WO2016016959A1 - 光学式速度計測装置および移動体 - Google Patents
光学式速度計測装置および移動体 Download PDFInfo
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- WO2016016959A1 WO2016016959A1 PCT/JP2014/069993 JP2014069993W WO2016016959A1 WO 2016016959 A1 WO2016016959 A1 WO 2016016959A1 JP 2014069993 W JP2014069993 W JP 2014069993W WO 2016016959 A1 WO2016016959 A1 WO 2016016959A1
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- moving body
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
- G01P3/38—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light using photographic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P15/093—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by photoelectric pick-up
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L27/00—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate
- H01L27/14—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate including semiconductor components sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation
- H01L27/144—Devices controlled by radiation
- H01L27/146—Imager structures
Definitions
- the present invention relates to an optical speed measuring device and a moving body.
- a speed measuring device for a moving body there is a speed measuring device that acquires a rotation amount of a wheel and calculates a speed based on a moving distance calculated from the rotation amount.
- a speed measuring device that calculates the speed by continuously capturing an image of the ground or the like with a digital camera or the like and determining the amount of movement of the pixels in the captured image.
- the speed measuring device is “an imaging unit having an imaging element having a plurality of pixels and a plurality of pieces of image information captured by the imaging element.
- Position information detection means for detecting the image information position of the imaged pixel, which is the position on the image sensor, and a range that is imaged by the pixel and is large according to the distance from the imaging means in the traveling direction
- Imaging range calculation means for calculating for each pixel, and a plurality of imaging range sizes respectively corresponding to the plurality of pixels, and a predetermined time detected by the position information detection means
- a moving distance calculating means for calculating a maximum moving distance L1 and a minimum moving distance L2 of the image information for each of the image information based on the image information positions before and after the passage; For each of a plurality of pieces of image information, a maximum movement speed V1 is calculated from the maximum movement distance L1, a minimum movement speed V2 is calculated from the minimum movement distance L2, and the plurality of maximum movement
- the imaging range calculation means of the speed measuring device of Patent Document 1 needs to always calculate the moving imaging range.
- the posture of the moving body and the imaging means is always acquired by the sensor.
- the sensor measurement value generally includes an error
- the accuracy of the imaging range is lowered, and the accuracy of the calculation speed of the speed measuring device is also deteriorated. Therefore, it is desirable that the speed measuring device provided in the moving body is less affected by the rotational motion of the moving body on the speed measurement result.
- the present invention provides an optical speed measuring device and the like that can accurately estimate its own speed while suppressing the influence of the rotational motion of the moving body in a moving body without wheels or a moving body in which wheels slip. Objective.
- an imaging unit that is provided in a moving body and images a traveling surface so that the amount of movement of each pixel when the imaging plane moves varies depending on the position in the image; Calculating a change in the moving amount of each pixel with respect to a predetermined axis as a pixel moving amount gradient from a plurality of images captured in time series, and calculating means for calculating the speed of the moving body from the pixel moving amount gradient. It is characterized by that.
- an optical speed measuring device or the like that can accurately estimate its own speed while suppressing the influence of the rotational motion of the moving body is provided. Can do.
- FIG. It is a figure explaining the outline
- FIG. It is a figure explaining the structure of the apparatus of Example 1.
- FIG. It is a figure explaining the coordinate system of Example 1.
- FIG. It is a figure which shows the pixel movement amount by the pitch motion of an imaging device.
- It is a figure explaining the block matching method It is an example of a pixel movement vector field It is an example of how to set a search area for block matching
- the apparatus includes, for example, a camera attached to a moving body as imaging means. As shown in FIG. 1A, for example, the camera images a road surface obliquely forward at a predetermined time interval during movement.
- pixel movement amount vectors vectors of pixel movement amounts
- FIG. 1A A vector distribution (hereinafter referred to as a pixel movement vector field) appears.
- the influence of the change in the positional relationship on the speed calculation result is less than that in the conventional method, and the speed can be calculated with high accuracy if the change in the positional relationship is a certain amount or less.
- the x-direction pixel movement amount on the column L has a certain gradient as shown in FIG. It becomes a graph.
- the slope of the graph varies with speed. For example, with respect to the gradient at the speed v1, the gradient at the speed of v2 ⁇ v1 is gentler than the gradient at the time of v1.
- the graph moves in parallel with almost the same gradient as when the camera moves by v1 without rotating.
