KR100809317B1 - A position move equipment using the position detection method and its method - Google Patents

Abstract

The present invention relates to a method for calculating a coordinate value of a point by analyzing an image input to a camera, detecting the coordinate value, and an apparatus for moving to the detected denture. And irradiates the photographed image with a camera through a convex mirror (spherical mirror), deforms the photographed image, detects the direction and distance of the spot where the light is irradiated, and moves to the detected position. It is about.

The present invention provides a device and a method for moving by a simple operation of a user, the device for irradiating light to a place to be moved by the user, the device to recognize the light through a convex mirror and to move to the place and The method can be used, and can be used for robot cleaners, driverless cars and play toys, which move and clean automatically.

Therefore, it is possible to provide an apparatus for moving without a separate wireless communication system.

Convex mirror, camera, positioning, coordinates

Description

A position move equipment using the position detection method and its method

1 is a block diagram of the present invention.

2 is a view showing the principle of the present invention using a convex mirror.

3 is a flow chart of the present invention.

4 is a laser point photographed in the camera.

4A shows the converted laser point.

5 is an image photographed in a carrera.

5A is an image with increased color contrast and reduced brightness.

5B is an image with increased contrast and reduced brightness.

6 is a flowchart illustrating a process of converting a video image.

FIG. 7 is a diagram illustrating the video image photographed by the camera for each zone. FIG.

7A is a flowchart of Embodiment 1. FIG.

8 is a diagram illustrating a coordinate direction detection method using a center coordinate.

8A is a flowchart of Embodiment 2. FIG.

9 is a preferred embodiment of a position movement device according to the present invention.

** Description of symbols for the main parts of the drawing **

10 ... lower housing 20 ... outer housing

30 ... wheels

100 ... convex mirror 200 ... camera

310..Image conversion module 320 ... direction and distance calculation module

330 control unit 340 drive unit

350 Power supply 400 Laser pointer

The present invention relates to a method for calculating a coordinate value of a point by analyzing an image input to a camera, detecting a position using the coordinate value, and an apparatus for moving to the detected position. Apparatus for irradiating the light and taking an image with a camera through the convex mirror and transforming the photographed image to detect the direction and distance of the spot irradiated and to move to the detected position And to a method.

In general, many devices have been developed to move positions within a given compartment. For example, a device for moving an object or a robot used in an automobile assembly, etc., moves along a rail and carries an object at a predetermined position.

In addition, the robot cleaner is a device that rotates or stops when moving in an undetermined area to approach or touch an object.

However, the robot cleaner has a problem in that the configuration is complicated by attaching an infrared sensor, a near field sensor, a far field sensor, etc. on the outer circumferential surface thereof to calculate a distance and rotating and moving at a predetermined random angle.

A method and a device for moving a location by a user's operation include a car or an airplane that is wirelessly controlled, but the user controls the wireless control means by using a wireless control means (such as a remote controller and a remote controller) to transmit a radio signal. It is configured to receive and move the radio signal at each device, and the problem of having a radio control means and a troublesome problem of having to provide both a transmitter and a receiver according to the radio signal transmission / reception.

The most advanced of these mobile devices, mobile devices that are controlled by the user's voice is also known, but the user's voice is different from the height and tone of the voice, and the speech recognition rate is significantly lowered, so it is still insufficient to generalize.

Therefore, the present invention is to provide a device and a method for moving by a simple operation of the user, the user irradiates the light to the place to be moved, the light through the convex mirror to recognize the camera to move to the place It is an object of the present invention to provide an apparatus and method.

The present invention relates to a method for calculating a coordinate value of a point by analyzing an image input to a camera, detecting the coordinate value, and an apparatus for moving to the detected denture. And irradiates the photographed image with a camera through a convex mirror (spherical mirror), deforms the photographed image, detects the direction and distance of the spot where the light is irradiated, and moves to the detected position. It is about.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the embodiments presented are for illustrative purposes only, and the claims of the present invention are not reduced or limited from these embodiments. In addition, for the convenience of the description of the components having the same working effect will be described with the same reference numerals.

