JP6630881B2 - Information processing apparatus, camera, moving object, moving object system, information processing method and program - Google Patents

Description

  The present invention relates to an information processing apparatus, a camera, a moving object, a moving object system, an information processing method, and a program that can measure the position of a moving object.

  A technique for measuring the position of a moving object of an overhead crane installed on a ceiling of a factory or the like based on a laser beam has been proposed (see Patent Document 1).

JP-A-11-344335

  An object of the present invention is to provide an information processing apparatus, a camera, a moving object, a moving object system, an information processing method, and a program, which are inexpensive and can easily perform position measurement.

1. Information processing apparatus
An information processing apparatus for calculating a position of a moving object that moves in a predetermined area or a predetermined space,
An input unit for inputting image information captured by one or more cameras provided on the moving body,
A unique information generation unit for generating unique information of feature points or relative information included in the image information,
A storage unit that stores a database configured by associating the position of the moving object with the unique information,
A deriving unit that derives the position of the moving body with reference to the database based on the unique information generated by the unique information generating unit from the image information captured by the camera.

  In the present invention, a reference body is provided within a range where the camera captures an image, and the unique information can be generated based on the reference body captured by the camera.

  In the present invention, the reference body may have a three-dimensional shape.

In the present invention, the three-dimensional shape has a plurality of steps,
In the plurality of stages, the upper surface of each stage can at least partially overlap the upper surface of the next stage in a plan view.

  In the present invention, the upper surface of each step may have a different color in upper and lower steps.

  In the present invention, the upper surface of each of the steps may be wider as going upward.

In the present invention,
In the database, at least the shape and area of the upper surface of a predetermined step exposed and grasped from image information taken from each predetermined position, and the shape and area of the upper surface of a step different from the predetermined step, It is stored in association with body position information,
The deriving unit, based on the shape and area of the upper surface of the exposed predetermined step grasped from the image information captured from at least each of the predetermined positions, and the shape and area of the upper surface of a step different from the predetermined step, The position of the moving object can be derived.

  In the present invention, the unique information generation unit can generate a feature point based on at least one of a group of a pattern, a difference in color, a singular point of a shape, and a layout configuration of a shooting range.

2. Camera The camera of the present invention includes the information processing device of the present invention.

3. Moving body The moving body of the present invention
A moving object to which an object is moored or attached,
The object is moved by the movement of the moving body,
A camera for recognizing the position of the moving body is provided,
It includes the information processing device of the present invention.

4. Mobile system The mobile system of the present invention includes the information processing device of the present invention.

5. Information processing method
An information processing method for calculating a position of a moving object that moves in a predetermined area or a predetermined space,
An input unit for inputting image information captured by one or a plurality of cameras provided on the moving body;
A step of generating a unique information of a characteristic point or relative information included in the image information,
The deriving unit, based on the unique information generated by the unique information generating unit from the image information captured by the camera, based on the position of the moving object stored in the storage unit, the database configured to correspond to the unique information Deriving a position of the moving body with reference to the moving object.

6. Program The program of the present invention is
On the computer,
A program for executing an information processing method for calculating a position of a moving object moving in a predetermined area or a predetermined space,
An input unit for inputting image information captured by one or a plurality of cameras provided on the moving body;
A step of generating a unique information of a characteristic point or relative information included in the image information,
The deriving unit, based on the unique information generated by the unique information generating unit from the image information captured by the camera, based on the position of the moving object stored in the storage unit, the database configured to correspond to the unique information And deriving the position of the moving body with reference to the above.

  Here, the “moving body” refers to an object that is relatively moved in a two-dimensional or three-dimensional direction from a reference position by a moving body operation system. In the case of a device that can relatively move (self-propelled) in two-dimensional or three-dimensional directions, the device itself corresponds to a “moving body” and can move relatively in two- or three-dimensional directions In the case of an apparatus including a member, the constituent member corresponds to a “moving body”. A specific example of the “moving body” is any object that can be relatively moved in two-dimensional or three-dimensional directions by the moving body operation system, such as a hook in a crane device or an article in a transfer robot. A transport arm or a portion corresponding to a carrier such as a gripping portion and a mounting portion, a bucket (deck) in an aerial work vehicle, and a helicopter main body in a helicopter.

