JP6688475B2 - Information acquisition device, information acquisition system, autonomous mobile device, autonomous mobile device system, and position measuring method for moving body - Google Patents

Description

The present invention relates to an information acquisition device, an information acquisition system, an autonomous mobile device, an autonomous mobile device system, and a mobile body position measurement method.

Conventionally, as an autonomous mobile device, the distance sensor detects the azimuth and distance to surrounding objects, and based on the detection result and the position information of the object in the map information of the moving area stored in advance, the self-position is determined. It is known to estimate.
As such an autonomous mobile device, in Japanese Patent Laid-Open No. 2004-242242, a distance sensor detects a sign whose position in a moving area is input in advance on map information, and a relative self-position obtained from the azimuth and distance to the sign. Based on this, a configuration for estimating the self-position within the moving area is described.

  The sign described in Patent Document 1 has a configuration in which a linear mark that reflects light and a linear mark that absorbs light are alternately repeated a predetermined number of times. Then, the autonomous mobile device of Patent Document 1 detects the above-described sign based on a combination of a detection result in which the received light intensity of the received reflected light is higher than a predetermined value and a detection result in which the received light intensity is lower than the predetermined value. To do.

  However, if only the received light intensity of the reflected light detected by the distance sensor is higher or lower than a predetermined value, the number of information that can be assigned is small due to the difference in the received light intensity, and it can be associated with the sign. The amount of information is reduced.

  In order to solve the above-mentioned problems, the present invention provides a distance measuring means for irradiating light to detect a distance to a surface of an object within a detection range and a light reception intensity of reflected light from the surface, and a surface of the object. In the information acquisition device comprising a marker information generating unit that generates marker information associated with the marker based on a detection value of the received light intensity of the reflected light reflected by the marker arranged in the marker information generating unit, The detected value of the received light intensity of the reflected light on the sign detected by the distance measuring unit is divided into three or more steps, and the sign information is generated based on predetermined information assigned to each section. To do.

  According to the present invention, it is possible to acquire information about a sign associated with a larger amount of information than before.

The perspective view which shows typically the state which irradiated the laser beam from the range sensor of the self-propelled robot which reached before the 1st optical mark. Explanatory drawing of the self-propelled robot of embodiment, (a) is a top view, (b) is a right view. The block diagram which shows an example of the control system of a self-propelled robot. The schematic diagram explaining the estimation method of the self-position in the movement area of a self-propelled robot in a self-propelled robot system. The perspective view which shows typically the state where the self-propelled robot reached before the 1st optical mark. 3A and 3B are explanatory diagrams of an optical mark according to the first embodiment. Explanatory drawing which showed typically the distance information and reflection intensity information obtained by the range sensor. The flowchart of the control which detects a self-position in a self-propelled robot. Explanatory drawing which showed the change of the resolution of the range sensor by the distance with respect to an optical mark, (a) explanatory drawing of a near state, (b) explanatory drawing of a distant state. 7A and 7B are explanatory views of an optical mark according to the second embodiment. 7A and 7B are explanatory views of an optical mark of Example 3. FIG. 9A and 9B are explanatory diagrams of an optical mark according to a fourth embodiment. 7A and 7B are explanatory views of an optical mark according to a fifth embodiment.

Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings.
2A and 2B are explanatory views of the self-propelled robot 1 which is the autonomous mobile device of the embodiment. FIG. 2A is a top view of the self-propelled robot 1, and FIG. 2B is a right side face of the self-propelled robot 1. It is a figure. As the autonomous moving device, there are a type in which an object is loaded on a vehicle and unmanned is delivered to a designated place, and a type in which a cart is pulled. The self-propelled robot 1 of the present embodiment can be applied to any type of autonomous mobile device. The right side in FIG. 2 is the front of the self-propelled robot 1.

FIG. 3 is a block diagram showing an example of a control system of the self-propelled robot 1.
As shown in FIGS. 2 and 3, the self-propelled robot 1 includes a vehicle body 2, a drive wheel 3, an auxiliary wheel 4, a drive motor 17, a range sensor 5, and an encoder 9 for detecting the number of rotations of the drive wheel 3. And a control unit 10 that performs autonomous traveling control.

  As shown in FIG. 3, the control unit 10 includes a storage unit 11, a self-position estimation unit 12, an encoder calculation unit 13, a data processing unit 14, a route calculation unit 15, and a drive motor control unit 16. The storage unit 11 stores map information and the like of the moving area. The drive motor control unit 16 creates a control signal for driving the drive wheels 3 and transmits the control signal to the drive motor 17. The encoder calculator 13 calculates the movement amount of the self-propelled robot 1 based on the rotation amount of the drive wheel 3 detected by the encoder 9.

  As shown in FIG. 2, the self-propelled robot 1 is provided with a non-contact type range sensor 5 for recognizing an obstacle or the like appearing on the front surface of the vehicle body 2 in a moving direction. The range sensor 5 measures the distance to an object existing in the moving area and generates environmental data. The self-position estimating unit 12 compares the contour data of the surrounding object obtained from the measurement result of the range sensor 5 with the contour data of the fixed obstacle such as a wall included in the map information stored in the storage unit 11. Is an estimation means for estimating the self-position of the self-propelled robot 1.

In this embodiment, a general two-dimensional laser range sensor (laser range finder) that irradiates the laser beam L is used as the range sensor 5, and the laser beam L is arranged so that the irradiation direction is substantially horizontal. Has been done.
The range sensor 5 irradiates the laser light L by continuously changing the irradiation direction, and receives the reflected light from the object in the fan-shaped detection area to determine the distance and direction to the object. Can be measured. Further, the range sensor 5 and the front direction, which is the center of the scanning range, are arranged in the self-propelled robot 1 so that the front direction of the self-propelled robot 1 coincides with the traveling direction of the self-propelled robot 1.
In the autonomous traveling control, the map information stored in advance in the storage unit 11, the moving distance estimated by odometry (the moving distance is calculated from the rotation speed of the encoder 9), and the distance information detected by the range sensor 5 are used. The self position is estimated by matching and.

