TWI520896B - Image tracking method for reducing computational load - Google Patents
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Description
本發明是有關於降低運算負荷的影像追蹤方法，特別是指一種可減少影像資料處理量以降低運算負荷，並降低系統規格需求及建置成本之影像追蹤方法。 The present invention relates to an image tracking method for reducing computation load, and more particularly to an image tracking method capable of reducing image processing amount to reduce computation load and reducing system specification requirements and construction cost.
習知吊掛移行裝置(如：天車)的運作方式，較傳統者，有由操作者自行以控制桿或控制鈕操作天車移動的人工控制方式，此方式無法精準的控制天車位置及天車移動速度，並不適用於具有精密需求之場合。另有透過控制電路及計算單元經由設定座標而驅動該吊掛移行裝置(天車)移至預定位置的自動控制方式，例如：中華民國公告第I279389號發明專利，其揭露了一起重機，包含了移動控制部、編碼器以及GPS裝置，並利用無線裝置與遠端的中央電腦連線，使其可接受該中央電腦的命令，進一步透過編碼器與移動控制部的運作而移動至指定的位置。 Compared with the traditional ones, there is a manual control method in which the operator moves the crane by the control lever or the control button. This method cannot accurately control the position of the crane and The speed of the crane is not suitable for occasions with precise requirements. In addition, an automatic control method for driving the hanging transfer device (cable car) to a predetermined position via a control coordinate and a calculation unit via a set coordinate, for example, the invention patent of the Republic of China Announcement No. I279389, which discloses a crane, includes The mobile control unit, the encoder, and the GPS device are connected to the remote central computer by the wireless device to accept commands from the central computer, and further moved to a designated position by the operation of the encoder and the mobile control unit.
上述利用電腦編碼以驅動伺服馬達之自動控制的驅動方式，雖於一定程度上改善了天車移動精確度的問題。但無論是人工控制或自動控制等二種驅動方式，皆需面臨一共同的問題，就是當吊掛移行裝置(天車)移動過程中，由於負載本身的慣性，以及鋼索的可撓性會產生負載與吊掛移行裝置(天車)之間的偏移。此種偏移現象會進一步造成負載 擺動，此負載擺動情形不但會影響該吊掛移行裝置(天車)正常移行，更容易造成負載掉落或碰撞之工安事故。因此，如何能有效抑制吊掛負載於移行過程中產生過度的擺動，乃為一亟待克服的問題。 The above-mentioned driving method using computer coding to drive the automatic control of the servo motor has improved the problem of the accuracy of the crane movement to some extent. However, both the manual control and the automatic control, both of which need to face a common problem, are the inertia of the load itself and the flexibility of the cable when the suspension moving device (the crane) moves. The offset between the load and the hanging travel device (crane). This offset will further cause the load Swing, this load swing situation will not only affect the normal movement of the hanging moving device (crane), but also cause a safety accident in which the load is dropped or collided. Therefore, how to effectively suppress the suspension load from generating excessive swing during the migration process is a problem to be overcome.
針對上述吊掛負載於移行過程中產生的擺動狀態，本案申請人正研究以即時影像追蹤負載及吊掛移行裝置之位置，並將該負載及吊掛移行裝置(天車)之移動量作為控制吊掛移行裝置的參數，以改善負載搖擺的情形。然而實現該技術中仍有影像處理量過大的技術困難待突破。 In view of the swing state generated by the above-mentioned hanging load during the migration process, the applicant is studying to track the position of the load and the hanging moving device with the instant image, and to control the movement of the load and the hanging moving device (the crane). Hang the parameters of the moving device to improve the load swing. However, the technical difficulty of implementing the image processing amount in the technology is too large to be broken.
