Position estimation device, forklift, position estimation method and program

Abstract

To provide a position estimation device, a position estimation method and a program, configured to perform positioning while reducing the influence of a mast, and the like, reflected in an image in positioning of a forklift using the image.SOLUTION: In a forklift 1, a position estimation device 20 that estimates a position of a vehicle equipped with a camera 12 includes: a position estimation unit configured to estimate a position of a vehicle 2 by performing image processing on an image captured by the camera 12; and a load control unit configured to control processing load of the image processing by controlling the timing of the image processing performed by the position estimation unit and / or the image to be subjected to the image processing.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a position estimation device, a forklift, a position estimation method, and a program. [Background technology]

[0002] Patent Document 1 discloses a position estimation method in which a camera installed on a forklift captures images of the surroundings, extracts feature points from the captured images, and compares the extracted feature points with a map created in advance to estimate the self-position. In this position estimation process, the angular velocity of the forklift is monitored, and if the angular velocity exceeds a threshold, it is determined that the images captured during that time are likely to be blurred and therefore unusable for position estimation, and these images are not used in the position estimation process. This method can reduce the number of images used for position estimation, thereby reducing the calculation load.

[0003] Since a moving object such as a forklift is not always powered from an external source, it is necessary to reduce power consumption as much as possible. In addition, in order to reduce the manufacturing cost of a forklift, it is difficult to install an expensive computer that can withstand a high calculation load. However, each image has a large data capacity, and image processing such as feature point extraction for positioning requires a large calculation load and consumes a lot of power. According to the technology of Patent Document 1, power consumption can be reduced by excluding images from which feature points cannot be extracted normally. However, among the images taken while a forklift is traveling, only a very small number of images are taken in situations where the angular velocity exceeds a threshold, and the effect of reducing power consumption is considered to be limited. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2022-22715 Summary of the Invention [Problem to be solved by the invention]

[0005] Regarding image-based position estimation, a technique is needed that effectively reduces power consumption while ensuring estimation accuracy.

[0006] The present disclosure provides a position estimation device, a forklift, a position estimation method, and a program that can solve the above problems. [Means for solving the problem]

[0007] The position estimation device of the present disclosure is a position estimation device that estimates the position of a vehicle equipped with a camera, and includes a position estimation unit that processes an image captured by the camera to estimate the position of the vehicle, and a timing for executing the image processing by the position estimation unit and / or a timing for executing the image processing by the position estimation unit. processing and a load control unit for controlling the processing load of the image processing by performing the above-mentioned processing. The load control unit changes the number of images that the position estimation unit processes per unit time in response to the speed and / or angular velocity of the vehicle, and calculates the number of images by the following formula, where α and β are arbitrary coefficients: Number of images=α×(Speed ​​of the vehicle)+β×(Angular velocity of the vehicle). .

[0008] The forklift of the present disclosure includes a camera and the above-described position estimation device.

[0009] The position estimation method disclosed herein is a position estimation method for estimating the position of a vehicle equipped with a camera, and when performing image processing on an image captured by the camera to estimate the position, the method includes: determining the execution timing of the image processing and / or the image to be subjected to the image processing processing and a step of processing the image based on the load control to estimate a position of the vehicle. In the load control step, the number of images to be processed per unit time in the position estimating step is changed depending on the speed and / or angular velocity of the vehicle, and the number is calculated by the following formula, where α and β are arbitrary coefficients: Number of Images=α×(Speed ​​of the Vehicle)+β×(Angular Vehicle).

[0010] The program of the present disclosure further includes a computer for estimating the position of a vehicle equipped with a camera, a means for processing an image captured by the camera to estimate the position of the vehicle, and a timing for executing the image processing by the means for estimating the position and / or a timing for detecting the image to be processed. processing By doing so, the image processing device functions as a means for controlling the processing load of the image processing. The processing load control means changes the number of images that the position estimating means processes per unit time in accordance with the speed and / or angular velocity of the vehicle, and calculates the number of images using the following formula, where α and β are arbitrary coefficients: number of images = α x (speed of the vehicle) + β x (angular velocity of the vehicle). Effect of the Invention