  ADVANTAGE OF THE INVENTION According to this invention, the position of a mobile body can be measured easily at low cost.

It is a figure which shows the mobile body system which concerns on embodiment typically. It is a figure which shows the mobile body system which concerns on embodiment typically. It is a figure which shows the mobile body system which concerns on embodiment typically. FIG. 1 is a diagram schematically illustrating an information processing device according to an embodiment. It is a figure showing the information processing flow concerning an embodiment. FIG. 7 is a diagram illustrating an example of deriving feature points of a layout according to the embodiment. FIG. 3 is a diagram illustrating a configuration example of a first reference body according to the embodiment. FIG. 4 is a diagram illustrating an example of use of a first reference body according to the embodiment. FIG. 4 is a diagram illustrating an example of use of a first reference body according to the embodiment. FIG. 4 is a diagram illustrating an example of use of a first reference body according to the embodiment. FIG. 4 is a diagram illustrating an example of use of a first reference body according to the embodiment. FIG. 4 is a diagram illustrating an example of use of a first reference body according to the embodiment. FIG. 4 is a diagram illustrating an example of use of a first reference body according to the embodiment. FIG. 4 is a diagram illustrating an example of use of a first reference body according to the embodiment. FIG. 4 is a diagram illustrating an example of use of a first reference body according to the embodiment. It is a top view which shows the modification of the 1st reference | standard body which concerns on embodiment. It is a perspective view showing a modification of the 1st reference object concerning an embodiment. It is a perspective view which shows the whole structure of an overhead crane. It is a figure which shows the structure of the hoist as an elevator of an overhead crane. It is a block diagram showing a control mechanism in an overhead crane.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

1. Mobile System The mobile system 100 includes a mobile body (e.g., an elevator such as a hoist, an article) 5 as shown in FIGS. 1 to 3. And an operation remote controller (operation means) including instruction means for instructing the moving direction of the moving object. One or a plurality of cameras 30 are mounted on the moving body 5.

  Here, the “remote controller” is an abbreviation of a remote controller having a meaning of a device for performing a remote operation, a remote control or the like, or an abbreviation of a remote control having a meaning of a remote operation, a remote control or the like. The difference between the signal transmission methods, such as wireless and wired, does not affect the definition or interpretation of the “remote control” unless otherwise described.

2. Information processing device The information processing device 40 is for calculating the position of the moving object 5 that moves in a predetermined area or a predetermined space. An example that is preferably applied as the moving body 5 is a moving body 5 for a transport system (for example, a crane system) in which an object is moored and an object (such as a suspended load) is moved two-dimensionally or three-dimensionally.

  As shown in FIG. 4, the information processing device 40 includes an input unit 42, a processing unit 44, an output unit 46, and a storage unit 48.

  The input unit 42 includes an image information input unit 42a for inputting image information captured by one or a plurality of cameras 30 provided on the moving body 5. The camera 30 includes a camera 30 having a wide-angle lens. By providing a plurality of cameras 30, when an object or the like suspended on the moving body 5 blocks the field of view of the camera 30, the shooting range or the field of view can be complemented by each camera 30. The camera 30 can be provided on the moving body 5 downward.

  The processing unit 44 includes a unique information generation unit 44a and a position derivation unit 44b. The unique information generation unit 44a is for generating feature points or relative information included in the image information. The unique information generation unit 44a generates unique information of feature points or relative information based on at least one of a pattern, a color difference, a shape singularity, a contrast difference, and a group of layout configurations of an imaging range. The position deriving unit 44b derives the position of the moving object 5 by referring to the database 48a based on the unique information generated by the unique information generating unit 44a from the image information captured by the camera 30. The features of the image may be patterned by edge processing or the like.

  The output unit 46 can include a transmission unit 46a for transmitting information and a display unit 46b for displaying information.

  The storage unit 48 stores a database 48a configured by associating the position of the mobile unit 5 with the information of the unique information. The storage unit 48 may include a position information storage unit 48b for storing position information. The position information can be stored in relation to time or time.

  The information processing device 40 derives the corresponding position information by referring to the database 48a based on the information of the unique information in the image. The moving distance is estimated from the information of the layer switch operated by the moving body 5, and the position derived based on the image can be verified based on the relationship with the moving distance. The position information can include position information in a horizontal direction, a vertical direction, and a height direction.