  The map information stored in the storage unit 11 may be created based on the distance information measured by the range sensor 5 by moving the self-propelled robot 1 within the movement area before the operation of the self-propelled robot 1 is started. good. Specifically, while moving the self-propelled robot 1, the range sensor 5 detects the azimuth and distance to surrounding objects, and the range sensor 5 at the height at which the range sensor 5 is arranged for the detected object. Generate a grid image showing the contours of the opposing surfaces. Then, the feature points of the grid image are collated before and after the movement, and the images are superposed so that the same feature points best match each other to create map information of the entire movement region. As a method of moving the self-propelled robot 1 in the movement area at the time of creating map information, a person may manually push the self-propelled robot 1, or the self-propelled robot 1 may be automatically moved.

  When the self-propelled robot 1 travels autonomously, the azimuth sensor 5 detects the azimuth and the distance to the object, and the detected surrounding objects face the range sensor 5 at the height at which the range sensor 5 is arranged. A grid image showing the contour of the surface to be processed is generated. Then, this grid image is collated with the grid image of the map information indicating the contours of the fixed obstacles of the entire moving area stored in advance in the storage unit 11, and in the grid image of the map information of the entire moving area, , Find a part of the detected contour of the object that overlaps the grid image. Then, the current position on the map information is calculated based on the detected azimuth and distance to the surrounding object, and the self position in the moving area is estimated.

  FIG. 4 is a schematic diagram for explaining a method of estimating the self-position in the movement area of the self-propelled robot 1 in the self-propelled robot system 100 in which the self-propelled robot 1 is arranged in a predetermined movement area. FIG. 4A shows the positional relationship between the self-propelled robot 1 and the pillars 30 and walls 40 that are fixed obstacles that constitute the layout of the moving area. 4B shows the position of the pillar 30 detected by the range sensor 5, and FIG. 4C shows that the self position is specified by matching.

The positions and shapes of the walls 40 and the pillars 30 in the moving area shown in FIG. 4A are stored in the storage unit 11 in advance as map information. As shown in FIG. 4B, the range sensor 5 detects the contour of the pillar 30 and the like, and the detection result and the map information are collated to estimate the self-position as shown in FIG. 4C.
As shown in FIG. 4A, a plurality of optical marks M (M1 to M4) are arranged on the wall 40 and the pillar 30 in the moving area of the self-propelled robot system 100.

  In the self-propelled robot 1 of the present embodiment, by detecting the optical mark M, the self position in the moving area can be accurately grasped. Hereinafter, a configuration for grasping the self-position using the optical mark M will be described.

  FIG. 5 is a perspective view schematically showing a state in which the self-propelled robot 1 has arrived in front of the first optical mark M1. As shown in FIG. 1 and FIG. 5, a plurality of optical systems are used as indicators that can be individually identified on a wall 40, a pillar 30, or the like in a moving area that is a predetermined range of the self-propelled robot 1 indoors or the like. The mark M is installed at a specific position.

[Example 1]
A first example (hereinafter, referred to as “Example 1”) of the optical mark M applicable to the present embodiment will be described.
FIG. 6 is an explanatory diagram of a configuration example of the optical mark M according to the first embodiment. FIG. 6A is an explanatory diagram showing the relationship between the density types of the linear marks N having different black densities used for the optical mark M and the code numbers assigned to the respective densities. FIG. 6B is an explanatory diagram of a first example of the optical mark M and a coded number thereof, and FIG. 6C is a second example of the optical mark M. It is explanatory drawing of the number which coded it.

As shown in FIG. 6A, five types of linear marks N having different black densities are used, and a code number is assigned to each density.
The data processing unit 14 shown in FIG. 3 stores a code number for the received light intensity of the reflected light corresponding to the linear mark N of each density, and the code number is stored according to the received light intensity of the range sensor 5. Is output. For example, the laser beam L emitted from the range sensor 5 is reflected by the linear mark N of the density assigned the code number “3” in FIG. 6A, and the range sensor 5 reflects the reflected light. When light is received, the data processing unit 14 outputs the code number "3" based on the received light intensity.

As shown in FIG. 6, the optical mark M is composed of a plurality of (7 in the present embodiment) linear marks N having different densities in multiple stages. The self-propelled robot 1 of the present embodiment does not recognize the width of the linear mark like a barcode, but recognizes the respective densities of the linear marks N having a predetermined width. In the present embodiment, the width of one linear mark N is 30 [mm]. In operation, when A4 paper is used as a medium for providing the optical mark M and a range sensor having an angular resolution of 0.25 [°] is used as the range sensor 5, the distance is about 5000 [mm]. This is for setting so that it can be recognized from the place. Then, the width of one linear mark N was set to 30 [mm] based on the following equations (1) and (2).
A4 paper width (297 [mm]) ÷ 9 lines (7 line marks + 2 margins on both sides)
= 33 [mm] (1)
tan (0.25 [°]) × 5000 [mm] ≈21 [mm] (2)

  Even if the density of the linear mark N in the optical mark M is the same, the difference in the distance and angle of the optical mark M with respect to the range sensor 5, that is, the difference in the relative position of the optical mark M with respect to the range sensor 5. Depending on the range sensor 5, the received light intensity of the reflected light may differ. Specifically, when the distance of the optical mark M to the range sensor 5 changes, the light reception intensity of the reflected light from the linear mark N also changes. Also, when the angle of the surface of the optical mark M with respect to the irradiation direction of the laser light L from the range sensor 5 changes, the received light intensity of the reflected light from the linear mark N also changes. Therefore, in the present embodiment, the correction value of the received light intensity due to the difference in the relative position is obtained in advance by experiments or the like and stored in the data processing unit 14. Then, the code number assigned to the linear mark N is acquired by correcting the value of the received light intensity based on the relative position of the range sensor 5 with respect to the optical mark M.

