JP7598355B2 - Rotational Motion Detection System - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act (1) Date of publication: January 21, 2022 Posting address: https://twitter.com/Kousaku_Kiroku/status/1484181543576760321 (2) Date of publication: February 28, 2022 Posting address: https://www.instructables.com/Projection-mapping-on-Spinning-Top/ (3) Date of publication: March 1, 2022 Posting address: https://www.youtube.com/watch? v = 06biUT2UiBo (4) Date held July 18, 2022 Exhibition name Experience event Venue Inagi Naganuma Station adjacent to Kurasu Class Square (5) Date held September 3, 2022 to September 4, 2022 Exhibition name Maker Faire Tokyo 2022 Venue Tokyo Big Sight West Exhibition Hall 4

The present invention relates to a rotational motion detection system capable of detecting rotational motion in various rotating objects.

As a conventional method for detecting the number of rotations of a rotating object, for example, Patent Document 1 discloses a method in which multiple marks are applied to a rotating disk, and the reflection of light from the marks is detected by a photosensor to detect the number of rotations of a motor.

Japanese Utility Model Application Publication No. 63-182665

However, conventional detection methods require highly accurate detection of a mark that rotates at high speed, and are not capable of detecting the fact that the mark is rotating or its rotational position. In addition, in locations exposed to external light due to the surrounding environment, there is a possibility that light reflection may be falsely detected.

The present invention aims to provide a rotational motion detection system that can detect the rotational position and the presence or absence of rotational motion in various rotating objects.

The invention pertaining to (1) is a rotational motion detection system that has at least an imaging means capable of capturing an image, a marker that is attached to a rotating object and can be captured by the imaging means, and a rotation detection means that is connected to the imaging means and can detect whether the rotating object is rotating or not, characterized in that the rotation detection means is capable of determining whether the rotating object is rotating or not based on an afterimage of the marker captured by the imaging means.

The invention according to (2) is a rotational motion detection system that has at least an imaging means capable of capturing infrared images, an infrared irradiation means capable of emitting infrared rays, a reflective member that is attached to a rotating object and capable of reflecting the infrared rays, and a rotation detection means that is connected to the imaging means and capable of detecting the presence or absence of rotation and/or the rotational position of the rotating object, characterized in that the rotation detection means is capable of determining the presence or absence of rotation of the rotating object and/or identifying the rotational position based on the reflection afterimage of the reflective member captured by the imaging means.

The invention according to (3) is a rotational motion detection system according to (1) or (2) above, which has a projection means capable of projecting a projection image onto the rotating object and/or the periphery of the rotating object, and the projection means is capable of projecting, as the projection image, an image indicating that the rotating object is rotating.

The invention according to (4) is a rotational motion detection system according to any one of (1) to (3) above, which has a projection means capable of projecting a projection image onto the rotating object and/or the periphery of the rotating object, and the projection means is capable of projecting an image showing the rotational position of the rotating object as the projection image.

The invention according to (5) is a rotational motion detection system according to any one of (1) to (4) above, which has a projection means capable of projecting a projection image onto the rotating object and/or the periphery of the rotating object, the rotation detection means capable of identifying the rotation center position of the rotating object, and the projection means capable of moving the projection image in accordance with the movement of the rotation center position of the rotating object.

According to the present invention, it is possible to detect the rotational position and the presence or absence of rotational motion for various rotating objects without being affected by the surrounding environment. Furthermore, by providing a projection means, it is possible to project the necessary projection image associated with the rotational motion.

FIG. 1 is a diagram illustrating a system configuration in a first embodiment of the present invention. 1A is a diagram illustrating a state in which a rotating object is stopped from rotating and FIG. 1B is a diagram illustrating a state in which a rotating object is rotating in the first embodiment of the present invention. FIG. 11 is a diagram illustrating a system configuration in a second embodiment of the present invention. 13A and 13B are diagrams illustrating a rotating object in a stopped state and a rotating state in a second embodiment of the present invention. FIG. 13 is a diagram illustrating a system configuration in a third embodiment of the present invention. FIG. 13 is a diagram illustrating a system configuration in a fourth embodiment of the present invention. 13A and 13B are diagrams illustrating a rotating object in a stopped state and a rotating state in a fourth embodiment of the present invention. 13A to 13C are diagrams illustrating an example of a projected image in a fourth embodiment of the present invention. 13A to 13C are diagrams illustrating an example of a projected image in a fourth embodiment of the present invention. 13A to 13C are diagrams illustrating the installation mode of markers and reflective members in another embodiment of the present invention

Each embodiment of the rotational motion detection system of the present invention will be described below with reference to the drawings.

