 11, before and after on the time axis across the encoding interval 1101, the extinguishing interval (for example, 1 bit length) 1103 for expressing the delimiter position of the encoded bit string data related to the encoding interval 1101 1105 may be provided, and the light lamp sections 1107 and 1109 may be provided on the front side on the time axis in the unlit section 1103 and on the rear side on the time axis in the unlit section 1105, respectively.

With this configuration, the light emission pattern of the light emitting unit 421 after the OR operation shown in FIG. 13D is the value of the extinguishing interval (for example, 1 bit length) generated before and after the time axis across the encoding interval 1301. Becomes “0”, and the values in other sections are all “1”. In the restoration, when the first extinguishing section is detected, the next frame image is related to the first bit string number, and thereafter, the same processing as the processing flow on the receiving device 405 side shown in FIG. 8 may be performed.
Therefore, as a result of reducing the turn-off time on the time axis, it is possible to reliably realize reduction of illuminance and flicker.

(Outline of the moving body position detection apparatus 1400)
Next, with respect to the moving body position detection apparatus 1400 that detects the position of the worker W as a moving body using the transmission target information restored by the information transmission system 401 according to the first or second embodiment of the present invention, This will be described with reference to FIG. FIG. 14 is a functional block diagram of the moving body position detecting device 1400 including the configuration of the peripheral portion.

  As shown in FIG. 14, in the information transmission system 1430 to which the moving body position detecting device 1400 is applied, three or more transmitting devices that supply transmission target information (transmitting device ID) to the moving body position detecting device 1400 are provided. It has been. In the example of FIG. 14, four transmitters 1401, 1403, 1405, and 1407 are provided on the ceiling (not shown) of the reactor building of the nuclear power plant, which is the work space of the worker W, for example.

  Each of the four transmission devices 1401, 1403, 1405, and 1407 is assigned a transmission device ID that enables each of the transmission devices 1401, 1403, 1405, and 1407 to be distinguished from each other. Specifically, “A” is set as the transmitting device 1401, “B” is transmitted as the transmitting device 1403, “C” is transmitted as the transmitting device 1405, and “D” is transmitted as the transmitting device ID. Assigned.

  In addition, each of the four transmitters 1401, 1403, 1405, and 1407 is provided with light emitting units 1402, 1404, 1406, and 1408 made of LED illumination.

A receiving device 1409 is attached to the helmet worn by the operator W on the head. The receiving device 1409 is provided with an imaging unit 1410 including an image sensor having a two-dimensional light receiving surface such as a CCD or CMOS.
The four transmission devices 1401, 1403, 1405, 1407 and the reception device 1409 constitute an information transmission system 1430.

The mobile device position detection device 1400 is connected to the reception device 1409 via the communication line 1411. As a result, the transmission target information (transmitting device ID) transmitted from the four transmitting devices 1401, 1403, 1405, and 1407 to the receiving device 1409 is transmitted to the moving body position detecting device 1400 via the communication line 1411. Is done.
Note that although FIG. 14 illustrates an example in which the reception device 1409 and the mobile object position detection device 1400 are configured separately, the reception device 1409 and the mobile object position detection device 1400 are configured integrally. Also good.

  As shown in FIG. 14, the moving body position detection device 1400 includes a position information storage unit 1413, a moving body position detection unit 1415, and a detection position output unit 1417. The position information storage unit 1413 has a function of storing the attachment position information in association with the unique transmission device ID of each of the four (three or more) transmission devices 1401, 1403, 1405, and 1407. The attachment position information of the transmission devices 1401, 1403, 1405, and 1407 may be relative position information consisting of a three-dimensional coordinate system or absolute position information. Other than these, any information may be used as long as the mounting position of the transmission devices 1401, 1403, 1405, and 1407 can be uniquely specified.

  The mobile body position detection unit 1415 includes four (three or more) transmission device IDs 1401, 1403, 1405, and 1407 in the transmission target information (A / B / C / D in the example of FIG. 14). And the function of detecting the position of the moving object (worker W) based on the stored contents of the position information storage unit 1413 and the angle of view information of the imaging unit 1410 provided in the receiving device 1409.

  The detection position output unit 1417 has a function of outputting data related to the position of the mobile body (worker W) detected by the mobile body position detection unit 1415 to a display device or an external device (not shown). .