Further, as another method, when the optical mark M is detected, the self-propelled robot 1 is moved so that the range sensor 5 is at a predetermined position with respect to the optical mark M, and the optical mark M is again detected. Alternatively, the optical mark M may be detected at a fixed relative position by irradiating the laser light L.
Even if the density of the linear mark N in the optical mark M is the same, the received light intensity of the reflected light acquired by the range sensor 5 may differ depending on the material of the medium in which the optical mark M is provided. In this case, it is possible to appropriately recognize the respective densities of the linear marks N by obtaining correction values in advance for the number of types of materials used for the medium on which the optical marks M are provided.

  A coded number is associated with each optical mark M as an identification number (hereinafter referred to as “ID”). In the optical mark M shown in FIG. 6B, the code number "2" is output from the first linear mark N1 and the code number "5" is output from the second linear mark N2, and the optical mark M as a whole is It is possible to acquire the ID “2513241”. Similarly, the ID “4541243” can be obtained from the optical mark M shown in FIG.

As shown in FIG. 6, since the optical mark M is composed of seven linear marks N and is encoded by five values, the number of IDs that can be assigned to the optical mark M is theoretically the same. , “5 ⁷ = 78125”. On the other hand, in the conventional configuration in which the density is not modulated, the number of IDs that can be assigned to the markers including the seven linear marks is “2 ⁷ = 128” in theory. Therefore, it is possible to secure a larger number of IDs by encoding by density modulation as in the present embodiment.

As shown in FIG. 3, the self-propelled robot 1 includes a range sensor 5 as an acquisition unit for capturing the distance information of the optical mark M and the received light intensity information of the reflected light.
The data processing unit 14 extracts the information indicating the optical mark M in the acquired information based on the distance information and the received light intensity information output from the range sensor 5, and outputs the information for the optical mark M from which the information is extracted. The relative position of the running robot 1 is calculated and the ID of the optical mark M is detected.
The storage unit 11, which is a storage unit, stores the IDs of all the optical marks M installed in the moving area and the position data (latitude, longitude, etc.) of all the optical marks M corresponding to the individual IDs. It is stored as a table.
The self-position estimation unit 12 uses the absolute position of the detected optical mark M obtained from the storage unit 11 and the relative position of the self-propelled robot 1 with respect to the optical mark M obtained from the data processing unit 14 to determine the self-propelled robot 1 Calculate the absolute position of. As a result, even if the self-position estimated by matching the movement distance by the odometry and the distance information by the range sensor 5 is displaced and the self-position is lost, the self-position can be detected by finding the optical mark M. It becomes possible to recognize the position.

  The range sensor 5 is attached to the tip portion of the self-propelled robot 1 so as to be at substantially the same height as the height of the identification mark portion of the optical mark M provided on the wall 40 or the pillar 30.

Here, the principle of calculating the self-position of the self-propelled robot 1 using the optical mark M and the range sensor 5 will be described with reference to FIGS. 1 and 7.
FIG. 1 is a perspective view schematically showing a state in which a laser beam L is emitted from the range sensor 5 of the self-propelled robot 1 that has arrived before the first optical mark M1. FIG. 7 is an explanatory diagram schematically showing distance information obtained by the range sensor 5 and light reception intensity information of reflected light (hereinafter, referred to as “reflection intensity information”) in the state of FIG. 1.

  As shown in FIG. 1, it is assumed that the first optical mark M1 in front of the self-propelled robot 1 is detected by the range sensor 5. As shown in FIG. 1, the first optical mark M1 is attached to the wall 40 so that the height of the range sensor 5 is substantially the same as that of the identification mark portion of the first optical mark M1. is there. Therefore, the distance information of the wall 40 around the position where the first optical mark M1 shown in FIG. 7A is attached and the position where the first optical mark M1 shown in FIG. 7B is attached. The reflection intensity information of the surrounding wall 40 is acquired at the same time.

As shown in FIG. 7, the distance information and the reflection intensity information correspond to each other with respect to the angle around the range sensor 5.
The data processing unit 14 included in the control unit 10 of the self-propelled robot 1 recognizes from the reflection intensity information acquired by the range sensor 5 that the optical mark M exists on the front side, and further, from the reflection intensity information, the first optical The identification number of the expression mark M1 is recognized. Then, based on the identification number recognized by the data processing unit 14, the self-position estimation unit 12 reads out the position data of the absolute position in the moving region of the optical mark M corresponding to the identification number from the storage unit 11. Self-propelled based on the relative position with respect to the first optical mark M1 calculated from the distance information measured by the range sensor 5 and the absolute position of the first optical mark M1 read from the storage unit 11. It is possible to calculate the current position of the robot 1.

FIG. 8 is a flowchart of control for detecting the self-position in the self-propelled robot 1 of this embodiment.
First, the range sensor 5 captures the surrounding distance information and the reflection intensity information (S1). Next, it is determined whether or not the optical mark M exists around (S2). Here, if it is determined that the optical mark M does not exist in the surroundings (“No” in “S2”), the process returns to “S1”. When it is determined that the optical mark M is present in the surroundings (“Yes” in “S2”), the process proceeds to “S3”. Here, the linear mark N of the optical mark M detected based on the reflection intensity information is analyzed to recognize the identification number (S3). Then, the detected position information of the optical mark M is read from the storage unit 11. Further, the distance corresponding to the angle of the optical mark M recognized from the reflection intensity information with respect to the self-propelled robot 1 is read from the distance information, and based on this distance information and the position information of the optical mark M, the self-propelled robot 1 Calculate the current position.

  As a configuration for recognizing the absolute position of a mobile body such as the self-propelled robot 1, in recent years, a system using a global positioning system (hereinafter, referred to as "GPS") has become mainstream. However, GPS radio waves may interfere with the reception of radio waves or the reception sensitivity may deteriorate outdoors in an environment where there are many buildings, mountains, etc. where radio wave interference is likely to occur, or in factories where it is difficult to penetrate radio waves, indoors such as airport buildings and station premises. As a result, there is a problem that the reliability of the position recognition of the moving body is reduced. Therefore, as a position recognizing technique of a moving body that does not use GPS, Patent Document 1 discloses that the position of the moving body is recognized by detecting a marker whose position information is given by a specific reflection intensity pattern with a range sensor. The configuration is described.

