WO2022113272A1

WO2022113272A1 - Electromagnetic wave wireless communication system, electromagnetic wave wireless communication method, tracking system, and tracking method

Info

Publication number: WO2022113272A1
Application number: PCT/JP2020/044232
Authority: WO
Inventors: 智樹宮川; 裕貴石倉
Original assignee: 株式会社ニコン
Priority date: 2020-11-27
Filing date: 2020-11-27
Publication date: 2022-06-02

Abstract

An electromagnetic wave wireless communication system according to an aspect of the present invention comprises a plurality of tracking devices that can track each other's positions, each of the plurality of tracking devices having: a movable unit; an electromagnetic wave communicator attached to the movable unit and performing at least one among electromagnetic wave transmission and reception; a target attached to the movable unit and tracked by other tracking devices; and an imaging device attached to the movable unit and imaging targets of other tracking devices. The targets each include a first target and a second target having a different shape from the first target.

Description

Electromagnetic wave wireless communication system, electromagnetic wave wireless communication method, tracking system, and tracking method

The present invention relates to an electromagnetic wave wireless communication system, an electromagnetic wave wireless communication method, a tracking system, and a tracking method.

An electromagnetic wave wireless communication system using an electromagnetic wave is known. For example, Patent Document 1 describes an optical wireless communication system.

Japanese Patent Application Laid-Open No. 2020-37389

One aspect of the electromagnetic wave wireless communication system of the present invention includes a plurality of tracking devices capable of tracking each other's positions, and each of the plurality of tracking devices is attached to a movable portion and the movable portion to transmit electromagnetic waves. An electromagnetic wave radio communication device that performs at least one of reception and reception, a target provided in the movable portion and tracked by the other tracking device, and a target attached to the movable portion and tracked by the other tracking device. It has an image pickup apparatus for imaging, and the target includes a first target and a second target having a shape different from that of the first target.

One aspect of the electromagnetic wave wireless communication system of the present invention includes a plurality of tracking devices capable of tracking each other's positions, and each of the plurality of tracking devices is attached to a movable portion and the movable portion to transmit electromagnetic waves. An electromagnetic wave radio communication device that performs at least one of reception and reception, a target provided in the movable portion and tracked by the other tracking device, and a target attached to the movable portion and tracked by the other tracking device. The target includes a plurality of first targets and a second target, and the plurality of the first targets are arranged on the circumference of the same virtual circle. The electromagnetic wave radio communication device is arranged so as to overlap the center of the virtual circle, and the geometric center of the second target overlaps with the electromagnetic wave radio communication device.

One aspect of the electromagnetic wave wireless communication system of the present invention includes a plurality of tracking devices capable of tracking each other's positions, and each of the plurality of tracking devices is attached to a movable portion and the movable portion to transmit electromagnetic waves. An electromagnetic wave radio communication device that performs at least one of reception and reception, a target provided in the movable portion and tracked by the other tracking device, and a target attached to the movable portion and tracked by the other tracking device. The target includes a plurality of first targets and a second target, and the plurality of the first targets are arranged on the circumference of the same virtual circle. The geometric center of the second target overlaps with the center of the virtual circle.

One aspect of the electromagnetic wave wireless communication system of the present invention includes a plurality of tracking devices capable of tracking each other's positions, and each of the tracking devices is attached to a movable portion and the movable portion to transmit and receive electromagnetic waves. An electromagnetic wave wireless communication device that performs at least one of the above, a target provided in the movable portion and tracked by the other tracking device, and an image of the target attached to the movable portion and in the other tracking device. It has an image pickup device and a control unit that controls the movable portion, and the electromagnetic wave wireless communication device and the image pickup device are arranged so as to be offset by an offset amount in a first direction orthogonal to the optical axis direction of the image pickup device. The movable portion is a second rotation axis extending in a direction intersecting the optical axis direction, intersecting the optical axis direction, and extending in a direction orthogonal to the extending direction of the first rotation axis. It is rotatable around the axis of rotation, and the control unit acquires an image of the target and the electromagnetic wave radio communication device in the other tracking device by the image pickup device, and is based on the target displayed in the image. Then, the representative point of the electromagnetic wave radio communication device in the image is acquired, and the movable portion is moved so that the first axis extending in the first direction in the image overlaps with the representative point in the image. The movable axis is rotated around the first rotation axis and extends in the second direction in the image so as to be in contact with a circle centered on the representative point and having the offset amount as a radius in the image. The portion is rotated around the second rotation axis.

One aspect of the electromagnetic wave wireless communication system of the present invention includes a plurality of tracking devices capable of tracking each other's positions, and each of the tracking devices is attached to a movable portion and the movable portion to transmit and receive electromagnetic waves. An electromagnetic wave wireless communication device that performs at least one of the above, a target provided in the movable portion and tracked by the other tracking device, and an image of the target attached to the movable portion and in the other tracking device. It has an image pickup device and a control unit, and the control unit controls the movable unit based on an image of the target in the other tracking device imaged by the image pickup device, and the control unit controls the other tracking device. To track.

One aspect of the electromagnetic wave wireless communication method of the present invention is an electromagnetic wave wireless communication method for communicating between electromagnetic wave wireless communication devices, wherein a first target and a second target associated with one electromagnetic wave wireless communication device are set. An image of the first target and an image of the second target in the image taken by an image pickup device associated with another electromagnetic wave wireless communication device are specified, and the identified image of the first target and the above are described. Based on either one of the images of the second target, the other electromagnetic wave radio communication device is directed toward the one electromagnetic wave radio communication device.

One aspect of the electromagnetic wave wireless communication method of the present invention is an electromagnetic wave wireless communication method for communicating between electromagnetic wave wireless communication devices, and a target associated with one electromagnetic wave wireless communication device is used as another electromagnetic wave wireless communication device. The position of the one electromagnetic wave radio communication device in the captured image taken by taking an image with the associated image pickup device and the image of the captured target is specified, and the specified one electromagnetic wave wireless communication device is specified. The other electromagnetic wave radio communication device is directed toward the one electromagnetic wave radio communication device based on the position of the other electromagnetic wave radio communication device and the positional relationship between the other electromagnetic wave radio communication device and the image pickup device.

One aspect of the tracking system of the present invention is a tracking system including a target device having a target and a tracking device capable of tracking the target device, and the tracking device is attached to a movable portion and the movable portion. The target device includes an electromagnetic wave device that transmits and receives at least one of the electromagnetic waves, and an image pickup device that is attached to the movable portion and images the target in the target device. The target device includes the electromagnetic wave. A representative point to be targeted is set, and the target includes a first target and a second target having a shape different from that of the first target.

One aspect of the tracking system of the present invention is a tracking system including a target device having a target set with a representative point as a tracking target and a tracking device capable of tracking the target device, wherein the tracking device is , A movable part, an electromagnetic wave device attached to the movable part and performing at least one of transmission and reception of electromagnetic waves, an image pickup device attached to the movable part and imaging the target in the target device, and a control unit. The electromagnetic wave device and the image pickup device are arranged on the movable portion non-coaxially with respect to the optical axis direction of the image pickup device, and the electromagnetic wave device and the image pickup device viewed from the optical axis direction. The first arrangement relationship of the target is known, the second arrangement relationship between the target and the representative point is known, and the control unit has the image of the target captured by the image pickup apparatus and the first arrangement. Based on the relationship and the second arrangement relationship, the movable part is controlled to track the target device.

One aspect of the tracking method of the present invention is a tracking method for tracking a target of an electromagnetic wave device that transmits and receives at least one of electromagnetic waves by the electromagnetic wave device, and the first target associated with the target. The second target is imaged by an image pickup device associated with the electromagnetic wave device, and the image is based on either the image of the first target or the image of the second target in the captured image. The position of the target in the inside is specified, and the electromagnetic wave device is directed toward the target.

One aspect of the tracking method of the present invention is a tracking method for tracking a target of an electromagnetic wave device that transmits and receives at least one of electromagnetic waves by the electromagnetic wave device, wherein the target associated with the target is described. The position of the target in the image is specified from the image of the target in the image taken by the image pickup device associated with the electromagnetic wave device, and the specified position of the target and the electromagnetic wave device are used. The electromagnetic wave device is directed toward the target based on the positional relationship with the image pickup device.

FIG. 1 is a schematic configuration diagram schematically showing an electromagnetic wave wireless communication system of the first embodiment. FIG. 2 is a perspective view showing the main body of the tracking device according to the first embodiment. FIG. 3 is a view of a part of the tracking device main body of the first embodiment as viewed from the front side. FIG. 4 is a flowchart showing an example of a procedure when the control unit of the first embodiment tracks another tracking device. FIG. 5 is a diagram showing an example of a captured image captured by the image pickup device of the tracking device when the tracking device of the first embodiment tracks another tracking device. FIG. 6 is a diagram showing another example of a captured image captured by the image pickup device of the tracking device when the tracking device of the first embodiment tracks another tracking device. FIG. 7 is a diagram showing still another example of a captured image captured by the image pickup device of the tracking device when the tracking device of the first embodiment tracks another tracking device. FIG. 8 is a graph showing an error of a representative point with respect to the distance between the tracking devices of the first embodiment. FIG. 9 is a flowchart showing an example of a procedure when the control unit of the second embodiment tracks another tracking device. FIG. 10 is a diagram showing a target member of the third embodiment. FIG. 11 is a schematic configuration diagram schematically showing a tracking system of one embodiment.

Hereinafter, the electromagnetic wave wireless communication system, the electromagnetic wave wireless communication method, the tracking system, and the tracking method according to the embodiment of the present invention will be described with reference to the drawings.
The scope of the present invention is not limited to the following embodiments, and can be arbitrarily changed within the scope of the technical idea of the present invention. Further, in the following drawings, the scale and the number of each structure may be different from the scale and the number of the actual structure in order to make each configuration easy to understand.

<Electromagnetic wave wireless communication system>
[First Embodiment]
FIG. 1 is a schematic configuration diagram schematically showing the electromagnetic wave wireless communication system 100 of the present embodiment.
As shown in FIG. 1, the electromagnetic wave wireless communication system 100 includes a plurality of tracking devices 10 capable of tracking each other's positions. The electromagnetic wave wireless communication system 100 is a system that enables wireless communication between tracking devices 10 using electromagnetic wave EW. The electromagnetic wave EW is, for example, an electromagnetic wave having a frequency band equal to or higher than the terahertz band. The electromagnetic wave EW may be an electromagnetic wave whose frequency band is lower than the terahertz band, may be light, or may be a radio wave.

In the present embodiment, two tracking devices 10 are provided, a tracking device 10A and a tracking device 10B. The tracking device 10A is mounted on the moving body MA. The tracking device 10B is mounted on the moving body MB. The moving body MA and the moving body MB are vehicles. FIG. 1 shows, for example, a state in which the moving bodies MA and MB are located on a horizontal road surface, and the tracking device 10A and the tracking device 10B face each other in the horizontal direction.

The moving body on which the tracking device 10 is mounted is not particularly limited. The moving body on which the tracking device 10 is mounted may be a moving body that can move on water such as a ship, a moving body that can move underwater such as a submarine, an airplane, a multicopter, or the like. It may be a flyable mobile body. The moving body on which the plurality of tracking devices 10 are mounted may include different types of moving bodies. A part of the tracking devices 10 among the plurality of tracking devices 10 may be mounted on a non-moving target.

In the present embodiment, the tracking device 10A and the tracking device 10B have the same configuration as each other except that the moving bodies MA and MB to be mounted are different. Therefore, in the following description of the tracking device 10, only the tracking device 10A may be described as a representative.

Further, in the following description, a three-dimensional Cartesian coordinate system including an X-axis, a Y-axis, and a Z-axis is defined for the tracking device 10A, and the relative positional relationship of each part of the tracking device 10A will be described. The direction parallel to the X-axis is called "front-back direction X", the direction parallel to the Y-axis is called "left-right direction Y", and the direction parallel to the Z-axis is called "vertical direction Z". The front-back direction X, the left-right direction Y, and the up-down direction Z are directions orthogonal to each other. For example, in a state where the moving body MA is located on a horizontal road surface as shown in FIG. 1, the vertical direction Z is a direction parallel to the vertical direction, and the front-rear direction X and the horizontal direction Y are horizontal directions orthogonal to the vertical direction. The direction.

Further, in the following description, the positive side (+ X side) of the front-back direction X to which the X-axis arrow points is referred to as the "front side", and the negative side of the front-back direction X opposite to the side to which the X-axis arrow points. Side (-X side) is called "rear side". The positive side (+ Z side) of the vertical direction Z facing the Z-axis arrow is called the "upper side", and the negative side (-Z side) of the vertical direction Z opposite to the side facing the Z-axis arrow is called the "upper side". Called "lower".

The vertical direction Z, the horizontal direction Y, and the front-back direction X are merely names for explaining the relative positional relationship of each part, and the actual arrangement relationship and the like are arrangements other than the arrangement relationship and the like indicated by these names. It may be a relationship or the like.

The tracking device 10A has a tracking device main body 20 and a control unit 30. The tracking device main body 20 and the control unit 30 are arranged on the moving body MA. The tracking device main body 20 and the control unit 30 are electrically connected via a cable or the like.

FIG. 2 is a perspective view showing the tracking device main body 20. FIG. 3 is a view of a part of the tracking device main body 20 as viewed from the front side (+ X side).
As shown in FIG. 2, the tracking device main body 20 includes a pedestal portion 21, a holding portion 22, a movable portion 40, an image pickup device 50, an electromagnetic wave wireless communication device 60, a target member 70, and a first drive unit 81. And a second drive unit 82.

In the following description of each part of the tracking device main body 20, unless otherwise specified, the optical axis AXo of the image pickup device 50 is arranged in parallel with the front-rear direction X, that is, the optical axis direction DL in which the optical axis AXo extends. A case where is in the front-rear direction X will be described.

As shown in FIG. 1, the pedestal portion 21 is fixed on the moving body MA. The holding portion 22 is mounted on the pedestal portion 21. The holding portion 22 is rotatably attached to the pedestal portion 21 around the first rotation axis AXy extending in the vertical direction Z. The first rotation axis AXy is a virtual axis extending in a direction intersecting the optical axis direction DL (optical axis AXo). In the state shown in FIG. 2, the first rotation axis AXy extends in a direction orthogonal to the optical axis direction DL.

As shown in FIG. 2, the holding portion 22 has a base portion 22a and a pair of

side wall portions

22b and 22c. The base portion 22a is rotatably connected to the pedestal portion 21. The pair of

side wall portions

22b, 22c extend upward from the base portion 22a. The pair of

side wall portions

22b and 22c are arranged at intervals in the left-right direction Y.