The present invention consists of a convex mirror (spherical mirror), a camera, an image conversion module, a direction and distance calculation module, a controller, and a driver.

Looking at the configuration of the present invention according to Figure 1,

Convex mirror 100 for observing the surrounding image, camera 200 for capturing the image of the convex mirror 100, image conversion module 310 for converting the image of the photographed camera, position in the converted image A direction / distance calculation module 320 for detecting a direction and distance by detecting a signal, a controller 330 for controlling the image conversion module and a direction distance calculation module, a driver 340 for driving a motor by a signal from the controller, The power supply unit 350 supplies power to the camera, the control unit, and the driving unit.

The convex mirror 100 and the camera 200 are spaced apart at a predetermined interval to face each other, the camera 200 is photographed the convex mirror 100, the convex mirror 100 is the camera 200 Reflects the surrounding image, including).

The image captured by the camera 200 in the reflected image is converted into an image by the image conversion module 310 to detect a point (point) brighter than the surroundings in the converted image image.

A direction and distance of the detected point are calculated by the direction / distance calculation module 320 by setting a reference point in the captured image.

When the direction and distance are calculated, the motor of the driving unit 340 is operated by the control signal of the controller 330.

Hereinafter, the principle of the present invention will be described with reference to FIG.

2 shows the principle of the present invention using a convex mirror.

The convex mirror 100 is convex, so that light coming in parallel is reflected from the mirror surface and then unconditionally spreads. If you extend the light that spreads out to show a line, the light gathers inside the mirror, which becomes the focal point (f) of the convex mirror.

The camera 200 is installed to face the convex mirror 100 at a position spaced apart from the convex mirror 100 at a predetermined interval (a).

Since the image reflected by the convex mirror is reflected by the convex mirror whose height is fixed from the ground, the size of the area reflected by the mirror is fixed, and the image captured as described above always has only the same size area. You can take a picture.

That is, all objects in the radius w from the center point of the camera 200 are photographed by the camera 200.

Therefore, the distance from the center of the camera 200 to the image of the far edge of the convex mirror 100 is always the same.

The element determining the radius w is the distance a between the camera 200 and the convex mirror 100 and the curvature of the convex mirror 100, and the camera 200 and the convex mirror 100. The radius w increases as the distance a increases, and the radius w also increases as the curvature increases.

In FIG. 2, the lower end shows an image photographed by the camera 200 in the above structure. When the bottom p is illuminated by the laser pointer 400 at a radius w, the point p is the camera 200. Is taken with the video point p '.

The image of the projected projection is converted to calculate coordinates of the illuminated spot, and directions and distances are measured according to the calculated result.

As mentioned above, the distance, that is, the actual distance of the point p indicated by the laser pointer 400 from the center point of the camera 200 is also referred to as the distance (a) between the camera 200 and the convex mirror 100 and the convex mirror. It depends on the curvature of 100. The larger the curvature of the convex mirror 100, the greater the distance becomes. The distance between the convex mirrors and the larger curvatures may cause distortion in the photographed image, and a point (p) is not detected during image conversion. It is necessary to properly balance the distance (a) and the curvature of the convex mirror (100).

Based on the above, the closer the center point of the camera 200 is, the closer the actual distance is to the distance taken.

As described above, the present invention can be largely implemented according to two cases.

First, a method and apparatus for converting an image through an image captured in real time and continuously shifting a position only when a point detected through the image conversion is continuously detected may be implemented.

Second, a method and an apparatus for converting an image through an image captured in real time and measuring and moving coordinates and distances of the point when a point detected through the image transformation occurs.

In the first method, if the point is not detected by analyzing the image in real time, the position can be moved in real time to the point indicated by the user. In the second method, when the point is detected in the captured image, the captured image is This can be done by excluding and moving the device by calculating the direction and distance according to the point.