First Embodiment
1 shows the system configuration of the first embodiment of the present invention. That is, the system includes at least an image capturing means 13 capable of capturing an image, a marker 142 capable of being captured by the image capturing means 13, and a rotation detection means 11 connected to the image capturing means 13 and capable of detecting whether the rotating object 14 is rotating or not.

The rotation detection means 11 in this embodiment is a computer, and is equipped with at least a CPU, an input/output interface, and a memory. It is preferable to use a single-board computer, which allows the system configuration to be small-scale.

A general-purpose camera can be used as the image capture means 13, and it is possible to capture visible light images. Note that the image capture means 13 needs to have a shutter speed that is sufficient to capture the afterimage of the marker 142, which will be described later.

The rotating object 14 is provided with a marker 142 having a color different from that of the rotating object 14, and in this embodiment, stickers of any color are attached to two locations in the circumferential direction of the rotating object 14 as shown in FIG. 2(a). Note that the marker 142 is not necessarily limited to stickers, and may be painted with paint of any color, and it is sufficient that the mark is at least distinguishable from the rotating object 14 and has a recognizable shape as an image.

Next, the detection configuration of the rotation detection means 11 will be described. As shown in Figures 1 and 2, the imaging means 13 is configured to capture an image of a predetermined imaging recognition range (the range shown in the dashed line) in order to detect the rotational motion of the rotating object 14. Therefore, it is possible to capture an image of the marker 142 without capturing an image of the shape (circular shape) of the rotating object 14.

With this configuration, as shown in FIG. 2(a), when the rotating object 14 is in a stopped state, two points (markers 142) are photographed, and the rotation detection means 11 recognizes that the rotating object 14 is in a stopped state. As a method for photographing the marker 142, only the marker 142 and its rotation trajectory may be zoomed in, or the device may be programmed to recognize the shape of only the marker 142 and its rotation trajectory from the entire image being photographed.

On the other hand, as shown in FIG. 2(b), when the rotating object 14 is in a rotating state, the two markers 142 rotate, causing a circular afterimage to be captured by the capturing means 13, and the rotation detection means 11 can recognize that the rotating object 14 is in a rotating state.

The rotation detection means 11 of this embodiment is capable of determining whether the rotating object 14 is rotating or not based on the afterimage captured by the imaging means 14.

In other words, when a visible light image is used, it is usually difficult to accurately determine whether or not the rotating object 14 is rotating from the captured image because the rotating object 14 itself is circular. However, by placing the capture recognition range within the range of the rotation trajectory of the marker 142, it is possible to easily extract only the image of the marker 142 and accurately determine whether or not the rotating object 14 is rotating.

Therefore, when the rotational motion detection system 100 of this embodiment is applied to, for example, a manufacturing plant, it becomes possible to determine whether or not fixedly-positioned rotating machine tools, supply and exhaust fans, etc. are rotating, making it possible to efficiently perform unmanned condition monitoring for safety management, quality control, etc.

Second Embodiment
3 shows a system configuration according to a second embodiment of the present invention. That is, the system includes at least an image capturing means 13 capable of capturing an infrared image, an infrared emitting means 12 capable of emitting infrared rays, a reflecting member 141 provided on a rotating object 14 and capable of reflecting the infrared rays, and a rotation detecting means 11 connected to the image capturing means 13 and capable of detecting the presence or absence of rotation of the rotating object 14 and/or the rotation position.

The rotation detection means 11 in this embodiment is a computer, and is equipped with at least a CPU, an input/output interface, and a memory. It is preferable to use a single-board computer, which allows the system configuration to be small-scale.