  The information processing device 40 may be provided in the camera 30 provided in the moving object 5, or may be provided so as to be able to communicate with the camera 30 by wireless communication or wired communication.

  A program that causes the information processing device 40 to execute information processing can be stored in a storage device (for example, a ROM or a hard disk) included in the information processing device 40. Various types of information processing can be executed by an arithmetic device such as a CPU. The database 48a can be stored in a storage device such as a hard disk.

  As the information processing device 40, an automatic computer such as a communicable computer or a mobile terminal such as a mobile phone can be applied.

  The information processing device 40 can be realized by a known computer such as a computer. The information processing device 40 may cause the camera 30 or the control unit of the moving body 5 to realize the function.

3. Unique Information (1) Feature Points Unique information can be generated based on a reference body provided with a reference body in a range where the camera 30 captures an image. For example, the floor surface can be photographed by the camera 30, and characteristic points such as floor passage lines and permanent equipment can be captured. This will be described with reference to FIG. The movement distance is calculated from the movement information from the switch information and the amount of deviation of the image point (o in the figure). Place a marker in a fixed place and correct the error when passing through it. A certain amount of movement can be calculated from the switch information. Since an object having a height moves faster than the floor surface, a point having the slowest speed among several determined points is set as a measurement point. If a large suspended load is lifted to the top, measurement points cannot be set near the center of the screen, so it is better to set more points with a wide-angle lens. The characteristic point pattern is stored, and the position is determined based on the pattern map.

(2) Relative information As for the relative information, the position may be grasped by a reference body as shown in FIG. The reference body is provided in a shooting range of the camera 30 of the mobile body 5 system. The reference body includes a function as a marker for so-called position measurement. Examples of the reference body include the following, for example.

(A) First Reference Body The reference body has a plurality of steps. In the plurality of stages, the upper surface of each stage is provided so as to at least partially overlap the upper surface of the one stage in plan view. The upper surface of each step can be different in color between the upper and lower steps. The upper surface of each step may be made wider or narrower as going upward.

  In this case, the database 48a includes at least the shape and area of the exposed first upper surface and the shape and area of the second upper surface, which are grasped from the image information captured from each of the predetermined positions, and the position information of the mobile unit 5. Are stored in association with each other.

  The position deriving unit 44b is configured to expose the shape and area of the first surface (upper surface of the predetermined step) and the second surface (different from the predetermined step), which are grasped from image information captured from at least predetermined positions. The position of the moving body 5 can be derived based on the shape and area of the upper surface of the step). The position deriving unit 44b may calculate a certain position based on whether the upper surface of the predetermined stage is recognized.

  An example of use of the first reference body 50 will be described with reference to FIGS. As the first reference body 50, the upper surface of each stage becomes wider as it goes to the upper stage, and the upper surface of the lower stage entirely overlaps the upper surface of the upper stage as viewed in plan. In this example, the upper surface of each step has a different color.

  As shown in FIGS. 8 and 11, when the camera 30 is directly above the three-dimensional marker, the truncated pyramids appear larger on the upper side and smaller on the lower side. As shown in FIGS. 9 and 11, when the camera 30 moves to the right, the upper surfaces of the first and second stages are visible, but the third and subsequent stages are not visible. The color is different between the first stage and the second stage, and the border is emphasized. As the camera 30 moves sideways, the lower stage becomes visible and the colors appear alternately. As shown in FIGS. 10 and 11, when the camera 30 further moves to the right, the top surfaces of the first, second, and third stages can be seen, but the fourth and subsequent stages cannot be seen. Colors appear alternately in the first, second, and third stages. In the case of such an example, the number m is calculated in advance when the level is seen, and stored in the database 48a, so that it is possible to derive the position when the predetermined level is seen. it can.

  The first reference body 50 can have another three-dimensional shape. As shown in FIGS. 12 to 15, in other three-dimensional shapes, the position can be grasped by considering the relationship between the shape and area of the surface captured by the camera 30 having the three-dimensional shape. Specifically, by storing in the database 48a the correspondence between the surface where the camera 30 can grasp the three-dimensional shape such as a cube and the area of the grasped surface and the position in the database 48a, based on the image information of the three-dimensional shape, The position can be calculated.