The movable portion 40 is attached to the pedestal portion 21 via the holding portion 22. The movable portion 40 is located between the pair of

side wall portions

22b and 22c. The movable portion 40 is rotatably attached to the pair of

side wall portions

22b and 22c around the second rotation axis AXp. The second rotation axis AXp is a virtual axis that intersects the optical axis direction DL (optical axis AXo) and extends in a direction orthogonal to the vertical direction Z in which the first rotation axis AXy extends. As described above, the first rotation axis AXy, the second rotation axis AXp, and the optical axis AXo intersect at one point. In the present embodiment, the second rotation axis AXp extends in a direction orthogonal to the optical axis direction DL. In the state shown in FIG. 2, the second rotation axis AXp extends in the left-right direction Y. The movable portion 40 projects upward from the pair of

side wall portions

22b and 22c.

The movable portion 40 can move relative to the pedestal portion 21. In the present embodiment, the movable portion 40 can rotate with respect to the pedestal portion 21 around the first rotation axis AXP and around the second rotation axis AXP. The movable portion 40 rotates around the first rotation axis AXy with respect to the pedestal portion 21 by rotating the holding portion 22 around the first rotation axis AXy with respect to the pedestal portion 21. The movable portion 40 rotates around the second rotation shaft AXp with respect to the holding portion 22, and thus rotates around the second rotation shaft AXp with respect to the pedestal portion 21.

An image pickup device 50, an electromagnetic wave wireless communication device 60, and a target member 70 are attached to the movable portion 40. Therefore, the image pickup device 50, the electromagnetic wave wireless communication device 60, and the target member 70 can rotate together with the movable portion 40 around the first rotation axis AXP and around the second rotation axis AXP. In the present embodiment, for the movable portion 40, the image pickup device 50, the electromagnetic wave radio communication device 60, and the target member 70, the first direction D1 orthogonal to the optical axis direction DL, the optical axis direction DL, and the first direction D1 A second direction D2, which is orthogonal to both, is defined.

In the state shown in FIG. 2, the first direction D1 is a direction parallel to the vertical direction Z, and the second direction D2 is a direction parallel to the horizontal direction Y. That is, in the description of each part of the movable part 40 described above and the description of each part of the image pickup device 50, the electromagnetic wave radio communication device 60, and the target member 70 described later, the vertical direction Z corresponds to the first direction D1 and is left and right. The direction Y corresponds to the second direction D2, and the front-back direction X corresponds to the optical axis direction DL. Further, the front side (+ X side) is the side on which the lens 52 of the image pickup apparatus 50 faces, and is the side on which light is incident on the image pickup apparatus 50 in the optical axis direction DL.

The image pickup device 50 is attached to the front side (+ X side) of the movable portion 40. The image pickup device 50 takes an image of the target 70a, which will be described later, of the target member 70 in the other tracking device 10. In the present embodiment, the image pickup device 50 of the tracking device 10A takes an image of the target 70a described later of the target member 70 of the tracking device 10B. The image pickup device 50 includes a housing 51, a lens (or a lens group) 52, and an image pickup element 53.

The housing 51 has an opening on the front side (+ X side) and has a cylindrical shape extending in the front-rear direction X. The housing 51 projects forward from the movable portion 40. The central axis of the housing 51 coincides with the optical axis AXo of the image pickup apparatus 50. The lens 52 is fitted in the opening on the front side (+ X side) of the housing 51. The lens 52 is a circular lens. The optical axis AXo of the image pickup apparatus 50 passes through the center of the lens 52.

The image sensor 53 is arranged inside the housing 51. The image pickup device 53 is, for example, a CCD image sensor, a CMOS image sensor, or the like. Light incident on the housing 51 is incident on the image pickup device 53 via the lens 52. The image pickup element 53 converts the incident optical signal into an analog electric signal, and converts the converted analog electric signal into a digital image signal for output. The image sensor 53 has a rectangular shape that is long in the left-right direction Y when viewed from the front-rear direction X.

The electromagnetic wave wireless communication device 60 is attached to the front side (+ X side) of the movable portion 40. The electromagnetic wave wireless communication device 60 is a device that transmits and receives at least one of the electromagnetic wave EW. In the present embodiment, the electromagnetic wave wireless communication device 60 can both receive the electromagnetic wave EW and transmit the electromagnetic wave EW. The electromagnetic wave wireless communication device 60 includes a transmission unit 61 for transmitting the electromagnetic wave EW and a receiving unit 62 for receiving the electromagnetic wave EW. As shown in FIG. 3, the transmitting unit 61 and the receiving unit 62 are arranged side by side in the left-right direction Y. The transmitting unit 61 and the receiving unit 62 each have a square shape when viewed from the front side (+ X side). By arranging the transmitting unit 61 and the receiving unit 62 side by side, a rectangular transmitting / receiving unit 60a long in the left-right direction Y when viewed from the front side is configured.

In the present embodiment, the electromagnetic wave wireless communication device 60 is located above the image pickup device 50. The electromagnetic wave wireless communication device 60 and the image pickup device 50 are arranged so as to be offset by an offset amount OS in the vertical direction Z (first direction D1) orthogonal to the optical axis direction DL of the image pickup device 50. That is, the electromagnetic wave wireless communication device 60 and the image pickup device 50 are arranged non-coaxially with respect to the optical axis direction DL of the image pickup device 50.

The offset amount OS is the distance in the vertical direction Z (first direction D1) between the center 60p of the electromagnetic wave wireless communication device 60 and the optical axis AXo when viewed from the optical axis direction DL (front-back direction X) of the image pickup apparatus 50. Is. The center 60p of the electromagnetic wave wireless communication device 60 is the center of the transmission / reception unit 60a in the vertical direction Z and the center in the horizontal direction Y (second direction D2). The center 60p of the electromagnetic wave wireless communication device 60 is located between the transmitting unit 61 and the receiving unit 62 in the left-right direction Y. In the present embodiment, the position of the left-right direction Y in the center 60p of the electromagnetic wave wireless communication device 60 is the same as the position of the left-right direction Y in the optical axis AXo of the image pickup apparatus 50.

In the electromagnetic wave wireless communication device 60, the transmission / reception unit 60a is arranged so as to face the transmission / reception unit 60a in the other electromagnetic wave wireless communication device 60 in the front-rear direction X (optical axis direction DL). And electromagnetic wave wireless communication becomes possible. Preferably, the transmitting unit 61 and the receiving unit 62 are in a positional relationship so as to face each other, but in the present embodiment, the electromagnetic wave radio wave is obtained even if the transmitting unit 61 and the receiving unit 62 do not necessarily face each other. The communication devices 60 can communicate with each other by electromagnetic waves and wirelessly. Since the transmitting unit 61 and the receiving unit 62 have a certain range in which transmission / reception is possible, the electromagnetic wave wireless communication devices 60 may be, for example, portions of the electromagnetic wave wireless communication device 60 located between the transmitting unit 61 and the receiving unit 62. If is opposed to the front-rear direction X (optical axis direction DL), electromagnetic wave wireless communication is possible with each other regardless of the relative posture of each transmission / reception unit 60a. The relative posture of each transmission / reception unit 60a includes a relative posture around the optical axis AXo.

In the present embodiment, the portion of the electromagnetic wave radio communication device 60 located between the transmission unit 61 and the reception unit 62 includes a central portion including the center 60p of the electromagnetic wave radio communication device 60. The electromagnetic wave wireless communication devices 60 can more preferably perform electromagnetic wave wireless communication, for example, when the central portions including the center 60p of the electromagnetic wave wireless communication device 60 face each other. In the electromagnetic wave wireless communication device 60 of the present embodiment, the transmitting unit 61 and the receiving unit 62 are separately provided, and the central portion between them is included in the central portion 60p. However, the transmitting unit 61 and the receiving unit 62 are integrated. , It is also possible to configure it as one transmitter / receiver. In that case, the center of the optical axis of the transmission / reception unit is the center 60p.

As shown in FIG. 2, the target member 70 is attached to the movable portion 40. In the present embodiment, the target member 70 is fixed to the front side (+ X side) of the upper portion of the movable portion 40. In the present embodiment, the target member 70 is a plate-shaped member whose plate surface faces the front-rear direction X (optical axis direction DL). The target member 70 has a shape in which both end portions of a circular vertical direction Z (first direction D1) are radially inwardly recessed in an arc shape when viewed from the front-rear direction X.

The target member 70 has a through hole 73 that penetrates the target member 70 in the front-rear direction X (optical axis direction DL). The through hole 73 is a rectangular hole that is long in the left-right direction Y. The through hole 73 overlaps with the transmission / reception unit 60a of the electromagnetic wave wireless communication device 60 when viewed from the front-rear direction X. For example, an electromagnetic wave wireless communication device 60 is fitted in the through hole 73. The transmission / reception unit 60a of the electromagnetic wave wireless communication device 60 is exposed to the front side (+ X side) through the through hole 73. The target member 70 surrounds the transmission / reception unit 60a.

The target member 70 has a target 70a tracked by another tracking device 10. The target 70a is provided on the movable portion 40 by fixing the target member 70 to the movable portion 40. In the present embodiment, the target 70a of the tracking device 10A is a target tracked by the tracking device 10B, and the target 70a of the tracking device 10B is a target tracked by the tracking device 10A. In the present embodiment, the target 70a includes a first target 71 and a second target 72.

In the present embodiment, the first target 71 is a mark provided on the front side (+ X side) surface of the target member 70. The first target 71 is an annular mark. That is, the outer shape of the first target 71 is circular. The color of the first target 71 is, for example, black. A plurality of first targets 71 are provided. In this embodiment, four first targets 71 are provided. In the present embodiment, the four first targets 71 have the same shape and the same size as each other.

As shown in FIG. 3, the two first targets 71 are arranged side by side in the vertical direction Z on one side (+ Y side) of the electromagnetic wave wireless communication device 60 in the left-right direction Y. The remaining two first targets 71 are arranged side by side in the vertical direction Z on the other side (−Y side) of the electromagnetic wave wireless communication device 60 in the horizontal direction Y. The four first targets 71 are arranged so as to surround the transmission / reception unit 60a when viewed in the front-rear direction X. Each geometric center 71p of the four first targets 71 is arranged at each corner of the virtual rectangular frame IS surrounding the transmission / reception unit 60a when viewed from the front side (+ X side). The virtual rectangular frame IS has a rectangular frame shape that is long in the left-right direction Y. In the present embodiment, the geometric center 71p is the center of the annular first target 71. In the present specification, the "geometric center" is the center of gravity of a geometric figure.

The plurality of first targets 71 are arranged on the circumference of the same virtual circle C when viewed from the front side (+ X side). When viewed from the front side, the center Cp of the virtual circle C coincides with the center 60p of the electromagnetic wave wireless communication device 60. That is, in the present embodiment, the electromagnetic wave wireless communication device 60 is arranged so as to overlap the center Cp of the virtual circle C when viewed from the front side. Further, as described above, the center 60p of the electromagnetic wave wireless communication device 60 is located between the transmitting unit 61 and the receiving unit 62 in the left-right direction Y. That is, in the present embodiment, the portion of the electromagnetic wave wireless communication device 60 located between the transmitting unit 61 and the receiving unit 62 overlaps with the center Cp of the virtual circle C when viewed from the front side.

Each of the geometric centers 71p of the plurality of first targets 71 is arranged on the circumference of the virtual circle C when viewed from the front side (+ X side). When viewed from the front side, the optical axis AXo of the image pickup apparatus 50 is arranged on the circumference of the virtual circle C. In the present embodiment, the offset amount OS between the electromagnetic wave wireless communication device 60 and the image pickup device 50 is equal to the radius Rc of the virtual circle C.

The second target 72 is the entire surface of the target member 70 on the front side (+ X side) other than the first target 71. The color of the second target 72 is different from the color of the first target 71. The color of the second target 72 is, for example, yellow. The second target 72 has a larger area than the first target 71. The shape of the second target 72 is different from that of the first target 71. The outer shape of the second target 72 is the same as the outer shape of the target member 70.

When viewed from the front side (+ X side), the outer edge of the second target 72 surrounds a plurality of first targets 71. That is, in the present embodiment, the entire first target 71 is located inside the outer edge of the second target 72. The second target 72 has a longer traceable distance by the tracking device 10 than the first target 71. The distance that the first target 71 can be tracked by the tracking device 10 is, for example, in the range of 30 m or less. The distance that the second target 72 can be tracked by the tracking device 10 is, for example, in the range of 100 m or less. The distance that each target 70a can be tracked by the tracking device 10 is, for example, the distance between the tracking devices 10.

The second target 72 has a symmetrical shape with respect to one straight line L1 including the diameter of the virtual circle C. The straight line L1 is a virtual line extending in the vertical direction Z (first direction D1) through the center Cp of the virtual circle C when viewed from the front side (+ X side). That is, the second target 72 has a shape that is line-symmetrical in the left-right direction Y (second direction D2) with respect to the straight line L1 when viewed from the front side.

The second target 72 has a shape symmetrical with respect to another straight line L2 orthogonal to the straight line L1. The straight line L2 is a virtual line extending in the left-right direction Y (second direction D2) through the center Cp of the virtual circle C when viewed from the front side (+ X side). That is, the second target 72 has a shape that is line-symmetrical in the vertical direction Z (first direction D1) with respect to the straight line L2 when viewed from the front side (+ X side).

The second target 72 has a first recess 72a and a second recess 72b that are recessed in the vertical direction Z (first direction D1). The first recess 72a is provided at the lower end of the second target 72. The first recess 72a is recessed upward. The second recess 72b is provided at the upper end of the second target 72. The second recess 72b is recessed downward. The first recess 72a and the second recess 72b are arranged so as to sandwich the electromagnetic wave wireless communication device 60 in the vertical direction Z. In the present embodiment, the inner edge of the first recess 72a and the inner edge of the second recess 72b have an arc shape that is concave in opposite directions to each other. The outer edge of the second target 72 has a shape in which both ends of the inner edge of the first recess 72a and both ends of the inner edge of the second recess 72b are connected by a pair of

arcs

72c and 72d concentric with the virtual circle C, respectively. be. The image pickup apparatus 50 is located inside the first recess 72a when viewed from the front side (+ X side).

The geometric center 72p of the second target 72 overlaps with the electromagnetic wave wireless communication device 60 when viewed from the front side (+ X side). More specifically, the geometric center 72p of the second target 72 overlaps with the center 60p of the electromagnetic wave radio communication device 60 when viewed from the front side. As described above, the center 60p of the electromagnetic wave wireless communication device 60 overlaps with the center Cp of the virtual circle C when viewed from the front side. Therefore, the geometric center 72p of the second target 72 overlaps with the center Cp of the virtual circle C when viewed from the front side.