A general-purpose infrared camera can be used as the imaging means 13, and in this embodiment, an infrared filter 131 is provided for capturing infrared images of a specified wavelength. The infrared irradiating means 12 is capable of irradiating infrared rays of a specified wavelength, and in this embodiment, is provided with a plurality of infrared light emitting diodes. Note that the imaging means 13 needs to have a shutter speed that can capture the reflected afterimage of the reflective member 141, which will be described later.

In the first embodiment described above, the rotating object 14 is provided with markers 142 of any color that are photographed separately from the rotating object 14. In this embodiment, the rotating object 14 is provided with reflective members 141 as markers that can reflect infrared rays irradiated from the infrared irradiating means 12. In this embodiment, high-brightness reflective sheets are attached to four locations around the circumference of the rotating object 14, as shown in FIG. 4(a).

Next, the detection configuration by the rotation detection means 11 will be described. As shown in Figure 3, the infrared rays (shown as P) emitted from the infrared irradiation means 12 are reflected by the reflecting member 141, and the reflected infrared rays (shown as R) are photographed by the photographing means 13. Therefore, as shown in Figure 4(a), when the rotating object 14 is in a stopped rotation state, four points are photographed, and the rotation detection means 11 recognizes that the rotating object 14 is in a stopped rotation state.

On the other hand, as shown in FIG. 4(b), when the rotating object 14 is in a rotating state, the four reflecting members 141 rotate, causing a circular reflection afterimage to be captured by the capturing means 13, and the rotation detection means 11 can recognize that the rotating object 14 is in a rotating state.

The rotation detection means 11 of this embodiment is capable of determining whether the rotating object 14 is rotating and/or identifying the rotation position based on the reflected afterimage captured by the imaging means 14.

According to the configuration of this embodiment as described above, when a visible light image is used, it is usually difficult to accurately determine whether or not the rotating object 14 is rotating from the captured image because the rotating object 14 itself is circular. However, this embodiment makes it possible to easily extract only the infrared image reflected by the reflective member 141 without being affected by indoor or external light, and to accurately determine whether or not the rotating object 14 is rotating and/or to identify the rotation position.

Therefore, when the rotational motion detection system 100 of this embodiment is applied to, for example, a manufacturing plant, it becomes possible to identify the presence or absence of rotation and the rotational position of rotating machine tools, supply and exhaust fans, etc., and it becomes possible to efficiently perform unmanned condition monitoring for safety management, quality control, etc.

Third Embodiment
Next, a third embodiment of the present invention will be described. Note that a description of the configuration common to the second embodiment will be omitted.

Figure 5 shows the system configuration of a third embodiment of the present invention, which includes the system configuration of the second embodiment described above, and further includes projection means 10 capable of projecting an image onto a rotating object 14 and/or the periphery of the rotating object 14.

The projection means 10 in this embodiment can use a projector for projection mapping that uses an LED as a light source, and is connected to the rotation detection means 11. The rotation detection means 11 is programmed so that the projection means 10 projects, as a projected image, an image indicating that the rotating object 14 is rotating.

As an example of the projection mode, as shown in FIG. 5, it is possible to indicate that the rotating object 14 is rotating by projecting a projection image 101 around the rotating object consisting of an exclamation mark. Of course, it is also possible to project a projection image onto the rotating object 14 itself. In addition, the projection image 101 around the rotating object can also be a moving image.

In addition, it is also possible to project an image showing the rotational position of the rotating object 14 as a projection image. For example, as shown in FIG. 5, it is also possible to project a star-shaped rotational position projection image 102 that has the same rotational center position as the rotating object 14. With this configuration, it is possible to highlight the position of the rotating object 14, and the position of the rotating object 14 can be clearly seen.

In the example shown in FIG. 5, the star-shaped rotational position projection image 102 is configured to be displayed in a rotating manner, which not only emphasizes that a rotation operation is in progress, but also makes it possible to grasp the rotational direction of the rotating object 14 by making the rotation direction the same as that of the rotating object 14. Note that the star-shaped rotational position projection image 102 may be projected onto the rotating object 14 itself, or onto its periphery.

