JPH08177263A - Method for detecting opening or closing of car door - Google Patents

Method for detecting opening or closing of car door

Info

Publication number
JPH08177263A
JPH08177263A JP31784694A JP31784694A JPH08177263A JP H08177263 A JPH08177263 A JP H08177263A JP 31784694 A JP31784694 A JP 31784694A JP 31784694 A JP31784694 A JP 31784694A JP H08177263 A JPH08177263 A JP H08177263A
Authority
JP
Japan
Prior art keywords
door
irradiation
car
doors
laser beam
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
JP31784694A
Other languages
Japanese (ja)
Inventor
Takashi Onishi
巍 大西
Shigeyuki Hatakeyama
重幸 畠山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to JP31784694A priority Critical patent/JPH08177263A/en
Publication of JPH08177263A publication Critical patent/JPH08177263A/en
Withdrawn legal-status Critical Current

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  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

PURPOSE: To automatically detect the opened or closed state of car doors, by carrying out a binary operation of the difference against two kinds of images at the time of irradiation and non-irradiation of infrared zone laser beam. CONSTITUTION: A cylindrical lens 4 and a shutter 5 are fitted to the front face of laser beam source 3 of the infrared zone and the laser beam is given off to horizontally radiate a belt-form projective beam on the irradiation face 6 including the front door 1 and the rear door 2 of a car. The shutter 5 is controlled by an image processor 9 and turned on and off at every certain interval. A binarizing operation of the difference is carried out against the two images at the time of irradiation when the doors are photographed by a CCD camera 8 through a filter 7 or non-irradiation to extract a projected profile. The distance and angle of the projected profile of the front and rear door positions are operated by an image processor 9, on the binarized image or the difference obtained in such a way. In this way, the opened extent of the doors 1, 2 can be estimated. When the shortest distance and/or angle exceeds a certain threshold, it is discriminated that the door is half-closed and an alarm is given to prevent the car with half-opened doors from driving in.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は、車ドアの開閉状態を自
動的に検出する車ドアの開閉検知方法に関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle door open / close detection method for automatically detecting the open / closed state of a vehicle door.

【0002】[0002]

【従来の技術】機械的駐車場において、車のドアが半ド
ア若しくは開いた状態のまま入庫すると、搬送・収納・
出庫の過程でドアが機械設備と接触して、車を損傷させ
る原因となる。ドアの開閉状態を自動的に検出する方法
として、超音波によりドア開口部からの反射波を利用す
る方法、車の映像を処理する方法が考えられる。
2. Description of the Related Art In a mechanical parking lot, when a car is loaded with a half-door or an open door, transportation, storage,
In the process of leaving the warehouse, the door may come into contact with mechanical equipment and cause damage to the car. As a method of automatically detecting the open / closed state of the door, a method of utilizing a reflected wave from the door opening by ultrasonic waves and a method of processing a car image can be considered.

【0003】このような方法では、対象となる車が色々
な車種に及び寸法・形状・塗装状態が多種多用であるこ
と、また、入庫口での停車状態も位置角度などにバラツ
キがあることなどにより、超音波の場合は音の指向性か
ら常に適切な位置にセンサー固定できないこと、画像処
理では像が複雑となり開口部状態を抽出できないこと、
また、それが可能であったとしても処理に膨大な時間が
かかり設備が大掛かりとなること等の理由によりドア開
閉状態のセンシングは実用化されていない。
In such a method, the target vehicle is used in various types and various sizes, shapes, and coating states, and there are variations in the position angle and the like when the vehicle is stopped at the entrance. Therefore, in the case of ultrasonic waves, the sensor cannot always be fixed at an appropriate position due to the directivity of the sound, and the image processing makes the image complicated and the opening state cannot be extracted.
Even if it is possible, the door open / closed state sensing has not been put into practical use due to the fact that the processing takes an enormous amount of time and the equipment becomes large.