  The angle (camera angle) between the line connecting the moving object 5 and the three-dimensional shape and the X-axis or the Y-axis is also derived from the area ratio of each surface of the three-dimensional shape in the image information grasped by the camera 30. can do.

  The first reference member 50 may be combined with a second reference member 52 and a third reference member 54 described below.

(B) Second Reference Body The second reference body 52 may be an identification code (for example, a QR code (registered trademark)). The position of the identification code in the image information, the information of the identification code, and the position of the moving object 5 can be stored in the database 48a in association with each other. Thus, the deriving unit can derive the position of the moving body 5 based on the position of the identification code in the image information and the information of the identification code.

(C) Third Reference Body The third reference body 54 may be realized by a light-emitting body. The light emitter may be realized by a display device including a visible light emitter such as an LED and an organic EL, an infrared light emitter, and the like.

  The above-mentioned reference bodies 50, 52, 54 may be used alone or in combination. Further, a plurality of mobile units 5 may be provided on the ground in a predetermined area or a predetermined space where the mobile unit 5 moves. Reference bodies 50, 52, and 54 for calculating relative information and the information on the above-mentioned feature points may be combined.

  As shown in FIGS. 16 and 17, the first reference body 50 is more easily recognized on the upper surface of at least one of the plurality of steps, as the peripheral edge is recognized as compared to the portion inside the peripheral edge. can do. Specifically, on the upper surface of at least one of the plurality of steps, the first reference body 50 has a different color or a different contrast between the peripheral edge and a portion inside the peripheral edge. Can be provided. Similarly, the second reference body 52 can be more easily recognized at the periphery of the predetermined surface than at the portion inside the periphery.

4. Effects According to the present embodiment, two-dimensional or three-dimensional position measurement is easy. In addition, since the position measurement is based on the camera 30, the position measurement can be performed easily at low cost, and the work at the time of installation is easier than with a laser. That is, since the position is calculated from the image using the inexpensive camera 30, it is only necessary to attach the camera 30 to one place of the moving body 5, and it is not necessary to install equipment at a plurality of places such as a laser measuring instrument. Specifically, when measuring the distance from the wall by installing the laser measuring instruments at different locations on the X and Y axes respectively, it is necessary to attach the laser measuring instruments on the X and Y axes respectively. Although installation work takes time and cost, according to the present embodiment, such time and cost are not required.

5. Specific Example of Mobile System The mobile system 100 including the camera 30 according to the present embodiment is preferably applied to an overhead crane. The configuration of the overhead crane will be described. The camera 30 is not shown, and the configuration of the overhead crane to which the camera 30 is applied will be described.

FIG. 18 is a perspective view showing the overall configuration of the overhead crane. FIG. 19 is a diagram showing a structure of a hoist as an elevator of an overhead crane as a three-dimensional moving device according to an embodiment of the present invention. FIG. 20 is a block diagram showing a control mechanism in the overhead crane.
As shown in FIG. 18, an overhead crane 1 as a three-dimensional moving device includes a pair of saddles 3A and 3B that travel via wheels on traveling rails 2A and 2B laid in parallel near the ceiling of a building. A crane girder 4 provided with a hoisting machine 5 as an elevator can be traversed, and a hook 7 as a moving body is fixed to the tip of a support wire rope 6 wound by the hoisting machine 5 as an elevator. It is configured.
As described above, the overhead crane 1 traverses the crane girder 4 substantially perpendicularly to the traveling rails 2A and 2B, and the hoisting machine 5 having the hook 7 at the tip moves on the crane girder 4. As a three-dimensional moving device centered on a moving mechanism including a Z-axis motor for moving the hook 7 as a moving body in a vertical direction, and an X-axis motor and a Y-axis motor for moving in a horizontal plane. Are suitable.

  From the hoisting machine 5, a communication cable 8 hangs down to near the floor and is connected to a remote control housing 10.