一般吊掛負載於移行過程中所產生的擺動情形，乃如第1圖所示，其中該負載B於移行過程中可能與該吊掛移行裝置(天車)上的吊掛位置A之間分別於X、Y、Z軸上產生x1、y1、z1的位移。因此，為確實掌握該負載B相對於吊掛位置A在三維空間中的位移變化，必須設置多部攝影裝置分別攝取各不同平面的影像，需即時計算至少二攝取的不同平面影像，方能經由三維座標的改變而有效掌握該負載B與吊掛位置A之間的位移變化。 Generally, the swinging situation generated by the hanging load during the moving process is as shown in FIG. 1 , wherein the load B may be separated from the hanging position A on the hanging moving device (the crane) during the moving process. The displacements of x1, y1, and z1 are generated on the X, Y, and Z axes. Therefore, in order to surely grasp the displacement change of the load B relative to the hanging position A in the three-dimensional space, it is necessary to provide a plurality of imaging devices to respectively capture images of different planes, and it is necessary to calculate at least two different planar images in time to be able to pass through The change in the three-dimensional coordinates effectively grasps the change in displacement between the load B and the hanging position A.
同時，為了達到即時、精準的影像追蹤效果，現行的實施方式皆使用昂貴的高速、高解析度攝影機攝取影像，如此一來，直接導致系統購置成本高昂。再者，利用高解析度攝影機攝取高畫素影像，也大量增加資料運算、傳輸的負荷，因此資料處理設備亦需選用高性能、大容量的記憶體與處理單元，否則難以負荷上述資料處理量。故而可知，若不設法降低處理大量影像資料的負荷，就必須使用高價設備，造成系統購置成本高昂，實有改善的空間。 At the same time, in order to achieve an immediate and accurate image tracking effect, the current implementation methods use expensive high-speed, high-resolution cameras to capture images, which directly leads to high system acquisition costs. Furthermore, the use of high-resolution cameras to capture high-resolution images also greatly increases the load of data calculation and transmission. Therefore, data processing equipment also needs to use high-performance, large-capacity memory and processing units, otherwise it is difficult to load the above data processing capacity. . Therefore, if you do not try to reduce the load of processing large amounts of image data, you must use expensive equipment, resulting in high system acquisition costs, there is room for improvement.
有鑑於前述影像處理量過大的技術困難，發明人提出本方 法，以降低系統的運算負荷。 In view of the technical difficulties of excessive image processing, the inventor proposed this side. Method to reduce the computing load of the system.
本發明之主要目的在於提供一種降低運算負荷的影像追蹤方法，其係於吊掛索與負載上分別設定至少一監測點，且於各監測點外周側分別設置一可同步活動之追蹤框，利用各追蹤框隨各監測點產生相同之位移，可推算該吊掛索與負載的偏移資訊，藉由此種僅監測各追蹤框的操作方式，可有效減少影像資料處理量，以降低整體之運算負荷。 The main object of the present invention is to provide an image tracking method for reducing the computing load, which is to set at least one monitoring point on the hanging cable and the load, and respectively set a tracking frame of the synchronous activity on the outer peripheral side of each monitoring point, and utilize Each tracking frame generates the same displacement with each monitoring point, and the offset information of the hanging cable and the load can be estimated. By monitoring only the operation mode of each tracking frame, the amount of image data processing can be effectively reduced, thereby reducing the overall Operational load.
本發明之另一目的在於透過減少影像資料處理量，以降低相關硬體設備的需求規格，進而節省設備購置成本。 Another object of the present invention is to reduce the demand for specifications of related hardware devices by reducing the amount of image data processing, thereby saving equipment purchase costs.
本發明為達成上述目的及功效，其所採行的技術手段包括以下步驟：A.攝取一受吊掛索垂吊的負載於預設移行空間中的影像畫面；B.在該吊掛索與負載上分別設定至少一監測點；C.於各監測點外周側分別設有一追蹤框；D.令各追蹤框分別追蹤對應的監測點，並隨之產生相同之位移；E.計算各追蹤框的位移數值，即取得相對應各監測點的位移量，並藉以分別推算該吊掛索與負載的各種偏移資訊。 In order to achieve the above object and effect, the technical means adopted by the present invention include the following steps: A. taking an image of a suspended load suspended in a preset moving space; B. in the hanging cable and Set at least one monitoring point on the load; C. respectively set a tracking frame on the outer peripheral side of each monitoring point; D. Let each tracking frame separately track the corresponding monitoring point, and then generate the same displacement; E. Calculate each tracking frame The displacement value is the displacement amount corresponding to each monitoring point, and the various offset information of the suspension cable and the load are respectively calculated.