The first drive unit 81 shown in FIG. 2 rotates the holding unit 22 around the first rotation axis AXy, thereby rotating the movable unit 40 around the first rotation axis AXy. The second drive unit 82 rotates the movable unit 40 around the second rotation axis AXp. The first drive unit 81 and the second drive unit 82 are, for example, servomotors. The first drive unit 81 is provided in the pedestal unit 21. The second drive unit 82 is provided in the holding unit 22. The first drive unit 81 and the second drive unit 82 are controlled by the control unit 30.

The control unit 30 controls the movable unit 40, the image pickup device 50, and the electromagnetic wave wireless communication device 60. The control unit 30 controls the movable unit 40 to track the other tracking device 10 based on the image of the target 70a in the other tracking device 10 imaged by the image pickup device 50. More specifically, the control unit 30 controls the movable unit 40 based on the captured image (image) of the target 70a and the electromagnetic wave wireless communication device 60 in the other tracking device 10 captured by the image pickup device 50 to control the electromagnetic wave. The other tracking device 10 is tracked so that the wireless communication devices 60 face each other.

The electromagnetic wave wireless communication method for communicating using the electromagnetic wave wireless communication system 100 of the present embodiment described above is a communication method for communicating between the electromagnetic wave wireless communication devices 60 provided in each tracking device 10. The electromagnetic wave wireless communication method using the electromagnetic wave wireless communication system 100 is performed by controlling each part of the tracking device 10 by the control unit 30. The electromagnetic wave wireless communication method of the present embodiment includes tracking another tracking device 10 by the tracking device 10. The plurality of tracking devices 10 track each other's other tracking devices 10 and make the electromagnetic wave wireless communication devices 60 of the tracking devices 10 face each other to perform electromagnetic wave wireless communication with each other.

Hereinafter, a tracking method for tracking another tracking device 10 will be described. In the following description, an example of tracking the tracking device 10B by the tracking device 10A will be described.

FIG. 4 is a flowchart showing an example of a procedure when the control unit 30 tracks another tracking device 10. FIG. 5 is a diagram showing an example of a captured image (image) PI imaged by the image pickup device 50 of the tracking device 10A when the tracking device 10A tracks the tracking device 10B. FIG. 6 is a diagram showing another example of the captured image PI imaged by the image pickup device 50 of the tracking device 10A when the tracking device 10A tracks the tracking device 10B. FIG. 7 is a diagram showing still another example of the captured image PI imaged by the image pickup device 50 of the tracking device 10A when the tracking device 10A tracks the tracking device 10B. In the present specification, the "photographed image" is not limited to a still image, but also includes a moving image (or a part thereof). Further, in the present specification, the "image" is not limited to a still image, but also includes a moving image (or a part thereof).

5 to 7 show an example in which the

tracking devices

10A and 10B are arranged at an angle with respect to the horizontal direction. In FIGS. 5 to 7, the horizontal direction is the left-right direction in each figure. The horizontal tilt of the tracking device 10A and the horizontal tilt of the tracking device 10B are, for example, different from each other. The image pickup apparatus 50 can take an image of a region in the frame F shown in FIGS. 5 to 7 and acquire a photographed image PI. The frame F has a rectangular frame shape having a short side along the first direction D1 and a long side along the second direction D2. Therefore, the captured image PI imaged by the image pickup apparatus 50 has a rectangular shape having a short side along the first direction D1 and a long side along the second direction D2. The frame center Fc of the frame F coincides with the optical axis AXo of the image pickup apparatus 50. The electromagnetic wave radio communication device 60 in the tracking device 10A is arranged on the positive side (+ D1 side) of the first direction D1 with respect to the frame center Fc.

As shown in FIGS. 5 to 7, the photographed image PI imaged by the image pickup apparatus 50 shows the first axis Fy extending in the first direction D1 and the second axis Fx extending in the second direction D2. The first axis Fy passes through the center of the second direction D2 in the captured image PI. The second axis Fx passes through the center of the first direction D1 in the captured image PI. The first axis Fy and the second axis Fx pass through the frame center Fc and intersect at the frame center Fc. The position of the second direction D2 of the first axis Fy is the same as the position of the second direction D2 at the center 60p of the electromagnetic wave radio communication device 60 of the tracking device 10A.

As shown in FIG. 4, the tracking method of the present embodiment includes steps S1a to S1e.
In step S1a, the control unit 30 acquires a photographed image PI in which the target 70a and the electromagnetic wave wireless communication device 60 in the other tracking device 10B are reflected by the image pickup device 50. The control unit 30 continues to acquire the captured image PI at a predetermined frame rate while tracking the other tracking device 10B. The captured image PI acquired by the image pickup apparatus 50 shown in FIGS. 5 to 7 includes an image of the first target 71 and an image of the second target 72 in the other tracking apparatus 10B.

The photographed image PI shown in FIG. 5 is, for example, the photographed image PI acquired in step S1a. In the captured image PI of FIG. 5, for example, the tracking device 10B is on the positive side (+ D1 side) of the first direction D1 from the frame center Fc and on the positive side of the second direction D2 from the frame center Fc (+ D1 side). It is reflected in the area located on the + D2 side). The image of the first target 71 and the image of the second target 72 are discriminated by the control unit 30 by machine learning the captured image PI that has undergone image processing. In the example of FIG. 5, a part of the first target 71 and a part of the second target 72 are out of frame. Even in such a case, if there is a certain degree of defect, it is possible to recognize and identify the image of the first target 71 and the image of the second target 72 by machine learning, respectively. The control unit 30 can also perform auxiliary recognition and identification of the target image by using a pattern matching method in combination.

In step S1b, the control unit 30 selects the target 70a to be used for tracking based on the acquired image PI. In step S1b of the present embodiment, the control unit 30 selects which of the first target 71 and the second target 72, the target 70a, is used for tracking. In the present embodiment, the control unit 30 selects the target 70a to be used for tracking according to the image quality of the image of the first target 71 and the image quality of the image of the second target 72 reflected in the captured image PI.

In the present specification, the "image quality" refers to the sharpness of the image of the object reflected in the photographed image PI (including the degree of collapse of the shape of the image and the clarity of the outline, so-called image quality), and the photographed image PI. The quality of the image is determined by the range of the image reflected in the image. The higher the image quality of the image of the target 70a, the higher the accuracy of tracking the target 70a when the image of the target 70a is used for tracking. For example, in the present embodiment, the image quality is higher as the image is easier to accurately acquire the representative point RP described later. For example, if the image is relatively clear but part of it is not reflected and it is difficult to obtain the representative point RP accurately, the image quality of the image is relatively low, and even if the image is relatively unclear, the whole image is obtained. If the representative point RP can be obtained relatively accurately, the image quality of the image is relatively high.

When the image quality of the image of the first target 71 is higher than the image quality of the image of the second target 72, the control unit 30 selects the first target 71 as the target 70a used for tracking. On the other hand, when the image quality of the image of the second target 72 is higher than the image quality of the image of the first target 71, the control unit 30 selects the second target 72 as the target 70a used for tracking.

In the present embodiment, if the distance between the

tracking devices

10A and 10B is relatively small, the captured image is relatively clear, and the entire image is shown, then the images of the plurality of first targets 71 are displayed. This allows the representative point RP, which will be described later, to be acquired more accurately than the image of the second target 72. On the other hand, since the second target 72 has a larger area than the first target 71, even if the distance between the

tracking devices

10A and 10B is relatively large, the image is less likely to be blurred as compared with the first target 71, which is representative. It is easy to acquire the point RP with high accuracy. That is, in the present embodiment, when the distance between the tracking device 10A and the tracking device 10B is relatively small, the image quality of the first target 71 tends to be higher than the image quality of the second target 72. On the other hand, when the distance between the tracking device 10A and the tracking device 10B is relatively large, the image quality of the second target 72 tends to be higher than the image quality of the first target 71.

In step S1c, the control unit 30 acquires the representative point RP of the electromagnetic wave wireless communication device 60 in the captured image PI based on the selected target 70a reflected in the captured image PI.
When the first target 71 is selected as the target 70a used for tracking, the control unit 30 performs image processing on the captured image PI and acquires the geometric center 71p of the image of each first target 71. The control unit 30 acquires a virtual circle CI in which each geometric center 71p is arranged on the circumference in the captured image PI from the position of each geometric center 71p in the captured image PI. The virtual circle CI in the captured image PI is a virtual circle obtained by scaling the virtual circle C defined for the actual first target 71 described above according to the scale of the captured image PI. The control unit 30 acquires the central CpI of the acquired virtual circle CI as the representative point RP.

Here, as described above, the center Cp of the virtual circle C in which the geometric centers 71p of the plurality of first targets 71 are arranged overlaps with the center 60p of the electromagnetic wave wireless communication device 60 when viewed from the optical axis direction DL. .. Therefore, the representative point RP acquired based on the virtual circle CI coincides with the center 60p of the electromagnetic wave wireless communication device 60 in the captured image PI.

On the other hand, when the second target 72 is selected as the target 70a used for tracking, the control unit 30 acquires the geometric center 72p of the second target 72 reflected in the captured image PI as the representative point RP. The control unit 30 performs image processing on the image of the second target 72 in the captured image PI, and acquires the geometric center 72p of the image of the second target 72 as the representative point RP. Here, as described above, the geometric center 72p of the second target 72 overlaps with the center 60p of the electromagnetic wave radio communication device 60 when viewed from the optical axis direction DL. Therefore, the representative point RP acquired based on the image of the second target 72 coincides with the center 60p of the electromagnetic wave radio communication device 60 in the captured image PI. As described above, in the present embodiment, the position of the representative point RP acquired based on the first target 71 and the position of the representative point RP acquired based on the second target 72 are the same as each other.

In step S1d, the control unit 30 acquires the offset amount OSI between the electromagnetic wave wireless communication device 60 and the image pickup device 50 in the captured image PI. The offset amount OSI in the captured image PI is an offset amount obtained by reducing the offset amount OS between the actual electromagnetic wave wireless communication device 60 and the image pickup device 50 according to the scale of the captured image PI. The control unit 30 acquires the offset amount OSI in the captured image PI based on the image of the target 70a reflected in the captured image PI.

Here, in the present embodiment, the offset amount OS between the electromagnetic wave wireless communication device 60 and the image pickup device 50 is equal to the radius Rc of the virtual circle C passing through the geometric centers 71p of the plurality of first targets 71. Therefore, the offset amount OSI in the captured image PI is equal to the radius RcI of the virtual circle CI obtained based on the plurality of first targets 71 in the captured image PI. Therefore, the control unit 30 can acquire the offset amount OSI in the captured image PI by acquiring the virtual circle CI based on the plurality of first targets 71 reflected in the captured image PI. Therefore, when the first target 71 is selected as the target 70a used for tracking, the control unit 30 sets the radius RcI of the virtual circle CI obtained when acquiring the representative point RP in step S1c in the captured image PI. It can be obtained as the offset amount OSI in. As described above, in the present embodiment, the virtual circle CI is a circle centered on the representative point RP and having the offset amount OSI in the captured image PI as the radius.

On the other hand, when the second target 72 is selected as the target 70a used for tracking, the control unit 30 acquires the offset amount OSI in the captured image PI based on the image of the second target 72 reflected in the captured image PI. Specifically, the control unit 30 calculates the scale of the captured image PI from the ratio between the actual dimensions of the second target 72 and the dimensions of the image of the second target 72 reflected in the captured image PI. The control unit 30 acquires the offset amount OSI in the captured image PI by reducing the offset amount OS between the actual electromagnetic wave wireless communication device 60 and the image pickup device 50 according to the scale of the calculated captured image PI. Here, in the present embodiment, the actual dimensions of the second target 72 and the actual offset amount OS between the electromagnetic wave wireless communication device 60 and the image pickup device 50 are known.

In addition, in this specification, "a certain information is known in a certain object" means that a certain information can be used in the control in a certain object without measuring and calculating. .. "A state in which certain information can be used without measuring and calculating" means, for example, a state in which certain information is stored in advance in a certain object, and a certain information is referred to by wireless or wired from an external database. Including the state that can be done. In the present embodiment, each known information is stored in advance in a storage unit (not shown) provided in the control unit 30.

In step S1e, the control unit 30 drives the movable unit 40 based on the acquired representative point RP and offset amount OSI.
Specifically, first, as shown in FIG. 6, the control unit 30 is a movable unit 40 so that the first axis Fy extending in the first direction D1 in the captured image PI overlaps with the representative point RP in the captured image PI. Is rotated around the first rotation axis AXY. In the examples of FIGS. 5 and 6, the control unit 30 sets the movable unit 40 of the tracking device 10A in the second direction D2 so that a part of the first axis Fy overlaps with the representative point RP when viewed from the optical axis direction DL. Move to the positive side (+ D2 side) of. As a result, the position of the representative point RP in the second direction D2 and the position of the first axis Fy in the second direction D2 coincide with each other. Therefore, the center 60p of the electromagnetic wave radio communication device 60 in the tracking device 10A and the center 60p of the electromagnetic wave radio communication device 60 in the tracking device 10B can be aligned with the same position in the second direction D2.

In the example of FIG. 6, the center 60p of the electromagnetic wave radio communication device 60 in the tracking device 10B, that is, the representative point RP is on the positive side of the first direction D1 with respect to the center 60p of the electromagnetic wave radio communication device 60 in the tracking device 10A. It is located away from the + D1 side).

Next, as shown in FIG. 7, in the control unit 30, the second axis Fx extending in the second direction D2 in the captured image PI has the representative point RP as the center and the offset amount OSI in the captured image PI as the radius. The movable portion 40 is rotated around the second rotation axis AXp so as to be in contact with the virtual circle CI. In the examples of FIGS. 6 and 7, the control unit 30 overlaps the second axis Fx with the end point of the virtual circle CI on the negative side (−D1 side) of the first direction D1 when viewed from the optical axis direction DL. , The movable portion 40 of the tracking device 10A is moved to the positive side (+ D1 side) of the first direction D1.

Here, in the present embodiment, the tracking device 10A and the tracking device 10B have the same structure, and in each of the

tracking devices

10A and 10B, the offset amount OS between the electromagnetic wave wireless communication device 60 and the image pickup device 50 is set. They are the same as each other. Therefore, in the captured image PI, the offset amount OSI in the tracking device 10A and the offset amount OSI in the tracking device 10B are the same as each other. As a result, by aligning the representative point RP at a position separated by the offset amount OSI from the second axis Fx passing through the center of the first direction D1 in the captured image PI by the offset amount OSI, the electromagnetic wave wireless communication device 60 in the tracking device 10A The center 60p of the electromagnetic wave wireless communication device 60 in the tracking device 10B can be aligned with the position of the same first direction D1. Therefore, by moving the movable portion 40 so that the second axis Fx is in contact with the virtual circle CI having the offset amount OSI as the radius RcI while the representative point RP is located on the first axis Fy, the electromagnetic wave in the tracking device 10A The center 60p of the wireless communication device 60 can be aligned with the representative point RP, that is, the center 60p of the electromagnetic wave wireless communication device 60 in the tracking device 10B.