Therefore, when the rotational motion detection system 100 of this embodiment is applied to, for example, a manufacturing plant, in addition to the effects of the first embodiment described above, workers can easily visually check the presence or absence of rotation and the rotational position of rotating machine tools, supply and exhaust fans, etc., thereby improving safety and quality.

Fourth Embodiment
Next, a fourth embodiment of the present invention will be described. Note that a description of the configuration common to the second and third embodiments will be omitted.

Figure 6 illustrates the system configuration in a fourth embodiment of the present invention, in which the rotating object 14 is a toy "top."

The top, which is the rotating object 14, is provided with a reflective member 141 capable of reflecting infrared rays emitted from the infrared irradiation means 12, and in this embodiment, high-brightness reflective sheets are attached to four locations in the circumferential direction of the rotating object 14, as shown in Figure 7 (a).

The infrared rays emitted from the infrared irradiation means 12 are reflected by the reflecting member 141, and the reflected infrared rays are photographed by the photographing means 13. Therefore, as shown in FIG. 7(a), when the rotating object 14, which is a top, is in a stopped state, four points are photographed, and the rotation detection means 11 recognizes that the rotating object 14 is in a stopped state.

On the other hand, as shown in FIG. 7(b), when the rotating object 14, which is a top, is in a rotating state, the four reflecting members 141 rotate, causing a circular reflected afterimage to be captured by the capturing means 13, and the rotation detection means 11 can recognize that the rotating object 14 is in a rotating state.

Therefore, the rotation detection means 11 of this embodiment makes it possible to determine whether the rotating object 14, the top, is rotating based on the reflected afterimage captured by the imaging means 14, and also to identify the rotational position of the top, which moves irregularly back and forth and left and right while rotating.

Then, the rotation detection means 11 is programmed so that the projection means 10 projects, as a projected image, an image showing that the rotating object 14, a top, is rotating, and an image with movement linked to the movement of the top.

As a projection mode, for example, as shown in FIG. 8, it is possible to project an image showing the rotational position of the rotating object 14 as a projection image, and it is possible to project annular rotational position projection images 103, 104 that share the same rotation center position of the rotating object 14 in accordance with the movement direction of the rotating object 14. With such a configuration, it is possible to highlight the position of the rotating object 14, and the position of the rotating object 14 can be clearly visually recognized.

As shown in FIG. 9, it is also possible to rotate the rotation position projection image 104 eccentrically and project it in the direction of movement of the rotating object 14, thereby emphasizing the rotational movement of the rotating object 14. Note that projection images of various shapes and patterns may be projected onto the top itself, which is the rotating object 14, or onto its periphery.

(Another embodiment)
Although the rotational motion detection system of the present invention has been described above with reference to the respective embodiments, the system is not necessarily limited to the above-described configurations, and various modifications are possible.

For example, in the above-described embodiment, two or four markers 142 and reflective members 141 are provided on the rotating object 14, but the number and shape are not necessarily limited to these, and one or more markers 142 and reflective members 141 may be provided as long as an annular or circular afterimage can be captured by the imaging means 13 as the rotating object 14 rotates. Furthermore, the markers 142 and reflective members 141 are not necessarily limited to a square shape, and there is no limitation on their shape as long as an annular or circular reflected afterimage can be captured.

To explain in more detail, Fig. 10(a) shows an example where one circular marker 142 or one reflective member 141 is provided on the rotating object 14, Fig. 10(b) shows an example where four square markers 142 or four reflective members 141 are provided, and Fig. 10(c) shows an example where two markers 142 or two reflective members 141 each with a length of about 1/4 of a ring are provided. When these rotate, they become a circular afterimage as shown in the figure, which is photographed by the photographing means 13. Also, as shown in Fig. 10(d), when one fan-shaped marker 142 or one reflective member 141 is provided, they become a circular afterimage as shown in the figure, which is photographed by the photographing means 13.

In addition, a shutter speed adjustment means may be provided in the photographing means 13 or the rotation detection means 11, which makes it possible to set the shutter speed according to the rotation speed of the rotating object 14, and to recognize various rotation states of the rotating object 14.