如上述方法，其中該步驟B中，係於該吊掛索與負載上分別設有一監測點；於該步驟C中，係於該吊掛索的監測點外周側設定一上追蹤框，於該負載的監測點外周側設定一下追蹤框。 In the above method, in the step B, a monitoring point is respectively disposed on the hanging cable and the load; in the step C, an upper tracking frame is set on the outer peripheral side of the monitoring point of the hanging cable, Set the tracking frame on the outer peripheral side of the monitoring point of the load.
如上述方法，其中該上追蹤框的設定範圍係小於該下追蹤框的設定範圍。 The method as above, wherein the setting range of the upper tracking frame is smaller than the setting range of the lower tracking frame.
如上述方法，其中該步驟D中，係使各監測點分別保持位於各對應追蹤框內某一相對位置上，以執行各追蹤框分別追蹤各對應監測點 的動作。 In the above method, in the step D, each monitoring point is kept at a relative position in each corresponding tracking frame, so that each tracking frame is separately tracked for each corresponding monitoring point. Actions.
如上述方法，其中各監測點係分別保持位於各對應追蹤框內固定的位置。 As in the above method, each of the monitoring points is kept at a fixed position in each corresponding tracking frame.
如上述方法，其中各監測點係分別與各對應追蹤框內預設一邊界線保持固定距離。 In the above method, each of the monitoring points is respectively fixed at a fixed distance from a predetermined boundary line in each corresponding tracking frame.
如上述方法，其中該步驟A中，於該影像畫面中另設定一固定之參考點，於該參考點外周側設有一參考框，該參考點與參考框係供輔助比對出該監測點及追蹤框之位移量。 In the above method, in the step A, a fixed reference point is further set in the image frame, and a reference frame is arranged on the outer peripheral side of the reference point, and the reference point and the reference frame are used for auxiliary comparison of the monitoring point and The amount of displacement of the tracking frame.
至於本發明之應用原理、作用與功效，則參照下列依附圖所作之說明即可得到完全的瞭解。 As for the application principle, function and effect of the present invention, a complete understanding can be obtained by referring to the following description made with reference to the accompanying drawings.
1、2‧‧‧監測點 1, 2‧‧‧ monitoring points
11‧‧‧上追蹤框 11‧‧‧Up tracking box
21‧‧‧下追蹤框 21‧‧‧Next tracking box
3‧‧‧參考點 3‧‧‧ reference point
31‧‧‧參考框 31‧‧‧ reference frame
A‧‧‧吊掛位置 A‧‧‧ hanging position
B、D‧‧‧負載 B, D‧‧‧ load
C‧‧‧吊掛移行裝置 C‧‧‧ hanging moving device
L‧‧‧吊掛索 L‧‧‧ hanging rope
P1‧‧‧上追蹤框的初始位置 Initial position of the tracking frame on P1‧‧
P2‧‧‧下追蹤框的初始位置 Initial position of the tracking frame under P2‧‧
P11‧‧‧上追蹤框的偏移位置 Offset position of the tracking frame on P11‧‧
P21‧‧‧下追蹤框的偏移位置 Offset position of the tracking frame under P21‧‧
x1‧‧‧負載相對吊掛位置於X軸上產生之位移 X1‧‧‧ displacement of the load relative to the hanging position on the X-axis
y1‧‧‧負載相對吊掛位置於Y軸上產生之位移 Y1‧‧‧ displacement of the load relative to the hanging position on the Y-axis
z1‧‧‧負載相對吊掛位置於Z軸上產生之位移 Z1‧‧‧ displacement of the load relative to the hanging position on the Z axis
S11‧‧‧攝取一受吊掛索垂吊的負載於預設移行空間中的影像畫面 S11‧‧‧Ingestion of an image of a load suspended in a preset moving space suspended by a sling
S12‧‧‧在該吊掛索與負載上分別設定至少一監測點 S12‧‧‧Set at least one monitoring point on the suspension cable and load
S13‧‧‧於各監測點外周側分別設有一追蹤框 S13‧‧‧ each has a tracking frame on the outer peripheral side of each monitoring point
S14‧‧‧令各追蹤框分別追蹤對應的監測點，並隨之產生相同之位移 S14‧‧‧ each track frame tracks the corresponding monitoring points and produces the same displacement
S15‧‧‧計算各追蹤框的位移數值，即取得相對應各監測點的位移量，並藉以分別推算該吊掛索與負載的各種偏移資訊 S15‧‧‧ Calculate the displacement value of each tracking frame, that is, obtain the displacement amount corresponding to each monitoring point, and then calculate the various offset information of the hanging cable and the load separately
第1圖係一般吊掛負載於移行過程中所產生的擺動情形說明圖。 Fig. 1 is an explanatory diagram of a swing situation generated by a general hanging load during a traveling process.