As described above, the center 60p of the electromagnetic wave wireless communication device 60 in the tracking device 10A and the center 60p of the electromagnetic wave wireless communication device 60 in the tracking device 10B can be aligned in the first direction D1 and the second direction D2, respectively. The centers 60p of the electromagnetic wave wireless communication devices 60 of the

tracking devices

10A and 10B can be arranged so as to face each other in the optical axis direction DL. Therefore, electromagnetic wave wireless communication can be performed between the electromagnetic wave wireless communication devices 60 of the

tracking devices

10A and 10B.

The example of FIG. 7 shows a state in which the electromagnetic wave wireless communication device 60 of the tracking device 10A and the electromagnetic wave wireless communication device 60 of the tracking device 10B are arranged so as to be offset around an axis extending in the optical axis direction DL. As described above, the electromagnetic wave wireless communication device 60 of the present embodiment can perform electromagnetic wave wireless communication as long as the central portion including the center 60p faces the central portion of another electromagnetic wave wireless communication device 60. Therefore, even in the state shown in FIG. 7, the tracking device 10A and the tracking device 10B can communicate with each other by the electromagnetic wave wireless communication device 60.

The tracking device 10B can also track the target 70a of the tracking device 10A in the same manner as the tracking device 10A described above. In the present embodiment, both the tracking device 10A and the tracking device 10B simultaneously track each other's targets 70a of the other tracking device 10, so that the electromagnetic wave radio communication device 60 of the tracking device 10A and the electromagnetic wave radio of the tracking device 10B are used. The state of facing the communication device 60 is maintained.

In the electromagnetic wave wireless communication method of the present embodiment described above, the first target 71 and the second target 72 associated with one electromagnetic wave wireless communication device 60 are associated with the other electromagnetic wave wireless communication device 60. The image of the first target 71 and the image of the second target 72 in the captured image (image) PI imaged by 50 are specified, and the identified image of the first target 71 and the image of the second target 72 are Based on either one, this is an electromagnetic wave wireless communication method in which the other electromagnetic wave wireless communication device 60 is directed in the direction of one electromagnetic wave wireless communication device 60.

Further, the electromagnetic wave wireless communication method of the present embodiment described above is an electromagnetic wave wireless communication method for communicating between electromagnetic wave wireless communication devices 60, and includes a target 70a associated with one electromagnetic wave wireless communication device 60, and the like. The position (representative point RP) of one electromagnetic wave wireless communication device 60 in the captured image PI captured by the image pickup device 50 associated with the electromagnetic wave wireless communication device 60 and the image of the captured target 70a is specified. Then, based on the position of the specified one electromagnetic wave wireless communication device 60 and the positional relationship between the other electromagnetic wave wireless communication device 60 and the image pickup device 50, the other electromagnetic wave wireless communication device 60 is subjected to one electromagnetic wave wireless communication. This is an electromagnetic wave wireless communication method directed in the direction of the machine 60.

In the present embodiment, one electromagnetic wave wireless communication device 60 is the electromagnetic wave wireless communication device 60 of the tracking device 10B, and the other electromagnetic wave wireless communication device 60 is the electromagnetic wave wireless communication device 60 of the tracking device 10A.

According to the present embodiment, the target 70a provided in the tracking device 10 includes a first target 71 and a second target 72 having a shape different from that of the first target 71. Therefore, the ease of tracking tends to differ between the first target 71 and the second target 72 depending on how they are reflected in the captured image PI captured by the image pickup device 50. Thereby, when the target 70a of the other tracking device 10 is tracked by a certain tracking device 10, the target 70a of the first target 71 and the second target 72 is used for tracking properly. Tracking accuracy can be improved. Therefore, the tracking performance of the other tracking device 10 by the tracking device 10 can be improved. Therefore, it is easy to suitably maintain the plurality of tracking devices 10 in a state in which electromagnetic wave wireless communication is possible with each other. Thereby, the communication performance of the electromagnetic wave wireless communication system 100 can be improved.

Further, according to the present embodiment, the second target 72 has a longer traceable distance by the tracking device 10 than the first target 71. Therefore, for example, even when the tracking devices 10 are arranged relatively far apart from each other, the target 70a can be suitably tracked by using the second target 72 for tracking. As a result, the tracking performance of the other tracking device 10 by the tracking device 10 can be further improved, and the communication performance of the electromagnetic wave wireless communication system 100 can be further improved.

Further, according to the present embodiment, the area of the second target 72 is larger than that of the first target 71. Therefore, even when the tracking devices 10 are arranged relatively far apart from each other, the second target 72 is more likely to move to the captured image PI more clearly than the first target 71. As a result, the distance that can be tracked by the tracking device 10 in the second target 72 can be easily increased as compared with the first target 71.

Further, according to the present embodiment, a plurality of first targets 71 are provided, and the plurality of first targets 71 are arranged on the circumference of the same virtual circle C. The electromagnetic wave wireless communication device 60 is arranged so as to overlap the center Cp of the virtual circle C. Therefore, when the other tracking device 10 is viewed from the tracking device 10, the center Cp of the virtual circle C overlaps with the electromagnetic wave wireless communication device 60. As a result, as described above, the position of the electromagnetic wave wireless communication device 60 in the captured image PI is obtained by acquiring the center CpI of the virtual circle CI from the images of the plurality of first targets 71 reflected in the captured image PI by image processing. Can be obtained. Therefore, it is easy to acquire the position of the electromagnetic wave wireless communication device 60 based on the captured image PI.

Further, according to the present embodiment, each of the geometric centers 71p of the plurality of first targets 71 is arranged on the circumference of the virtual circle C. Therefore, the virtual circle CI can be easily acquired by acquiring the geometric center 71p of each first target 71 by image processing from the images of the plurality of first targets 71 reflected in the captured image PI. As a result, the center CpI of the virtual circle CI can be easily acquired in the captured image PI, and the position of the electromagnetic wave wireless communication device 60 in the captured image PI can be acquired more easily.

Further, according to the present embodiment, the geometric center 72p of the second target 72 overlaps with the electromagnetic wave wireless communication device 60. Therefore, by acquiring the geometric center 72p from the image of the second target 72 displayed on the captured image PI by image processing, the position of the electromagnetic wave wireless communication device 60 in the captured image PI can be acquired. Therefore, it is easy to acquire the position of the electromagnetic wave wireless communication device 60 based on the captured image PI.

Further, according to the present embodiment, the geometric center 72p of the second target 72 overlaps with the center Cp of the virtual circle C. Therefore, by acquiring the geometric center 72p from the image of the second target 72 reflected in the captured image PI by image processing, the center CpI of the virtual circle CI in the captured image PI can be acquired. As a result, the position of the electromagnetic wave wireless communication device 60 that can be acquired based on the first target 71 and the position of the electromagnetic wave wireless communication device 60 that can be acquired based on the second target 72 can be made the same. Therefore, regardless of whether the first target 71 or the second target 72 is used as the target 70a used for tracking, the same position of the electromagnetic wave radio communication device 60 can be acquired, and the tracking of the target 70a is also performed. It can be performed.

Further, according to the present embodiment, the transmitting unit 61 and the receiving unit 62 are arranged side by side, and the portion of the electromagnetic wave wireless communication device 60 located between the transmitting unit 61 and the receiving unit 62 is a virtual circle C. It overlaps with the center Cp of. Therefore, by acquiring the center CpI of the virtual circle CI corresponding to the virtual circle C from the captured image PI by image processing, between the transmitting unit 61 and the receiving unit 62 of the electromagnetic wave wireless communication device 60 in the captured image PI. You can get the position of the part located in. Here, as described above, the electromagnetic wave wireless communication devices 60 have different relative postures from each other if the portions located between the transmission unit 61 and the reception unit 62 face each other. However, electromagnetic wave wireless communication is possible with each other. Therefore, a portion located between the transmission unit 61 and the reception unit 62 in the captured image PI is acquired, and the acquired portion is located between the transmission unit 61 and the reception unit 62 in the other tracking device 10. By moving the movable portion 40 so as to face the electromagnetic wave wireless communication device 60, electromagnetic wave wireless communication can be performed between the electromagnetic wave wireless communication devices 60 regardless of the relative posture of the electromagnetic wave wireless communication devices 60. Therefore, the communication performance of the electromagnetic wave wireless communication system 100 can be further improved.

Further, according to the present embodiment, the electromagnetic wave wireless communication device 60 and the image pickup device 50 are arranged so as to be offset by an offset amount OS in the first direction D1 orthogonal to the optical axis direction DL of the image pickup device 50. In other words, the electromagnetic wave wireless communication device 60 and the image pickup device 50 are arranged non-coaxially with respect to the optical axis direction DL. Therefore, as compared with the case where the electromagnetic wave wireless communication device 60 and the image pickup device 50 are arranged coaxially with respect to the optical axis direction DL, it is easy to preferably arrange the electromagnetic wave wireless communication device 60 and the image pickup device 50 without interfering with each other. As a result, it is possible to prevent the function of the electromagnetic wave wireless communication device 60 and the function of the image pickup apparatus 50 from being restricted.

Further, according to the present embodiment, the second target 72 has a shape symmetrical to the second direction D2 orthogonal to both the optical axis direction DL and the first direction D1. Therefore, the geometric center 72p of the second target 72 can be positioned at the center of the second target 72 in the second direction D2. As a result, for example, as in the present embodiment, the second target 72 is arranged coaxially with the electromagnetic wave wireless communication device 60, and the geometric center 72p of the second target 72 is acquired in the captured image PI, whereby the electromagnetic wave wireless communication device 60 is obtained. The center position of the second direction D2 can be acquired. Therefore, in the captured image PI, the position of the portion of the electromagnetic wave wireless communication device 60 located between the transmitting unit 61 and the receiving unit 62 in the second direction D2 can be easily acquired. Therefore, by tracking the target 70a of the other tracking device 10 by the tracking device 10, the portions of the electromagnetic wave wireless communication device 60 located between the transmitting unit 61 and the receiving unit 62 can be easily opposed to each other, and the electromagnetic wave radio can be easily opposed to each other. The communication performance of the communication system 100 can be further improved.

Further, according to the present embodiment, the second target 72 has a shape symmetrical to the first direction D1 orthogonal to the optical axis direction DL. That is, the second target 72 has a shape symmetrical to both the first direction D1 and the second direction D2. Therefore, the geometric center 72p of the second target 72 can be positioned at the center of the second target 72 in both the first direction D1 and the second direction D2. As a result, for example, as in the present embodiment, the second target 72 is arranged coaxially with the electromagnetic wave wireless communication device 60, and the geometric center 72p of the second target 72 is acquired in the captured image PI, whereby the electromagnetic wave wireless communication device 60 is obtained. The center position of the first direction D1 and the second direction D2, that is, the center 60p can be acquired. Therefore, by tracking the target 70a of the other tracking device 10 by the tracking device 10, the central portions of the electromagnetic wave wireless communication device 60 can be easily opposed to each other, and the communication performance of the electromagnetic wave wireless communication system 100 can be further improved. ..

Further, according to the present embodiment, the optical axis AXo of the image pickup apparatus 50 is arranged on the circumference of the virtual circle C. Therefore, by making the center Cp of the virtual circle C overlap with the center 60p of the electromagnetic wave wireless communication device 60, the radius Rc of the virtual circle C becomes the same as the offset amount OS between the image pickup device 50 and the electromagnetic wave wireless communication device 60. can. As a result, by acquiring the virtual circle CI based on the images of the plurality of first targets 71 in the captured image PI, the offset amount OSI between the image pickup device 50 and the electromagnetic wave wireless communication device 60 in the captured image PI can be easily obtained. Can be obtained. Therefore, it is possible to easily track the target 70a using the plurality of first targets 71.

Further, according to the present embodiment, the second target 72 has a first recess 72a recessed in the first direction D1, and the image pickup apparatus 50 is located inside the first recess 72a. Therefore, while arranging a plurality of first targets 71 inside the outer edge of the second target 72, the optical axis AXo of the image pickup apparatus 50 is arranged on the circumference of the virtual circle C through which the geometric center 71p of each first target 71 passes. can do. Further, it is possible to prevent the image pickup apparatus 50 from interfering with the target member 70 provided with the second target 72. Therefore, it is possible to easily perform work such as exchanging the lens 52 of the image pickup apparatus 50. Further, since it is possible to prevent the second target 72 from increasing in size in the first direction D1, it is possible to prevent the target member 70 provided with the second target 72 from increasing in size in the first direction D1. This makes it possible to prevent the second target 72 from interfering with other parts of the tracking device main body 20 when the movable portion 40 is rotated around the second rotation axis AXp.

Further, when the target member 70 is arranged coaxially with the electromagnetic wave wireless communication device 60 by locating the image pickup device 50 in the first recess 72a, the electromagnetic wave wireless communication device 60 and the image pickup device 50 are placed in the first direction D1. Can be placed close to. Therefore, when the first direction D1 is in the vertical direction, the electromagnetic wave wireless communication device has a relatively large mass even when the electromagnetic wave wireless communication device 60 is located on the upper side in the vertical direction of the image pickup device 50. It is easy to set the position of 60 to the lower side in the vertical direction. Thereby, when the movable portion 40 is rotated around the second rotation axis AXp, the moment generated in the movable portion 40 by the electromagnetic wave wireless communication device 60 can be reduced. Therefore, the movable portion 40 to which the electromagnetic wave wireless communication device 60 and the image pickup device 50 are attached can be easily rotated around the second rotation axis AXp.

Further, according to the present embodiment, the second target 72 has a second recess 72b recessed in the first direction D1, and the first recess 72a and the second recess 72b are the first electromagnetic wave wireless communication device 60. It is arranged so as to be sandwiched in the direction D1. Therefore, it is easy to make the second target 72 have a shape symmetrical to the first direction D1.

Further, according to the present embodiment, the inner edge of the first recess 72a and the inner edge of the second recess 72b have an arc shape that is concave in opposite directions to each other, and the outer edge of the second target 72 is the first recess 72a. Both ends of the inner edge and both ends of the inner edge of the second recess 72b are connected by a pair of

arcs

72c and 72d concentric with the virtual circle C, respectively. Therefore, the second target 72 tends to have a shape symmetrical to both the first direction D1 and the second direction D2.

Further, according to the present embodiment, the movable portion 40 can rotate around the first rotation axis AXy extending in the direction intersecting the optical axis direction DL. Therefore, by rotating the movable portion 40 around the first rotation axis AXy, it is possible to easily track another tracking device 10 by the tracking device 10.