  Further, as shown in FIG. 18, the hoisting machine 5 has a pair of wheels 14 provided with the crane girder 4 interposed therebetween, and these wheels 14 are driven by a traversing motor (Y-axis motor) 13. When driven and rotated, the hoist 5 traverses along the crane girder 4. A hoisting machine main body 17 is suspended and supported by a supporting member 15 in these traversing units. A hoisting motor (Z-axis motor) for winding up or extending the supporting wire rope 6 is mounted on the hoisting machine main body 17. 16 are attached.

A traveling wheel and a traveling motor (X-axis motor) (not shown) are provided on saddles 3A and 3B traveling on traveling rails 2A and 2B while supporting the crane girder 4 at both ends shown in FIG. Has been. Further, a motor drive control circuit for driving the X-axis motor, the Y-axis motor 13 and the Z-axis motor 16 in accordance with the operation of the operation remote controller 9 is provided in the hoisting machine main body 17 shown in FIG. Built-in.
The motor drive control circuit 18 incorporated in the hoisting machine main body 17 includes a microcomputer (hereinafter, also referred to as “microcomputer”) 20 and an inverter (or contactor) 21.

The microcomputer 20 includes a CPU (Central Processing Unit), a memory device such as a ROM and a RAM, and an input / output (I / O) device, and transmits data from the remote control housing 10 through a communication line in a communication cable 8. The received electric signal is subjected to necessary arithmetic processing, and the processing result is output to the inverter (or contactor) 21 as an electric signal. The microcomputer 20 may be a so-called one-chip microcomputer, or may be composed of a plurality of chips or elements and components.
When the operation switch 11 of the operation remote controller 9 is pressed, a predetermined electric signal is transmitted to the microcomputer 20 through a communication line in the communication cable 8, and the microcomputer 20 transmits a control signal to the inverter (or contactor) 21. The inverter (or contactor) 21 supplies a driving current to the X-axis motor 23 and / or the Y-axis motor 13 in accordance with the control signal, and drives the X-axis motor 23 and / or the Y-axis motor 13 to The hook 7 is moved in the direction in which the remote control housing 10 faces.

The motor drive control circuit 18 including the inverter 21 and the microcomputer 20 controls the drive of the X-axis motor 23 and / or the Y-axis motor 13, and the contactor 22 controls the drive of the Z-axis motor 16. Accordingly, a drive control device 61 is configured to include the motor drive control circuit 18 and the contactor 22, and the drive control device 61 and the operation remote controller 9 constitute a mobile operation system including the communication cable 8 of FIG. Make up. The X-axis motor 23, the Y-axis motor 18, and the Z-axis motor 16 correspond to a moving mechanism 62.
When the up switch 11A and the down switch 11B as up and down switches provided on the operation remote controller 9 are pressed, a predetermined electric signal is transmitted to the motor drive control circuit 18 through the communication line in the communication cable 8. The drive current is also transmitted to a contactor 22 built in the hoisting machine main body 17, and a drive current is supplied from the contactor 22 to the Z-axis motor 16. When the ascent switch 11 A is pressed, the Z-axis motor 16 is connected to the support cable 6. Is wound up to raise the hook 7, and when the down switch 11B is pressed, the Z-axis motor 16 operates to extend the support cable 6 and lower the hook 7.
Therefore, the operator who operates the overhead crane 1 first presses the lowering switch 11B of the operation remote controller 9 to operate the Z-axis motor 16 to lower the hook 7, so that the hook 7 is attached to the conveyed object placed on the floor. Then, the lifting switch 11A is pressed to activate the Z-axis motor 16, and the support wire rope 6 is wound up to lift the conveyed product to a height that does not hinder horizontal movement. Subsequently, the transported object can be translated in a desired direction by the operation switch 11 of the operation remote controller 9.

  The above-described embodiment can be variously modified within the scope of the present invention.

  INDUSTRIAL APPLICABILITY The present invention can be preferably applied to, for example, a transport system that transports a load by hanging it on a moving body.