[0011] According to the above-mentioned position estimation device, forklift, position estimation method, and program, there is a need for a technique for effectively reducing power consumption while ensuring estimation accuracy in position estimation using images. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of a forklift according to an embodiment. [Diagram 2] FIG. 1 is a diagram illustrating an example of a position estimation device according to an embodiment. [Diagram 3] 5A and 5B are diagrams illustrating a relationship between a period of image processing and a moving object according to the embodiment. [Figure 4] 5 is a flowchart showing an example of load control of image processing according to the first embodiment. [Diagram 5] 10 is a flowchart showing an example of load control of image processing according to the second embodiment. [Figure 6] 13 is a flowchart showing an example of load control of image processing according to the third embodiment. [Figure 7] 13 is a flowchart showing an example of load control of image processing according to the fourth embodiment. [Figure 8] FIG. 2 is a diagram illustrating an example of a hardware configuration of a position estimation device according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] <Embodiment> Hereinafter, a control method for reducing the load of image processing in position estimation processing while ensuring position estimation accuracy when performing position estimation using an image of the present disclosure will be described with reference to the drawings. (Forklift configuration) FIG. 1 is a schematic diagram showing an example of a forklift according to each embodiment. The forklift 1 includes a vehicle body 2, a loading device 3, and a position estimation device 20. The vehicle body 2 includes tires and a drive device and a steering device (not shown) to drive the forklift 1. The loading device 3 includes a fork 4 and a mast 5 for raising and lowering the fork 4, and performs loading and unloading operations by raising and lowering the load loaded on the fork 4. The vehicle body 2 includes an IMU 10, an encoder 11, and a camera 12. The IMU 10 includes an acceleration sensor and a gyro sensor, and can detect the moving speed, acceleration, moving direction, and turning direction of the forklift 1. The encoder 11 is a rotary encoder that detects the number of rotations of the tires (e.g., rear wheels) of the forklift 1. The movement of the forklift 1 can be detected based on the measurement value of the encoder 11. The camera 12 is directed upwards above the vehicle body 2, and constantly captures an image of the ceiling of the work area while the forklift 1 is in operation.

[0014] Each of the sensors, the IMU 10, the encoder 11, and the camera 12, is connected to a position estimation device 20, and the measurement values ​​measured by each sensor are sent to the position estimation device 20. The position estimation device 20 is configured with a computer equipped with a processor. The position estimation device 20 estimates the position of the forklift 1 using the measurement values ​​from each of the above sensors.

[0015] (Configuration of the position estimation device) FIG. 2 is a diagram illustrating an example of a position estimation device according to each embodiment. The position estimation device 20 estimates the traveling position of the forklift 1 based on images captured by the camera 12 while the forklift 1 is moving. As shown in FIG. 2, the position estimation device 20 includes an input unit 21, a load control unit 22, a position estimation unit 23, and a storage unit 24. The input unit 21 acquires the measurement values ​​measured by the IMU 10 and the encoder 11 and the images captured by the camera 12, and records the acquired measurement values ​​and images in the memory unit 24.

[0016] The load control unit 22 controls the image processing executed in the position estimation using images by the position estimation unit 23 described below so as to reduce the load of the image processing as much as possible while ensuring the accuracy of the position estimation. In the position estimation processing using images, the fewer the images to be processed, the more the power consumption can be reduced. On the other hand, the greater the change between the image processed one cycle ago and the image processed this time, the greater the possibility of failure in the position estimation (it becomes difficult to match image features, and matching with images other than the previous one becomes necessary or erroneous association occurs). Therefore, it is preferable to process images as frequently as possible when it is expected that the change from the image processed one cycle ago is large. For example, in the case of a forklift with a camera installed facing the ceiling, the faster the vehicle speed, the greater the image change accompanying the movement of the vehicle body 2, so from the viewpoint of ensuring the accuracy of the position estimation, it is desirable to increase the processing cycle according to the vehicle speed. Therefore, the load control unit 22 controls the image processing so as to perform the image processing at intervals that do not increase the load of the image processing more than necessary and keep the position estimation accuracy within an acceptable range. For example, the load control unit 22 instructs the position estimation unit 23 to perform image processing for positioning every time the forklift 1 travels a predetermined distance, regardless of the speed of the forklift 1 (first embodiment). The predetermined distance is, for example, as long as possible within a range in which the position estimation accuracy can be ensured.