Further, according to the present embodiment, the movable portion 40 can rotate around the second rotation axis AXp that intersects the optical axis direction DL and extends in the direction orthogonal to the direction in which the first rotation axis AXy extends. Therefore, by rotating the movable portion 40 around the first rotation axis AXP and around the second rotation axis AXP, the tracking device 10 can more easily track the other tracking device 10. Further, since the movable degree of freedom of the movable portion 40 can be set to 2 degrees of freedom in each tracking device 10, the relative degree of freedom of movement of the pair of tracking devices 10 that track each other can be set to 4 degrees of freedom. As a result, the tracking devices 10 can be suitably opposed to each other. Further, as described above, even if the electromagnetic wave wireless communication device 60 is deviated from each other in the rotation direction around the axis extending in the optical axis direction DL, communication is possible as long as the central portions face each other, so that a pair of tracking is performed. Even if the relative degree of freedom of movement of the device 10 is 4 degrees of freedom, the electromagnetic wave wireless communication devices 60 can be sufficiently opposed to each other.

Further, according to the present embodiment, the control unit 30 is a movable unit 40 based on a captured image PI (image) of the target 70a and the electromagnetic wave wireless communication device 60 in another tracking device 10 imaged by the image pickup device 50. To track another tracking device 10. Therefore, by performing image processing on the captured image PI, the electromagnetic wave wireless communication device 60 of the other tracking device 10 can be easily tracked based on the target 70a.

Further, according to the present embodiment, the control unit 30 selects the target 70a to be used for tracking according to the image quality of the image of the first target 71 and the image quality of the image of the second target 72. Therefore, among the images of each target 70a reflected in the captured image PI, the image of the target 70a whose position and the like can be suitably obtained by image processing can be used to track the other tracking device 10. As a result, the tracking performance of the other tracking device 10 by the tracking device 10 can be further improved, and the communication performance of the electromagnetic wave wireless communication system 100 can be further improved.

Further, according to the present embodiment, the control unit 30 acquires the representative point RP of the electromagnetic wave wireless communication device 60 in the captured image PI based on the target 70a reflected in the captured image PI (image), and is in the captured image PI. The movable portion 40 is rotated around the first rotation axis AXy so that the first axis Fy extending in the first direction D1 overlaps with the representative point RP in the captured image PI, and in the second direction D2 in the captured image PI. The movable portion 40 is placed on the second rotation axis AXp so that the extending second axis Fx is in contact with a circle centered on the representative point RP and the offset amount OSI in the captured image PI as a radius, that is, in the present embodiment, the virtual circle CI. Rotate around. Therefore, as described in steps S1a to S1e, the electromagnetic wave wireless communication device 60 of the tracking device 10 can be made to face the electromagnetic wave wireless communication device 60 of another tracking device 10. According to this method, other tracking can be easily performed by acquiring the representative point RP, the offset amount OSI, and the virtual circle CI in the captured image PI by image processing based on the image of the target 70a in the captured image PI. The device 10 can be tracked. Therefore, the amount of image processing performed on the captured image PI can be reduced, and the load on the control unit 30 can be reduced. Further, since the positioning of the representative point RP and the virtual circle CI with respect to each axis can be performed by looking at the captured image PI, it is possible to easily perform the positioning without the need for a separate measuring device or the like. As a result, the load on the control unit 30 can be further reduced.

Further, according to the present embodiment, the control unit 30 acquires the central CpI of the virtual circle CI as the representative point RP. Therefore, if the virtual circle CI is acquired by image processing based on the images of the plurality of first targets 71 in the captured image PI, the representative point RP can be easily acquired. If the radius Rc of the virtual circle C is the same as the offset amount OS, it corresponds to the virtual circle C in the captured image PI as a circle centered on the representative point RP and having the offset amount OSI in the captured image PI as the radius. A virtual circle CI can be used. Therefore, if only the virtual circle CI can be acquired by image processing in the captured image PI, the other tracking device 10 can be easily tracked. As a result, the amount of image processing performed on the captured image PI can be further reduced, and the load on the control unit 30 can be further reduced.

Further, according to the present embodiment, the control unit 30 acquires the geometric center 72p of the second target 72 reflected in the captured image PI as the representative point RP. Therefore, when the second target 72 is selected as the target 70a used for tracking, the representative point RP of the electromagnetic wave wireless communication device 60 can be easily acquired.

Further, according to the present embodiment, the control unit 30 acquires the offset amount OSI in the captured image PI based on the image of the target 70a reflected in the captured image PI. Therefore, the offset amount OSI can be easily obtained.

Further, according to the present embodiment, the offset amount OSI in the captured image PI is the radius RcI of the virtual circle CI obtained based on the plurality of first targets 71 in the captured image PI. Therefore, by acquiring the virtual circle CI based on the plurality of first targets 71, the offset amount OSI can be easily acquired.

Further, according to the present embodiment, the entire first target 71 is located inside the outer edge of the second target 72. Therefore, it is possible to prevent the target member 70 provided with each target 70a from becoming large. As a result, it is possible to prevent the tracking device 10 from becoming large.

Further, according to the present embodiment, the outer shape of the first target 71 is circular. Therefore, it is possible to easily acquire the geometric center 71p of the first target 71 by image processing from the image of the first target 71 in the captured image PI.

Further, according to the present embodiment, the first target 71 is an annular shape. Therefore, the shape of the first target 71 can be made into a shape that is less likely to exist other than the first target 71 as compared with the circular shape. As a result, the discriminating power of the first target 71 can be improved in the captured image PI, and it is possible to suppress erroneous detection of an object other than the first target 71. On the other hand, it is possible to prevent the shape of the first target 71 from becoming complicated by making it annular. Therefore, even when the distance between the tracking devices 10 is relatively large, the control unit 30 can easily recognize the characteristics of the shape of the first target 71 in the captured image PI. As described above, by making the first target 71 an annular shape, it is possible to more preferably track another tracking device 10 using the first target 71.

Further, according to the present embodiment, the first axis Fy passes through the center of the second direction D2 in the captured image (image) PI, and the second axis Fx is the center of the first direction D1 in the captured image (image) PI. Pass through. Therefore, the point where the first axis Fy and the second axis Fx intersect can be the center of the first direction D1 and the second direction D2 in the captured image PI, and the point coincides with the optical axis AXo of the image pickup apparatus 50. Can be. As a result, the representative point RP and the virtual circle CI are relatively moved with respect to the first axis Fy and the second axis Fx in the captured image PI, thereby offsetting in the first direction D1 with respect to the optical axis AXo of the image pickup apparatus 50. It is easy to move the electromagnetic wave wireless communication device 60 arranged in the above direction to a position facing the other electromagnetic wave wireless communication device 60.

In the above description, the control unit 30 is configured to select the target 70a to be used for tracking according to the image quality of the image of the first target 71 and the image quality of the image of the second target 72. Not limited. The control unit 30 may select the target 70a used for tracking in any way.

The control unit 30 may select the target 70a used for tracking according to the distance between the two tracking devices 10. According to this configuration, the target 70a can be suitably selected according to the distance between the tracking devices 10. Specifically, when the distance between the tracking devices 10 is equal to or less than a predetermined distance, the control unit 30 selects the first target 71 as the target 70a used for tracking, and the distance between the tracking devices 10 is larger than the predetermined distance. In some cases, the second target 72 may be selected as the target 70a used for tracking. The distance between the tracking devices 10 may be measured based on the image of another tracking device 10 reflected in the captured image PI, or may be measured by another measuring device such as an optical range measuring device.

When the distance between the tracking devices 10 is relatively small, the distance between the electromagnetic wave wireless communication devices 60 is also small, and the relative position range between the electromagnetic wave wireless communication devices 60 where communication between the electromagnetic wave wireless communication devices 60 is allowed becomes narrow. Cheap. Therefore, it is necessary to align the electromagnetic wave wireless communication devices 60 with each other more accurately and to face each other as compared with the case where the distance between the tracking devices 10 is relatively large. Here, when both the first target 71 and the second target 72 are clearly reflected in the captured image PI, the annular first target 71 has more discriminating power than the second target 72. Since it is high and a plurality of them are provided, the representative point RP can be detected accurately by image processing. Therefore, when the distance between the tracking devices 10 is less than or equal to a predetermined distance, the representative point RP can be accurately acquired by selecting the first target 71 as the target 70a used for tracking, and the electromagnetic wave wireless communication devices 60 can be used with each other. Can be opposed to each other with high positional accuracy. As a result, even when the distance between the electromagnetic wave wireless communication devices 60 is small and the relative position range between the electromagnetic wave wireless communication devices 60 to which communication between the electromagnetic wave wireless communication devices 60 is permitted becomes narrow, the electromagnetic wave wireless communication devices 60 to each other are narrowed. Therefore, electromagnetic wave wireless communication can be preferably performed.

If the distance between the tracking devices 10 is relatively small, the image of the other tracking device 10 reflected in the captured image PI captured by the image pickup device 50 becomes relatively large. Therefore, the first target 71, which has a smaller area than the second target 72, can be easily transferred to the captured image PI with sufficient clarity. Therefore, even if the first target 71 is selected as the target 70a used for tracking, the representative point RP can be suitably acquired based on the first target 71.

On the other hand, when the distance between the tracking devices 10 is relatively large, the images of the other tracking devices 10 reflected in the captured image PI captured by the image pickup device 50 are relatively small. The smaller the image of the target 70a reflected in the captured image PI, the more difficult it is to identify the image of the target 70a, and the lower the accuracy of acquiring the representative point RP based on the image of the target 70a. Therefore, when the distance between the tracking devices 10 is relatively large, it is preferable to select the target 70a that appears larger in the captured image PI. In the present embodiment, when the distance between the tracking devices 10 is larger than a predetermined distance, the second target 72 having a larger area than the first target 71 is selected as the target 70a used for tracking, so that the captured image PI can be used. The representative point RP can be obtained from the second target 72, which appears relatively large in. Therefore, even when the distance between the tracking devices 10 is larger than the predetermined distance, the representative point RP can be suitably acquired, and the electromagnetic wave wireless communication devices 60 can be suitably opposed to each other.

When the distance between the tracking devices 10 is relatively large, the distance between the electromagnetic wave wireless communication devices 60 is also large, and the relative position range between the electromagnetic wave wireless communication devices 60 where communication between the electromagnetic wave wireless communication devices 60 is permitted is set. It tends to be wide. Therefore, by using the second target 72, even if the acquisition accuracy of the representative point RP is lower than the acquisition accuracy when the first target 71 is used when the distance between the tracking devices 10 is relatively small, the electromagnetic wave radio wave is used. The electromagnetic wave wireless communication devices 60 can face each other within the range in which the electromagnetic wave wireless communication is preferably performed between the communication devices 60. When the distance between the tracking devices 10 is relatively large, the first target 71, which has a smaller area than the second target 72, tends to have a lower acquisition accuracy of the representative point RP than the second target 72.

As described above, by switching the target 70a used for tracking according to the distance between the tracking devices 10, the representative point RP can be suitably acquired in the captured image PI regardless of the distance between the tracking devices 10. .. FIG. 8 is a graph showing the error Ed of the representative point RP with respect to the distance Lt between the tracking devices 10. In FIG. 8, the horizontal axis shows the distance Ld between the tracking devices 10, and the vertical axis shows the error Ed of the representative point RP. In FIG. 8, the graph shown by the alternate long and short dash line is the upper limit value EdT of the target error Ed. In FIG. 8, the graph shown by the broken line is the error Ed1 when the representative point RP is acquired by using only the first target 71 regardless of the distance Lt. In FIG. 8, the graph shown by the alternate long and short dash line is the error Ed2 when the representative point RP is acquired using only the second target 72 regardless of the distance Lt. In FIG. 8, the graph shown by the solid line is the error EdH when the target 70a is switched and the representative point RP is acquired according to the distance Lt as described above.

If the error Ed is smaller than the target upper limit value EdT of the error, the representative point RP can be suitably acquired, and the electromagnetic wave wireless communication devices 60 can be suitably opposed to each other. The upper limit value EdT increases linearly, for example, as the distance Lt increases. This is because, as described above, the larger the distance Lt, the wider the relative position range between the electromagnetic wave radio communication devices 60 to which communication between the electromagnetic wave radio communication devices 60 is allowed, and the error Ed is allowed.

As shown in FIG. 8, the error Ed1 in the case of acquiring the representative point RP using only the first target 71 regardless of the distance Lt is, for example, an upper limit EdT preferably set up to a range where the distance Lt is equal to or less than the value Ltb. On the other hand, when the distance Lt exceeds the value Ltb, it rapidly increases and exceeds the upper limit value EdT of the target error Ed. This is because, for example, when the distance Lt becomes large to some extent, the relatively small first target 71 does not appear to the extent that it can be discerned in the captured image PI.

The error Ed2 in the case of acquiring the representative point RP using only the second target 72 regardless of the distance Lt is larger than the upper limit value EdT of the target error Ed in the range where the distance Lt is smaller than the value Lta, for example. Become. On the other hand, the error Ed2 is equal to or less than the upper limit value EdT in the range where the distance Lt is the value Lta or more. This is because, in the range where the distance Lt is relatively small, the acquisition accuracy of the representative point RP is higher when the first target 71 is used than when the second target 72 is used, while the area of the second target 72 is larger than that of the first target 71. This is because the error Ed is unlikely to increase even if the distance Lt is larger than that of the first target 71. The value Lta is, for example, smaller than the value Ltb.

Since the error Ed1 when the first target 71 is used for tracking and the error Ed2 when the second target 72 is used for tracking change as described above, for example, a value between the value Lta and the value Ltb can be set. By switching the target 70a used for tracking between the first target 71 and the second target 72 as a predetermined distance, the error Ed can be set at any distance Lt as in the error EdH of the present embodiment shown by the solid line in FIG. The value can be suitably smaller than the upper limit value EdT. Therefore, the representative point RP can be accurately acquired in the captured image PI regardless of the distance Lt between the tracking devices 10, and the other tracking devices 10 can be suitably tracked. Therefore, suitable electromagnetic wave wireless communication between the electromagnetic wave wireless communication devices 60 can be realized regardless of the distance Lt between the tracking devices 10.

When switching the target 70a used for tracking according to the distance between the tracking devices 10, the control unit 30 uses the center CpI of the virtual circle CI as the representative point RP when the distance between the tracking devices 10 is equal to or less than a predetermined distance. When the distance between the tracking devices 10 is larger than the predetermined distance, the geometric center 72p of the second target 72 reflected in the captured image PI may be acquired as the representative point RP. As a result, when the target 70a is switched according to the distance between the tracking devices 10, the representative point RP can be suitably acquired based on the selected target 70a.

Further, the control unit 30 selects either the first target 71 or the second target 72 as the target 70a used for tracking according to the distance between the electromagnetic wave wireless communication devices 60 of the two tracking devices 10. You may. That is, an electromagnetic wave wireless communication method may be adopted in which either one of the first target 71 and the second target 72 is selected as the target 70a used for tracking according to the distance between the electromagnetic wave wireless communication devices 60. In this case, the control unit 30 can track the other tracking devices 10 in the same manner as in the case of selecting the target 70a according to the distance between the two tracking devices 10 described above.