【0004】また他の例として、車の半ドア状態を複数
の光電センサーにより検出する方法が提案されている
(特開平5−10635号)。この方法は、光電センサ
の光軸が固定されているため、車の幅の変化や昇降装置
に置かれる車の位置のズレ等の影響などによるドアと光
軸との相対的位置関係の補正がされず、特に、車幅の狭
い車ではドアの開口量が大きくないと、検出不能であ
り、微少な半ドア状態のドア開口は判定できなかった。
As another example, there has been proposed a method of detecting a half-door state of a vehicle by a plurality of photoelectric sensors (Japanese Patent Laid-Open No. 10635/1993). In this method, since the optical axis of the photoelectric sensor is fixed, it is possible to correct the relative positional relationship between the door and the optical axis due to changes in the width of the vehicle, displacement of the vehicle placed on the lifting device, etc. In particular, in a car with a narrow vehicle width, it cannot be detected unless the opening amount of the door is large, and it is not possible to determine the door opening in a small semi-door state.

【0005】[0005]

【発明が解決しようとする課題】このように、機械式駐
車場においては、車ドアの開閉状態が自動的に検出でき
れば、車の損傷トラブルを大幅に減少させることがで
き、安全上又は設備の運用上大きなメリットが得られ
る。本発明は、上記従来技術に鑑みて成されたものであ
り、機械式駐車場の入庫口において車のドアの開閉状態
を自動的に検出する手段を備えた装置を低コストで提供
することを目的とする。
As described above, in the mechanical parking lot, if the open / closed state of the vehicle door can be automatically detected, the damage trouble of the vehicle can be greatly reduced, and safety or equipment Great operational advantages can be obtained. The present invention has been made in view of the above-mentioned prior art, and provides a device provided with a means for automatically detecting an open / closed state of a car door at an entrance of a mechanical parking lot at low cost. To aim.

【0006】[0006]

【課題を解決するための手段】前記課題を解決する本発
明の構成は、水平方向に帯状とした赤外線域レーザ光
を、車体ドアを含む範囲に間欠的に照射し、該範囲にお
ける照射時及び非照射時の二種類の画像をCCDカメラ
により撮影し、撮影された二つの画像に対して差分2値
化演算を施すことにより、前記レーザ光の投影輪郭を抽
出し、該投影輪郭から車ドアの開閉状態を判定すること
を特徴とする。ここで、車ドアの開閉状態は、前記車ド
アの開口部により切断・分離される前記投影輪郭の傾斜
及び距離の大きさからを判定することが可能である。
The structure of the present invention for solving the above-mentioned problems is to irradiate a horizontal band-shaped infrared laser beam intermittently to a range including a vehicle body door, and when irradiating in the range. Two types of images during non-irradiation are photographed by a CCD camera, and a difference binarization operation is performed on the two photographed images to extract the projected contour of the laser light, and the car door is extracted from the projected contour. The open / closed state of is determined. Here, the open / closed state of the car door can be determined from the size of the inclination and distance of the projected contour cut / separated by the opening of the car door.

【0007】[0007]

【作用】車体上に投影される帯状の投影光を赤外線域レ
ーザとすることにより、塗装色や車体上の文字、模様等
色と明るさのムラの影響を低減でき、また、太陽光の波
長成分が少ないため、日照条件の変化の影響が低減でき
る。
[Function] By using the infrared laser as the band-shaped projection light projected on the vehicle body, it is possible to reduce the influence of unevenness of the paint color, characters such as characters and patterns on the vehicle body, and uneven brightness. Since there are few components, the effect of changes in sunshine conditions can be reduced.

【0008】また、赤外線域レーザを間欠的に照射し、
照射時及び非照射時の画像に対して、差分演算を施すこ
とにより投影輪郭を抽出することにより、更に、塗装、
車及びその周辺のカメラ視野内の像による影響、即ち、
外乱をなくすことができ、投影光のみの輪郭が抽出でき
る。更に、ドアが開口していると、その部分で投影輪郭
が切断・分離され、開口量が多いほど、分離された光の
間の間隔若しくは(及び)距離が大きくなるから、差分
2値化により得られた光パターンの角度や距離の大小に
よりドア開口の程度が識別できる。
Further, the infrared laser is intermittently irradiated,
By extracting the projected contour by applying the difference calculation to the image during irradiation and non-irradiation, further painting,
The effect of the image in the field of view of the car and its surroundings,
Disturbance can be eliminated, and the contour of only the projection light can be extracted. Furthermore, if the door is open, the projected contour is cut / separated at that part, and the larger the opening amount, the larger the interval or (and) distance between the separated lights. The degree of the door opening can be identified by the angle and distance of the obtained light pattern.