  The configurations of the four transmission devices 1401, 1403, 1405, 1407, and the reception device 1409 are the same as those of the transmission device 403 and the reception device 405 disclosed in the information transmission system 401 according to the first or second embodiment. is there.

(Position detection principle of the moving body position detection apparatus 1400)
Next, the principle of position detection of the moving body position detection apparatus 1400 will be described with reference to FIG. FIG. 15 is an explanatory diagram relating to the position detection principle of the moving body (worker W) in the moving body position detection apparatus 1400.

  In the example shown in FIG. 15, the transmitting device 1401 having the transmitting device ID: A is in the three-dimensional position coordinates (Xa, Ya, Za), and the transmitting device 1403 having the transmitting device ID: B is in the three-dimensional position coordinates (Xb, Yb, Zb). ), The transmitter 1405 of the transmitter ID: C is in the three-dimensional position coordinates (Xc, Yc, Zc), and the transmitter 1407 of the transmitter ID: D is in the three-dimensional position coordinates (Xd, Yd, Zd), respectively. It is attached. These pieces of attachment position information are registered in the position information storage unit 1413 in association with the corresponding transmission device IDs.

In FIG. 15, the illumination images related to the light emitting units 1402, 1404, 1406, and 1408 of the four transmitters 1401, 1403, 1405, and 1407 are projected onto the two-dimensional light receiving surface 1500 of the imaging unit 1410 in the receiver 1409. The situation is shown conceptually.
However, in the actual imaging unit 1410, the two-dimensional light receiving surface 1500 is provided on the back side of a lens (not shown) included in the imaging unit 1410.

  When each of the four transmission devices 1401, 1403, 1405, and 1407 is imaged using the imaging unit 1410, the transmission device 1401 having the transmission device ID: A has two-dimensional coordinates on the two-dimensional light receiving surface 1500 (see FIG. 15). Pxa, Pya), transmitting device ID: B transmitting device 1403 is in two-dimensional coordinates (Pxb, Pyb), transmitting device ID: C transmitting device 1405 is in two-dimensional coordinates (Pxc, Pyc), and transmitting device ID: The D transmitter 1407 is projected onto the three-dimensional position coordinates (Pxd, Pyd).

The mobile body position detection device 1400 uses the transmission device IDs (A / B / C / D) on the four (three or more) transmission devices 1401, 1403, 1405, and 1407 side to store the content stored in the position information storage unit 1413. The three-dimensional position information for each of the transmitting devices 1401, 1403, 1405, and 1407 is read out. Next, the moving body position detection device 1400 includes three-dimensional position information for each of the transmission devices 1401, 1403, 1405, and 1407, and two-dimensional position information on the transmission device side projected on the two-dimensional light receiving surface 1500 of the imaging unit 1410. Based on the angle of view information of the imaging unit 1410, information (Mx, My, Mz) related to the imaging position of the receiving device 1409 can be obtained.
Note that the receiving device 1409 can be handled as a moving body because it is integrally attached to the worker W as a moving body.

  Here, the procedure for obtaining the position coordinates (Mx, My, Mz) and the posture of the camera imaged based on the imaging position (Px, Py) of the receiving device 1409 has been treated for a long time in the field of computer vision. It is called PnP (Perspective n-Points) problem (for example, Otsuki et al., “Real-time camera position estimation from images for augmented reality system”, IEICE Transactions, D-II Vol.J82 -D-II No.10 pp.1789-1792 October 1999). The outline of PnP problem processing is described below.

  First, before describing the processing for obtaining the camera position coordinates (Mx, My, Mz) taken from the imaging position (Px, Py), the transmitter 1401 is placed at the camera position coordinates (Mx, My, Mz). A process of projecting onto the two-dimensional light receiving surface 1500 will be described (corresponding to a process of projecting an image onto a two-dimensional light receiving element (film) by the camera).