- speed the moving speed in the front-rear and left-right directions of the moving body
- FIG. 2 is an example of a configuration diagram of the optical velocity measuring device 11 of the present embodiment.
- the apparatus 11 includes an image capturing unit 111 that captures an image of an external environment, and an information exchanging unit 112 for transmitting and receiving a trigger signal for starting and ending calculation, information necessary for speed calculation, a speed calculation result, and log information.
- the captured image obtained from the imaging unit 111 and the information obtained from the information exchange unit 112 are transmitted to the calculation unit 113 for calculating the speed.
- the calculation unit 113 calculates a pixel movement amount gradient from a plurality of pixel movement amounts obtained from the pixel movement amount calculation unit 1131 and the calculation unit 1131 that calculate a movement amount of a plurality of pixels in the image from a plurality of captured images.
- a pixel movement amount gradient calculation unit 1132 to be calculated, and a velocity calculation unit 1133 that calculates the velocity of the moving body 12 from the pixel movement amount gradient obtained from the calculation unit 1132 are provided.
- the speed calculated by the calculation unit 113, log information, and the like are transmitted to the outside via the information exchange unit 112.
- the calculation means 113 is specifically composed of a CPU and a memory, and is realized by the CPU executing various programs read from the memory.
- various programs executed by the CPU are represented as functional block diagrams such as a pixel movement amount calculation unit 1131, a pixel movement amount gradient calculation unit 1132, and a speed calculation unit 1133.
- the imaging means 111 has a plurality of imaging elements and measures the luminance value of each imaging element.
- a CCD (Charge Coupled Devices) or a CMOS (Complementary Metal Oxide Semiconductor) camera is preferably used.
- the imaging unit 111 images the imaging plane at a predetermined cycle (frame rate) F.
- the imaging means is installed so that the amount of movement of each pixel when the imaging plane moves varies depending on the position in the image. For example, if the imaging means is installed obliquely with respect to the imaging plane, the pixel movement amount is smaller as the imaging plane is farther, and the pixel movement amount is larger as the imaging plane is closer.
- the frame rate of the imaging means is preferably set within a range in which the pixel movement amount can be calculated. For example, when the speed of the moving object is high, the amount of pixel movement per unit time is also long, so that the target pixel moves outside the next image (out of frame), and the amount of movement of the pixel cannot be obtained. There is. Therefore, for example, the frame rate can be increased as the speed immediately before the moving object or the average speed increases.
- the calculation means 113 includes, for example, a ROM (Read Only Memory) in which a program or firmware is stored, a RAM (Random Access Memory) as a storage unit, and a control unit that executes the program stored in the ROM.
- a control unit for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or the like is preferably used.
- the calculation means 113 calculates the speed of the moving body and transmits it to the information exchange means 112.
- the information exchange unit 112 is a device that transmits and receives signals by wire or wirelessly, and suitably uses various digital / analog IO (Input / Output) ports and devices. Via the information exchange unit 112, for example, camera posture information, a target speed of the moving body, a signal indicating the start of calculation, and the like are transmitted to the calculation unit 113. Further, for example, the calculated speed, debug information of various devices, a response signal to the input signal, and the like are output to the outside of the device 11.
- various digital / analog IO Input / Output
- the speed calculation method is described below.
- the coordinate system shown in Fig. 3 is introduced.
- FIG. 3A it is assumed that the camera is attached to the moving body at a pitch angle ⁇ with reference to the direction in which the optical axis is parallel to the traveling surface.
- the y-axis is installed in parallel with the traveling surface G.
- the coordinate origin is the intersection of the image plane C and the lens optical axis.
- F is the focal length of the lens.
- the pixel movement amount can be regarded as the movement amount of an arbitrary point on the traveling surface projected onto the imaging plane C.
- an arbitrary point M 0 (x , Y) move relatively ⁇ X forward and ⁇ Y leftward.
- the traveling surface G is set as shown in Formula 1
- Equation 4 Substituting Equation 2 into Equation 3 and rearranging, the differential terms of Equation 3 become Equation 4 respectively.
- the pixel moving amount when the moving body moves without rotating is shown.
- the pixel movement amounts ⁇ x cr and ⁇ y cr when the camera rotates without moving by ⁇ in the roll direction, ⁇ in the pitch direction, and ⁇ in the yaw direction are as follows.