[0017] Also, for example, the load control unit 22 instructs the position estimation unit 23 to perform image processing for positioning at a period corresponding to the speed of the forklift 1 (second embodiment). For example, if the forklift 1 is moving at high speed, the image processing must be performed at short time intervals, otherwise there will be fewer areas that do not change between the image processed one period ago and the image processed this time (areas in which the same target range is photographed, overlapping areas), which may affect the accuracy of position estimation. On the other hand, if the forklift 1 is moving at low speed, even if processing is performed on an image taken a certain amount of time after the image processed one period ago was taken, an overlapping area can be generated. In this case, even if image processing is performed frequently, the improvement in position estimation accuracy for the increased load is not worth the processing cost. Therefore, the load control unit 22 sets the image processing processing period high when the forklift 1 is moving at high speed, and sets the image processing processing period low when the forklift 1 is moving at low speed. This is shown in FIG. 3.

[0018] Also, for example, the load control unit 22 may control the load of image processing by adjusting the image resolution or the size of the area to be processed in the image (third embodiment). For example, when the forklift 1 is moving at a low speed, the image resolution may be lowered for processing since there is little difference from the position estimated one cycle before. For example, when the forklift 1 is rotating at a high speed (when the angular velocity is high), blurring occurs around the image, so only the center of the image may be extracted and used as the processing object. Alternatively, when moving at a low speed, it is expected that the overlap area with the image processed one cycle before will be large (more than necessary), so those areas may be deleted (for example, only the center of the image may be extracted) and used as the processing object.

[0019] Also, for example, the load control unit 22 may perform the above-mentioned load control while reliably performing position estimation using an image when approaching a marker provided on the ceiling as a landmark for position estimation, and may perform position estimation by matching the marker included in the captured image with map data loaded with marker information. Errors may occur and accumulate in estimations that do not match the marker with map data, but the accuracy of position estimation can be maintained by reliably matching the map at the position where the marker is present (fourth embodiment).

[0020] The position estimation unit 23 performs a position estimation process using an image. Specifically, the position estimation unit 23 extracts feature points having image features such as markers from an image captured by the camera 12, and compares the feature points with map data in which information on the markers is recorded in advance to estimate the position of the forklift 1 (Method 1). The position estimation unit 23 also performs position estimation based on image features (image features that can calculate the relative movement amount by comparing with an image at a previous time, but cannot identify the absolute position on the map by themselves) using a V-SLAM (Visual Simultaneous Localization and Mapping) technique while generating a map from the feature points extracted above (Method 2). The position estimation unit 23 performs position estimation by Method 1 and / or Method 2 based on an instruction from the load control unit 22. In addition to the position estimation process using these two images, the position estimation unit 23 also performs position estimation by dead reckoning using the measurement values ​​of the IMU 10 and the encoder 11 (Method 3). The position estimation unit 23 integrates the position estimation results obtained by methods 1 to 3 using, for example, an extended Kalman filter or the like to calculate final position information of the estimated position of the forklift 1, and outputs the estimated position information.

[0021] The storage unit 24 stores the measurement values ​​of the encoder 11 acquired by the input unit 21 and the images captured by the camera 12. The storage unit 24 also stores map data including marker information and a map generated by the position estimation unit 23.

[0022] (operation) Next, a process for controlling the load of image processing in position estimation using an image by the position estimation unit 23 will be described with reference to Figs.