第2圖係本發明之操作流程圖。 Figure 2 is a flow chart showing the operation of the present invention.
第3圖係本發明於吊掛索與負載上分別設定監測點，且於各監測點外周側設置追蹤框之示意圖。 Figure 3 is a schematic diagram of the present invention for setting monitoring points on the suspension cable and the load, and setting a tracking frame on the outer peripheral side of each monitoring point.
第4圖係本發明各監測點隨吊掛索與負載移動的瞬間狀態示意圖。 Fig. 4 is a schematic view showing the instantaneous state of each monitoring point of the present invention moving with the hanging cable and the load.
第5圖係本發明各追蹤框追隨套合對應監測點的動作示意圖。 Figure 5 is a schematic diagram of the operation of each tracking frame of the present invention following the corresponding monitoring point.
第6圖係本發明於第3圖的技術基礎上，另增設一固定之參考點與參考框結構示意圖。 Figure 6 is a schematic diagram showing the structure of a fixed reference point and reference frame based on the technique of Figure 3 of the present invention.
請參第2至5圖所示，可知本發明主要包括：一「攝取一受 吊掛索垂吊的負載於預設移行空間中的影像畫面」S11步驟、一「在該吊掛索與負載上分別設定至少一監測點」S12步驟、一「於各監測點外周側分別設有一追蹤框」S13步驟、一「令各追蹤框分別追蹤對應的監測點，並隨之產生相同之位移」S14步驟，及一「計算各追蹤框的位移數值，即取得相對應各監測點的位移量，並藉以分別推算該吊掛索與負載的各種偏移資訊」S15步驟。 Referring to Figures 2 to 5, it can be seen that the present invention mainly includes: The image of the hanging cable suspended in the preset moving space" step S11, one "set at least one monitoring point on the hanging cable and the load" S12 step, and one "each of the outer peripheral sides of each monitoring point There is a tracking frame" step S13, a "sequence tracking frame to track the corresponding monitoring points, and then generate the same displacement" step S14, and a "calculate the displacement values of each tracking frame, that is, to obtain corresponding monitoring points The amount of displacement, and by which various offset information of the suspension cable and the load are separately estimated" step S15.
該「攝取一受吊掛索垂吊的負載於預設移行空間中的影像畫面」S11步驟，係利用攝影機攝取一吊掛移行裝置C(天車)經由吊掛索L垂吊的負載D於預設移行空間中的影像。 The step of injecting a video image of a load suspended in a preset moving space by a hanging cable is taken by a camera to take a load D suspended by a hanging traveling device C (cable car) via a hanging cable L. Preset the image in the moving space.