- ⁇ , ⁇ , and ⁇ are very small values.
- the pixel movement amounts ⁇ x c and ⁇ y c when the moving body moves while rotating are obtained by adding Equation 5 and Equation 6 to Equation 7.
- the speed of the moving body can be estimated from the gradient of the movement vector field on the x axis and the gradient of the movement vector field on the y axis when x c and y c are regarded as variables.
- the second term of ⁇ x c in Equation 8 is the amount of pixel movement due to pitch rotation.
- An example of the graph of the second term is shown in FIG.
- the slope of the first term is clearly proportional to the pixel movement amount ⁇ x. Therefore, if the gradient of ⁇ x c with respect to the known moving amount of the moving body is recorded, the forward moving amount of the moving body can be obtained based on the recorded gradient.
- the forward speed of the moving body can be obtained by dividing the forward movement amount by the required movement time.
- Equation 9 the gradient of ⁇ x c is ⁇ . Therefore, if the gradient is obtained from a plurality of points on the y-axis ⁇ x c, the roll direction rotation amount ⁇ can be obtained.
- x c ⁇ is calculated from the obtained ⁇ and subtracted from ⁇ y c of Equation 8, Equation 10 is obtained.
- ⁇ y c is clearly proportional to the lateral movement amount ⁇ Y of the moving body. Therefore, if the gradient of ⁇ y c with respect to the known movement amount of the moving body is recorded, the lateral movement amount of the moving body can be obtained based on the recorded gradient. By dividing the amount of lateral movement by the time required for movement, the lateral speed of the moving body is obtained.
- the moving amount of the moving object can be calculated using the gradient of the pixel moving amount. Note that, regardless of the orientation of the camera attached to the moving body, the plane passing through the optical axis of the camera and perpendicular to the traveling surface G, the gradient on the intersection line of the imaging plane C, and the optical axis of the camera. A similar calculation is possible by using a gradient on a straight line on the imaging plane C perpendicular to the intersecting line. In addition, by calculating various coefficients of the running surface G from the posture of the camera and using the obtained ⁇ X, ⁇ Y, ⁇ , the amount of rotation of the moving body can be calculated from, for example, Equation 8.
- the pixel movement amount calculation unit 1131 calculates pixel movement amounts at a plurality of locations in the image from a plurality of captured images obtained from the imaging unit 111.
- a block matching method is used as a pixel movement amount calculation method.
- FIG. 5 is a diagram for explaining the block matching method.
- the block matching method first, a block centered on the target pixel in the image 1 is determined.
- the block includes textures specific to the area, such as shading on the road surface and pebbles.
- a search range having an appropriate size is provided in the image 2 taken immediately after the image 1, and an area having the highest similarity with the block is searched.
- the sum of squared differences with a small amount of calculation is used as the similarity.
- the sum of squared differences is the sum of the squares of the differences between the luminance values of the block and the comparison target area. As the texture in the block and the texture in the comparison target are more similar, the difference in luminance value decreases, so it can be estimated that the region where the sum of squared differences is the minimum matches the block.
- the sum of squared differences R is shown in the following equation. *
- x and y are natural numbers indicating the block position within the search range
- the pixel at the upper left corner of the image is the origin
- the downward direction is the x axis
- the right direction is the y axis.
- x ′ 0, 1,..., H
- y ′ 0, 1,.
- R can be calculated for x and y in the entire search area, and it can be estimated that x and y that minimize R are the destinations of the pixels included in the block in image 2.
- the pixel movement vector field in the image can be calculated by calculating the above for blocks at different locations in the image. Note that the method of calculating the pixel movement vector field is not limited to the above.
- a method using a gradient method that uses the relationship between the spatial and temporal gradients of brightness at each point, or an edge in an image is detected, and a plurality of images taken at different times are compared with the edge.
- a method of calculating the pixel movement amount by finding a matching edge may be used.
- the pixel movement amount gradient calculation unit 1132 calculates the gradient of the pixel movement amount vector field.
- FIG. 6 shows an example of the pixel movement amount.
- FIG. 6A shows a pixel movement amount vector field calculated by a block matching method from two road surface images captured from a CMOS camera provided on a moving body moving on the road surface.
- a pixel movement amount vector field as shown in FIG.
- FIG. 6B shows the pixel movement amount ⁇ x c in the x direction of the pixel movement amount vector field
- FIG. 6C shows the pixel movement amount ⁇ y c in the y direction of the vector field.