  The coordinate values (Xa, Ya, Za) of the transmission device 1401 are coordinate values in the real world reference coordinate system. This is converted into a coordinate system based on a camera coordinate system in which the origin is placed at the camera position coordinates (Mx, My, Mz) and the viewpoint direction of the camera is the Z axis. That is, this processing is a coordinate system in which the transmitting device is looked over from the camera position. In this state, it is still three-dimensional. The coordinate value of the transmitting device in this coordinate system is subjected to perspective conversion (conversion where distant objects appear small) in consideration of the angle of view of the camera. As a result, the receiving device is projected onto the two-dimensional light receiving surface 1500.

  The operation for obtaining the position coordinates (Mx, My, Mz) of the camera taken from the imaging position (Px, Py) performs the reverse process of the technique converted to the two-dimensional light receiving surface. Conceptually, the inverse operation of perspective transformation is performed. That is, while converting to the camera coordinate system, the parallel movement amount and the attitude angle of the camera are repeatedly calculated so that the position of the transmitting device in the real world reference coordinate system matches the position of the transmitting device observed in the camera coordinate system. Thereby, the position coordinates (Mx, My, Mz) of the origin of the camera coordinate system and the posture angle thereof can be obtained.

(Effect of moving body position detection apparatus 1400)
According to the moving body position detection apparatus 1400, the current position of the receiving apparatus (moving body W) 1409 can be detected.

  In addition, the mobile body position detection apparatus 1400 is suitable for use in the location management of the worker W who performs maintenance and inspection work of the reactor equipment in the reactor building of the nuclear power plant, for example. The reactor building of a nuclear power plant is a concrete shielded space without windows and is provided with many metal components. In such an environment, when information communication between the monitoring device (not shown) and the worker W is performed using radio waves as a medium, the information communication tends to be hindered due to radio wave interference.

  In this regard, according to the moving body position detection apparatus 1400 according to the present invention that uses the intensity of light as a transmission medium, the location of the worker W (moving body) can be improved without causing any trouble in information communication due to radio wave interference. Information can be reliably transmitted, and the location of the worker W (moving body) can be accurately obtained in real time.

  When the whereabouts information of the worker W (moving body) obtained by the above procedure is applied to the installation location of the equipment in the work space, the presence / absence of interference between the equipment and the worker W (moving body) can be determined. I can grasp it. Therefore, by giving information about the presence or absence of interference to the worker W (moving body), for example, “Head hits the pipe. You can call attention such as "".

(Outline of mobile body position detection apparatus 1600 according to a modification)
Next, a moving body position detection apparatus 1600 according to a modification will be described with reference to FIG. FIG. 16 is an explanatory diagram illustrating an overview of a moving object position detection apparatus 1600 according to a modification.

  As shown in FIG. 16, the information transmission system 1630 to which the mobile body position detection apparatus 1600 according to the modification is applied is opposite to the information transmission system 1430 to which the mobile body position detection apparatus 1400 shown in FIG. The receiving device 1601 is fixed to the ceiling of the reactor building of the nuclear power plant that is the work space of the worker W, while the four transmitting devices 1603, 1605, 1607, and 1609 are attached to the helmet of the worker W. ing.

  In the moving body position detection apparatus 1600 according to the modified example, the three-dimensional position information related to the mounting location of the receiving apparatus 1601 is registered in advance, and the angle of view of the imaging unit 1602 provided in the receiving apparatus 1601 and the direction in which it is directed Set and register in advance.

  According to the mobile body position detection apparatus 1600 according to the modification, the current position of the transmission apparatus (mobile body W) 1603 to 1609 is detected by performing intersection calculation different from that of the mobile body position detection apparatus 1400 shown in FIG. be able to.

Here, the procedure for calculating the intersection is as follows. As a premise, it is assumed that the position of the receiving device 1601, the posture angle, the angle of view, the floor surface on which the worker is present, and the height of the worker are known. In this case, when a straight line connecting the center position of the receiving device 1601 and the lighting position of the ID representing the position of the worker reflected on the two-dimensional light receiving surface is extended, the worker is on the extended line. Furthermore, given the condition that the worker is moving in a standing position on the floor surface, the intersection of the extension line with the plane parallel to the floor surface and raised from the floor by the height is the actual value of the operator. It represents the position on the world reference coordinate system. Using this principle, the position of the worker can be detected.
This position detection method based on the intersection calculation gives a condition that the worker is in a standing position in order to detect the position of the worker with one camera. If position detection is performed using a camera, the constraint condition of the posture of the worker is unnecessary.

