JPH0826667A - Running position detection device for running body - Google Patents

Abstract

PURPOSE:To let a running body accurately run along a running marker, and concurrently let it accurately stop at a specified stop position. CONSTITUTION:A running marker 1 and a plurality of position markers which are set on a running road, are photographed every moment by a camera 5 set on a crane 3 so as to allow each image to be processed, output signals related to the running marker 1 out of its output signals are correlatively processed, and the quantity of dislocation in the lateral running direction from the running marker 1 of the crane 3 is thereby computed. Output signals related to the position marker 2 are correlatively processed so as to allow a position in the crane 3 running direction to be computed, based on these computed values, let the crane 3 be run while dislocation is being corrected, be stopped at a specified position in the running direction, let the crane 3 accurately run along the running marker 1, and also let it accurately stop at a specified stop position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting device for detecting a traveling position of a traveling body such as a trackless crane.

[0002]

2. Description of the Related Art A control situation of a traveling position of a trackless crane as a traveling body which carries out cargo handling by traveling on a trackless floor surface or a road surface will be described with reference to FIG. As shown in FIG.
A belt-shaped marker 11 is extended and laid on the traveling road surface, and the marker 11 is attached to the camera 15 mounted on the crane 13.
Will be taken every second. The image captured by the camera 15 is subjected to image processing, and the output signal thereof is subjected to correlation processing to detect the amount of deviation from the marker 11. The positional deviation is corrected based on the detected deviation amount, and the crane 13 travels along the marker 11.

FIG. 6 shows the situation of detecting the positional deviation of the crane 13.
It will be described based on. FIG. 6A shows an example of an image of the marker 11 photographed by the camera 15. C ₁ and C ₂ of the image A are marker images photographed at different time intervals, and the marker images C ₁ and C are obtained. ₂ has a deviation of ΔX ₁ and ΔX _{2 in} the symmetrical direction with respect to the reference lines O and O, respectively.
FIG. 6B shows x of an image obtained by image-processing this video.
An example of the output signal on the line L in the direction is shown. Φ _B1 shows the output signal of the marker image C ₁ , and φ _B2 shows the output signal of the marker image C ₂ .

Now, as shown in FIG. 6 (c), when x = δ, a function φ of a triangular waveform such that a certain finite value y ₁ is obtained.
_{If A} (x−δ) is used as a reference signal and δ = ΔX,
The cross-correlation function f (δ) between the reference signal φ _A (x−δ) and the signals φ _B1 and φ _B2 is defined as f (δ) = ∫φ _A (x−δ) φ _B (x) dx To be done. This cross-correlation function f (δ) is shown in FIG.
As is clearer, in the finite section of x, ΔX becomes zero except when the value is a certain value. Therefore, the cross-correlation function f (δ) is calculated for each output signal of each image captured at every minute time interval τ _0. By calculating and obtaining the value of δ that is max | f (δ) |, it changes as δ _i shown in FIG. 7. That is, the momentary deviation amount of the crane 13 from the traveling marker 11 is represented by δ _i
Can be detected as the amount of change.

In order to detect the position of the crane 13 in the traveling direction, generally, an encoder (not shown) is attached to the wheels 15 of the crane 13 or a traveling motor, and the traveling distance from the starting point is measured from the measured rotation speed (angle). It is done by asking.

[0006]

As described above, in the conventional control of the traveling position, the belt-shaped traveling marker 11 laid on the road surface is photographed, image-processed, and the output signal thereof is subjected to correlation processing. The amount of deviation of the crane 13 from the traveling marker 11 in the orthogonal direction (transverse direction) can be detected, but the position in the traveling direction cannot be detected. Therefore, position detection in the traveling direction is
The travel distance from the start point is calculated by an encoder attached to the wheels 15 of the crane 13 or the traveling motor.

However, when the position is detected in the traveling direction by the encoder, the position can be detected with extremely high accuracy while a short distance is used for a short time, but since the error is accumulated, the position is continuously used for a long time. However, there is a problem that the accumulated error becomes large during the operation, and the hoisting / unloading position of the crane 13 is largely deviated, which hinders the cargo handling work.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a position detecting device capable of accurately detecting the position of a traveling body in the traveling direction.

[0009]

A first aspect of the invention for achieving the above object is to provide a strip-shaped traveling marker extending along a traveling route of a traveling body and laid on a traveling surface, and the traveling marker. A plurality of position markers installed along the vehicle at predetermined intervals, a camera installed on the traveling body for photographing the traveling marker and the position marker, and image processing for image-processing the video captured by the camera every moment. Device and an output signal of the image processing device are input, correlation processing is performed on the output signal of the traveling marker to calculate the amount of displacement of the traveling body from the traveling marker, and the output signal of the positional marker is correlated. It is characterized by comprising an arithmetic unit for processing and calculating the traveling direction position of the traveling body.