However, as in the configuration described in Patent Document 1, the number of identifiable IDs decreases when only the received light intensity of the reflected light is higher or lower than a predetermined value.
FIG. 9 is an explanatory diagram showing a plurality of linear marks forming the optical mark M with binary values of black and white and showing a change in resolution of the range sensor 5 depending on a distance. 9A shows a state where the optical mark M and the range sensor 5 are close to each other, and FIG. 9B shows a state where the optical mark M and the range sensor 5 are separated from each other.

As shown in FIG. 9A, when the range sensor 5 is located close to the optical mark M, a large amount of laser light L can be applied to the optical mark M, and the resolution is high. Become. Therefore, it is possible to narrow the interval between the linear marks, increase the types of combinations of black and white linear mark arrays in a limited width range, and increase the amount of information indicated by the optical mark M. It is possible.
However, as shown in FIG. 9B, when the range sensor 5 is located far from the optical mark M, the optical mark M can be irradiated as compared with FIG. 9A. The number of laser beams L decreases, and the resolution decreases. For this reason, if the interval between the linear marks is narrowed, some of the linear marks will not be irradiated with the laser light L and will not be detected, or the number of irradiated laser lights will be too small to obtain width information. There is a risk.

  Therefore, there is a limit to the number of linear marks that can be placed in a limited width range, and if each linear mark is represented by a binary value of black and white, the The number of IDs that can identify the sign is reduced. For example, the number of IDs that can be identified when detecting an A3 width marker from a position distant from 5000 [mm] is about 10, and for example, absolute position recognition is performed within a moving area of 50 [m] × 50 [m]. It is impossible to secure a sufficient number of IDs for the sign.

  In the autonomous mobile device described in Patent Document 1 that detects a sign by determining whether the received light intensity of reflected light is higher or lower than a predetermined value, it is possible to recognize that there is a sign and to detect a plurality of signs. It is not individually identified. Therefore, the sign information associated with the sign described in Patent Document 1 is only information indicating that there is a sign.

  On the other hand, in the self-propelled robot system 100 of this embodiment, the black densities of the individual linear marks N constituting the optical mark M used to recognize the absolute position of the self-propelled robot 1 are modulated. In the data processing unit 14 of the control unit 10 included in the self-propelled robot 1, the laser light L emitted from the range sensor 5 is reflected by the linear mark N of the optical mark M, and the reflection intensity information of the reflected light is coded. Turn into.

Assuming that the width of each linear mark N of the optical mark M is the minimum width that can be detected by the range sensor 5, in the case of coding by detecting the light and shade as in this embodiment, one linear mark is used. One value can be expressed by N. However, in the case of width modulation of only black and white, one value cannot be expressed unless a plurality of linear marks (seven in the case of JAN code) are used.
Therefore, rather than modulating the width of the linear mark, it is possible to secure a large number of IDs that can be displayed per unit area of the marker by modulating and coding the color density of the linear mark as in the present embodiment. Thereby, the number of identifiable optical marks M can be increased.

  Next, an example of the optical mark M having a configuration for detecting the optical mark M when determining whether or not the optical mark M exists in “S2” of the flowchart of FIG. 8 will be described.

[Example 2]
A second example (hereinafter, referred to as “Example 2”) of the optical mark M applicable to this embodiment will be described.
FIG. 10 is an explanatory diagram of the optical mark M according to the second embodiment.

With the arrangement of only the linear mark N to be coded, such as the optical mark M of the first embodiment, as shown in FIG. 10C, when the density of the plurality of linear marks N does not change, the optical mark It cannot detect that it is M.
On the other hand, as shown in FIGS. 10A and 10B, a reference line which is a linear mark N having a predetermined density is provided at one end or both ends of the optical mark M of the first embodiment. The optical mark M is detected by the configuration in which the circular mark N0 is installed.
Even with the optical mark M in which the density of the linear mark N shown in FIG. 10C does not change, as shown in FIG. 10D, by installing the reference linear mark N0 at the end, It is possible to detect the presence of the optical mark M by detecting the reflection intensity information corresponding to the linear mark N0.

  When detecting the optical mark M according to the second embodiment, first, the range sensor 5 scans the moving area. Then, when the reference linear mark N0 is detected, it is determined that the optical mark M exists in the surroundings (“Yes” in “S2”). Next, a line at a predetermined position (on the right side of the reference linear mark N0 in FIG. 10A, between the two reference linear marks N0 in FIG. 10B) with respect to the detected reference linear mark N0. The array of the circular marks N is read and the ID of the optical mark M is recognized (S3).

[Example 3]
A third example (hereinafter, referred to as “Example 3”) of the optical mark M applicable to this embodiment will be described.
FIG. 11 is an explanatory diagram of the optical mark M of the third embodiment, and the optical mark M of FIG. 11A and the optical mark M of FIG. 11B have different IDs.

The optical mark M according to the third embodiment includes an optical mark detection unit Ma that is a combination of linear marks N that repeatedly increase and decrease the density at an arbitrary position. The portion of the optical mark M other than the optical mark detecting portion Ma is an optical mark identifying portion Mb indicating the ID of the optical mark M.
In the third embodiment, in order to surely detect the optical mark M, the combination of the linear marks N (optical mark detection unit Ma) that changes a predetermined density is used as the optical mark M (optical mark) of the first embodiment. It is arranged at a predetermined position (on the left side in FIG. 11) of the identification portion Mb).

  When detecting the optical mark M according to the third embodiment, first, the range sensor 5 scans the moving area. Then, when the optical mark detection unit Ma is detected, it is determined that the optical mark M is present in the surroundings ("Yes" in "S2"). Next, the array of the linear marks N of the optical mark identification unit Mb located at a predetermined position (on the right side of the optical mark detection unit Ma in FIG. 11) with respect to the detected optical mark detection unit Ma is read, The ID of the mark is recognized (S3).