Therefore, the present invention describes a method and apparatus for continuously moving in the above direction while the point p is detected. The present invention is described first. If the point p is not detected, the driving of the device is stopped or only a predetermined distance is moved. Only the method and device for stopping is described.

In the present invention, a device and a method for moving a position through the first method are described, but it is considered that the second method can be easily implemented by those skilled in the art through the specification of the present invention, and the second method is also within the scope of the present invention. Of course it belongs.

In addition, although the present invention has been described as a means for designating a position using a laser pointer, the laser pointer is relatively simple to display a point and easily detects a point when converting an image when a point is designated. Therefore, it is preferable to use the laser point as a preferred embodiment, but the present invention can be implemented through other means, that is, a flash, etc., and the claims of the present invention should not be limited or reduced to the position display using the laser pointer. .

Hereinafter will be described through the flow chart of the present invention.

3 shows a flowchart of the present invention.

Convex mirror 100 for observing the surrounding image, camera 200 for capturing the image of the convex mirror 100, image conversion module 310 for converting the image of the photographed camera, position in the converted image A direction / distance calculation module 320 for detecting a direction and distance by detecting a signal, a controller 330 for controlling the image conversion module and a direction distance calculation module, a driver 340 for driving a motor by a signal from the controller, And a power supply unit 350 for supplying power to the camera, the control unit, and the driving unit.

The camera 200 is installed to face the convex mirror 100 at a position spaced apart from the convex mirror 100 at a predetermined interval (a).

Photographing an image with a camera through a convex mirror (S_10);

Detecting one image at a predetermined elapsed time from the image and formatting the image (S_20);

Converting the formatted image to detect a point (S_30);

Confirming the detected point (S_40);

Maintaining or stopping the state if no point is detected (S_50);

Calculating coordinates of the point if there is a detected point (S_60);

And rotating and moving the direction with the calculated coordinates (S_70).

Many nodes are generated in the device to detect a point for every frame (frames and frames are collected to generate an image) of the image photographed above.

Therefore, an apparatus and method for converting an image and detecting a point in one frame (image) at a predetermined time are desirable.

The image format step S_20 is a step of converting the image to a predetermined size to facilitate the image conversion. The image format step takes a considerable time to convert the image of the image and detect the point when the image of the image to be taken is large, and is omitted if the image of the image is small enough to put a load on the device. Can be.

The video image conversion step S_30 will be described.

In the present invention, the positioning through the laser pointer has been described.

When photographing the position designated by the laser pointer with the camera, as shown in FIG. 4, the center point of the laser point is bright white and the surroundings are red. Darkening the contrast of the image in the image is converted as shown in FIG. 4A and the color of the laser point becomes more pronounced.

The image conversion process will be described with reference to FIGS. 5, 5A, and 5B.

5 shows an image captured by a camera, and it can be seen that a laser point is designated in a circle indicated by an arrow. The above image cannot be compared with the pixel to detect the laser point.

When the image is increased in color contrast and decreased in brightness, the image is converted as shown in FIG. 5A. More specifically, it is an image with a 30% increase in color and a 35% decrease in brightness.

In FIG. 5A, the laser point may not be detected in comparison with pixels.

5B is an image of increasing contrast and decreasing brightness of black and white. More specifically, it is an image with a 30% increase in black and white and a 35% decrease in brightness.

In the above, the numerical value of the contrast increase value and the brightness decrease value of the color and the black and white in the image may be changed according to the environment around the image.

The darker the place where the image is taken, the lower the value. The brighter the place, the value should be increased. It would be desirable to be configured to.

As can be seen from FIG. 5B, one point in the circle indicated by the arrow of FIG. 5B is a position where a laser point is designated.

In the above image, the RGB values of the horizontal pixels and the vertical pixels are detected, and pixels close to black are discarded. If there is a color close to a bright color or a cluster of the colors, the pixel at the position becomes the laser point position.

RGB values can be represented in 256 colors as "000000" to "FFFFFF" in hexadecimal. That is, black is closer to "FFFFFF", and white is closer to "000000".

The above process will be described in a flowchart.