Further, in the structure of the second invention for achieving the above object, a plurality of position markers installed at predetermined intervals along the rail on which the traveling body travels, and the position markers installed on the traveling body. A camera that captures the position marker, and an image processing device that processes the images captured by the camera momentarily,
An output device of the image processing device is input, and the output signal is subjected to correlation processing to calculate a traveling direction position of the traveling body.

[0011]

According to the first aspect of the present invention, the camera on the traveling body captures the traveling marker laid along the traveling path of the traveling body and the plurality of position markers installed at predetermined intervals along the traveling marker every moment. The captured video is sent to the image processing device for image processing, the output signal of the image processing device is sent to the arithmetic device, and the arithmetic device correlates the output signal of the traveling marker among the output signals of the image processing device. The displacement amount of the traveling body from the traveling marker (transverse direction displacement amount) is calculated, and the output signal of the position marker is subjected to correlation processing to calculate the traveling position of the traveling body in the traveling direction.

In the second invention, a plurality of position markers installed at predetermined intervals along the rail are photographed by the camera on the running body every moment, and the photographed images are sent to the image processing device for image processing. The output signal of the image processing device is sent to the arithmetic device, and the arithmetic device correlates the output signal of the position marker of the image processing device to calculate the traveling position of the traveling body in the traveling direction.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic configuration of a traveling position detecting device for a traveling body (here, a crane) according to the first invention, FIG. 2 is a detection situation, FIG. 3 is a control block of the traveling position detecting device, and FIG.
Shows the procedure for detecting the traveling position.

As shown in FIG. 1, a crane 3 is installed on the road surface G for loading and unloading without a track, and a strip-shaped traveling marker 1 extending along the traveling path of the crane 3 is provided on the road surface G. It has been laid. Further, a plurality of position markers 2 are respectively installed at predetermined intervals l ₁ along the travel marker 1 opened the driving marker 1 and spacing l _0. A camera 5 is installed on the crane 3, and the traveling marker 1 and the position marker 2 are photographed with this camera 5 every moment when the crane 3 travels on a trackless track. The image captured by the camera 5 is sequentially subjected to image processing by the image processing device, and then subjected to correlation processing using the output signal thereof. The amount of deviation of the crane 3 from the traveling marker 1 is calculated from the output signal related to the traveling marker 1, and the crane 3 travels while correcting the trajectory (correction of lateral displacement) based on the calculated value, and then the position marker 2 is displayed. The traveling direction position of the crane 3 is calculated from the output signal, and the unloading position of the load is corrected (correction of displacement in the traveling direction) based on the calculated value.

As shown in FIG. 3, a camera 5 installed on a crane 3 for photographing the traveling marker 1 and the position marker 2
Is connected to the input unit 6, and the input unit 6 is connected to the arithmetic unit 7. A storage device 8 is connected to the calculation unit 7, and an image processing device 9 for image-processing an image sent from the camera 1 is configured by the input unit 6, the calculation unit 7, and the storage device 8. The arithmetic unit 7 of the image processing apparatus 9 includes an arithmetic unit 10
Are connected, and the arithmetic unit 10 uses the output signal of the image processing unit 9 to calculate the lateral displacement and the traveling direction displacement of the crane 3.

A position detecting procedure of the traveling position detecting device will be described with reference to FIGS. 2 and 4. First, when the crane 3 travels on the trackless along the travel marker 1, the camera 5 on the crane 3 photographs the travel marker 1 and the position marker 2 every predetermined time interval τ ₀ . FIG. 2A shows an example of a captured image, and in image A, image C of running marker 1 and position marker 2 are shown.
Image d of is shown with a gap of l ₀ . These videos are sequentially sent to the image processing device 9 for image processing, and the output signals thereof are sent to the arithmetic device 10 for correlation processing.

Of the image-processed output signals, the running mar
By using the output signal of the image C relating to 1
The cross-correlation function f (δ) is calculated, and the traveling mode of the crane 3 is calculated.
The lateral displacement amount δ from the marker 1 is calculated (see FIGS.
7). On the other hand, FIG. 2B shows the output signal after image processing.
Of the output signal of the image d related to the position marker 2
, Φ_C1And φ_C2Is the image A shown in FIG.
y-direction line L_ASome time interval τ₀Footage shot in
The output signal of is shown. Now the reference line O, the distance from O
Respectively ΔY₁, ΔY₂Then, ΔY₂-ΔY₁=
l₁And the output signal φ_C1And φ_C2Are adjacent position markers 2
Interval l₁Just shifted. Therefore, the same function φ_A
With (x-τ) as the reference signal and τ = ΔY, output
Force signal φ _C1, Φ_C2Cross-correlation function f ...₁), F
(Τ₂) ... is calculated and max | f (τ ₁) |, Max | f
(Τ₂) | Τ when₁, Τ₂To ask for ...
From the position of each position marker 2, that is, the traveling position of the crane 3.
Position can be detected.