[Example 4]
A fourth example (hereinafter, referred to as “Example 4”) of the optical mark M applicable to this embodiment will be described.
FIG. 12 is an explanatory diagram of the optical mark M according to the fourth embodiment. Similar to FIG. 6A, FIG. 12A is an explanatory diagram showing the relationship between the density type of the linear mark N and the code number assigned to each density. FIG. 12B is an explanatory diagram showing a case where the same code number is consecutive in the ID as an optical mark M of the first embodiment. FIG. 12C is an explanatory diagram showing a case where the same code number is consecutive in the ID as an optical mark M of the fourth embodiment.

As shown in FIG. 12C, the optical mark M of Example 4 has a configuration in which the adjacent linear marks N do not have the same density.
As shown in the lower diagram of FIG. 12B, when it is attempted to give IDs having the same code number consecutively to the optical mark M, such as “2211434”, the optical mark M of the first embodiment is 12 (b) is shown in the upper diagram. In the first linear mark N1 and the second linear mark N2 in the upper diagram of FIG. 12B, since the adjacent linear marks N have the same density, the adjacent linear marks N are distinguished from each other. It is in a state where it does not exist. The same applies to the combination of the third linear mark N3 and the fourth linear mark N4, and the combination of the fifth linear mark N5 and the sixth linear mark N6.

  On the other hand, the optical mark M of Example 4 has a configuration in which the adjacent linear marks N do not have the same density. Therefore, the coding is performed by the process shown by the arrow (1) in FIG. 12C, the code number assigned to each linear mark N is acquired, and the process shown by the arrow (2) in FIG. 12C is performed. Then, the code number indicating the ID is acquired according to the matrix shown in Table 1.

One of the code numbers indicating the ID is calculated based on the detected values of the reflection intensity information of the two adjacent linear marks N.
The matrix shown in Table 1 is the code numbers assigned to the linear marks N on the left side of the two adjacent linear marks N on the vertical axis, and the linear numbers on the right side of the two linear marks N adjacent to the horizontal axis. It is a code number assigned to the mark N.

In the example shown in FIG. 12C, the code number of the first linear mark N1 is "4", and the code number of the second linear mark N2 is "5". Therefore, the code number indicating the ID obtained from the first linear mark N1 and the second linear mark N2 is "4" in Table 1 where the vertical axis is "4" and the horizontal axis is "5". .
Similarly, the code number indicating the ID obtained from the second linear mark N2 and the third linear mark N3 is "4", and the ID obtained from the third linear mark N3 and the fourth linear mark N4 is The code number shown is "1". Then, the ID "441133" can be acquired from the optical mark M of the fourth embodiment shown in FIG.

  Further, the optical mark M of the fourth embodiment has a characteristic density modulation array in which the adjacent linear marks N do not have the same density. Therefore, the presence of the optical mark M can be detected by detecting this characteristic density modulation arrangement.

  When detecting the optical mark M according to the fourth embodiment, first, the range sensor 5 scans the moving area. Then, when a plurality of linear marks N in which the adjacent linear marks N do not have the same density are detected, it is determined that the optical mark M is present in the surroundings (“Yes” in “S2”). At the same time, the array of linear marks N is read and the ID of the optical mark M is recognized (S3).

[Example 5]
A fifth example (hereinafter, referred to as “Example 5”) of the optical mark M applicable to this embodiment will be described.
FIG. 13 is an explanatory diagram of the optical mark M according to the fifth embodiment. Similar to FIG. 6A, FIG. 13A is an explanatory diagram showing the relationship between the density type of the linear mark N and the code number assigned to each density. FIG. 13B is an explanatory diagram illustrating an example of the optical mark M according to the fifth embodiment.

As shown in FIG. 13B, the optical mark M of Example 5 has a configuration in which the adjacent linear marks N do not have the same density. Further, the light and shade are repeated between the adjacent linear marks N. Specifically, the density change from the first linear mark N1 to the second linear mark N2 is thin. Therefore, the density change from the next second linear mark N2 to the third linear mark N3 is high, and the next density change from the third linear mark N3 to the fourth linear mark N4 is low. Has become.
As described above, the optical mark M of the fifth embodiment does not have the same density between the adjacent linear marks N, and further has a characteristic density modulation array in which light and shade are repeated. Therefore, the presence of the optical mark M can be detected by detecting this characteristic density modulation arrangement.

  When the optical mark M of Example 5 is coded, the code numbers assigned to the individual linear marks N are acquired by the process indicated by the arrow (1) in FIG. The code number indicating the ID is acquired according to the matrix shown in Table 2 by the processing indicated by the arrow (2) in ().

In the fifth embodiment, as in the fourth embodiment, one of the code numbers indicating the ID is calculated based on the detection values of the reflection intensity information of the two adjacent linear marks N.
The matrix shown in Table 2 is the code numbers assigned to the linear marks N on the left side of the two adjacent linear marks N on the vertical axis, and the linear numbers on the right side of the two linear marks N adjacent to the horizontal axis. It is a code number assigned to the mark N.

In the example shown in FIG. 13B, the code number of the first linear mark N1 is "2", and the code number of the second linear mark N2 is "5". Therefore, as the code number indicating the ID obtained from the first linear mark N1 and the second linear mark N2, "3" in which the vertical axis in Table 2 is "2" and the horizontal axis is "5" is obtained. .
Similarly, the code number indicating the ID obtained from the second linear mark N2 and the third linear mark N3 is "4", and the ID obtained from the third linear mark N3 and the fourth linear mark N4 is The code number shown is "2". Then, the ID "342123" can be obtained from the optical mark M of the fifth embodiment shown in FIG.