6 is a flowchart illustrating a video image conversion process.

Converting the image of the video,

Loading the converted image (S_31);

Converting the image by increasing the color contrast and decreasing the brightness (S_32);

And converting the converted image by increasing the black and white contrast and decreasing the brightness (S_33).

The case where a point is not detected through said image conversion is demonstrated.

The scope of use of the method and apparatus for shifting the location of the present invention can vary. For example, it can be widely used in devices that need to be moved by user's manipulation such as driverless cars (or amusement cars) and robot cleaners.

Therefore, when used in addition to the above devices, it is preferable to be configured to continue or to stop the work process input to the device.

Flow charts and detailed descriptions thereof will be omitted as can be easily carried out by those skilled in the art.

Next, the case where a point is detected through image conversion is demonstrated.

When a point is detected, a coordinate should be detected to calculate a direction and a distance by detecting a coordinate with respect to the point, which will be described through a preferred embodiment for calculating a direction and a distance with respect to the coordinate.

Example 1)-Using a pre-entered data table.

FIG. 7 is a coordinate detection method using a data table, which first divides each region (front (F), rear (B), left (L), and right (R)) of an image image entered into a camera. As shown in the drawing, when an image is divided into diagonal lines formed from the upper left to the lower right and diagonal lines formed from the lower left to the upper right, the images are separated into the front, rear, left, and right, respectively, and the pixels corresponding to each area are divided into the same area. Write.

Since the image of the image captured by the camera is always the same range, it is possible to know in which zone by comparing the pixel of the detected point p and the pixel of the data table.

In this case, the distance according to each pixel is also preferably stored. That is, when a table including coordinates and distances of pixels is created and stored, the distance from the detected pixels may be detected and moved to the detection points. However, as described above, the present invention may be used only when the detected points are continuously generated. Since the apparatus of the present invention mainly moves in the above direction, the description of the distance will be omitted.

In the above, the horizontal and vertical lines passing through the camera center point may be further added to further segment the area.

In the case of the above, the front left (F_L), the front right (F_R), the upper right (R_F), the lower right (R_B), the rear right (B_R), the rear left (B_L), the lower left (L_B), More preferably, the data table is created by subdividing it into the upper left L_F.

7A is a flowchart illustrating Embodiment 1 as described above.

Loading the position data table of the pixel according to the region (S_611);

Comparing pixels of the detected coordinates with coordinates of the data table (S_612);

And calculating a direction and a distance of the compared coordinates (S_613).

Example 2)-When using the center coordinates.

8 illustrates a method of detecting a coordinate direction using a center coordinate, wherein the same image captured by the camera is used.

When the number of pixels of the image image is n * n, the first pixel on the upper left may be represented by X ⁰ and Y ⁰ , and the last pixel on the lower right may be represented by X ⁿ and Y ⁿ .

At this time, the center point is X ^{n / 2} , Y ^{n / 2} .

Therefore, when that the pixel of point (p) is detected X ^x, Y ^y a method of comparing the X coordinates of pixels and Y-axis coordinates of pixels of the pixel to which the detection, when the value of x is less than n / 2 from the center point If it is larger on the left, it is on the right. If the value of y is less than n / 2, it is on the upper side from the center point.

In addition, as mentioned above, the present invention provides a device and a method for moving in the direction only while a point is detected, so that a real distance can be ignored if a device is developed that calculates a direction and proceeds in the direction.

8A is a flowchart illustrating Embodiment 2 as described above.

Detecting pixels of the center coordinates of the image (S_621);

Comparing the center coordinates of the image with the pixels of the detected coordinates (S_622);

And calculating a direction and a distance of the compared coordinates (S_623).

9 shows a preferred embodiment of the position movement device according to the present invention.