5 Moving body 30 Camera 40 Information processing device 42 Input unit 42a Image information input unit 44 Processing unit 44a Unique information generation unit 44b Position derivation unit 46 Output unit 46a Transmission unit 46b Display unit 48 Storage unit 48a Database 48b Position information storage unit 50 1st reference body 52 2nd reference body 54 3rd reference body 100 Mobile system

Claims (9)

An information processing apparatus for calculating a position of a moving object that moves in a predetermined area or a predetermined space,
An input unit for inputting image information captured by one or more cameras provided on the moving body,
A unique information generation unit for generating unique information of feature points or relative information included in the image information,
A storage unit that stores a database configured by associating the position of the moving object with the unique information,
Based on the unique information in which the camera is generated by the specific information generating unit from the image information captured by referring to the database, look including a deriving unit that derives the position of the movable body,
A reference body is provided within a range where the camera captures an image,
The unique information is generated based on a reference body imaged by the camera,
The reference body has a three-dimensional shape,
The three-dimensional shape has a plurality of steps,
In the plurality of stages, the upper surface of each stage at least partially overlaps with the upper surface of the next stage in a plan view,
In the database, at least the shape and area of the upper surface of a predetermined step exposed and grasped from image information taken from each predetermined position, and the shape and area of the upper surface of a step different from the predetermined step, It is stored in association with body position information,
The deriving unit, based on the shape and area of the upper surface of the exposed predetermined step grasped from the image information captured from at least each of the predetermined positions, and the shape and area of the upper surface of a step different from the predetermined step, An information processing device that derives the position of a moving object . In claim 1,
An information processing apparatus in which the upper surface of each stage has a different color in upper and lower stages. In claim 1 or 2,
An information processing device, wherein the upper surface of each of the steps becomes wider as going upward. In any one of claims 1 to 3 ,
The information processing apparatus, wherein the unique information generation unit generates a feature point based on at least one of a pattern, a color difference, a shape singularity, and a layout configuration group of a shooting range. Camera including an information processing apparatus according to any one of claims 1-4. A moving object to which an object is moored or attached,
The object is moved by the movement of the moving body,
A camera for recognizing the position of the moving body is provided,
Mobile including an information processing apparatus according to any one of claims 1-5. A mobile system including the information processing device according to claim 6 . An information processing method for calculating a position of a moving object that moves in a predetermined area or a predetermined space,
An input unit for inputting image information captured by one or a plurality of cameras provided on the moving body;
A step of generating a unique information of a characteristic point or relative information included in the image information,
The deriving unit, based on the unique information generated by the unique information generating unit from the image information captured by the camera, based on the position of the moving object stored in the storage unit, the database configured to correspond to the unique information Deriving the position of the moving object with reference to
A reference body is provided within a range where the camera captures an image,
The unique information is generated based on a reference body imaged by the camera,
The reference body has a three-dimensional shape,
The three-dimensional shape has a plurality of steps,
In the plurality of stages, the upper surface of each stage at least partially overlaps with the upper surface of the next stage in a plan view,
In the database, at least the shape and area of the upper surface of a predetermined step exposed and grasped from image information taken from each predetermined position, and the shape and area of the upper surface of a step different from the predetermined step, It is stored in association with body position information,
The deriving unit, based on the shape and area of the upper surface of the exposed predetermined step grasped from the image information captured from at least each of the predetermined positions, and the shape and area of the upper surface of a step different from the predetermined step, An information processing method for deriving the position of a moving object . On the computer,
A program for executing an information processing method for calculating a position of a moving object moving in a predetermined area or a predetermined space,
An input unit for inputting image information captured by one or a plurality of cameras provided on the moving body;
A step of generating a unique information of a characteristic point or relative information included in the image information,
The deriving unit, based on the unique information generated by the unique information generating unit from the image information captured by the camera, based on the position of the moving object stored in the storage unit, the database configured to correspond to the unique information And deriving a position of the moving body with reference to a program .
A reference body is provided within a range where the camera captures an image,
The unique information is generated based on a reference body imaged by the camera,
The reference body has a three-dimensional shape,
The three-dimensional shape has a plurality of steps,
In the plurality of stages, the upper surface of each stage at least partially overlaps with the upper surface of the next stage in a plan view,
In the database, at least the shape and area of the upper surface of a predetermined step exposed and grasped from image information taken from each predetermined position, and the shape and area of the upper surface of a step different from the predetermined step, It is stored in association with body position information,
The deriving unit, based on the shape and area of the upper surface of the exposed predetermined step grasped from the image information captured from at least each of the predetermined positions, and the shape and area of the upper surface of a step different from the predetermined step, A program that derives the position of a moving object.

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