When detecting the optical mark M of the fifth embodiment, first, the range sensor 5 scans the inside of the moving area. Then, when the adjacent linear marks N do not have the same density and a plurality of linear marks N in which light and shade are repeated are detected, it is determined that the optical mark M exists in the surroundings (“S2” is “Yes”). )). At the same time, the array of linear marks N is read and the ID of the optical mark M is recognized (S3).
In the optical mark M of the fifth embodiment, the linear mark N is recognized in order from the left side, and when the combination of the detection values that are considered to be the linear mark N repeats shading twice or more, it is regarded as the optical mark M. The configuration may be such that identification is performed and the array of the linear marks N is read.

  In the moving area where the self-propelled robot 1 is installed, it is possible that the surface of the wall has a pattern. In this case, if the pattern on the surface of the wall is gradationally darkened or lightened gradually, it may be erroneously recognized as an optical mark M composed of linear marks N having different densities. . On the other hand, if the optical mark M is a structure in which light and shade are repeated as in the fifth embodiment, it is possible to prevent the gradation from being mistakenly recognized as the optical mark M.

In the optical marks M of the above-described second and third embodiments, the linear mark N (reference linear mark N0, optical mark detection unit Ma) having no information as ID is installed in the optical mark M. ing. Therefore, the range in which the linear marks N of the optical mark M can be arranged is wasted. On the other hand, in the fourth and fifth embodiments, the combination of the linear marks N has a characteristic that the entire optical mark M has a characteristic.
In any of the examples, if the detected ID of the optical mark M is an ID not stored in the map information stored in the storage unit 11, it is determined as an erroneous detection and "S1" in the flowchart shown in FIG. Return to.

  What has been described above is an example, and unique effects are obtained for each of the following aspects.

(Aspect A)
Distance measuring means such as a range sensor 5 for irradiating light such as laser light L to detect the distance to the surface of an object such as the pillar 30 or the wall 40 within the detection range and the light reception intensity of reflected light from the surface. A sign information generating unit such as a data processing unit 14 that generates sign information associated with the sign based on the detected value of the received light intensity of the reflected light reflected by the sign such as the optical mark M provided on the surface of the object. In the information acquisition device such as the self-propelled robot 1 provided, the sign information generating means divides the detection value of the received light intensity of the reflected light at the sign detected by the distance measuring means into three or more steps such as seven steps, and in each section. Marker information such as an ID is generated based on predetermined information such as the assigned code number.
According to this, as described in the above embodiment, by dividing the received light intensity of the reflected light into three or more steps, it becomes possible to detect the concentration modulation in the marker. As a result, it becomes possible to acquire the information of the sign associated with a larger amount of information as compared with the conventional configuration in which it is determined whether the received light intensity of the reflected light is higher or lower than a predetermined value.

  Further, in the above-described embodiment, the case where the information acquisition device that acquires the information about the sign is the self-propelled robot 1 has been described. The information acquisition device is not limited to this. For example, a handy scanner having a distance measuring device such as the range sensor 5 may be used to read the surface of a marker such as an optical mark M at a distant position. Is also applicable.

(Aspect B)
A mark such as an optical mark M that displays the mark information associated with the information display unit such as the linear mark N on the surface, and an information acquisition device such as the self-propelled robot 1 that acquires the mark information of the mark are provided. The acquisition device measures a distance such as a range sensor 5 that radiates light such as laser light L to detect the distance to the surface of an object such as the pillar 30 or the wall 40 within the detection range and the light reception intensity of reflected light from the surface. Self-propelled structure having distance means and sign information generation means such as a data processing unit 14 that generates sign information based on a detection value of received light intensity of reflected light reflected by an information display unit provided on the surface of an object In the information acquisition system such as the robot system 100, a plurality of information display units are arranged at a predetermined interval on the sign, and the sign information generation unit detects the received light intensity of the reflected light on the information display unit detected by the distance measuring unit. Three levels such as seven levels Divided above, to produce labeled information such as ID on the basis of predetermined information such as the assigned code numbers in each segment.
According to this, as described in the above embodiment, by dividing the received light intensity of the reflected light into three or more steps, it becomes possible to detect the concentration modulation in the marker. This makes it possible to associate a larger amount of information with the sign, compared to the conventional configuration that determines whether the received light intensity of the reflected light is higher or lower than a predetermined value, and is displayed on this sign. The sign information can be acquired by the information acquisition device.

(Aspect C)
Moving means such as the drive motor 17 and the driving wheel 3, a map storing means such as a storage section 11 for storing map information of the moving area, a pillar 30 existing in the moving area by irradiating light such as a laser beam L, or the like. Distance-measuring means such as the range-finding sensor 5 that detects the distance to the surface of the object such as the wall 40 and the received light intensity of the reflected light from the surface, and the self-position estimating unit 12 that calculates the self-position within the moving area. In an autonomous mobile device such as a self-propelled robot 1 provided with a position calculation means, the detection value of the received light intensity of the reflected light reflected by a mark such as an optical mark M arranged on the surface of an object is detected in three or more steps such as seven steps. And a sign information generation unit such as a data processing unit 14 that generates identification information such as a sign ID based on predetermined information such as a code number assigned to each section. Detected by distance means Based on the position information of the relative position of the autonomous mobile device to the sign calculated based on the distance to the knowledge, and the position information in the moving area of the sign corresponding to the identification information stored in the map information of the map storage means. Then, the self-position in the moving area of the autonomous mobile device is calculated.
According to this, as described in the above embodiment, by dividing the received light intensity of the reflected light into three or more steps, it becomes possible to detect the concentration modulation in the marker. This makes it possible to associate a larger amount of information with the sign, compared to the conventional configuration that determines whether the received light intensity of the reflected light is higher or lower than a predetermined value, and is displayed on this sign. The sign information can be acquired by the autonomous mobile device. In addition, since the number of identification information that can be given to the sign increases and the number of signs that can be arranged in the moving area increases, it is possible to improve the calculation accuracy of the self-position of the autonomous mobile device in the moving area. It will be possible.