[Other Embodiments]
The embodiment described above shows an example of realization according to the present invention. Therefore, the technical scope of the present invention should not be construed as being limited by the description of the present embodiment. This is because the present invention can be implemented in various forms without departing from the gist or main features thereof.

  Specifically, for example, in the description of the information transmission system 401 according to the first and second embodiments, the transmission device 403 is fixedly provided while the reception device 405 is provided on the moving body side. The present invention is not limited to this example. On the contrary, an aspect of the information transmission system 401 in which the transmitting device 403 is provided on the moving body side and the receiving device 405 is fixed is also included in the technical scope of the present invention.

401 Information transmission system according to first embodiment, information transmission system according to second embodiment 403 transmission device 405 reception device 413 transmission target information 415 tracking information 417 encoding unit 419 light emission control unit 421 light emission unit 431 imaging unit 433 light emission pattern Separation unit 435 First light emission pattern acquisition unit 437 Second light emission pattern acquisition unit 439 Restoration unit 441 Transmission target information output unit 1400 Mobile object detection device 1401, 1403, 1405, 1407 Transmission device 1402, 1404, 1406, 1408 Light emission unit 1409 Reception Device 1410 Imaging unit 1413 Position information storage unit 1415 Position detection unit 1417 Detection position output unit 1430 Information transmission system 1500 Two-dimensional light receiving surface 1600 Mobile object detection device 1601 according to modification 1601 1605 1607 , 1609, transmission device 1630 information transmission system TH-L first threshold TH-H second threshold

Claims (10)