- the unit of movement is pixels.
- each component of the vector field changes monotonically with pixel accuracy, and by fitting a curved surface function or a plane function to the vector field, the gradient of the vector field on an arbitrary straight line Can be calculated.
- a function fitting method for example, multiple regression analysis (Multi-parameter Fitting) described in non-patent literature (GNU Scientific Library Reference Manual (v1.12), pp 446-448) is preferably used.
- Non-Patent Document 1 for example, in the case of fitting with a plane function, it is sufficient if there are at least three pixel movement amount vectors. Therefore, for example, it is possible to reduce the calculation speed by devising, for example, obtaining a pixel movement amount vector for a search area as shown in FIG. 7 and performing fitting using only the pixel movement amount vector of an area with low imaging noise. is there.
- the speed calculation unit 1133 calculates the speed from the pixel movement amount gradient by the speed calculation method described above.
- the pixel movement amount itself is affected by the rotation of the camera.
- a camera with any focal length produces a pixel movement amount of ⁇ f or more with respect to pitch rotation. This is an amount that cannot be ignored if the amount of pixel movement due to movement is small. Therefore, when the speed is calculated from the pixel movement amount itself as in the conventional method, it can be seen that if there is an error in the camera attitude measurement sensor, the error in the speed measurement result also increases.
- the optical velocity measuring device of the present invention is hardly affected by rotational vibration. For example, when fixed to a vehicle or the like, the height from the running surface to the camera is substantially constant, and the camera only vibrates about the fixed direction.
- the apparatus of the present invention it is possible to measure an accurate speed without using a camera posture measuring sensor. Further, when the device of the present invention is installed in a flying device or the like, the angle of the imaging means with respect to the ground changes greatly, so that an attitude measurement sensor is required. In this case, since the influence of the rotation amount error is small, for example, even if an inexpensive posture measurement sensor having a large error is used, an accurate speed can be measured.
- a speed measuring device that can accurately measure the speed of a moving body without wheels and a moving body with wheels slipping with little influence of the rotational movement of the moving body on the speed measurement result.
- the moving body 21 includes an optical speed measuring device 11, a stabilizing means 211 for keeping the optical speed measuring device approximately horizontal with the traveling surface, and two front and rear in series.
- Traveling means 212 for moving the moving body provided with wheels, control means 213 for controlling the traveling means 212 and processing measurement results, posture recognition means 214 for recognizing the posture of the moving body, and external device External information input / output means 215 for inputting / outputting information.
- Speed measurement result from optical speed measuring device 11, roll / pitch angle information of stabilizing means 211, wheel rotation speed and wheel steering angle from traveling means 212, and attitude information of moving body from attitude recognition means 214 Is transmitted to the control means 213. Further, the wheel rotation speed and the posture information of the moving body are transmitted from the control means 213 to the device 11 and used for the speed calculation of the optical speed measuring device 11.
- a target pitch / roll angle for stabilizing the posture of the optical speed measuring device 11 approximately horizontally is transmitted from the control means 213 to the stabilization means 211.
- the target wheel rotation speed and target wheel steering angle information are transmitted from the control unit 213 to the traveling unit 212.
- the external information input / output unit 215 receives a moving body control command from a person or an autonomous control computer, and transmits the current speed and position of the moving body, road silverware information, and the like to the outside.
- the control unit 213 includes a travel control unit 2121, a speed measurement unit switching unit 2122, and a calibration unit 2123 inside.
- the traveling control unit 2121 controls the moving body so that it does not fall in the roll direction based on the posture information of the moving body from the posture recognizing means 214 and the speed information / moving direction information from the traveling means 212. ⁇ Control the speed.
- the speed measuring means switching unit 2122 switches the speed measuring means according to the wheel rotation speed of the traveling means so that the speed measurement result becomes highly accurate.
- the calibration unit 2123 calibrates the optical speed measurement device 11.
- the calibration refers to the pixel movement vector gradient described in the first embodiment, the known speed by other speed measuring means, and the distance from the ground of the device 11 when measuring the speed. Find the ratio.
- step S02 the travel means 212 is controlled to cause the mobile body 21 to travel.
- step S03 if the wheel rotational speed is less than a predetermined reference value V k, the process proceeds to step S04, the process proceeds to step S05 if less than V k.