(Aspect D)
In the aspect C, the sign information generating means such as the data processing unit 14 corrects the detection value of the received light intensity of the reflected light at the sign such as the optical mark M based on the position information of the relative position.
According to this, as described in the above embodiment, even if the received light intensity of the reflected light obtained by the distance measuring means differs depending on the relative position of the marker with respect to the distance measuring means such as the range sensor 5, the code Predetermined information such as the number can be properly acquired. Therefore, it is possible to appropriately acquire the identification information such as the ID of the sign.

(Aspect E)
An optical system that displays autonomously moving devices such as the self-propelled robot 1, a moving region in which the autonomous moving device can move, and marker information that is arranged in the moving region and that is associated by an information display unit such as a linear mark N on the surface. A mark such as a mark M, a map storage unit such as a storage unit 11 that stores map information of the moving region, and a mobile device position calculating unit such as a self-position estimating unit 12 that calculates the position of the autonomous mobile device within the moving region. The autonomous moving apparatus includes a moving means such as the drive motor 17 and the driving wheel 3, and a distance to the surface of an object such as a pillar 30 or a wall 40 existing in the moving area by irradiating light such as the laser light L. In the autonomous mobile device system such as the self-propelled robot system 100 configured to have the distance measuring means such as the range sensor 5 that detects the received light intensity of the reflected light from the surface, the marker has a plurality of information display portions. Interval of The arrangement is such that the detection value of the received light intensity of the reflected light at the information display section detected by the distance measuring means is divided into three or more steps such as seven steps, and the predetermined number such as the code number assigned to each section is determined. The mobile device position calculating means is provided with a sign information generating means such as a data processing section 14 for generating identification information such as an ID of the sign based on the information, and the mobile device position calculating means is calculated based on the distance to the sign detected by the distance measuring means. Within the moving area of the autonomous mobile device based on the position information of the relative position of the autonomous moving device with respect to the sign, and the position information within the moving area of the sign corresponding to the identification information stored in the map information of the map storage means. Position information is calculated.
According to this, as described in the above embodiment, by dividing the received light intensity of the reflected light into three or more steps, it becomes possible to detect the concentration modulation in the marker. This makes it possible to associate a larger amount of information with the sign, compared to the conventional configuration that determines whether the received light intensity of the reflected light is higher or lower than a predetermined value, and is displayed on this sign. The sign information can be acquired by the autonomous mobile device. Further, since the number of identification information that can be given to a sign increases and the number of signs that can be arranged in the moving area increases, it is possible to improve the calculation accuracy of the position information of the autonomous mobile device in the moving area. It will be possible.

  Further, in the above-described embodiment, the configuration in which the map storage means, the mobile device position calculation means, and the sign information generation means are arranged in the self-propelled robot 1 which is an autonomous mobile device has been described. These means are not limited to those arranged in the autonomous mobile device. For example, the configuration may be such that it is arranged in a server device provided separately from the autonomous mobile device in the autonomous mobile device system, and various information is exchanged by performing wireless communication between the autonomous mobile device and the server device.

(Aspect F)
In mode E, the sign information generating means such as the data processing unit 14 corrects the detection value of the received light intensity of the reflected light on the information display unit such as the linear mark N based on the position information of the relative position.
According to this, as described in the above embodiment, the received light intensity of the reflected light obtained by the distance measuring means differs depending on the relative position of the marker such as the optical mark M to the distance measuring means such as the range sensor 5. Even in this case, the predetermined information such as the code number can be properly acquired. Therefore, it is possible to appropriately acquire the identification information such as the ID of the sign.

(Aspect G)
In the mode E or F, the mark such as the optical mark M is a reference linear mark N0 having a predetermined reflection intensity at one end or both ends of the information display portion such as a plurality of linear marks N arranged at a predetermined interval. Information display section.
According to this, as described in the second embodiment, it is possible to detect the presence of the marker in the moving area.

(Aspect H)
In the mode E or F, the marker such as the optical mark M is a combination of the information display units such as the linear marks N that change in a predetermined density (optical mark detection unit Ma or the like) in a predetermined number in the plurality of information display units. It is placed in the position.
According to this, as described in the third embodiment, it is possible to detect the presence of the marker in the moving area.

(Aspect I)
In any one of the modes E to H, the markers such as the optical mark M are configured such that the adjacent information display parts among the information display parts such as the plurality of linear marks N do not have the same density.
According to this, as described in the fourth embodiment, it is possible to prevent the adjacent information display sections from being indistinguishable.

(Aspect J)
In the aspect I, the markers such as the optical marks M are arranged such that the information display portions such as the plurality of linear marks N repeat light and shade between the adjacent information display portions.
According to this, as described in the fifth embodiment, the presence of the label can be detected by detecting the characteristic concentration modulation array.

(Aspect K)
In the position measuring method of a moving body for measuring the position of a moving body such as the self-propelled robot 1 in the moving area, a pillar 30 arranged in the moving body and irradiated with light such as a laser beam L or the like existing in the moving area. Using a distance-measuring means such as a range-finding sensor 5 that detects the distance to the surface of an object such as the wall 40 and the intensity of received light of the reflected light from the surface, to a mark such as an optical mark M arranged in the moving area. And the received light intensity of the reflected light on the information display portion such as the plurality of linear marks N constituting the sign are detected, and the detected value of the detected received light intensity is divided into three or more steps such as seven steps. , The identification information such as the ID of the sign is generated based on the predetermined information such as the code number assigned to each section, and the moving body of the moving object with respect to the sign calculated based on the distance to the sign detected by the distance measuring means. Position information of the relative position and the location of the storage unit 11, etc. Based on the position information in the corresponding label movement area identification information stored in the map information storage means, and calculates the position information in the moving area of the moving body.
According to this, as described in the above embodiment, by dividing the received light intensity of the reflected light into three or more steps, it becomes possible to detect the concentration modulation in the marker. This makes it possible to associate a larger amount of information with the sign, compared to the conventional configuration that determines whether the received light intensity of the reflected light is higher or lower than a predetermined value, and is displayed on this sign. The sign information can be acquired by the autonomous mobile device. Then, since the number of pieces of identification information that can be given to the sign increases and the number of signs that can be arranged in the moving area increases, it is possible to improve the calculation accuracy of the position information of the autonomous mobile device in the moving area. It will be possible.