[0023] (First embodiment) FIG. 4 is a flowchart showing an example of load control of image processing according to the first embodiment. The position estimation device 20 repeatedly executes the following process at a predetermined control period. The load control unit 22 reads out and acquires the measured values ​​of the IMU 10 and the encoder 11 from the storage unit 24 (step S1). The load control unit 22 integrates the acceleration measured by the IMU 10 and converts the number of tire revolutions measured by the encoder 11 into a distance to calculate the distance traveled by the forklift 1 per unit time. The load control unit 22 also integrates the angular velocity measured by the IMU 10 to calculate the angle rotated by the forklift 1 per unit time (step S2). Next, the load control unit 22 performs image processing in the position estimation one cycle ago and determines whether the forklift 1 has moved a predetermined distance or rotated by a predetermined angle from the estimated vehicle position and attitude (traveling direction) (step S3). Here, the predetermined distance and the predetermined angle are as long a distance and large an angle as possible within a range in which the positioning accuracy can be ensured. Information on the predetermined distance and the predetermined angle is registered in the storage unit 24 in advance. If the determination in step S3 is Yes, the load control unit 22 instructs the position estimation unit 23 to execute a position estimation process using an image. The position estimation unit 23 acquires the latest image captured by the camera 12 from the storage unit 24, processes the image, and executes the position estimation process using the image (step S4). If the determination in step S3 is No, the load control unit 22 does not instruct the position estimation unit 23 to execute a position estimation process using an image, so that the position estimation process using an image is not executed in this control cycle, and the image processing associated with the position estimation process is not executed either.

[0024] According to the first embodiment, it is possible to reduce power consumption while ensuring the accuracy of position estimation. For example, since image processing is performed at a constant distance interval to estimate the position, the accuracy of position estimation can be maintained. Also, since the frequency of image processing in the position estimation process can be reduced compared to when image processing is performed at equal time intervals when the forklift 1 is moving at a low speed, it is possible to reduce power consumption. Note that, although both the distance and the rotation angle are used in the description of FIG. 4, only one of them may be used.

[0025] Second embodiment FIG. 5 is a flowchart showing an example of load control of image processing according to the second embodiment. The position estimation device 20 repeatedly executes the following process at a predetermined control period. The load control unit 22 reads out and acquires the measurement values ​​of the IMU 10 and the encoder 11 from the storage unit 24 (step S11). The load control unit 22 calculates the speed of the forklift 1 from the acceleration measured by the IMU 10 and the tire rotation speed measured by the encoder 11. The load control unit 22 also acquires the angular velocity measured by the IMU 10 (step S12). Next, the load control unit 22 calculates the number of images to be processed per unit time (step S13). For example, the load control unit 22 calculates the number of images to be processed by the following formula (1). Number of images processed per unit time = α × velocity + β × angular velocity (1) Note that α and β are arbitrary coefficients, and when the value calculated by formula (1) exceeds the maximum number of images to be processed, the load control unit 22 adopts the maximum number of images to be processed. Next, the load control unit 22 instructs the position estimation unit 23 to execute a position estimation process using the images at a period corresponding to the calculated number of images to be processed (step S14). In accordance with the execution instruction from the load control unit 22, the position estimation unit 23 obtains the latest image captured by the camera 12 from the storage unit 24, and executes a position estimation process using the image (step S15). This allows the processing cycle to be increased when moving at high speed and decreased when moving at low speed, thereby reducing the image processing load and power consumption in the position estimation process while ensuring positioning accuracy.

[0026] Third embodiment FIG. 6 is a flowchart showing an example of load control of image processing according to the third embodiment. The position estimation device 20 repeatedly executes the following process at a predetermined control period. The load control unit 22 reads out and acquires the measured values ​​of the IMU 10 and the encoder 11 from the storage unit 24 (step S21). The load control unit 22 calculates the speed of the forklift 1 from the acceleration measured by the IMU 10 and the number of rotations of the tires measured by the encoder 11. The load control unit 22 also acquires the angular velocity measured by the IMU 10 (step S22). Next, the load control unit 22 changes or crops the image resolution according to the speed and angular velocity (step S23). For example, when the speed is equal to or lower than a predetermined threshold, the load control unit 22 reduces the image resolution or crops only the center part of the image, or performs both. Also, for example, when each speed is equal to or higher than a predetermined threshold, the load control unit 22 crops only the center part of the image. This can reduce the image processing load of the position estimation unit 23. The degree of reduction in resolution and the range of cropping are performed within a range that does not adversely affect position estimation. For example, a table that defines the correspondence between the speed of the forklift 1 and the resolution or the trimming range may be registered in advance in the storage unit 24, and the resolution and the trimming range may be determined based on this table. The load control unit 22 outputs the image after the resolution reduction and trimming to the position estimation unit 23, and instructs the execution of a position estimation process using the image. The position estimation unit 23 executes the position estimation process using the image acquired from the load control unit 22 in accordance with the execution instruction from the load control unit 22 (step S24). This makes it possible to reduce the load (power consumption) of image processing in the position estimation process while ensuring the positioning accuracy. Note that the load control of the third embodiment can be combined with the first or second embodiment.