- step S04 the speed of the moving body is measured from the wheel rotation speed obtained from the traveling means 212.
- step S05 the optical speed measuring device 11 is calibrated by the calibration unit 2123.
- step S14 the speed is measured by the optical speed measuring device 11 based on the calibration result performed in step S05.
- step S06 when an end signal is received from the external information input / output means 215 or an end signal due to an error is received from any of the components, the operation of the moving body is ended.
- the switching reference value V k of the speed measuring means switching unit 2122 will be described with reference to FIG.
- the horizontal axis represents the speed of the moving body
- the vertical axis represents the ratio of the error of the speed measurement result to the true value of the speed.
- the error of the optical speed measuring device 11 is due to the fact that the pixel movement amount is calculated with pixel accuracy in principle, and a certain amount of error always appears regardless of the movement speed.
- the error ratio of the speed measuring means due to the wheel rotation amount and the error ratio of the optical speed measuring device 11 change in reverse to the speed. Therefore, as shown in FIG. There is a speed V k at which the ratios are reversed from each other. Therefore, if the speed of the moving object is slower than V k is the speed measuring means by the wheel rotation amount, in the case of more than V k by using the optical velocity measuring device 11, in a wide speed range, high accuracy rate Can be measured.
- calibrating an optical speed measuring device that is not in use saves the trouble of performing only the calibration operation before using the moving body.
- the speed can be calculated as follows:
- c ′ is the coefficient c 1 or an amount proportional to the coefficient c
- v x is the forward speed
- v y is the left speed
- p x is the pixel movement amount gradient in the x direction.
- P y are pixel movement amount gradients in the y direction
- K x, K y are proportional constants obtained by calibration.
- the coefficient c can be obtained from, for example, the geometric relationship between the posture of the moving body 21 by the posture recognition unit and the imaging unit 111 of the optical velocity measuring device 11.
- an amount proportional to the coefficient c there is a distance between the imaging unit 111 and the traveling surface G. What is necessary is just to measure the said distance using sensors, such as a laser sensor with which the mobile body 21 was equipped, and an ultrasonic sensor suitably.
- the stabilizing means 211 can control the attitude of the optical speed measuring device 11 in the pitch and roll directions, and based on the control signal from the control means 213, the roll angle of the device 11 is approximately horizontal with the running surface. It works to be. Note that the stabilizing means 211 is not necessarily required for speed measurement, but by using it, the pixel movement amount gradient on the x-axis and y-axis of the imaging plane can be used, so that the calculation can be simplified. It becomes possible.
- the traveling means 212 can steer the front and rear wheels independently as shown in FIG. 8B, and moves the moving body based on the control signal from the control means 213.
- the traveling means of the two-wheel mechanism is used as an example of the moving body in which the posture of the moving body changes during traveling in this embodiment, the traveling means is not limited to this example. Any means may be used as long as it is a means for mutating the mobile body.
- a wheel including a three-wheel mechanism or a four-wheel mechanism, a crawler, a leg, or a hover may be used.
- flight means such as a propeller, a wing, a jet, and a parachute may be used instead of the travel means.
- a rail mechanism or a suction mechanism for moving along a wall or a ceiling may be used.
- the control unit 213 includes, for example, a ROM storing a program or firmware, a RAM as a storage unit, and a CPU as a control unit that executes the program stored in the ROM.
- the present embodiment provides a speed calculation device that can accurately measure the speed of a moving body without wheels or a moving body with wheels slipping, with little influence of the rotational movement of the moving body on the speed measurement result. can do. Furthermore, it is possible to provide a moving body that includes this speed calculation device and can accurately estimate its own speed regardless of slipping or slipping of a wheel or the presence or absence of a wheel.
- the plane to be imaged is not limited to the ground surface, and any plane can be used as long as the positional relationship with the camera can be understood. For example, it may be a ground surface, a wall surface of a building, a ceiling surface, a water surface, or a table top. In particular, it can be expected to be applied to ships and aircraft that move without using wheels.
- the present invention is not limited to the above-described embodiments, and includes various modifications.
- the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described.
- a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment.
- each of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit.
- each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor.
- Information such as programs, tables, and files for realizing each function can be stored in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
- control lines and information lines indicate what is considered necessary for explanation, and not all control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.
- the optical speed measuring device installed on the moving body is described.
- the device can also be used for measuring the speed of the object to be imaged by installing the device at a fixed point, for example.