DESCRIPTION OF SYMBOLS 1 Self-propelled robot 2 Vehicle main body 3 Driving wheel 4 Auxiliary wheel 5 Range sensor 9 Encoder 10 Control section 11 Storage section 12 Self-position estimation section 13 Encoder calculation section 14 Data processing section 15 Route calculation section 16 Drive motor control section 17 Drive motor 30 pillar 40 wall 100 self-propelled robot system L laser light M optical mark M1 first optical mark Ma optical mark detection unit Mb optical mark identification unit N linear mark

JP, 2014-6835, A

Claims (11)

Distance measuring means for irradiating light to detect the distance to the surface of the object within the detection range and the received light intensity of the reflected light from the surface,
In an information acquisition device comprising a marker information generating unit that generates marker information associated with the marker based on a detection value of the received light intensity of the reflected light reflected by the marker disposed on the surface of the object,
The sign information generating unit divides the detection value of the received light intensity of the reflected light at the sign detected by the distance measuring unit into three or more steps, and the sign information based on predetermined information assigned to each section. An information acquisition device, characterized in that: A sign that displays sign information associated by the information display unit on the surface,
An information acquisition device for acquiring the sign information of the sign,
The information acquisition device irradiates light to detect the distance to the surface of the object within the detection range and the received light intensity of the reflected light from the surface, and the information display provided on the surface of the object. In an information acquisition system having a configuration including a marker information generating unit that generates the marker information based on a detection value of the received light intensity of the reflected light reflected by the section,
The sign, a plurality of the information display unit is arranged at a predetermined interval,
The sign information generating unit divides the detection value of the received light intensity of the reflected light on the information display unit detected by the distance measuring unit into three or more steps, and based on predetermined information assigned to each section, An information acquisition system characterized by generating sign information. Transportation means,
Map storage means for storing map information of the moving area,
Distance measuring means for irradiating light to detect the distance to the surface of the object existing in the moving area and the light reception intensity of the reflected light from the surface,
In an autonomous mobile device comprising a self-position calculating means for calculating a self-position within the moving area,
A sign that divides the detection value of the received light intensity of the reflected light reflected by the sign arranged on the surface of the object into three or more steps, and generates identification information of the sign based on predetermined information assigned to each section. Equipped with information generation means,
The self-position calculating means includes position information of a relative position of the autonomous mobile device with respect to the sign calculated based on a distance to the sign detected by the distance measuring means, and the map information in the map storage means. An autonomous mobile device that calculates the self-position in the mobile region of the autonomous mobile device based on position information in the mobile region of the sign corresponding to the identification information stored in. The autonomous mobile device according to claim 3 ,
The autonomous mobile device, wherein the sign information generating means corrects the detection value of the received light intensity of the reflected light at the sign based on the position information of the relative position. An autonomous mobile device,
A moving area in which the autonomous mobile device can move;
A sign that is arranged in the movement area and displays sign information associated by the information display unit on the surface,
Map storage means for storing map information of the moving area,
A mobile device position calculating means for calculating the position of the autonomous mobile device in the moving area;
The autonomous moving apparatus includes a moving unit and a distance measuring unit that irradiates light to detect a distance to a surface of an object existing in the moving region and a light receiving intensity of reflected light from the surface. In the autonomous mobile device system,
The sign has a configuration in which a plurality of the information display units are arranged at a predetermined interval,
The detection value of the received light intensity of the reflected light on the information display unit detected by the distance measuring unit is divided into three or more steps, and the identification information of the sign is generated based on the predetermined information assigned to each section. Equipped with sign information generation means,
The mobile device position calculation means is position information of the relative position of the autonomous mobile device with respect to the sign calculated based on the distance to the sign detected by the distance measurement means, and the map information of the map storage means. The position information in the moving area of the autonomous moving device is calculated based on the position information in the moving area of the sign corresponding to the identification information stored in the autonomous moving apparatus system. . The autonomous mobile device system according to claim 5,
The autonomous mobile device system, wherein the sign information generating means corrects the detection value of the received light intensity of the reflected light on the information display unit based on the position information of the relative position. The autonomous mobile device system according to claim 5 or 6,
The label, the autonomous mobile system, characterized in that it comprises the information display section having a first end or a predetermined reflection intensity at both ends of the information display unit of the number of double arranged at a predetermined interval. The autonomous mobile device system according to claim 5 or 6,
The label, the autonomous mobile system, characterized in that arranged at a predetermined position in the information display unit of the multiple combinations of the information display unit for a predetermined density change. The autonomous mobile device system according to any one of claims 5 to 8,
The label, the autonomous mobile system, wherein the information display unit adjacent one of the information display unit of the multiple is the configuration that do not same concentration. The autonomous mobile device system according to claim 9,
The label, the autonomous mobile system, wherein the information display unit of the multiple number, an arrangement of repeating the shade between the information display unit adjacent. In the method of measuring the position of a moving body for measuring the position of the moving body in the moving area,
Within the moving area, the distance is arranged in the moving body and detects the distance to the surface of an object existing in the moving area by irradiating light and the received light intensity of the reflected light from the surface. Detecting the distance to the placed sign and the received light intensity of the reflected light at the plurality of information display units that make up the sign,
The detected value of the received light intensity detected is divided into three or more stages, and the identification information of the sign is generated based on the predetermined information assigned to each division,
Corresponding to the position information of the relative position of the moving body with respect to the sign calculated based on the distance to the sign detected by the distance measuring means, and the identification information stored in the map information of the map storage means. A position measuring method of a moving body, which calculates position information of the moving body in the moving area based on position information of the sign in the moving area.