【0009】[0009]

【実施例】以下、本発明について、図面に示す実施例を
参照して詳細に説明する。本発明の一実施例を図1に示
す。同図に示すように、機械式駐車場における入庫口に
は、レーザー光源3及びCCDカメラ8が据え付けられ
ている。レーザー光源3は入庫する車に向けて配置され
ると共にCCDカメラ8はその車の照射面6を視野とす
るように配置されている。
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the embodiments shown in the drawings. One embodiment of the present invention is shown in FIG. As shown in the figure, the laser light source 3 and the CCD camera 8 are installed at the entrance of the mechanical parking lot. The laser light source 3 is arranged toward the car into which the car is stored, and the CCD camera 8 is arranged so that the irradiation surface 6 of the car is the field of view.

【0010】レーザー光源3の前面には、シリンドリカ
ルレンズ4及びシャッター5が取り付けられ、レーザー
光源3からレーザ光が出射されると、シリンドリカルレ
ンズ4、シャッター5を通過して、水平方向に帯状をな
す投影光が車の前ドア1、後ドア2を含む照射面6に照
射される。
A cylindrical lens 4 and a shutter 5 are attached to the front surface of the laser light source 3, and when laser light is emitted from the laser light source 3, the laser light passes through the cylindrical lens 4 and the shutter 5 to form a horizontal strip shape. The projection light is applied to the irradiation surface 6 including the front door 1 and the rear door 2 of the vehicle.

【0011】ここで、レーザ光源3としては、赤外線域
のレーザ、例えば、波長780nmのレーザダイオード
が使用される。赤外光を用いることにより、塗装色や車
体の文字、模様等色と明るさのムラの影響を低減でき、
また、太陽光の波長成分が少ないため、日照条件の変化
の影響が低減できる。
Here, as the laser light source 3, an infrared laser, for example, a laser diode having a wavelength of 780 nm is used. By using infrared light, it is possible to reduce the effects of unevenness in color and brightness such as paint colors, car body characters, patterns, etc.
Further, since the wavelength component of sunlight is small, the influence of changes in sunshine conditions can be reduced.

【0012】シャッター5は、画像処理装置9により制
御されて一定間隔でON−OFFし、レーザー光源3か
らのレーザ光を遮蔽する。従って、照射面6には、レー
ザ光が間欠的に照射されることとなる。CCDカメラ8
の前面にはフィルター7が取り付けられ、フィルター7
を通じてCCDカメラ8により撮影された画像が画像処
理装置9により画像処理を施されることとなる。
The shutter 5 is controlled by the image processing device 9 and is turned on and off at regular intervals to shield the laser light from the laser light source 3. Therefore, the irradiation surface 6 is intermittently irradiated with the laser light. CCD camera 8
Filter 7 is attached to the front of the
The image captured by the CCD camera 8 is subjected to image processing by the image processing device 9.

【0013】フィルター7としては、レーザー光源3の
波長を選択的に通過させるものを利用すると、外光によ
り影響を減少させることができ好ましい。画像処理装置
9では、CCDカメラ8により撮影された照射時及び非
照射時の二つの画像に対して差分2値化処理演算を施
し、その投影輪郭を抽出する。更に、この画像処理装置
9は、ドアの開口部で分離される投影輪郭の角度又は
(及び)距離の大きさからドアの開閉状態を判定する機
能を有する。
As the filter 7, it is preferable to use a filter that selectively passes the wavelength of the laser light source 3 because the influence of external light can be reduced. In the image processing device 9, the difference binarization processing operation is performed on the two images taken by the CCD camera 8 at the time of irradiation and at the time of non-irradiation, and the projected contour is extracted. Further, the image processing device 9 has a function of determining the open / closed state of the door based on the angle of the projected contours separated by the opening of the door and / or the size of the distance.