- the moving speed of the imaging target object can be measured by imaging a liquid surface, a sheet-like object, an object scattered on the sheet, or the like.
- the image pickup device of the device does not directly pick up an image of the object whose movement speed is to be observed, but the image pickup device of the device picks up an image monitor or a screen image projected from an image pickup device installed outside.
- the image may be taken indirectly.
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Abstract
Description
111 撮像手段
112 情報交換手段
113 計算手段
1131 画像移動量計算部
1132 画素移動量勾配計算部
1133 速度計算部
21 実施例2の移動体
211 安定化手段
212 走行手段
2121 走行制御部
2122 速度計測手段切替部
2123 キャリブレーション部
213 制御手段
214 姿勢認識手段
215 外部情報入出力手段
xc カメラの撮像面上のx座標
yc カメラの撮像面上のy座標
Δxc x方向の画素移動量
Δyc y方向の画素移動量
Δx 撮像対象のx方向の移動量
Δy 撮像対象のy方向の移動量
ΔX 撮像対象の前進方向への移動量
ΔY 撮像対象の左方向への移動量
Claims (10)
- 移動体に備えられ,撮像平面が移動した際の各画素の移動量が画像内の位置によって異なるように走行面を撮像する撮像手段と、
前記撮像部が時系列的に撮像した複数の画像から、所定の軸に対する各画素の移動量の変化を画素移動量勾配として求め、当該画素移動量勾配から前記移動体の速度を求める計算手段と、
を有する光学式速度計測装置。 - 請求項1の光学式速度計測装置において,
前記移動体の既知の移動量に対する前記画素移動量勾配を記憶し、
前記計算手段は、求めた前記画素移動量勾配と、既知の移動量に対する前記画素移動量勾配と、から前記移動体の速度を求めることを特徴とする光学式速度計測装置。 - 請求項1の光学式速度計測装置において,
前記撮像手段は、斜め方向から走行面を撮像することで、撮像平面が移動した際の各画素の移動量が画像内の位置によって異なるよう撮像することを特徴とする光学式速度計測装置。 - 請求項1の光学式速度計測装置において,
前記計算手段が求める前記画素移動量勾配とは、前記撮像手段の光軸を通り走行面に垂直な平面と、前記撮像手段の結像面と、の交線上の画素移動量の勾配,及び、前記撮像手段の光軸を通り前記交線とおよそ垂直な前記結像面上の直線上の画素移動量の勾配、であることを特徴とする光学式速度計測装置。 - 請求項1の光学式速度計測装置において,
前記計算手段が求める前記画素移動量勾配は,前記撮像手段の光軸と,前記撮像手段の結像面との交点を中心に対称な位置にある画素の移動量同士の変化量に基づいて計算することを特徴とする光学式速度計測装置。 - 自身の位置を変位させるための移動手段と,前記移動手段を制御するための制御手段と,を備える移動体において、
撮像平面が移動した際の各画素の移動量が画像内の位置によって異なるように走行面を撮像する撮像手段と、前記撮像部が時系列的に撮像した複数の画像から、所定の軸に対する各画素の移動量の変化を画素移動量勾配として求め、当該画素移動量勾配から前記移動体の速度を求める計算手段と、を有する光学式速度計測装置
を備える移動体。 - 請求項6に記載の移動体において、
前記光学式速度計測装置の撮像手段の姿勢を認識する姿勢認識手段、を備え、
前記計算手段は、前記姿勢認識手段により認識された姿勢情報を前記移動体の速度計測のキャリブレーションに用いることを特徴とする移動体。 - 請求項6に記載の移動体において、
前記制御手段は,前記移動体の速度に応じて,前記光学式速度計測装置と,走行面に接地した接地式速度計測装置と切替えることを特徴とする移動体。 - 請求項6に記載の移動体において、
前記光学式速度計測装置の測定誤差が,前記接地式速度計測装置の測定誤差と同程度になる速度以下の速度の場合には、前記接地式速度計測装置を用い、
前記光学式速度計測装置の測定誤差が,前記接地式速度計測装置の測定誤差と同程度になる速度以上の速度の場合には、前記光学式速度計測装置を用いることを特徴とする移動体。 - 請求項6において、
前記接地式速度計測装置の使用中に,前記光学式速度計測装置のキャリブレーションを行うことを特徴とする移動体。
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