[0027] (Fourth embodiment) FIG. 7 is a flowchart showing an example of load control of image processing according to the fourth embodiment. The position estimation device 20 repeatedly executes the following process at a predetermined control period. The load control unit 22 reads out and acquires the measured values ​​of the IMU 10 and the encoder 11 from the storage unit 24 (step S31). The load control unit 22 executes the load control of any one of the first to third embodiments (step S32). Next, the load control unit 22 determines whether or not the execution timing of the position estimation process using the image has arrived (step S33). For example, in the case of executing the load control of the first embodiment, the execution timing of the position estimation process using the image arrives when the forklift 1 has moved a predetermined distance since the position estimation process using the image was performed one period ago. When the execution timing of the position estimation process using the image arrives (step S33; Yes), the load control unit 22 instructs the position estimation unit 23 to execute the position estimation process using the image. The position estimation unit 23 executes the position estimation process using the image according to the execution instruction of the load control unit 22 (step S34). If the timing for image processing has not arrived (step S33; No), the load control unit 22 judges whether the forklift 1 has approached a marker provided on the ceiling. For example, the load control unit 22 acquires a position estimation result by dead reckoning from the position estimation unit 23, and compares the acquired estimation result with map data including information on the marker to judge whether a marker exists in the vicinity. For example, if a marker exists within the shooting range of the camera 12 when shooting at the current position, the load control unit 22 judges that the marker is approaching, and if not, judges that the marker is not approaching. If it is judged that the marker is approaching (step S35; Yes), the load control unit 22 instructs the position estimation unit 23 to perform position estimation processing using an image by method 1. The position estimation unit 23 executes position estimation processing (method 1) using an image according to the execution instruction of the load control unit 22 (step S34). If it is determined that the marker is not being approached (step S35; No), the load control unit 22 does not instruct the position estimation unit 23 to perform position estimation processing using an image, and therefore, position estimation processing using an image and the associated image processing are not performed in this control period. This makes it possible to further improve the accuracy of position estimation in addition to the effects of the first to third embodiments.

[0028] In FIG. 1, one camera 12 is provided on the forklift 1, but multiple cameras 12 may be provided on the forklift 1. For example, the minimum number of cameras that can maintain positioning accuracy may be used depending on the speed of the forklift 1, or the load control unit 22 may select the minimum number of images that can maintain positioning accuracy from among images taken by multiple cameras at the same time and use them as the processing target for position estimation processing using the images. For example, when the forklift 1 is moving at a low speed, only one of the multiple cameras may be used to take images, or only one of the images taken by the multiple cameras 12 may be used as the processing target for image processing, thereby reducing power consumption. For example, a table that associates the speed and angular velocity of the forklift 1 with the number of cameras to be used and the number of images may be registered in the storage unit 24, and the load control unit 22 may determine the number of cameras to be used and the number of images to be used based on this table.

[0029] FIG. 8 is a diagram illustrating an example of a hardware configuration of the position estimation device according to the embodiment. The computer 900 includes a CPU 901 , a main memory device 902 , an auxiliary memory device 903 , an input / output interface 904 , and a communication interface 905 . The above-described position estimation device 20 is implemented in a computer 900. Each of the above-described functions is stored in the auxiliary storage device 903 in the form of a program. The CPU 901 reads the program from the auxiliary storage device 903, loads it in the main storage device 902, and executes the above-described processing in accordance with the program. The CPU 901 also reserves a storage area in the main storage device 902 in accordance with the program. The CPU 901 also reserves a storage area in the auxiliary storage device 903 for storing data being processed in accordance with the program.