【0014】即ち、差分画像の光量差がある程度大きい
領域を2値化することにより、ドア高さの水平方向にお
ける帯状の投影輪郭が得られる。図2に示すように差分
2値化画像の上で、領域aは前ドア1の投影輪郭、領域
bは後ドア2の投影輪郭であり、これら領域a,b間の
最短距離δは前ドア1が開いていれば大きくなり、これ
ら領域a,bの長軸のなす角度θは前ドア1が開いてい
れば大きくなる。逆に、前ドア1が閉じていれば、領域
aと領域bとは殆ど連続して最短距離δは殆ど0とな
り、領域a,bの長軸のなす角度θも0に近くなる。
That is, by binarizing the region where the difference in light amount of the difference image is large to some extent, a strip-shaped projected contour in the horizontal direction of the door height can be obtained. As shown in FIG. 2, on the differential binarized image, the area a is the projected contour of the front door 1, the area b is the projected contour of the rear door 2, and the shortest distance δ between these areas a and b is the front door. If the front door 1 is open, the angle θ formed by the long axes of the regions a and b is increased if the front door 1 is open. On the contrary, if the front door 1 is closed, the region a and the region b are almost continuous, the shortest distance δ is almost 0, and the angle θ formed by the major axes of the regions a and b is also close to 0.

【0015】このように得られた差分2値化画像上で前
ドア1と後ドア2の位置する部分の投影輪郭の距離と角
度を画像処理装置9で演算することにより、ドア1,2
の開口量が推定でき、最短距離δ若しくは(及び)角度
θがある閾値を越えるときは半ドア状態である判定し
て、警報を発し、又は、入庫装置の動作を停止すること
により、半ドア状態での入庫を防止することができる。
更に、図2に示す差分2値化画像の上で、領域bは後ド
アの投影輪郭、領域cはリアパネルの投影輪郭であり、
これら領域b,c間の最短距離又は(及び)光軸のなす
角度から後ドア2の開口量についても全く同様にして判
定することができる。
The image processing device 9 calculates the distance and angle of the projected contours of the portions where the front door 1 and the rear door 2 are located on the thus-obtained differential binarized image.
When the shortest distance δ or (and) the angle θ exceeds a certain threshold, it is judged that the door is in a half-door state, and an alarm is issued, or the operation of the warehousing device is stopped. It is possible to prevent warehousing in the state.
Further, on the differential binarized image shown in FIG. 2, the region b is the projected contour of the rear door, the region c is the projected contour of the rear panel,
The opening amount of the rear door 2 can be determined in the same manner from the shortest distance between the regions b and c or (and) the angle formed by the optical axes.

【0016】従って、本実施例において、車ドアの開閉
検知方法を実施するには、図2に示すフローチャートに
従い、先ず、シャッター5を閉じて非照射時における投
影光の画像(以下、第1画像という)をCCDカメラ8
により取り込み、次いで、シャッター5を開いて照射時
における投影光の画像(以下、第2画像という)を取り
込み、引き続き、画像処理装置9において第1画像と第
2画像との差分2値化演算処理を施して投影輪郭を抽出
し、上述したように投影輪郭の切断・分離された長さと
角度のズレ量を演算し、半ドア状態か否か判定するもの
である。
Therefore, in order to carry out the method for detecting the opening / closing of the vehicle door in this embodiment, first, the shutter 5 is closed to project the image of the projection light when not illuminated (hereinafter referred to as the first image). CCD camera 8
And then the shutter 5 is opened to capture an image of the projection light at the time of irradiation (hereinafter referred to as the second image), and subsequently, the image processing apparatus 9 performs a difference binarization calculation process between the first image and the second image. The projected contour is extracted by performing the above, and the amount of deviation between the cut / separated length and angle of the projected contour is calculated as described above to determine whether or not the door is in the half-door state.

