JPH10239019A - Moving body position measuring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure the position of a moving body while eliminating the error due to a time difference by obtaining the position of the moving body from the obtained time difference, the moving velocity of the moving body, and an image processing signal. SOLUTION: In a synchronization delay counter 6 for obtaining the time difference between a photographing signal and a vertical synchronization signal, the counting of the photographic signal from a controller 5 is started, and the counting of the vertical synchronization signal from an image processing unit 4 is stopped, and the clock time therebetween is counted by a counter for measuring the time difference between two signals. The time difference data obtained is sent out to a robot controller 5. In the robot controller 5, since the moving velocity of a moving body 2 is previously known, the moving distance between the obtained time differences is found, and by correctedly calculating backward so much from the image processing signal being sent out after receiving the photographing signal, the position of the moving body 2 at the time of occurrence of the photographing signal can be correctly detected. Thus, the image processing signal of the position of the moving body 2 can be corrected by the time difference data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving object position measuring apparatus for measuring the position of a moving object moving at a constant speed by image processing.

[0002]

2. Description of the Related Art Conventionally, as a technique for obtaining the current position of a moving object conveyed at a constant speed by a conveyor or the like, there is a technique based on processing of image data obtained by photographing the position of the moving object with an image input device. That is, the image input device takes an image of a moving body moving at a constant speed, the image processing device takes in the image data of the image input device in synchronization with the vertical synchronization signal, performs image processing, and based on the image signal from the controller. An image processing signal is sent to the controller. The controller detects the position of the moving body from the image processing signal.

An image processing apparatus sends an image processing signal based on a photographing signal from a controller. The image processing apparatus fetches image data from an image input apparatus in synchronization with a vertical synchronizing signal and performs image processing. Because
There is a time difference between the timing at which a shooting signal is output and the timing at which an image is captured. Due to this time difference, the controller could not measure the correct position even when receiving the image processing signal from the image processing device, and an error occurred in the position measurement of the moving object of the position measuring device using such image processing. .

[0004]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a moving object position measuring apparatus for measuring the position of a moving object by image processing by an image processing apparatus. In other words, the position of the moving object is measured without an error based on the time difference from the timing of actually capturing the image data.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides an image input device for photographing a moving path of a moving body and holding the image as image data, and vertically synchronizing the image data of the image input device. An image processing device that captures and processes an image in synchronization with a signal, and outputs an image processing signal based on a photographing signal from a controller; and a photographing signal input from the controller and a vertical synchronizing signal input from the image processing device. A moving object position measuring device comprising: a measuring circuit for measuring a time difference; and a controller for obtaining a position of the moving object from the obtained time difference, a moving speed of the moving object, and the image processing signal.

[0006] An input of a photographing signal and a vertical synchronizing signal are input,
By measuring the time difference between the two inputs, it is possible to know at what time the image data input by the image processing device was input. Therefore, if the position detection device knows the speed and direction of the mobile object, Can be measured by performing a back calculation from the data input from the image processing apparatus.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration of a moving object position measuring device according to an embodiment, and FIG. 2 is a diagram illustrating a specific configuration of a synchronization delay counter. In FIG. 1, reference numeral 1 denotes a conveying means such as a belt conveyor for conveying a moving body 2;
And an image input device such as a video camera for photographing the moving body 2 moving. Reference numeral 4 denotes an image processing device that outputs an image processing signal obtained by performing image processing based on a photographing signal from the controller 5 to the robot controller 5 and captures image data from the image input device 2 in synchronization with a vertical synchronization signal to perform image processing. is there. Reference numeral 5 denotes a robot controller that sends and receives control signals and data to and from the belt conveyor 1, the image processing device 4, the synchronization delay counter 6, and the like, and obtains the position of the moving body 2. Reference numeral 6 denotes a synchronization delay counter which includes a counter for counting clocks and calculates and outputs a time difference between an input photographing signal and a vertical synchronization signal. Here, the synchronization delay means measuring the delay of the vertical synchronization signal.

The operation of the embodiment will be described with reference to the drawings. In the system of the robot controller 5 for capturing the position of the moving body 2 on the belt conveyor, the robot controller 5 outputs a photographing signal to the image processing device 4, and the image processing device 4 receiving the photographing signal holds the photographing signal at that time. The image processing signal is sent to the robot controller 5.

At this time, the input image data is output from the image input device 3 to the image processing device 4. However, the input image data is actually taken into the image processing device 4 and the image processing is performed. This is input image data when synchronized with the vertical synchronizing signal. This is the image processing device 4
Means that the image data received at the time of the next vertical synchronizing signal after receiving the photographing signal is subjected to image processing. Therefore,
The image processing signal received by the controller 5 is the image processing signal of the image data captured by the image processing apparatus 4 using the next vertical synchronization signal after receiving the photographing signal.

Therefore, in the present invention, the time difference between the photographing signal and the vertical synchronizing signal and the moving distance between them are obtained, and the time difference is calculated back from the image processing signal sent from the image processing apparatus after receiving the photographing signal. By correcting the position, the position of the moving object at the time of generation of the photographing signal is correctly detected. A synchronous delay counter 6 for calculating a time difference between the photographing signal and the vertical synchronizing signal starts counting the photographing signal from the controller 5 and stops counting the vertical synchronizing signal from the image processing device 4 and counts a clock during the counting by the counter 61. Then, the time difference between the two signals is measured.
The obtained time difference data is sent to the robot controller 5.

Since the moving speed of the moving body is known in advance in the robot controller 5, the moving distance between the obtained time differences is known, and the amount is corrected by calculating backward from the image processing signal transmitted after receiving the photographing signal. This makes it possible to correctly detect the position of the moving object at the time when the imaging signal is generated. In this way, the image processing signal at the position of the moving object can be corrected by the time difference data.

[0012]

As described above, according to the present invention, in a moving object position measuring device for measuring the position of a moving object by image processing by an image processing device, the timing of a photographing signal and the timing of actually taking in image data are described. There is an effect that the position measurement by the image processing of the moving object can be measured without any error by eliminating the error based on the time difference of.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a moving object position measuring apparatus according to an embodiment.

FIG. 2 is a diagram showing a specific configuration of a synchronous delay counter.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Belt conveyor 2 Moving object 3 Image input device 4 Image processing device 5 Robot controller 6 Synchronous delay counter 61 Counter

Claims (1)

[Claims] 1. An image input device which captures a moving path of a moving body and stores the image data as image data, captures image data of the image input device in synchronization with a vertical synchronization signal, and performs image processing.
An image processing device that outputs an image processing signal based on a photographing signal from the controller; a measuring circuit that measures a time difference between a photographing signal input from the controller and a vertical synchronization signal input from the image processing device; A moving body position measuring device comprising: a controller that obtains a position of the moving body from the moving object, a moving speed of the moving body, and the image processing signal.