[0030] In addition, a program for realizing all or part of the functions of the position estimation device 20 may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed to perform processing by each functional unit. The term "computer system" as used herein includes hardware such as an OS and peripheral devices. In addition, if a WWW system is used, the term "computer system" also includes a homepage providing environment (or display environment). In addition, the term "computer-readable recording medium" refers to a portable medium such as a CD, DVD, or USB, or a storage device such as a hard disk built into a computer system. In addition, if the program is distributed to the computer 900 through a communication line, the computer 900 that receives the program may deploy the program in the main storage device 902 and execute the above processing. In addition, the above program may be for realizing part of the above-mentioned functions, or may be capable of realizing the above-mentioned functions in combination with a program already recorded in the computer system.

[0031] As described above, several embodiments according to the present disclosure have been described, but all of these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents as described in the claims, as well as in the scope and gist of the invention.

[0032] <Additional Notes> The position estimation device, the forklift, the position estimation method, and the program described in each embodiment can be understood, for example, as follows.

[0033] (1) A position estimation device according to a first aspect is a position estimation device that estimates the position of a vehicle equipped with a camera, and includes a position estimation unit that performs image processing on an image captured by the camera to estimate the position of the vehicle (method 1 and / or method 2), and a load control unit that controls the processing load of the image processing by controlling the timing of execution of the image processing by the position estimation unit or the image that is the subject of the image processing. This makes it possible to reduce power consumption while ensuring the accuracy of position estimation.

[0034] (2) A position estimation device according to a second aspect is a position estimation device according to (1), wherein the load control unit causes the position estimation unit to execute estimation of the position based on the image processing each time the vehicle travels a predetermined distance or rotates a predetermined angle. By appropriately setting the predetermined distance or the predetermined angle, it is possible to reduce power consumption while ensuring the accuracy of the position estimation.

[0035] (3) A position estimation device according to a third aspect is a position estimation device according to (1), wherein the load control unit changes the number of images that the position estimation unit processes per unit time in accordance with the speed and / or angular velocity of the vehicle. By appropriately changing the number of images to be processed, it is possible to reduce power consumption while ensuring the accuracy of position estimation.

[0036] (4) A position estimation device according to a fourth aspect is the position estimation device of (3), in which the load control unit calculates the number of sheets by the following formula, where α and β are arbitrary coefficients. The number of sheets = α × (velocity of the vehicle) + β × (angular velocity of the vehicle) This makes it possible to calculate the number of images to be processed that can reduce power consumption while ensuring the accuracy of position estimation.

[0037] (5) A position estimation device according to a fifth aspect is a position estimation device according to any one of (1) to (4), wherein the load control unit changes the resolution of the image that the position estimation unit targets for the image processing and / or the size of the processing target area in the image that the position estimation unit targets for the image processing (e.g., cropping only the central portion) in accordance with the speed or angular velocity of the vehicle. This makes it possible to control the image processing load so as to reduce power consumption while ensuring the accuracy of position estimation.

[0038] (6) A sixth aspect of the position estimation device is a position estimation device according to any one of (1) to (5), wherein when a plurality of cameras are provided, the load control unit changes the number of images to be subjected to the image processing among the images taken by the plurality of cameras in accordance with the speed or angular velocity of the vehicle. When multiple cameras are used, the load of image processing can be controlled by changing the number of images to be processed among the images captured by the multiple cameras.

[0039] (7) A seventh aspect of the position estimation device is a position estimation device according to any one of (1) to (6), wherein the load control unit causes the position estimation unit to execute an estimation of the position based on the image processing, regardless of the processing load of the image, when the vehicle approaches a location where a marker serving as a landmark for position estimation is installed. This ensures the accuracy of position estimation.

[0040] (8) A forklift according to an eighth aspect includes a position estimation device according to any one of (1) to (7) and a camera.

[0041] (9) A position estimation method according to a ninth aspect is a position estimation method for estimating the position of a vehicle equipped with a camera, and includes the steps of: when performing image processing on an image captured by the camera to estimate position, controlling the load of the image processing by controlling the timing of execution of the image processing and / or the image to be subjected to the image processing; and, based on the control of the load, processing the image to estimate the position of the vehicle.