In addition, in the first embodiment described above, it is also possible to provide a projection means 10, making it possible to project a projection image as shown in the third embodiment.

In addition, in each of the above-described embodiments, a single-board computer is exemplified as the rotation detection means 11, but the present invention is not necessarily limited to such a computer, and the imaging means 13 and projection means 10 may be configured to be connected to a computer via a public communication line or a communication line within an organization.

The projected image can be projected onto the actual rotating object 14 or its contact surface, or it can be displayed on a smartphone, tablet, goggles, etc. using AR (augmented reality) or VR (virtual reality) technology.

In addition, in the fourth embodiment described above, a toy top was used as an example of the rotating object 14, but the rotating object 14 is not necessarily limited to a top, and it is possible to project a wide variety of effect images onto other toys or objects that rotate and move, such as yo-yos, frisbees, and wheels.

Although each embodiment of the present invention has been described above based on the drawings, the specific configuration is not limited to these embodiments. The scope of the present invention is indicated by the claims, not by the description of the above examples, and further includes all modifications that are equivalent in meaning to and within the scope of the claims. In addition, the specific materials, dimensions, shapes, etc. described in the above embodiments may be modified within the scope of the invention.

100 Rotational motion detection system 10 Projection means 11 Rotation detection means 12 Infrared irradiation means 13 Photography means 131 Infrared filter 14 Rotating object 141 Reflection member 142 Marker 101 Rotating object surrounding projected image 102, 103, 104 Rotational position projected image

Claims (8)

An imaging means capable of capturing an image;
A marker that is provided on the rotating object and can be photographed by the photographing means;
A rotation detection means is connected to the photographing means and is capable of detecting whether the rotating object is rotating or not.
The rotation detection means is
A rotational motion detection system capable of determining whether the rotating object is in a rotating state based on whether an annular or circular afterimage of the marker is captured by the imaging means. An imaging means capable of capturing an infrared image;
Infrared irradiation means capable of irradiating infrared rays;
a reflecting member provided on the rotating object and capable of reflecting the infrared ray;
a rotation detection means connected to the imaging means and capable of detecting the presence or absence of rotation of the rotating object and/or the rotation position of the rotating object;
The rotation detection means is
A rotational motion detection system characterized in that it is possible to determine whether the rotating object is in a rotating state and/or to identify the rotational position of the rotating object based on whether or not a circular or annular reflection afterimage of the reflective member is captured by the photographing means. A projection means is provided for projecting an image onto the rotating object and/or a periphery of the rotating object,
The projection means includes:
The rotational motion detection system according to claim 1 or 2, wherein the projected image is capable of projecting an image indicating that the rotating object is rotating. A projection means is provided for projecting an image onto the rotating object and/or a periphery of the rotating object,
The projection means includes:
The rotational motion detection system according to claim 1 or 2, capable of projecting an image indicating a rotational position of the rotating object as the projected image. A projection means is provided for projecting an image onto the rotating object and/or a periphery of the rotating object,
The projection means includes:
The rotational motion detection system according to claim 3 , wherein the projection image is capable of projecting an image indicating a rotational position of the rotating object. A projection means is provided for projecting an image onto the rotating object and/or a periphery of the rotating object,
The rotation detection means is
It is possible to identify the position of the center of rotation of the rotating object,
The projection means includes:
The rotational motion detection system according to claim 1 , wherein the projected image is movable in accordance with a movement of a rotation center position of the rotating object. A projection means is provided for projecting an image onto the rotating object and/or a periphery of the rotating object,
The rotation detection means is
It is possible to identify the position of the center of rotation of the rotating object,
The projection means includes:
The rotational motion detection system according to claim 3 , wherein the projected image is movable in accordance with a movement of a rotation center position of the rotating object. A projection means is provided for projecting an image onto the rotating object and/or a periphery of the rotating object,
The rotation detection means is
It is possible to identify the position of the center of rotation of the rotating object,
The projection means includes:
The rotational motion detection system according to claim 4 , wherein the projected image is movable in accordance with a movement of a rotation center position of the rotating object.

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