Further, the control unit 30 identifies the position of the other tracking device 10 in the captured image PI (image) using the image of the second target 72 prior to the tracking based on the image of the first target 71. May be good. Since the second target 72 has a larger area than the first target 71, it is easier to identify in the captured image PI than the first target 71 regardless of the distance between the tracking devices 10. Therefore, by using the second target 72 when capturing the other tracking device 10 in the captured image PI, the other tracking device 10 can be easily captured as compared with the case where the first target 71 is used. If the distance of the tracking device 10 is relatively small, the other tracking device 10 may be tracked by using the first target 71 after capturing the other tracking device 10 in the captured image PI. As described above, the other tracking device 10 can be tracked with high accuracy. In this way, first, the large second target 72 is used to track the rough position of the other tracking device 10, and then the first target 71, which makes it easy to accurately obtain the representative point RP, is used to track the other tracking device 10. By performing tracking, it is possible to quickly and accurately track another tracking device 10. This method is more effective when the lens 52 of the image pickup apparatus 50 has a magnification changing function (telephoto function). That is, first, the imaging magnification of the imaging device 50 is set to a low magnification, the second target 72 is used to search for another tracking device 10, and then the image of the second target 72 comes to the approximate center of the frame F. A tracking method can be adopted in which the movable portion 40 is moved, and then the imaging magnification of the imaging device 50 is set to a high magnification and the tracking is switched to the tracking of another tracking device 10 using the first target 71.

Further, the control unit 30 may select the target 70a to be used for tracking based on machine learning. According to this configuration, the target 70a used for tracking can be more preferably selected. The control unit 30 sets the first target 71 and the second target 72 under various conditions such as, for example, the distance between the tracking devices 10, the relative posture between the tracking devices 10, and the external environment in which the tracking devices 10 are arranged. Machine learning is performed as to which is the most suitable for tracking, and the target 70a is selected based on the learning result. When selecting the target 70a to be used for tracking based on machine learning, the control unit 30 acquires the center CpI of the virtual circle CI as the representative point RP based on the machine learning, or is reflected in the captured image PI (image). 2 It may be selected whether to acquire the geometric center 72p of the target 72 as the representative point RP. As a result, when the target 70a is switched based on machine learning, the representative point RP can be suitably acquired based on the selected target 70a.

Further, the plurality of tracking devices 10 may include tracking devices 10 having different structures from each other. The electromagnetic wave wireless communication device 60 and the image pickup device 50 may be arranged coaxially with respect to the optical axis direction DL. In this case, the offset amount OS is 0 (zero). The electromagnetic wave wireless communication device 60 may perform only one of transmission and reception of the electromagnetic wave EW.

[Second Embodiment]
The electromagnetic wave wireless communication method of the present embodiment includes a tracking method including steps S2a to S2e shown in FIG. FIG. 9 is a flowchart showing an example of a procedure when the control unit 30 of the second embodiment tracks another tracking device 10. In the present embodiment, the control unit 30 tracks another tracking device 10 according to steps S2a to S2e shown in FIG.

Note that step S2a is the same as step S1a of the first embodiment. Step S2b is the same as step S1b of the first embodiment. Step S2c is the same as step S1c of the first embodiment.

In step S2d, the control unit 30 determines the tracking target position TP based on the acquired captured image PI. The tracking target position TP is a target position for moving the representative point RP acquired in step S2c in the captured image PI. As shown in FIG. 5, for example, the tracking target position TP is a position in the captured image PI corresponding to the center 60p of the electromagnetic wave wireless communication device 60 of the tracking device 10A for tracking. Therefore, when the representative point RP matches the tracking target position TP shown in FIG. 5, the portion corresponding to the representative point RP in the electromagnetic wave wireless communication device 60 of the other tracking device 10B, that is, the center 60p is the tracking device 10A for tracking. It is in a state of facing the center 60p of the electromagnetic wave wireless communication device 60 and the DL in the optical axis direction.

In the present embodiment, the control unit 30 determines the tracking target position TP on the captured image PI of the image pickup apparatus 50 based on the image of the target 70a and the predetermined arrangement relationship. In the present embodiment, the predetermined arrangement relationship is the arrangement relationship of the electromagnetic wave radio communication device 60, the image pickup apparatus 50, and the target 70a with respect to the predetermined representative point RP when viewed from the optical axis direction DL, and is known. ..

In the present embodiment, the control unit 30 determines the tracking target position TP based on either the image of the first target 71 or the image of the second target 72. The arrangement relationship regarding the representative point RP of the first target 71 and the arrangement relationship regarding the representative point RP of the second target 72 are known. The control unit 30 determines whether the tracking target position TP is determined based on the image of the first target 71 or the image of the second target 72, based on the image quality of the image of the first target 71 and the image of the second target 72. Determined based on the image quality of. In this case, the control unit 30 determines the tracking target position TP based on, for example, the image of the target 70a having the higher image quality. According to this method, the tracking target position TP can be suitably determined.

When the target 70a used for tracking is selected based on the image quality in step S2b, for example, the same target 70a as the target 70a selected in step S2b is selected as the target 70a used for determining the tracking target position TP. To. The target 70a used to determine the tracking target position TP may be different from the target 70a selected in step S2b.

In the present embodiment, the control unit 30 acquires the offset amount OSI in the captured image PI based on the image of the selected target 70a, and the offset amount is from the frame center Fc to the positive side (+ D1 side) of the first direction D1. The position on the first axis Fy separated by the same distance DS as OSI is determined as the tracking target position TP. Since the offset amount OS is the same in the tracking device 10A and the tracking device 10B, the first direction D1 is the same distance DS as the offset amount OSI from the frame center Fc that coincides with the optical axis AXo of the tracking device 10A in the captured image PI. The position away from the positive side (+ D1 side) is the position corresponding to the position of the center 60p of the electromagnetic wave wireless communication device 60 of the tracking device 10A. Therefore, by determining the tracking target position TP as described above, the position corresponding to the center 60p of the electromagnetic wave wireless communication device 60 of the tracking device 10A can be determined as the tracking target position TP.

Regardless of whether the image of the first target 71 is used or the image of the second target 72 is used, the control unit 30 sets the offset amount OSI in the captured image PI in the first embodiment. Can be obtained in the same way as.

In step S2e, the control unit 30 controls the movable unit 40 so that the representative point RP of the other tracking device 10B overlaps with the tracking target position TP on the captured image PI of the image pickup device 50. The control unit 30 controls the movable unit 40 around at least one rotation axis of the first rotation axis AXPy and the second rotation axis AXP, and superimposes the representative point RP on the tracking target position TP in the captured image PI. As a result, the electromagnetic wave wireless communication devices 60 of the

tracking devices

10A and 10B can face each other. The control method of the movable portion 40 when the representative point RP and the tracking target position TP are overlapped with each other is not particularly limited, and may be the same as the control method of the movable portion 40 in step S1e of the first embodiment, for example.

The electromagnetic wave wireless communication method of the present embodiment described above is the first specified in the captured image PI based on the positional relationship between the electromagnetic wave wireless communication device 60 and the first target 71 or the second target 72. The position of one electromagnetic wave wireless communication device 60 in the captured image PI captured from the image of the target 71 or the image of the second target 72 is specified, and based on the positional relationship between the other electromagnetic wave wireless communication device 60 and the image pickup device 50. Then, the tracking target position TP in the captured image PI is determined, and the position (representative point RP) of one electromagnetic wave wireless communication device 60 in the captured image PI overlaps with the tracking target position TP. It corresponds to an electromagnetic wave wireless communication method that moves 60.

Further, in the electromagnetic wave wireless communication method of the present embodiment described above, the tracking target position TP in the captured image PI is determined based on the positional relationship between the other electromagnetic wave wireless communication device 60 and the image pickup device 50, and the captured image is captured. This corresponds to an electromagnetic wave wireless communication method in which the position of one electromagnetic wave wireless communication device 60 (representative point RP) in the PI moves the other electromagnetic wave wireless communication device 60 so as to overlap with the tracking target position TP.

According to the present embodiment, in order to determine the tracking target position TP in the captured image PI, the electromagnetic wave wireless communication devices 60 are suitable for each other by moving the movable portion 40 so that the representative point RP overlaps the tracking target position TP. Can be opposed to.

Further, according to the present embodiment, the arrangement relationship of the electromagnetic wave radio communication device 60, the image pickup device 50, and the target 70a with respect to the predetermined representative point RP when viewed from the optical axis direction DL is known. Therefore, by determining the tracking target position TP on the captured image PI based on the image of the target 70a in the captured image PI and their arrangement relationship, it is possible to determine the tracking target position TP in a suitable and easy manner. can.

Further, according to the present embodiment, the control unit 30 determines the tracking target position TP based on either the image of the first target 71 or the image of the second target 72. Therefore, the determination of the tracking target position TP can be more preferably performed by appropriately determining which target 70a the tracking target position TP is to be determined based on.

In the present embodiment, the control unit 30 determines whether the tracking target position TP is determined based on the image of the first target 71 or the image of the second target 72, depending on the distance between the two tracking devices 10. It may be decided based on. In this case, for example, when the distance between the tracking devices 10 is equal to or less than a predetermined distance, the control unit 30 determines the tracking target position TP based on the image of the first target 71, and the distance between the tracking devices 10 is a predetermined distance. If it is larger than, the tracking target position TP may be determined based on the image of the second target 72. According to this method, the tracking target position TP can be suitably determined.

Further, in the present embodiment, the control unit 30 may determine by machine learning whether to determine the tracking target position TP based on the image of the first target 71 or the image of the second target 72. According to this method, the target 70a capable of more preferably determining the tracking target position TP can be suitably selected according to the captured image PI by machine learning. Therefore, by overlapping the tracking target position TP and the representative point RP, the electromagnetic wave wireless communication devices 60 can be more preferably opposed to each other.

Further, in the present embodiment, the control unit 30 may select the target 70a used for determining the tracking target position TP in step S2d regardless of the captured image PI. In this case, the control unit 30 selects, for example, the target 70a selected as the target 70a used for tracking in step S2b as the target 70a used for determining the tracking target position TP.

[Third Embodiment]
FIG. 10 is a diagram showing a target member 270 of the present embodiment. The target 270a provided on the target member 270 includes a light emitting unit 274 capable of emitting light and a second target 72. The light emitting unit 274 is, for example, a light emitting diode (LED) or the like. The light emitting unit 274 is attached to the surface on the front side (+ X side) of the target member 270.

In this embodiment, a plurality of light emitting units 274 are provided. For example, four light emitting units 274 are provided. In this embodiment, four light emitting units 274 are provided instead of the four first targets 71 of the above-described embodiment. The four light emitting units 274 are arranged at the same positions as the positions of the four first targets 71 of the above-described embodiment. The center 274p seen from the optical axis direction DL of the light emitting unit 274 is arranged on the circumference of the virtual circle C similar to the above-described embodiment.

According to the present embodiment, the target 270a includes a light emitting unit 274 capable of emitting light. Therefore, the representative point RP of the electromagnetic wave wireless communication device 60 can be suitably acquired based on the light emitting unit 274 that emits light in the photographed image PI captured by the image pickup apparatus 50. Further, for example, the posture of the target 270a can be easily detected by changing the light emitting pattern of each light emitting unit 274.

The light emitting unit 274 may be provided with the target member 270 together with the first target 71. In this case, the light emitting unit 274 may be arranged inside, for example, the annular first target 71. The light emitting unit 274 is, for example, in a state where the tracking of the tracking devices 10 is completed and the electromagnetic wave wireless communication devices 60 face each other, that is, in a state where the electromagnetic wave wireless communication devices 60 can perform electromagnetic wave wireless communication. It may emit light. As a result, it is possible to transmit to the outside that the electromagnetic wave wireless communication between the electromagnetic wave wireless communication devices 60 has become possible.

<Tracking system>
In the following description, the same configurations as those described above may be omitted by appropriately assigning the same reference numerals or the like.
FIG. 11 is a schematic configuration diagram schematically showing the tracking system 300 of the present embodiment. As shown in FIG. 11, the tracking system 300 includes a target device 310B having a target 370a and a tracking device 310A capable of tracking the target device 310B.

In the present embodiment, the target device 310B includes an electromagnetic wave wireless communication device 360B that transmits and receives an electromagnetic wave EW. A representative point TRP, which is a target of the electromagnetic wave EW, is set in the electromagnetic wave wireless communication device 360B. As a result, the target device 310B is set with the representative point TRP that is the target of the electromagnetic wave EW. The target device 310B does not have the movable unit 40 and the image pickup device 50, unlike the tracking device 10B of the electromagnetic wave wireless communication system 100 described above. That is, the target device 310B does not have a tracking function. The target 370a provided in the target device 310B is the same as the target 70a of the electromagnetic wave wireless communication system 100 described above. That is, the target 370a includes the first target 71 and the second target 72. The target device 310B has a control unit 330B that controls the electromagnetic wave radio communication device 360B.

The tracking device 310A includes a movable portion 40, an electromagnetic wave device 360A attached to the movable portion 40 to transmit and receive electromagnetic wave EW, and an image pickup device 50 attached to the movable portion 40 to image the target 70a in the target device 310B. , And a control unit 330A. The electromagnetic wave device 360A is provided in place of the electromagnetic wave wireless communication device 60 of the electromagnetic wave wireless communication system 100 described above. The electromagnetic wave device 360A is, for example, an electromagnetic wave radio communication device similar to the above-mentioned electromagnetic wave radio communication device 60. The electromagnetic wave device 360A and the image pickup device 50 are arranged on the movable portion 40 non-coaxially with respect to the optical axis direction DL of the image pickup device 50. That is, the electromagnetic wave device 360A and the image pickup device 50 are arranged so as to be offset from each other in the first direction D1 orthogonal to the optical axis direction DL of the image pickup device 50. The tracking device 310A does not have a target 70a, unlike the tracking device 10A of the electromagnetic wave wireless communication system 100 described above. As the configuration of the electromagnetic wave device 360A, the same configuration as that of the electromagnetic wave wireless communication device 60 described in each of the above-described embodiments can be adopted.

The control unit 330A controls the movable unit 40 based on the captured image (image) of the target 370a imaged by the image pickup device 50 to track the target device 310B. The control unit 330A tracks the target device 310B by using any of the tracking methods described in the case where the tracking device 10A performs the tracking device 10B in the first embodiment and the second embodiment described above.

In the tracking method performed in the present embodiment, the tracking device 310A corresponds to the tracking device 10A when the tracking method is described in the first embodiment and the second embodiment, and the target device 310B is the first embodiment and the first embodiment. 2 Corresponds to the tracking device 10B when the tracking method is described in the embodiment.

