To provide a control system and a position deviation detection method capable of performing alignment of a movable body and an arrival region with high precision.SOLUTION: A control system 10 comprises: a stereo camera 13 capable of imaging a plurality of images 40, 41 having view points different from each other of a region containing both of a movable body 23 and an arrival region 30; and an information processing device 12. The information processing device 12 has a plurality of reference images 42, 43 corresponding to each of a plurality of first characteristic points 44 existing in the movable body 23 and a plurality of second characteristic points 45 existing in the arrival region 30, and performs arithmetic processing for specifying display position coordinates Pnl, Pnr, Pml, Pmr based on the plurality of reference images 42, 43, and specifying three-dimensional position coordinates Qn, Qm based on a parallax found from those display position coordinates Pnl, Pnr, Pml, Pmr, and specifying positional deviation D of the movable body 23 and the arrival region 30 based on those three-dimensional position coordinates Qn, Qm.SELECTED DRAWING: Figure 2

    【課題】移動体と到着領域との位置合わせを高精度に行うことが可能になる制御システムおよび位置ずれ検出方法を提供する。【解決手段】制御システム10は、移動体23および到着領域30の両方を含む領域を互いに異なる視点の複数の画像40、41を撮像可能なステレオカメラ13と情報処理装置12と、を備え、情報処理装置12は、移動体23に存在する複数の第一特徴点44および到着領域30に存在する複数の第二特徴点45のそれぞれに対応する複数の基準画像42、43を有し、複数の基準画像42、43に基づいて表示位置座標Pnl、Pnr、Pml、Pmrを特定し、それらの表示位置座標Pnl、Pnr、Pml、Pmrから求まる視差に基づいて三次元位置座標Qn、Qmを特定し、それらの三次元位置座標Qn、Qmに基づいて移動体23と到着領域30との位置ずれDを特定する演算処理を行う構成である。【選択図】図2


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    Title :

    CONTROL SYSTEM AND POSITIONAL DEVIATION DETECTION METHOD


    Additional title:

    制御システムおよび位置ずれ検出方法


    Contributors:

    Publication date :

    2021-04-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen / B66C Krane , CRANES



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