該「在該吊掛索與負載上分別設定至少一監測點」S12步驟及「於各監測點外周側分別設有一追蹤框」S13步驟，係於該吊掛索L上設定一監測點1，於該監測點1外周側設有一上追蹤框11，該監測點1係可保持位於該上追蹤框11內固定對應位置(例如：監測點1係保持位於對應追蹤框11內固定的位置；或使該監測點1與對應上追蹤框11內預設一邊界線保持固定距離)，且該上追蹤框11的初始位置係設定於P1位置。另於負載D上設定一監測點2，於該監測點2外周側設有一下追蹤框21，該監測點2係可保持位於該下追蹤框21內固定對應位置，且該下追蹤框21的初始位置係設定於P2位置。在實際應用時，可於該吊掛索L與負載D上分別設定多個監測點及追蹤框，以滿足不同監測追蹤之需求。 The step of "setting at least one monitoring point on the hanging cable and the load" S12 and "providing a tracking frame on the outer peripheral side of each monitoring point" S13 are performed, and a monitoring point 1 is set on the hanging cable L, An upper tracking frame 11 is disposed on the outer peripheral side of the monitoring point 1 , and the monitoring point 1 can be kept in a corresponding position in the upper tracking frame 11 (for example, the monitoring point 1 is kept in a position fixed in the corresponding tracking frame 11; or The monitoring point 1 is kept at a fixed distance from the preset boundary line in the corresponding upper tracking frame 11, and the initial position of the upper tracking frame 11 is set at the P1 position. Another monitoring point 2 is set on the load D, and a tracking frame 21 is arranged on the outer peripheral side of the monitoring point 2, and the monitoring point 2 can be kept in the lower tracking frame 21 to fix the corresponding position, and the lower tracking frame 21 is The initial position is set at the P2 position. In actual application, multiple monitoring points and tracking frames can be set on the hanging cable L and the load D respectively to meet the requirements of different monitoring and tracking.
該「令各追蹤框分別追蹤對應的監測點，並隨之產生相同之位移」S14步驟，當該吊掛移行裝置C移行時，該負載D受加速度及本 身重量慣性作用會於該吊掛移行裝置C加速或減速時產生擺動的現象，致使該吊掛索L形成一歪斜狀態。此時，該監測點1、2會立即隨著吊掛索L與負載D的位置變化而產生位移，而上、下追蹤框11、21則隨後會由初始位置P1、P2移動套合該監測點1、2。當該上、下追蹤框11、21完全套合該監測點1、2後，該上、下追蹤框11、21的偏移位置分別設定為P11、P21。 The step of "sending each tracking frame to the corresponding monitoring point and generating the same displacement" step S14, when the hanging moving device C moves, the load D is subjected to acceleration and The body weight inertia causes a swing phenomenon when the suspension shifting device C accelerates or decelerates, causing the hanging cable L to form a skew state. At this time, the monitoring points 1, 2 will immediately shift with the position of the suspension cable L and the load D, and the upper and lower tracking frames 11, 21 will then be moved by the initial positions P1, P2. Points 1, 2. When the upper and lower tracking frames 11 and 21 completely fit the monitoring points 1 and 2, the offset positions of the upper and lower tracking frames 11 and 21 are set to P11 and P21.
該「計算各追蹤框的位移數值，即取得相對應各監測點的位移量，並藉以分別推算該吊掛索與負載的各種偏移資訊」S15步驟，係利用該上、下追蹤框11、21的偏移位置P11、P21與其初始位置P1、P2相比對，可得到該吊掛索L、負載D於吊掛移行裝置C移行過程中所產生的位移數據。 The "calculating the displacement values of the tracking frames, that is, obtaining the displacement amounts corresponding to the respective monitoring points, and estimating the various offset information of the hanging cables and the load respectively", step S15, using the upper and lower tracking frames 11, The offset positions P11 and P21 of 21 are compared with their initial positions P1 and P2, and the displacement data generated by the suspension cable L and the load D during the movement of the suspension moving device C can be obtained.