In the present embodiment, the first arrangement relationship between the electromagnetic wave device 360A and the image pickup device 50 as seen from the optical axis direction DL is known, and the second arrangement relationship between the representative point TRP of the target device 310B and the target 370a is known. be. The control unit 330A may control the movable unit 40 to track the target device 310B based on the image of the target 370a imaged by the image pickup device 50, the first arrangement relationship, and the second arrangement relationship. good. In this case, the control unit 330A represents the target device 310B in the captured image (image) based on the image of the target 370a imaged by the image pickup device 50 and the second arrangement relationship between the target 370a and the representative point TRP. The point TRP is specified, and the offset amount OSI between the electromagnetic wave device 360A and the image pickup device 50 is acquired based on the first arrangement relationship between the electromagnetic wave device 360A and the image pickup device 50 as seen from the optical axis direction DL, and the captured image (image). ), The movable portion 40 is rotated around the first rotation axis AXy so that the first axis Fy extending in the first direction D1 overlaps the representative point TRP in the photographed image (image), and is in the photographed image (image). The movable portion 40 may be rotated around the second rotation axis AXp so that the second axis Fx extending in the second direction D2 is in contact with a circle centered on the representative point TRP and having an offset amount OSI as a radius.

Further, when the control unit 330A determines the tracking target position TP as in the second embodiment described above, the tracking target position on the captured image (image) is based on the first arrangement relationship and the second arrangement relationship. Determine the TP. The second placement relationship known in the present embodiment includes the placement relationship between the first target 71 and the second target 72 with respect to the representative point TRP. When the control unit 330A determines the tracking target position TP, the control unit 330A determines the tracking target position TP based on either the first target 71 or the second target 72.

The electromagnetic wave device 360A may be an optical ranging device that measures a distance by transmitting a light beam and receiving reflected light. In this case, the light source of the optical ranging device may be, for example, an optical frequency comb. Further, in this case, the target device 310B may include a reflecting device that reflects the light beam transmitted from the electromagnetic wave device 360A instead of the electromagnetic wave wireless communication device 360B. The reflector is, for example, a retroreflector. In this case, the light beam reflected by the reflecting device is received as reflected light by the electromagnetic wave device 360A as the optical ranging device. As a result, the distance from the tracking device 310A to the target device 310B can be measured by the electromagnetic wave device 360A. Further, in this case, the representative point TRP is set to the reflecting device. Therefore, by tracking the target device 310B by the tracking device 310A, the reflecting device and the electromagnetic wave device 360A as the optical ranging device can be arranged so as to face each other. Thereby, the distance between the tracking device 310A and the target device 310B can be suitably measured by using the electromagnetic wave device 360A and the reflecting device.

The electromagnetic wave device 360A may be an electromagnetic wave wireless communication device that transmits and receives electromagnetic wave EW, and the target device 310B may include an electromagnetic wave wireless communication device that transmits and receives electromagnetic wave EW. The electromagnetic wave device 360A may be a laser tracker. The representative point TRP as a tracking target may be set to the target 370a. The target 370a may have a light emitting unit capable of emitting light as in the third embodiment.

As the tracking method using the tracking system 300 described above, any of the tracking methods in each of the above-described embodiments can be adopted.
The tracking method using the tracking system 300 of the present embodiment is a tracking method for tracking a target (target device 310B) of the electromagnetic wave device 360A that transmits and receives at least one of the electromagnetic wave EW with the electromagnetic wave device 360A. The target 370a associated with the target is imaged by the imaging device 50 associated with the electromagnetic wave device 360A, and the position of the target in the captured image (image) from the image of the target 370a in the captured image (image). This is a tracking method for directing the electromagnetic wave device 360A toward the target based on the position of the specified target and the positional relationship between the electromagnetic wave device 360A and the image pickup device 50. In the present embodiment, the target of the electromagnetic wave device 360A is the target device 310B.

As described above, since the target 370a includes the first target 71 and the second target 72, the tracking method using the tracking system 300 of the present embodiment includes the first target 71 and the first target 71 associated with the target (target device 310B). The two targets 72 are imaged by the image pickup device 50 associated with the electromagnetic wave device 360A, and are based on either the image of the first target 71 or the image of the second target 72 in the captured image (image). This is a method of identifying the position of the target in the captured image (image) and directing the electromagnetic wave device 360A toward the target.

In the tracking method using the tracking system 300, the target 370a used for tracking may be selected from the first target 71 and the second target 72 according to the distance between the target (target device 310B) and the electromagnetic wave device 360A. good. Further, in the tracking method using the tracking system 300, the position of the target (target device 310B) may be specified by using the image of the second target 72 prior to the tracking based on the image of the first target 71. In the tracking method using the tracking system 300, the tracking target position TP in the captured image (image) is determined based on the positional relationship between the electromagnetic wave device 360A and the imaging device 50, and the target (target) in the captured image (image) is determined. The electromagnetic wave device 360A may be moved so that the image of the device 310B) overlaps the tracking target position TP.

In the electromagnetic wave wireless communication system and the tracking system of the above-described embodiment, the target is not particularly limited. The target may or may not have either a first target or a second target. In addition to the first target and the second target, the target may include other targets different from the first target and the second target. The shape of the first target and the shape of the second target are not particularly limited. The shape of the first target may be triangular. The shape of the second target may be symmetrical in only one of the first direction and the second direction, and may be asymmetrical in either of the other directions. In this case, the geometric center 72p of the second target 72 does not necessarily have to overlap with the center 60p of the electromagnetic wave wireless communication device 60 (center Cp of the virtual circle C). In this case, instead, the positional relationship between the shape of the second target 72 and the center 60p of the electromagnetic wave wireless communication device 60 (center Cp of the virtual circle C) may be a known relationship and stored.

The shape of the first target and the shape of the second target may be the same, and the size of the first target and the size of the second target may be different from each other. In this case, for example, the second target is larger than the first target. The number of the first targets is not particularly limited, and may be 1 or more, 3 or less, or 5 or more. The first target and the second target may be separately provided on different members. For example, the first target member provided with the first target and the second target member provided with the second target may be attached to the movable portion, respectively.

In the electromagnetic wave wireless communication system and the tracking system of the above-described embodiment, the movable portion is not particularly limited as long as it is a movable portion. The movable portion may be rotatable around only one axis, or may be rotatable around three or more axes. The movable portion may be movable by a moving method other than rotation. The movable portion may be, for example, linearly movable in a predetermined direction.

In the electromagnetic wave wireless communication system and the tracking system of the above-described embodiment, the tracking device may have a gyro stabilizer. In this case, the gyro stabilizer holds the posture of the tracking device so that the image pickup device is horizontal.
Each configuration and each method of the present specification described above can be appropriately combined within a range that does not contradict each other.

10, 10A, 10B, 310A ...

Tracking device

30, 330A, 330B ... Control unit 40 ... Movable unit 50 ...

Image pickup device

60, 360B ... Electromagnetic wave wireless communication device 61 ... Transmission unit 62 ...

Receiver unit

70a, 270a, 370a ... Target 71 ...

1st target

71p, 72p ... Geometric center 72 ... 2nd target 72a ... 1st recess 72b ...

2nd recess

72c, 72d ... Arc 100 ... Electromagnetic wave wireless communication system 274 ... Light emitting unit 300 ... Tracking system 310B ... Target device 360A ... Electromagnetic wave device AXo ... Optical axis AXp ... 2nd rotation axis AXy ... 1st rotation axis C, CI ... Virtual circle D1 ... 1st direction D2 ... 2nd direction DL ... Optical axis direction EW ... Electromagnetic wave Fx ... 2nd axis Fy ... 1-axis L1, L2 ... Straight line OS, OSI ... Offset amount PI ... Photographed image (image)
Rc, RcI ... Radius RP, TRP ... Representative point TP ... Tracking target position