In this way, the crane 3 is caused to travel along the traveling marker 1 while correcting the trajectory based on the detected displacement amount δ in the transverse direction, and the crane 3 is stopped at the predetermined position of the detected position marker 2. Then, it is possible to unload and unload the cargo.

In the above-mentioned case, regarding the traveling direction address of each position marker 2, for example, an encoder is attached to the wheel 4 of the crane 3 and the traveling distance from the starting point of the crane is known from the detected rotation speed (angle). Can be detected. Also, as the reference signal used for the correlation processing,
Although the function of the triangular waveform is used in the above-described embodiment, the function is not limited to this, and for example, a function of a square waveform or a specific detection waveform may be used.

The above example relates to the detection of the traveling position of the crane 3 traveling on the trackless along the traveling marker 2, but the position of the crane traveling on the rail can be detected in the same manner as described above. That is, the position markers 2 are installed at predetermined intervals along the rail, the position markers 2 are photographed by the camera 5 on the crane 3, and the traveling position of the crane 3 is detected by performing correlation processing in the same procedure as described above. It is possible (the second invention).

[0021]

According to the traveling position detecting device for a traveling body of the first aspect of the present invention, the traveling marker and a plurality of position markers installed on the traveling path are photographed by a camera on the traveling body every moment to perform image processing,
Among the output signals, the output signal related to the traveling marker is subjected to correlation processing to calculate the amount of deviation of the traveling body from the traveling marker in the transverse direction, and the output signal related to the position marker is subjected to correlation processing to determine the traveling direction position of the traveling body. Since the traveling body is made to travel and stopped at a predetermined traveling direction position while correcting the deviation based on these calculated values, the traveling body can be accurately traveled along the traveling marker. At the same time, it can be accurately stopped at a predetermined stop position. As a result, the traveling body can be moved with high accuracy, and the work by the traveling body can be performed accurately and efficiently.

Further, according to the traveling position detecting device for a traveling body of the second invention, a plurality of position markers installed on the rail are photographed by a camera on the traveling body every moment, image processing is performed, and output signals are subjected to correlation processing. Since the traveling direction position of the traveling body is calculated and the traveling body is stopped at the predetermined traveling direction position based on the calculated value, the traveling body can be accurately stopped at the predetermined stopping position. As a result, the accuracy of stopping the traveling body is improved, and the work by the traveling body can be performed accurately and efficiently.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a traveling position detection device for a traveling body according to a first invention.

FIG. 2 is an explanatory view of a detection situation of a traveling position detection device.

FIG. 3 is a control block diagram of a traveling position detection device.

FIG. 4 is an explanatory diagram of a procedure for detecting a traveling position.

FIG. 5 is an explanatory view of the control status of the traveling position of the trackless crane.

FIG. 6 is an explanatory diagram of a video situation and an output signal situation.

FIG. 7 is an explanatory diagram of changes in the amount of deviation.

[Explanation of symbols]

 1 Traveling Marker 2 Position Marker 3 Crane 4 Wheel 5 Camera 6 Input Unit 7 Computing Unit 8 Storage Device 9 Image Processing Device 10 Computing Device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takashi Okai 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries, Ltd. Hiroshima Research Laboratory (72) Inventor Hirofumi Yoshikawa 4, Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture 6-22 No. 22 Mitsubishi Heavy Industries Ltd. Hiroshima Works

Claims (2)

[Claims] 1. A traveling marker in the form of a belt extending along a traveling route of a traveling body and laid on a traveling surface, a plurality of position markers arranged at predetermined intervals along the traveling marker, and on the traveling body. Installed in the camera for photographing the running marker and the position marker, an image processing device for image-processing the images taken by the camera every moment, and an output signal of the image processing device to which an output relating to the running marker is input. And a calculation device for calculating a positional deviation amount of the traveling body from the traveling marker by correlating the signals and for correlating the output signal of the position marker with the traveling direction position of the traveling body. A traveling position detection device for a traveling body characterized by: 2. A plurality of position markers installed at predetermined intervals along a rail on which the traveling body travels, a camera installed on the traveling body for capturing an image of the position marker, and the cameras continuously capturing images. A traveling system comprising: an image processing device for image-processing a video image; and an arithmetic device for receiving an output signal of the image processing device and performing a correlation process on the output signal to calculate a traveling direction position of the traveling body. Body running position detection device.