A transmitting device including a light emitting unit and a receiving device including an imaging unit having a two-dimensional light receiving surface, wherein either the transmitting device or the receiving device is provided on a moving body, and includes identification information on the transmitting device side An information transmission system for transmitting transmission target information from the transmitting device to the receiving device,
The transmitting device is
In the encoding section where encoding using a predetermined encoding procedure is performed, the transmission target information and the tracking information for tracking the moving body are always turned on, and the always-on An encoding unit that encodes a composite light emission pattern that changes the intensity of light at the time of lighting in time series;
A light emission control unit that performs light emission control of the light emitting unit according to the composite light emission pattern encoded by the encoding unit;
Further comprising
The receiving device is:
A separation unit that separates the composite light emission pattern projected onto the two-dimensional light receiving surface of the imaging unit into a light emission pattern related to the tracking information and a light emission pattern related to the transmission target information;
A restoration unit that restores the tracking information and the transmission target information, respectively, using a decoding procedure that unencodes the light emission patterns related to the tracking information and the transmission target information separated by the separation unit; ,
An information transmission system characterized by further comprising: The information transmission system according to claim 1,
The light emission pattern according to the transmission target information is represented by a plurality of light intensity values,
The light emission pattern according to the tracking information is represented by one light intensity value different from each of the plurality of light intensity values,
The separation unit of the receiving device performs the separation based on the intensity values of the respective lights,
The restoration unit of the reception device restores the tracking information and the transmission target information based on the intensity values of the respective lights and the decoding procedure.
An information transmission system characterized by that. The information transmission system according to claim 2,
The restoration unit of the receiving device, based on the comparison determination result related to the magnitude relationship between the intensity value of the one light and the first threshold value regarding the light emission pattern related to the tracking information, and the decoding procedure, While restoring the tracking information, the comparison determination result related to the magnitude relationship between the second threshold value different from the first threshold value and the intensity value of the plurality of light related to the light emission pattern related to the transmission target information, And restoring the transmission target information based on the decryption procedure,
An information transmission system characterized by that. A transmitter including a light emitting unit that emits light of a plurality of colors different from each other, and a receiver including an imaging unit having a two-dimensional light receiving surface and sensitivity to each of the plurality of colors of light, An information transmission system in which either a transmitting device or the receiving device is provided in a mobile body, and transmission target information including identification information on the transmitting device side is transmitted from the transmitting device to the receiving device,
The transmitting device is
In the encoding section where encoding using a predetermined encoding procedure is performed, the transmission target information and the tracking information for tracking the moving body are always turned on, and the always-on An encoding unit that encodes a composite light emission pattern that changes a combination of light intensity and color at the time of lighting in a time series;
A light emission control unit that performs light emission control of the light emitting unit according to the composite light emission pattern encoded by the encoding unit;
Further comprising
The receiving device is:
A separation unit that separates the composite light emission pattern projected onto the two-dimensional light receiving surface of the imaging unit into a light emission pattern related to the tracking information and a light emission pattern related to the transmission target information;
A restoration unit that restores the tracking information and the transmission target information, respectively, using a decoding procedure that unencodes the light emission patterns related to the tracking information and the transmission target information separated by the separation unit; ,
An information transmission system characterized by further comprising: The information transmission system according to claim 4,
The change related to the time-series intensity and color combination of the light is expressed by blinking of the light emitting unit that emits light of a plurality of different colors.
The restoration unit of the receiving device uses the decoding procedure to restore the tracking information for the logical sum operation result related to the blinking of the light of the plurality of colors, and relates to blinking of the light of the plurality of colors. Using the decryption procedure for the logical product operation result, the transmission target information is restored.
An information transmission system characterized by that. A mobile body position detection device that detects the position of the mobile body using the transmission target information restored by the information transmission system according to any one of claims 1 to 5,
A position information storage unit that stores in advance three or more three-dimensional position information on the transmitter side;
Identification information on the transmission device side of three or more of the transmission target information, storage contents of the position information storage unit, two-dimensional position information on the transmission device side projected on the two-dimensional light receiving surface of the imaging unit, And a moving body position detection unit that detects the position of the moving body based on the angle of view information of the imaging unit,
A moving body position detection device comprising: A transmitting device for transmitting information to a receiving device provided in a mobile body,
A light emitting unit;
In a coding section in which coding using a predetermined coding procedure is performed, transmission target information including identification information on the transmitting device side, and tracking information for tracking the mobile object, the light emitting unit An encoding unit that is always lit and encodes a composite light emission pattern that changes the intensity of light at the time of constant lighting in a time-series manner;
A light emission control unit that performs light emission control of the light emitting unit according to the composite light emission pattern encoded by the encoding unit;
A transmission device comprising: A transmitting device provided in a mobile body for transmitting information to a receiving device,
A light emitting unit;
In a coding section in which coding using a predetermined coding procedure is performed, transmission target information including identification information on the transmitting device side, and tracking information for tracking the mobile object, the light emitting unit An encoding unit that is always lit and encodes a composite light emission pattern that changes the intensity of light at the time of constant lighting in a time-series manner;
A light emission control unit that performs light emission control of the light emitting unit according to the composite light emission pattern encoded by the encoding unit;
A transmission device comprising: A receiving device for receiving information transmitted from a transmitting device provided in a mobile body,
In a coding section where coding using a predetermined coding procedure is performed, the light emitting unit is always turned on, and a composite light emission pattern that changes the light intensity at the time of the steady lighting in time series is transmitted. Imaging that captures, via a two-dimensional light receiving surface, transmission target information including identification information on the transmitting device side and tracking information for tracking the moving body, transmitted from the transmitting device side as a medium And
A separation unit that separates the composite light emission pattern projected onto the two-dimensional light receiving surface of the imaging unit into a light emission pattern related to the tracking information and a light emission pattern related to the transmission target information;
A restoration unit that restores the tracking information and the transmission target information, respectively, using a decoding procedure that unencodes the light emission patterns related to the tracking information and the transmission target information separated by the separation unit; ,
A receiving apparatus comprising: A receiving device provided in a mobile body for receiving information transmitted from a transmitting device,
In a coding section where coding using a predetermined coding procedure is performed, the light emitting unit is always turned on, and a composite light emission pattern that changes the light intensity at the time of the steady lighting in time series is transmitted. Imaging that captures, via a two-dimensional light receiving surface, transmission target information including identification information on the transmitting device side and tracking information for tracking the moving body, transmitted from the transmitting device side as a medium And
A separation unit that separates the composite light emission pattern projected onto the two-dimensional light receiving surface of the imaging unit into a light emission pattern related to the tracking information and a light emission pattern related to the transmission target information;
A restoration unit that restores the tracking information and the transmission target information, respectively, using a decoding procedure that unencodes the light emission patterns related to the tracking information and the transmission target information separated by the separation unit; ,
A receiving apparatus comprising:

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