Claims

Equipped with multiple tracking devices that can track each other's position,
Each of the plurality of tracking devices
Moving parts and
An electromagnetic wave wireless communication device attached to the movable part and performing at least one of transmission and reception of electromagnetic waves, and
A target provided on the movable part and tracked by the other tracking device,
An image pickup device attached to the movable portion and imaging the target in the other tracking device, and an image pickup device.
Have,
The target is
With the first target
A second target having a shape different from that of the first target,
Including electromagnetic radio communication system.
The electromagnetic wave wireless communication system according to claim 1, wherein the second target has a longer traceable distance by the tracking device than the first target.
The electromagnetic wave wireless communication system according to claim 1 or 2, wherein the second target has a larger area than the first target.
A plurality of the first targets are provided, and the first target is provided.
The plurality of first targets are arranged on the circumference of the same virtual circle, and the plurality of first targets are arranged on the circumference of the same virtual circle.
The electromagnetic wave wireless communication system according to any one of claims 1 to 3, wherein the electromagnetic wave wireless communication device is arranged so as to overlap the center of the virtual circle.
The electromagnetic wave wireless communication system according to claim 4, wherein each of the plurality of geometric centers of the first target is arranged on the circumference of the virtual circle.
The electromagnetic wave wireless communication system according to claim 4 or 5, wherein the geometric center of the second target overlaps with the electromagnetic wave wireless communication device.
Equipped with multiple tracking devices that can track each other's position,
Each of the plurality of tracking devices
Moving parts and
An electromagnetic wave wireless communication device attached to the movable part and performing at least one of transmission and reception of electromagnetic waves, and
A target provided on the movable part and tracked by the other tracking device,
An image pickup device attached to the movable portion and imaging the target in the other tracking device, and an image pickup device.
Have,
The target is
With multiple primary targets,
With the second target
Including
The plurality of first targets are arranged on the circumference of the same virtual circle, and the plurality of first targets are arranged on the circumference of the same virtual circle.
The electromagnetic wave wireless communication device is arranged so as to overlap the center of the virtual circle.
The geometric center of the second target is an electromagnetic wave wireless communication system that overlaps with the electromagnetic wave wireless communication device.
The electromagnetic wave wireless communication system according to claim 6 or 7, wherein the geometric center of the second target overlaps with the center of the virtual circle.
Equipped with multiple tracking devices that can track each other's position,
Each of the plurality of tracking devices
Moving parts and
An electromagnetic wave wireless communication device attached to the movable part and performing at least one of transmission and reception of electromagnetic waves, and
A target provided on the movable part and tracked by the other tracking device,
An image pickup device attached to the movable portion and imaging the target in the other tracking device, and an image pickup device.
Have,
The target is
With multiple primary targets,
With the second target
Including
The plurality of first targets are arranged on the circumference of the same virtual circle, and the plurality of first targets are arranged on the circumference of the same virtual circle.
The electromagnetic wave wireless communication system whose geometric center of the second target overlaps with the center of the virtual circle.
The electromagnetic wave wireless communication device is
A transmitter that transmits electromagnetic waves and
A receiver that receives electromagnetic waves and
Have,
The transmitting unit and the receiving unit are arranged side by side.
The electromagnetic wave wireless communication system according to any one of claims 4 to 9, wherein a portion of the electromagnetic wave wireless communication device located between the transmitting unit and the receiving unit overlaps the center of the virtual circle. ..
The electromagnetic wave according to any one of claims 4 to 10, wherein the electromagnetic wave wireless communication device and the image pickup device are arranged so as to be offset by an offset amount in a first direction orthogonal to the optical axis direction of the image pickup device. Wireless communication system.
The electromagnetic wave wireless communication system according to claim 11, wherein the second target has a shape symmetrical in a second direction orthogonal to both the optical axis direction and the first direction.
The electromagnetic wave wireless communication system according to claim 12, wherein the second target has a shape symmetrical to the first direction.
The electromagnetic wave wireless communication system according to any one of claims 11 to 13, wherein the optical axis of the image pickup apparatus is arranged on the circumference of the virtual circle.
The second target has a first recess that is recessed in the first direction.
The electromagnetic wave wireless communication system according to any one of claims 11 to 14, wherein the image pickup apparatus is located inside the first recess.
The second target has a second recess that is recessed in the first direction.
The electromagnetic wave wireless communication system according to claim 15, wherein the first recess and the second recess are arranged so as to sandwich the electromagnetic wave wireless communication device in the first direction.
The inner edge of the first recess and the inner edge of the second recess have an arc shape that is concave in opposite directions.
The outer edge of the second target has a shape in which both ends of the inner edge of the first recess and both ends of the inner edge of the second recess are connected by a pair of arcs concentric with the virtual circle. Item 16. The electromagnetic wave wireless communication system according to Item 16.
The electromagnetic wave wireless communication system according to any one of claims 11 to 17, wherein the movable portion can rotate around a first rotation axis extending in a direction intersecting the optical axis direction.
The electromagnetic wave wireless communication system according to claim 18, wherein the movable portion is rotatable around a second rotation axis that intersects the optical axis direction and extends in a direction orthogonal to the direction in which the first rotation axis extends. ..
The tracking device has a control unit and has a control unit.
The control unit controls the movable unit to track the other tracking device based on the image of the target and the electromagnetic wave wireless communication device in the other tracking device captured by the image pickup device. Item 19. The electromagnetic wave wireless communication system according to Item 19.
The image includes an image of the first target and an image of the second target.
The electromagnetic wave wireless communication system according to claim 20, wherein the control unit selects a target to be used for tracking according to the image quality of the image of the first target and the image quality of the image of the second target.
The electromagnetic wave wireless communication system according to claim 20, wherein the control unit selects a target to be used for tracking according to the distance between the two tracking devices.
20. Electromagnetic wave wireless communication system.
The control unit
Based on the target reflected in the image, the representative points of the electromagnetic wave wireless communication device in the image are acquired.
The movable portion is rotated around the first rotation axis so that the first axis extending in the first direction in the image overlaps with the representative point in the image.
The movable portion is moved so that the second axis extending in the second direction orthogonal to the first direction in the image is in contact with a circle centered on the representative point and having the offset amount as a radius in the image. The electromagnetic wave radio communication system according to any one of claims 20 to 23, which is rotated around a second rotation axis.
The electromagnetic wave wireless communication system according to claim 24, wherein the control unit acquires the center of the virtual circle as the representative point.
The electromagnetic wave wireless communication system according to claim 24 or 25, wherein the control unit acquires the geometric center of the second target reflected in the image as the representative point.
The control unit
When the distance between the tracking devices is equal to or less than a predetermined distance, the center of the virtual circle is acquired as the representative point.
The electromagnetic wave wireless communication according to any one of claims 24 to 26, wherein when the distance between the tracking devices is larger than a predetermined distance, the geometric center of the second target reflected in the image is acquired as the representative point. system.
Based on machine learning, the control unit selects whether to acquire the center of the virtual circle as the representative point or the geometric center of the second target reflected in the image as the representative point. Item 2. The electromagnetic wave radio communication system according to any one of Items 24 to 27.
The electromagnetic wave wireless communication system according to any one of claims 24 to 28, wherein the control unit acquires the offset amount in the image based on the image of the target reflected in the image.
The electromagnetic wave wireless communication system according to claim 29, wherein the offset amount in the image is the radius of the virtual circle obtained based on the plurality of first targets in the image.
The electromagnetic wave wireless communication system according to any one of claims 1 to 30, wherein the entire first target is located inside the outer edge of the second target.
The electromagnetic wave wireless communication system according to any one of claims 1 to 31, wherein the first target is an annular shape.
Equipped with multiple tracking devices that can track each other's position,
Each of the tracking devices
Moving parts and
An electromagnetic wave wireless communication device attached to the movable part and performing at least one of transmission and reception of electromagnetic waves, and
A target provided on the movable part and tracked by the other tracking device,
An image pickup device attached to the movable portion and imaging the target in the other tracking device, and an image pickup device.
A control unit that controls the movable unit and
Have,
The electromagnetic wave wireless communication device and the image pickup device are arranged so as to be offset by an offset amount in the first direction orthogonal to the optical axis direction of the image pickup device.
The movable part is
Around the first rotation axis extending in the direction intersecting the optical axis direction,
Around the second rotation axis that intersects the optical axis direction and extends in a direction orthogonal to the direction in which the first rotation axis extends.
Can rotate to
The control unit
The image pickup device acquires an image of the target and the electromagnetic wave wireless communication device in the other tracking device.
Based on the target reflected in the image, the representative points of the electromagnetic wave wireless communication device in the image are acquired.
The movable portion is rotated around the first rotation axis so that the first axis extending in the first direction in the image overlaps with the representative point in the image.
The movable portion is moved so that the second axis extending in the second direction orthogonal to the first direction in the image is in contact with a circle centered on the representative point and having the offset amount as a radius in the image. An electromagnetic radio communication system that rotates around the second rotation axis.
The first axis passes through the center of the second direction in the image.
The electromagnetic wave wireless communication system according to any one of claims 24 to 30, 33, wherein the second axis passes through the center of the first direction in the image.
The tracking device has a control unit and has a control unit.
One of claims 1 to 3, wherein the control unit controls the movable unit to track the other tracking device based on the image of the target in the other tracking device imaged by the image pickup device. The electromagnetic wave wireless communication system according to claim 1.
The electromagnetic wave wireless communication device and the image pickup device are arranged non-coaxially with respect to the optical axis direction of the image pickup device.
The electromagnetic wave wireless communication system according to claim 35, wherein the arrangement relationship of the electromagnetic wave wireless communication device, the image pickup device, and the target with respect to a predetermined representative point when viewed from the optical axis direction is known.
The electromagnetic wave wireless communication system according to claim 36, wherein the control unit determines a tracking target position on a captured image of the image pickup device based on the image of the target and the arrangement relationship.
The arrangement relationship of the first target with respect to the representative point and the arrangement relationship of the second target with respect to the representative point are known.
The electromagnetic wave wireless communication system according to claim 37, wherein the control unit determines the tracking target position based on either the image of the first target and the image of the second target.
The electromagnetic wave wireless communication system according to claim 38, wherein the control unit selects a target to be used for tracking according to the image quality of the image of the first target and the image quality of the image of the second target.
The electromagnetic wave wireless communication system according to claim 38 or 39, wherein the control unit selects a target to be used for tracking according to the distance between the two tracking devices.
38. Electromagnetic wave wireless communication system.
One of claims 38 to 40, wherein the control unit determines by machine learning whether to determine the tracking target position based on the image of the first target or the image of the second target. The electromagnetic wave wireless communication system described in.
The electromagnetic wave radio according to any one of claims 37 to 42, wherein the control unit controls the movable unit so that the representative point of the other tracking device overlaps the tracking target position on the captured image. Communications system.
Equipped with multiple tracking devices that can track each other's position,
Each of the tracking devices
Moving parts and
An electromagnetic wave wireless communication device attached to the movable part and performing at least one of transmission and reception of electromagnetic waves, and
A target provided on the movable part and tracked by the other tracking device,
An image pickup device attached to the movable portion and imaging the target in the other tracking device, and an image pickup device.
Control unit and
Have,
The control unit is an electromagnetic wave wireless communication system that controls the movable unit to track the other tracking device based on the image of the target in the other tracking device imaged by the image pickup device.
The electromagnetic wave wireless communication device and the image pickup device are arranged non-coaxially with respect to the optical axis direction of the image pickup device.
The electromagnetic wave wireless communication system according to claim 44, wherein the arrangement relationship of the electromagnetic wave wireless communication device, the image pickup device, and the target with respect to a predetermined representative point when viewed from the optical axis direction is known.
The electromagnetic wave wireless communication system according to claim 45, wherein the control unit determines a tracking target position on a captured image of the image pickup device based on the image of the target and the arrangement relationship.
The electromagnetic wave wireless communication system according to claim 45 or 46, wherein the control unit controls the movable unit so that the representative point of the other tracking device overlaps with the tracking target position on the captured image of the imaging device.
The electromagnetic wave wireless communication system according to any one of claims 1 to 47, wherein the target includes a light emitting unit capable of emitting light.
An electromagnetic wave wireless communication method for communicating using the electromagnetic wave wireless communication system according to any one of claims 1 to 48.
It is an electromagnetic wave wireless communication method that communicates between electromagnetic wave wireless communication devices.
The first target and the second target associated with one electromagnetic wave wireless communication device are imaged by an imaging device associated with another electromagnetic wave wireless communication device.
The image of the first target and the image of the second target in the captured image are identified.
An electromagnetic wave radio communication method for directing the other electromagnetic wave radio communication device toward the one electromagnetic wave radio communication device based on either one of the specified image of the first target and the image of the second target.
The electromagnetic wave wireless communication method according to claim 50, wherein a target to be used for tracking is selected according to the image quality of the image of the first target and the image quality of the image of the second target captured by the image pickup apparatus.
The electromagnetic wave wireless communication method according to claim 50 or 51, wherein either one of the first target and the second target is selected as a target to be used for tracking according to the distance between the electromagnetic wave wireless communication devices.
An image taken from the specified image of the first target or the image of the second target based on the positional relationship between the electromagnetic wave radio communication device and the first target or the second target. Identify the position of the above-mentioned electromagnetic wave wireless communication device in the inside,
Based on the positional relationship between the other electromagnetic wave wireless communication device and the image pickup device, the tracking target position in the captured image is determined.
The electromagnetic wave radio according to any one of claims 50 to 52, wherein the other electromagnetic wave radio communication device is moved so that the position of the one electromagnetic wave radio communication device in the captured image overlaps with the tracking target position. Communication method.
It is an electromagnetic wave wireless communication method that communicates between electromagnetic wave wireless communication devices.
The target associated with one electromagnetic wave radio communication device is imaged by the image pickup device associated with another electromagnetic wave radio communication device.
From the captured image of the target, the position of one of the electromagnetic wave radio communication devices in the captured image is specified.
Based on the position of the one electromagnetic wave radio communication device specified and the positional relationship between the other electromagnetic wave radio communication device and the image pickup device, the other electromagnetic wave radio communication device is referred to as the one electromagnetic wave radio communication device. An electromagnetic wave wireless communication method that points in the direction of.
Based on the positional relationship between the other electromagnetic wave wireless communication device and the image pickup device, the tracking target position in the captured image is determined.
The electromagnetic wave radio communication method according to claim 54, wherein the other electromagnetic wave radio communication device is moved so that the position of the one electromagnetic wave radio communication device in the captured image overlaps with the tracking target position.
A tracking system including a target device having a target and a tracking device capable of tracking the target device.
The tracking device is
Moving parts and
An electromagnetic wave device attached to the movable part and performing at least one of transmission and reception of electromagnetic waves, and an electromagnetic wave device.
An image pickup device attached to the movable portion and taking an image of the target in the target device,
Have,
A representative point that is a target of the electromagnetic wave is set in the target device, and the target device is set.
The target is
With the first target
A second target having a shape different from that of the first target,
Including tracking system.
The tracking system according to claim 56, wherein the second target has a longer traceable distance by the tracking device than the first target.
The tracking system according to claim 56 or 57, wherein the second target has a larger area than the first target.
The tracking device has a control unit and has a control unit.
The tracking system according to any one of claims 56 to 58, wherein the control unit controls the movable unit to track the target device based on an image of the target captured by the image pickup device.
The image includes an image of the first target and an image of the second target.
The tracking system according to claim 59, wherein the control unit selects a target to be used for tracking according to the image quality of the image of the first target and the image quality of the image of the second target.
The tracking system according to claim 59 or 60, wherein the control unit selects a target to be used for tracking according to a distance between the target device and the tracking device.
Any of claims 59 to 61, wherein the control unit identifies the position of another tracking device in the image using the image of the second target prior to tracking based on the image of the first target. The tracking system described in one item.
The control unit according to any one of claims 59 to 62, wherein the control unit determines whether to determine a tracking target position on the image based on whether the first target or the second target is determined by machine learning. Tracking system.
The electromagnetic wave device and the image pickup device are arranged non-coaxially with respect to the optical axis direction of the image pickup device.
The first arrangement relationship between the electromagnetic wave device and the image pickup device as seen from the optical axis direction is known.
The tracking system according to any one of claims 59 to 63, wherein the second arrangement relationship between the representative point of the target device and the target is known.
The tracking system according to claim 64, wherein the control unit determines a tracking target position on the image based on the first arrangement relationship and the second arrangement relationship.
The known second placement relationship includes a placement relationship between the first target and the second target with respect to the representative point.
The tracking system according to claim 65, wherein the control unit determines the tracking target position based on either the first target or the second target.
The tracking system according to claim 65 or 66, wherein the control unit controls the movable unit so that the representative point of the target device overlaps with the tracking target position on the image.
A plurality of the first targets are provided, and the first target is provided.
The tracking system according to any one of claims 56 to 67, wherein the geometric center of the first target is arranged on the circumference of a virtual circle centered on the representative point.
The tracking system according to claim 68, wherein the geometric center of the second target overlaps with the representative point.
The tracking system according to claim 69, wherein the second target has a shape symmetrical with respect to a straight line including the diameter of a virtual circle centered on the representative point.
The tracking system according to claim 70, wherein the second target has a shape symmetrical with respect to another straight line orthogonal to the one straight line.
A tracking system including a target device having a target set with a representative point as a tracking target and a tracking device capable of tracking the target device.
The tracking device is
Moving parts and
An electromagnetic wave device attached to the movable part and performing at least one of transmission and reception of electromagnetic waves, and an electromagnetic wave device.
An image pickup device attached to the movable portion and taking an image of the target in the target device,
Control unit and
Have,
The electromagnetic wave device and the image pickup device are arranged on the movable portion non-coaxially with respect to the optical axis direction of the image pickup device.
The first arrangement relationship between the electromagnetic wave device and the image pickup device as seen from the optical axis direction is known, and the second arrangement relationship between the target and the representative point is known.
The control unit controls the movable unit to track the target device based on the image of the target captured by the image pickup device, the first arrangement relationship, and the second arrangement relationship. system.
The tracking system according to any one of claims 60 to 72, wherein the electromagnetic wave device and the image pickup device are arranged so as to be offset in a first direction orthogonal to the optical axis direction of the image pickup device.
The tracking system according to claim 73, wherein the movable portion is rotatable around a first rotation axis extending in a direction intersecting the optical axis direction.
The tracking system according to claim 74, wherein the movable portion is rotatable around a second rotation axis that intersects the optical axis direction and extends in a direction orthogonal to the direction in which the first rotation axis extends.
The tracking device has a control unit and has a control unit.
The control unit
Based on the image of the target captured by the image pickup device and the second arrangement relationship between the target and the representative point, the representative point of the target device in the image is specified.
Based on the first arrangement relationship between the electromagnetic wave device and the image pickup device as seen from the optical axis direction, the offset amount between the electromagnetic wave device and the image pickup device is acquired.
The movable portion is rotated around the first rotation axis so that the first axis extending in the first direction in the image overlaps with the representative point in the image.
In the image, the movable portion is rotated around the second rotation axis so that the second axis extending in the second direction orthogonal to the first direction is in contact with a circle centered on the representative point and having the offset amount as a radius. The tracking system according to claim 75, which is rotated to.
The electromagnetic wave device is an electromagnetic wave wireless communication device that transmits and receives at least one of electromagnetic waves.
The target device includes an electromagnetic wave radio communication device that transmits and receives at least one of electromagnetic waves.
The tracking system according to any one of claims 56 to 76, wherein the representative point is set in the electromagnetic wave wireless communication device of the target device.
The tracking system according to any one of claims 56 to 77, wherein the electromagnetic wave device is an optical ranging device that measures a distance by transmitting a light beam and receiving reflected light.
The target device includes a reflector that reflects the light beam.
The tracking system according to claim 78, wherein the representative point is set in the reflection device.
The tracking system according to any one of claims 56 to 79, wherein the target has a light emitting unit capable of emitting light.
A tracking method using the tracking system according to any one of claims 56 to 80.
A tracking method in which the target of an electromagnetic wave device that transmits and receives at least one of electromagnetic waves is tracked by the electromagnetic wave device.
The first target and the second target associated with the target are imaged by the imaging device associated with the electromagnetic wave device.
The position of the target in the image is specified based on either the image of the first target or the image of the second target in the captured image.
A tracking method for directing the electromagnetic wave device toward the target.
The tracking method according to claim 82, wherein a target to be used for tracking is selected according to the image quality of the image of the first target and the image quality of the image of the second target in the captured image.
The tracking method according to claim 82 or 83, wherein the target used for tracking is selected from the first target and the second target according to the distance between the target and the electromagnetic wave device.
The tracking method according to claim 82, wherein the position of the target is specified by using the image of the second target prior to the tracking based on the image of the first target.
Based on the positional relationship between the electromagnetic wave device and the image pickup device, the tracking target position in the image is determined.
The tracking method according to any one of claims 82 to 85, wherein the electromagnetic wave device is moved so that the image of the target in the image overlaps with the tracking target position.
A tracking method in which the target of an electromagnetic wave device that transmits and receives at least one of electromagnetic waves is tracked by the electromagnetic wave device.
The target associated with the target is imaged by the imaging device associated with the electromagnetic wave device, and the target is imaged.
From the image of the target in the captured image, the position of the target in the image is specified.
A tracking method for directing the electromagnetic wave device toward the target based on the identified position of the target and the positional relationship between the electromagnetic wave device and the image pickup device.
A tracking target position in the image is determined based on the positional relationship between the electromagnetic wave device and the image pickup device.
The tracking method according to claim 87, wherein the electromagnetic wave device is moved so that the image of the target in the image overlaps with the tracking target position.