【0017】本実施例の測定方法によれば、入庫口では
車の向きと方向は略一定とする必要が機械式駐車場にお
いて、若干の車の寸法の相違や停車位置のバラツキに係
わりなく、ドアの開口状態を確実に判定することができ
る尚、本実施例で述べた半ドア状態とは、ドアが完全に
閉じられていない全ての状態を言うものとする。
According to the measuring method of the present embodiment, it is necessary that the direction and direction of the vehicle be substantially constant at the entrance, regardless of slight differences in vehicle dimensions and variations in stop positions in the mechanical parking lot. The open state of the door can be reliably determined. The half-door state described in this embodiment means all states in which the door is not completely closed.

【0018】[0018]

【発明の効果】以上、実施例に基づいて説明したように
本発明によれば、1個の光源と1個のカメラにより極め
て簡単な手法により車ドアの開閉状態を判定できるか
ら、高速で低コストなドア開閉検出装置を提供でき、機
械式駐車場の入庫口に設置することにより、車の破損等
の致命的トラブルを防止できるという運用上及び安全面
の大きな利点が得られる。
As described above with reference to the embodiments, according to the present invention, since the open / closed state of the vehicle door can be determined by an extremely simple method using one light source and one camera, it is possible to reduce the speed at a high speed. It is possible to provide a costly door open / close detection device, and by installing it at the entrance of a mechanical parking lot, it is possible to obtain a great advantage in terms of operation and safety that a fatal trouble such as a car damage can be prevented.

【図面の簡単な説明】[Brief description of drawings]

【図1】本発明の一実施例に係る車ドアの開閉検知方法
を示す説明図である。
FIG. 1 is an explanatory diagram showing a vehicle door open / closed detection method according to an embodiment of the present invention.

【図2】画像処理処理を示すフローチャートである。FIG. 2 is a flowchart showing image processing processing.

【符号の説明】[Explanation of symbols]

1 前ドア 2 後ドア 3 レーザー光源 4 シリンドリカルレンズ 5 シャッター 6 シート光源照射面 7 フィルター 8 CCDカメラ 9 画像処理装置 1 Front Door 2 Rear Door 3 Laser Light Source 4 Cylindrical Lens 5 Shutter 6 Sheet Light Source Irradiation Surface 7 Filter 8 CCD Camera 9 Image Processing Device

───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 庁内整理番号 FI 技術表示箇所 G06T 7/00 ─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. 6 Identification code Internal reference number FI technical display location G06T 7/00

Claims (2)

【特許請求の範囲】[Claims] 【請求項1】 水平方向に帯状とした赤外線域レーザ光
を、車体ドアを含む範囲に間欠的に照射し、該範囲にお
ける照射時及び非照射時の二種類の画像をCCDカメラ
により撮影し、撮影された二つの画像に対して差分2値
化演算を施すことにより、前記レーザ光の投影輪郭を抽
出し、該投影輪郭から車ドアの開閉状態を判定すること
を特徴とする車ドアの開閉検知方法。
1. A horizontal band-shaped infrared laser beam is intermittently irradiated to a range including a vehicle body door, and two kinds of images in the range, i.e. irradiated and non-irradiated, are photographed by a CCD camera, Opening and closing a car door characterized by extracting a projected contour of the laser light by performing a difference binarization operation on the two captured images and determining an open / closed state of the car door from the projected contour. Detection method.
【請求項2】 前記車ドアの開口部により切断・分離さ
れた前記投影輪郭の傾斜及び距離の大きさから車ドアの
開閉状態を判定することを特徴とする請求項1記載の車
ドアの開閉検知方法。
2. The opening / closing state of the vehicle door according to claim 1, wherein the opening / closing state of the vehicle door is determined from the size of the inclination and the distance of the projected contour cut / separated by the opening portion of the vehicle door. Detection method.
JP31784694A 1994-12-21 1994-12-21 Method for detecting opening or closing of car door Withdrawn JPH08177263A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP31784694A JPH08177263A (en) 1994-12-21 1994-12-21 Method for detecting opening or closing of car door