An image conversion module 310 for converting an image, a direction / distance calculation module 320 for calculating a direction and distance by detecting a position in the converted image, and a controller 330 for controlling the image conversion module and a direction distance calculation module. A lower housing 10 including a driving unit 340 for driving a motor according to a signal of the control unit, a power source 350 for supplying power to the camera, the control unit and the driving unit, and a camera 200 for capturing an image;

Combining the convex mirror 100 and the lower housing 10 installed so as to face at a predetermined interval spaced directly above the camera 200 is composed of an outer housing 20 for supporting the convex mirror 100.

The wheel 30 driven by the driving of the motor is installed under the lower housing 10.

In the above, the outer housing 20 is preferably made of a transparent material.

Or it is more preferably made of a one-way transparent mirror that is visible from the inside and the inside is not visible from the outside.

According to the present invention, the scope of use of the present invention is quite wide.

The present invention provides a device and a method for moving by a simple operation of a user, the device for irradiating light to a place to be moved by the user, the device to recognize the light through a convex mirror and to move to the place and The method can be provided, and can be used for robot cleaners, driverless cars, and play toys, which move and clean automatically.

Therefore, it is possible to provide an apparatus for moving without a separate wireless communication system.

Claims (8)

Convex mirror 100 for observing the surrounding image, camera 200 for capturing the image of the convex mirror 100, image conversion module 310 for converting the image of the photographed camera, position in the converted image A direction / distance calculation module 320 for detecting a direction and distance by detecting a signal, a controller 330 for controlling the image conversion module and a direction distance calculation module, a driver 340 for driving a motor by a signal from the controller, It is composed of a power supply unit 350 for supplying power to the camera, the control unit and the drive, The convex mirror 100 and the camera 200 are spaced apart at a predetermined interval to face each other, the camera 200 is photographed the convex mirror 100, the convex mirror 100 is the camera 200 Reflects the surrounding video, including Taking the reflected image as an image from the camera 200 and converting the image in the image conversion module 310, the image conversion increases the color contrast and decreases the brightness and then increases the black and white contrast again. Decreases the brightness to detect a point (point) brighter than the surroundings in the converted video image, The position shifting device which calculates the direction and distance of the detected point and drives the driving unit 340 to move to the point under the control of the control unit 330. The method of claim 1, And the image conversion increases 30% of the color, decreases the brightness by 35%, and then increases the 30% of the black and white, and decreases the brightness by 35%. delete Convex mirror 100 for observing the surrounding image, camera 200 for capturing the image of the convex mirror 100, image conversion module 310 for converting the image of the photographed camera, position in the converted image A direction / distance calculation module 320 for detecting a direction and distance by detecting a signal, a controller 330 for controlling the image conversion module and a direction distance calculation module, a driver 340 for driving a motor by a signal from the controller, And a power supply unit 350 for supplying power to the camera, the control unit, and the driving unit. The camera 200 is installed to face the convex mirror 100 at a position spaced apart from the convex mirror 100 at a predetermined interval (a). Photographing an image with a camera through the convex mirror 100 (S_10); Detecting a point by converting the photographed image (S_30); Checking the detected points (S_40); Maintaining or stopping a state when there is no point detected (S_50); Calculating coordinates of the point when the detected point exists (S_60); And rotating (S_70) a direction by the calculated coordinates (S_70). The method of claim 4, wherein Between step S_10 and step S_30 And detecting (S_20) one image from the image at every predetermined elapsed time (S_20). The method of claim 4, wherein Detecting a point by converting the photographed image (S_30) Loading the converted image (S_31); Converting the image by increasing the color contrast and decreasing the brightness (S_32); And converting the converted image by increasing the black and white contrast and decreasing the brightness (S_33). The method of claim 4, wherein If there is the detected point, calculating the coordinates of the point (S_60), Loading the position data table of the pixel according to the region (S_611); Comparing pixels of the detected coordinates with coordinates of the data table (S_612); And calculating a direction and a distance of the compared coordinates (S_613). The method of claim 4, wherein If there is the detected point, calculating the coordinates of the point (S_60), Detecting pixels of the center coordinates of the image (S_621); Comparing the center coordinates of the image with the pixels of the detected coordinates (S_622); Calculating a direction and distance of the compared coordinates (S_623).

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