[0042] (10) A program according to a tenth aspect causes a computer that estimates the position of a vehicle equipped with a camera to function as a means for estimating the position of the vehicle by processing images captured by the camera, and a means for controlling the processing load of the image processing by controlling the timing of execution of the image processing by the means for estimating the position and / or the image that is the subject of the image processing. [Explanation of symbols]

[0043] 1. Forklift 2. Body 3. Cargo handling equipment 4. Fork 5. Mast 10. IMU 11. Encoder 12. Camera 20...Position estimation device 21 Input section 22 Load control section 23...Position estimation section 24...Storage section 900...Computer 901···CPU 902...Main memory 903...Auxiliary storage device 904 Input / Output Interface 905 Communication Interface

Claims

1. A position estimation device that estimates a position of a vehicle equipped with a camera, a position estimation unit that estimates a position of the vehicle by image processing an image captured by the camera; a load control unit that controls a processing load of the image processing by processing the execution timing of the image processing by the position estimation unit and / or the image that is a target of the image processing; Equipped with The load control unit is The position estimation unit changes the number of images to be processed per unit time in response to a speed and / or an angular velocity of the vehicle; The number is calculated by the following formula, where α and β are arbitrary coefficients: The number of sheets = α × (vehicle speed) + β × (angular velocity of the vehicle) Location estimation device.

2. The load control unit is the position estimation unit changes a resolution of the image to be subjected to the image processing and / or a size of a processing target area in the image to be subjected to the image processing in accordance with a speed or an angular velocity of the vehicle. The position estimation device according to claim 1 .

3. When a plurality of cameras are provided, The load control unit is changing the number of images to be subjected to the image processing among the images captured by the plurality of cameras according to a speed or an angular velocity of the vehicle; The position estimation device according to claim 1 or 2.

4. The load control unit is when the vehicle approaches a location where a marker serving as a landmark for position estimation is installed, the location estimation unit is caused to execute estimation of the location based on the image processing, regardless of a load of the image processing; The position estimation device according to claim 1 or 2.

5. A position estimation device that estimates a position of a vehicle equipped with a camera, a position estimation unit that estimates a position of the vehicle by image processing an image captured by the camera; a load control unit that controls a processing load of the image processing by processing the execution timing of the image processing by the position estimation unit and / or the image that is a target of the image processing; Equipped with The load control unit is the position estimation unit changes a resolution of the image to be subjected to the image processing and / or a size of a processing target area in the image to be subjected to the image processing in accordance with a speed of the vehicle; reducing the resolution of the image and / or cropping only a central portion of the image if the speed of the vehicle is below a predefined threshold; Location estimation device.

6. The load control unit is causing the position estimation unit to execute the estimation of the position based on the image processing every time the vehicle travels a predetermined distance or rotates a predetermined angle; The position estimation device according to claim 5 .

7. A camera and A position estimation device according to claim 1 or 2; A forklift equipped with:

8. A position estimation method for estimating a position of a vehicle equipped with a camera, comprising: a step of controlling a load of the image processing by processing the image captured by the camera and / or processing the image to be processed when performing position estimation; processing the image based on the control of the load to estimate a position of the vehicle; having In the step of controlling the load, changing the number of images to be processed per unit time in the step of estimating the position according to a speed and / or an angular velocity of the vehicle; The number is calculated by the following formula, where α and β are arbitrary coefficients: The number of sheets = α × (vehicle speed) + β × (angular velocity of the vehicle) Location estimation method.

9. A computer for estimating the position of a vehicle equipped with a camera, a means for estimating a position of the vehicle by processing an image captured by the camera; a means for controlling a processing load of the image processing by processing the execution timing of the image processing by the means for estimating the position and / or the image to be subjected to the image processing; Function as a The means for controlling the processing load comprises: The position estimating means changes the number of images to be processed per unit time in response to a speed and / or an angular velocity of the vehicle; The number is calculated by the following formula, where α and β are arbitrary coefficients: The number of sheets = α × (vehicle speed) + β × (angular velocity of the vehicle) program.

Images