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP31784694A JPH08177263A (en) 1994-12-21 1994-12-21 Method for detecting opening or closing of car door

Publications (1)

Publication Number Publication Date
JPH08177263A true JPH08177263A (en) 1996-07-09

Family

ID=18092713

Family Applications (1)

Application Number Title Priority Date Filing Date
JP31784694A Withdrawn JPH08177263A (en) 1994-12-21 1994-12-21 Method for detecting opening or closing of car door

Country Status (1)

Country Link
JP (1) JPH08177263A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998036238A1 (en) * 1997-02-14 1998-08-20 Kabushiki Kaisha Yaskawa Denki Outdoor range finder
JP2001264013A (en) * 2000-03-16 2001-09-26 Kawasaki Heavy Ind Ltd Vehicle door opening/closing detecting method, platform door opening/closing method, vehicle door opening/closing detecting system, and platform door opening/closing system
JP2004533964A (en) * 2001-07-10 2004-11-11 シーメンス アクチエンゲゼルシヤフト Optical identification method and apparatus for vehicle door open state
FR2885686A1 (en) * 2005-05-13 2006-11-17 Shaktiware Soc Par Actions Sim Contact-less dimensional control system for entrance of parking, has camera placed with respect to reference surface, images obtained by lighting, and optical axis parallel to surface, where images from camera are compared with height
US20170041816A1 (en) * 2015-08-05 2017-02-09 Lg Electronics Inc. Mobile terminal and controlling method thereof
JP2018120510A (en) * 2017-01-27 2018-08-02 アマノ株式会社 Information processing apparatus, information processing method, program, and information processing system
CN110345961A (en) * 2016-06-27 2019-10-18 御眼视觉技术有限公司 Based on the main vehicle of the Characteristics Control that parks cars detected

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998036238A1 (en) * 1997-02-14 1998-08-20 Kabushiki Kaisha Yaskawa Denki Outdoor range finder
JPH10227609A (en) * 1997-02-14 1998-08-25 Yaskawa Electric Corp Distance measuring device for outdoor
EP1008831A1 (en) * 1997-02-14 2000-06-14 Kyushu Electric Power Co., Inc. Outdoor range finder
EP1008831A4 (en) * 1997-02-14 2001-02-07 Kyushu Electric Power Outdoor range finder
US6331887B1 (en) * 1997-02-14 2001-12-18 Kabushiki Kaisha Yaskawa Denki Outdoor range finder
JP2001264013A (en) * 2000-03-16 2001-09-26 Kawasaki Heavy Ind Ltd Vehicle door opening/closing detecting method, platform door opening/closing method, vehicle door opening/closing detecting system, and platform door opening/closing system
JP2004533964A (en) * 2001-07-10 2004-11-11 シーメンス アクチエンゲゼルシヤフト Optical identification method and apparatus for vehicle door open state
US7457437B2 (en) 2001-07-10 2008-11-25 Siemens Aktiengesellschaft Method and device for optically detecting the open state of a vehicle door
FR2885686A1 (en) * 2005-05-13 2006-11-17 Shaktiware Soc Par Actions Sim Contact-less dimensional control system for entrance of parking, has camera placed with respect to reference surface, images obtained by lighting, and optical axis parallel to surface, where images from camera are compared with height
US20170041816A1 (en) * 2015-08-05 2017-02-09 Lg Electronics Inc. Mobile terminal and controlling method thereof
CN110345961A (en) * 2016-06-27 2019-10-18 御眼视觉技术有限公司 Based on the main vehicle of the Characteristics Control that parks cars detected
CN110345961B (en) * 2016-06-27 2020-10-16 御眼视觉技术有限公司 Controlling a host vehicle based on detected parked vehicle characteristics
JP2018120510A (en) * 2017-01-27 2018-08-02 アマノ株式会社 Information processing apparatus, information processing method, program, and information processing system

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