System and method of controlling vision device for tracking target based on motion commands

• US 9,996,084 B2
• Filed: 02/23/2011
• Issued: 06/12/2018
• Est. Priority Date: 08/05/2010
• Status: Active Grant

• Current Assignee: Seoul National University R&DB Foundation (Seoul National University)
• Original Assignee: Seoul National University R&DB Foundation (Seoul National University)
• Inventors: Cho, Dong-il, Park, Jaehong
• Primary Examiner(s): BEASLEY, DEIRDRE L
• Application Number:
  US13/319,608
• Publication Number:
  US 20120212623A1
• Time in Patent Office: 2,666 Days
• Field of Search: 348169, 700253, 382153
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 2201/0207 Unmanned vehicle for inspecting or visiting an area

Abstract

A system of controlling a vision device based on motion commands may include: a movable body; a vision device driven by being connected to the body and receiving image information; a driving unit driving the body in accordance with a motion command; and a control unit which calculates motion information of the body using the motion command and drives the vision device so as to compensate an influence caused by the motion of the body using the calculated motion information. By using the system, reliable image information may be obtained in a manner such that a vision device included in a subject such as a locomobile robot is controlled to watch a predetermined target even when the subject moves.

Claims

1. A system of controlling a line of sight of a vision device based on motion commands, the system comprising:

a movable body;

a driving unit which receives a motion command for driving the body;

a vision device driven by being connected to the body, configured to be capable of changing the line of sight independently from the body, and receiving image information;

a first control unit which receives the motion command used for driving the body, calculates an estimated motion information of the body using the received motion command used for driving the body, generates a control signal for rotating the vision device rightward or leftward and for moving the vision device to change the line of sight of the vision device so as to compensate for an estimated influence caused by the motion command on the body using the estimated motion information, and rotates the vision device rightward or leftward and moves the vision device to change the line of sight of the vision device to a direction different than a direction of the motion of the body using the control signal;

an image processing unit which calculates a position of a predetermined target in the image information received by the vision device;

a second control unit which moves and/or rotates the vision device in accordance with a comparison result between a predetermined reference position and the calculated position of the predetermined target calculated by the image processing unit;

a detection unit attached to the body and measuring disturbance generated in the body; and

a third control unit which moves and/or rotates the vision device so as to compensate an influence caused by the disturbance measured by the detection unit,

wherein the motion command comprises information which defines a linear or angular motion of the body, the information comprising at least one of a movement distance, a rotary angle, and a destination,

wherein the first control unit calculates an angle formed between the body and the predetermined target based on the estimated motion information and generates the control signal based on the calculated angle,

wherein the control signal comprises a movement distance of the vision device,

wherein the detection unit comprises at least one of an encoder, a distance sensor, a landmark device, and an indoor GPS device, and

wherein the disturbance is an error between a movement path of the movable body and an actual movement path of the movable body.

2. The system of controlling the line of sight of the vision device based on motion commands according to claim 1,

wherein the vision device comprises a driver connected to the body and a camera connected to the driver and receiving image information, and

wherein the first control unit further adjusts a zoom level of the camera.

3. The system of controlling the line of sight of the vision device based on motion commands according to claim 1,

wherein the vision device comprises a driver connected to the body and a camera connected to the driver and receiving image information, and

wherein the third control unit further adjusts a zoom level of the camera.

7. The system of controlling the line of sight of the vision device based on motion commands according to claim 1, wherein the motion command which is transmitted to the driving unit is an input by a user outside the movable body.

8. The system of controlling the line of sight of the vision device based on motion commands according to claim 1, wherein the vision device is moved and/or rotated independently from the body using the control signal from the first control unit and another control signal from the second control unit in a control method based on any one of a PID control, a Fuzzy logic, a genetic algorithm, or a neural net.

4. A method of controlling the line of sight of a vision device based on motion commands, the method comprising:

providing a movable body;

providing a vision device driven by being connected to the body, configured to be capable of changing the line of sight independently from the body, and receiving image information;

receiving, in a first control unit, a motion command for driving the body, wherein the motion command comprises information which defines a linear or angular motion of the body and wherein the information comprises at least one of a movement distance, a rotary angle, and a destination;

calculating, by the first control unit, an estimated motion information of the body from the received motion command;

generating, in the first control unit, a control signal using the estimated motion information, wherein the control signal is for rotating the vision device rightward or leftward and for moving the vision device to change the line of sight of the vision device so as to compensate for an estimated influence caused by the motion command on the body;

rotating the vision device rightward or leftward and moving the vision device, under control of the first control unit, to change the line of sight of the vision device to a direction different than a direction of the motion of the body using the control signal;

calculating a position of a predetermined target by processing image information received by the vision device;

moving and/or rotating the vision device in accordance with a comparison result between a predetermined reference position and the calculated position of the predetermined target;

measuring disturbance generated in the body using at least one of an encoder, a distance sensor, a landmark device, and an indoor GPS device attached to the body; and

moving and/or rotating the vision device so as to compensate an influence caused by the measured disturbance,

wherein generating the control signal comprises;

calculating an angle formed between the body and the predetermined target based on the estimated motion information; and

generating the control signal based on the calculated angle,

wherein the control signal comprises a movement distance of the vision device, and

wherein the disturbance is an error between a movement path of the movable body and an actual movement path of the movable body.

5. The method of controlling the line of sight of the vision device based on motion commands according to claim 4,

wherein the vision device comprises a driver connected to the body and a camera connected to the driver and receiving image information, and

further comprising adjusting a zoom level of the camera using the control signal.

6. The method of controlling the line of sight of the vision device based on motion commands according to claim 4,

wherein the vision device comprises a driver connected to the body and a camera connected to the driver and receiving image information, and

further comprising adjusting a zoom level of the camera using the measured disturbance.

9. The method of controlling the line of sight of the vision device based on motion commands according to claim 4, wherein the motion command is an input by a user outside the movable body, and wherein receiving the motion command comprises receiving the motion command via transmission.

10. The method of controlling the line of sight of the vision device based on motion commands according to claim 4, wherein moving and/or rotating the vision device so as to compensate the influence caused by the measured disturbance comprises:

generating another control signal using the measured disturbance; and

changing the line of sight of the vision device using the control signal generated using the estimated motion information and the another control generated using the measured disturbance in a control method based on any one of a PID control, a Fuzzy logic, a genetic algorithm or a neural net.