本發明之上述流程，藉由該上、下追蹤框11、21分別跟隨監測點1、2移動，配合該上、下追蹤框11、21的移動量與整張影像的尺寸比對，可推算出吊掛索L與負載D的位移量，以進一步實現天車影像控制的功能。而上、下追蹤框11、21以外的影像視為背景，若將該背景影像忽略不計，可大幅的減少影像資料的處理量。 In the above process of the present invention, the upper and lower tracking frames 11 and 21 respectively follow the movement of the monitoring points 1 and 2, and the movement amount of the upper and lower tracking frames 11 and 21 is matched with the size of the entire image, and can be calculated. The displacement of the lanyard L and the load D is lifted to further realize the function of the crane image control. The images other than the upper and lower tracking frames 11, 21 are regarded as the background, and if the background image is ignored, the processing amount of the image data can be greatly reduced.
同時，並透過上述技術大幅減少影像資料的處理量，最終可令一般平價家用的攝影器材亦符合監測作業需求，影像處理設備要求亦大幅降低，可減少影像控制系統的購置成本。 At the same time, through the above technology, the processing capacity of image data can be greatly reduced. Ultimately, the photographic equipment of ordinary affordable households can also meet the requirements of monitoring operations, and the requirements for image processing equipment are also greatly reduced, which can reduce the purchase cost of the image control system.
再者，由於負載D於移行過程中會產生較大的擺動幅度，可將該下追蹤框21的範圍設定較大，而將擺動幅度小的上追蹤框11的範圍略為縮小，以進一步減少資料量。 Furthermore, since the load D generates a large swing amplitude during the migration process, the range of the lower tracking frame 21 can be set larger, and the range of the upper tracking frame 11 with a smaller swing amplitude can be slightly reduced to further reduce the data. the amount.
請參第6圖所示，可知本發明的另一實施態樣，係於該第3圖所揭示的基本架構下，另於攝影影像中設置一固定之參考點3與參考框31。當背景影像被忽略不處理而藉以減少資料量時，可藉由該參考點3與參考框31輔助比對出上、下追蹤框11、21的位移量。 Referring to FIG. 6, it can be seen that another embodiment of the present invention provides a fixed reference point 3 and reference frame 31 in the photographic image under the basic structure disclosed in FIG. When the background image is ignored and not processed to reduce the amount of data, the reference point 3 and the reference frame 31 can be used to compare the displacement amounts of the upper and lower tracking frames 11, 21.
由上所述可知，本發明降低運算負荷的影像追蹤方法確實具有可減少影像資料處理量及運算負荷，以降低系統規格需求及建置成本之功效，確已具有產業上之利用性、新穎性及進步性。 As can be seen from the above, the image tracking method for reducing the computing load of the present invention has the effect of reducing the amount of image data processing and computing load, thereby reducing the system specification requirements and the construction cost, and has industrial applicability and novelty. And progressive.
惟以上所述者，僅為本發明之一較佳實施例而已，並非用來限定本發明實施之範圍。即凡依本發明申請專利範圍所作之均等變化與修飾，皆為本發明專利範圍所涵蓋。 The above description is only a preferred embodiment of the invention and is not intended to limit the scope of the invention. That is, the equivalent changes and modifications made by the scope of the patent application of the present invention are covered by the scope of the invention.
S11‧‧‧攝取一受吊掛索垂吊的負載於預設移行空間中的影像畫面 S11‧‧‧Ingestion of an image of a load suspended in a preset moving space suspended by a sling
S12‧‧‧在該吊掛索與負載上分別設定至少一監測點 S12‧‧‧Set at least one monitoring point on the suspension cable and load
S13‧‧‧於各監測點外周側分別設有一追蹤框 S13‧‧‧ each has a tracking frame on the outer peripheral side of each monitoring point
S14‧‧‧令各追蹤框分別追蹤對應的監測點，並隨之產生相同之位移 S14‧‧‧ each track frame tracks the corresponding monitoring points and produces the same displacement
S15‧‧‧計算各追蹤框的位移數值，即取得相對應各監測點的位移量，並藉以分別推算該吊掛索與負載的各種偏移資訊 S15‧‧‧ Calculate the displacement value of each tracking frame, that is, obtain the displacement amount corresponding to each monitoring point, and then calculate the various offset information of the hanging cable and the load separately
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